Textbook UNITS | READING ASSIGNMENTS | Supporting Videos |
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Entire Textbook as a Single File (PDF - 29.0MB) | ||

Unit I. (Numerical) Calculus; Elementary Programming Concepts (PDF - 2.6MB) - Chapter 1: Motivation
- Chapter 2: Interpolation
- Chapter 3: Differentiation
- Chapter 4: Elements of a Program and MATLAB Basics
- Chapter 5: MATLAB Arrays
- Chapter 6: Functions in MATLAB
- Chapter 7: Integration
| Math and Numerics - Chapter 1
- Sections 2.1, 3.1, and 7.1
MATLAB - Chapter 4
- Sections 5.1, 5.2, and 5.4
| The Macro-Me Robot Video of a 2.086 robot performing IR range finding and odometry. (Courtesy of James Penn. Used with permission.) |

Unit II. Monte Carlo Methods (PDF - 1.9MB) - Chapter 8: Introduction
- Chapter 9: Introduction to Random Variables
- Chapter 10: Statistical Estimation: Bernoulli (Coins)
- Chapter 11: Statistical Estimation: The Normal Density
- Chapter 12: Monte Carlo: Areas and Volumes
- Chapter 13: Monte Carlo: General Integration Procedures
- Chapter 14: Montel Carlo: Failure Probabilities
| Math and Numerics - Chapters 8, 9, 10, 11, and 12
MATLAB - Sections 6.1–6.4, and 5.3
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Unit III. Linear Algebra 1: Matrices and Least Squares; Regression (PDF - 2.3MB) - Chapter 15: Motivation
- Chapter 16: Matrices and Vectors: Definitions and Operations
- Chapter 17: Least Squares
- Chapter 18: MATLAB Linear Algebra (Briefly)
- Chapter 19: Regression: Statistical Inference
| Math and Numerics - Chapters 11, 15, 16, 17, and 19
MATLAB - Chapter 18
| The Macro-Me Robot: Friction Test Video of a 2.086 robot attempting to push a load on two different surfaces. (Courtesy of James Penn. Used with permission.) |

Unit IV. (Numerical) Differential Equations (PDF - 1.1MB) - Chapter 20: Motivation
- Chapter 21: Initial Value Problems
- Chapter 22: Boundary Value Problems
- Chapter 23: Partial Differential Equations
| Math and Numerics - Chapter 20
- Sections 21.1.1–21.1.5, and 21.2
MATLAB: - Section 6.5–6.6
| Macro-Me Suspension Video of a 2.086 robot driving over a small bump at three different velocities. (Courtesy of James Penn. Used with permission.) |

Unit V. (Numerical) Linear Algebra 2: Solution of Linear Systems (PDF - 13.7MB) - Chapter 24: Motivation
- Chapter 25: Linear Systems
- Chapter 26: Gaussian Elimination and Back Substitution
- Chapter 27: Gaussian Elimination: Sparse Matrices
- Chapter 28: Sparse Matrices in MATLAB
| Math and Numerics: - Chapters 24, 25, 26, and 27
- Chapter 28
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Unit VI: Nonlinear Equations (PDF) - Chapter 29: Newton Iteration
| Math and Numerics and MATLAB - Chapter 29
| Robot Arm Demo Video of a 2.086 robot arm tracking a specified trajectory. (Courtesy of James Penn. Used with permission.) |