Contents Preface vii Mathematical notation xi Contents xiii 1 Introduction 1 1.1 1.2 1.3 1.4 1.5 Example:PolynomialCurveFitting................. 4 ProbabilityTheory .......................... 12 1.2.1 Probabilitydensities ..................... 17 1.2.2 Expectationsandcovariances ................ 19