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This memoir deals with the hypoelliptic calculus on Heisenberg manifolds, including CR and contact manifolds. In this context the main differential operators at stake include the Hormander's sum of squares, the Kohn Laplacian, the horizontal sublaplacian, the CR conformal operators of Gover-Graham and the contact Laplacian. These operators cannot be elliptic and the relevant pseudodifferential calculus to study them is provided by the Heisenberg calculus of Beals-Greiner and Taylor.