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\section{Lectures}  Notes are distributed to the students prior to the lecture. We distributed paper copies, with the notes formatted using the \verb{tufte-handout} a modified form of \verb|tufte-handout|  style (see, e.g., \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 or 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.