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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 assessments  have been shown to increase student performance \citep{Laverty_2012}.