Lecture 9: Moving frames in the nonhomogenous case: frame bundles (lecture9.pdf)
Videotapes of the lectures are at http://www.msri.org;
click on "Video," then on "Spring 1999," then on "Lie groups and the
method
of the moving frame / Exterior Differential Systems, July 12-23, 1999.
" You will need RealPlayer to watch the videos.