UPDATE (2018-01-08):The link above had been broken, thanks to Will W.
for pointing that out. I've fixed the link but I'm also attaching
my own copy, which I OCR'ed.
But their PDF above wasn't formatted to my tastes for printing it out and binding it, so I manually edited the PDF and split the pages, doing a bit of cleanup as well. I also OCR'ed the text. I put my copy online here.
In January, 2010 during MIT's IAP period, Mary Hale and I co-taught MIT Bubbles: An intro to designing and building inflatable structures