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\section{Lectures}  \subsection{Notes}  Notes are distributed to the students prior to the lecture. We distributed paper copies, with the notes formatted using a modified form of \verb|tufte-handout| style \citep[see, e.g.][]{Tufte1983The-Visual-Disp}. We adopted this format because  it leaves a large right margin in which the students can take notes;  it features tight integration of text and graphics, which minimizes skipping around; and  it provides for margin notes, which are used for quick reminders of mathematical formula formulae  or for  side remarks. Exercises are built into the text. Typically a few are assigned as ``reading exercises,'' to be completed prior to the start of lecture. Longer, more involved problems are then assigned as homework following the lecture. Solutions, which are written in the same format as the lecture notes, are distributed when the marked assignments are returned, and the solutions are discussed in lecture.  \subsection{Assessments}  Quizzes are given roughly every other week, and the level of difficulty is comparable to a short homework problem or reading assignment. Many of these quizzes are open-note. Frequent quizzes have been shown to increase student performance \citep{Laverty_2012}.  Exercises are built into the text. Typically a few are assigned as ``reading exercises,'' to be completed prior to the start of lecture. Longer, more involved problems are then assigned as homework following the lecture.