 Solution

An embedded smooth $n$-dimensional manifold $X\subseteq {\mathbb{R}}^N$ has, around every point, a parametrization by an open subset of ${\mathbb{R}}^n$ which is a homeomorphism onto a relative neighbourhood, has rank $n$, and has smooth coordinate changes. Equivalently, after smooth ambient coordinates it is locally a coordinate $n$-plane. For a manifold with boundary use relatively open subsets of ${\mathbb{H}}^n=\{u_n\ge 0\}$ instead, with parametrizations and transitions smoothly extendible across the boundary. Points corresponding to $u_n=0$ form the boundary. Interior charts are ordinary manifold charts; a boundary point is not a corner.