Inserted subsections on numerical solutions in Sections 6 and 7 and five figures. Added new Subsection 2.2 on the Randall–Sundrum model in string theory. Added new Section 9 on Dvali–Gabadadze–Porrati models and nine figures. Added new Section 10 on 6-dimensional models and one figure. Added about 100 new references.
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|Extended a paragraph moved here from the end of Section 1.2.|
|Added Subsection 2.2 “RS model in string theory”.|
|Added two paragraphs discussing the neglection of backreaction due to metric perturbations in the bulk.|
|Added Subsection 6.5 “Full numerical solutions”.|
|Removed former Figure 11: Damping of brane-world gravity waves on horizon re-entry due to massive mode generation.|
|Added Subsection 7.2 “Full numerical solutions”.|
|Added Section 9 “DGP Models”.|
|Added Section 10 “6-Dimensional Models”.|
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