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\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 has  a large right margin in which the students can take write  notes; it features tight integration of text and graphics, which minimizes reduces  skipping around; back and forth;  and it provides uses  for margin notes, which are used for quick reminders of mathematical 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.