I found it hard to generate a structure while listening to the teacher at the same time
You don't generate the structure and make annotations and summary during the lecture or reading, you do those afterwards during your review of your notes.
One key in studying is to not to try to do too much at the same time. Read, then go back and underline or take notes, don't try to underline during the first read-through. Review and condense/summarize then, not while taking the notes. During later reviews, just read the keyword and try to explain it from memory. Active, not passive - the more focused you are on what you are doing, the better you will retain it.
Recently, I've collapsed (ascended?) down/up a meta-learning death spiral -- doing a lot less of reading actual informative content, than figuring out how to manage and acquire such content (as well as completely ignoring the antidote). In other words, I've been taking notes on taking notes. And now, I'm looking for your notes on notes for notes.
What kind of scientific knowledge, techniques, and resources do we have right now in the way of information management? How would one efficiently extract useful information possible out of a single pass of the source? The second pass?
The answers may depend on the media, and the media might not be readily apparent. Example: Edward Boyden, Assistant Professor at the MIT Media Lab, recommends recording in a notebook every conversation you ever have with other people. And how do you prepare yourself for the serendipity of a walk downtown? I know I'm more likely to regret not having a notebook on hand than spending the time to bring one along.
I'll conglomerate what I remember seeing on the N-Back Mailing List and in general: I sincerely apologize for my lack of citation.
Notes
(I've also heard a handful of individuals claim that SRS has helped them "internalize" certain behaviors, or maybe patterns of thought, like Non-Violent Comunication or Bayes Theorem... any takers on this?)