Below you can find course notes developed for ESE 130 and 131. While these notes give a good account of the topics covered, they are not complete. They are intended as complements to the lectures and recommended reading. The notes are missing most of the sketches developed on the board and graphics shown in slides. If these notes still turn out to be useful, please feel free to let me know. If you have comments, corrections, or other feedback, do not hesitate to get in touch.