The course is divided into "Chapters", each covering a different topic. Not all the material in every chapter will be covered - some is there just to provide additional background. In particular the sections marked Advanced Topic are not part of the course. Each chapter also has some exercises associated with it.
Don't worry about the mathematics! What is important are the pictures and the ideas.
The "chapters" can be downloaded from here (as PDF files).
You are welcome to download these and print them if you wish, but please do not make multiple copies or distribute them to other people without asking me first.
This course was given in Spring 2002.