Added figure, info to chapter 2

Added a missing figure to chapter 2.  Added some information, updated
labels.
Fixes to chapter 2, minor fix to chapter 5

Updated chapter 2 to better fit story board.  Fixed all labels and
referring to equations in chapter 2, deleted redundant equations.
Fixed referring to equations in chapter 5, deleted redundant equations
and added references instead.  Labels and equations refers to issue #24.