I would like to start by thanking my friends George, Charles, and Gregory for their encouragement during the process of writing this book, from its initial ideas to the early reviews of the chapters and the sample applications. They’ve all contributed to this book in important ways. I would also like to thank friends and colleagues who took the time to look into selected topics and make suggestions.
I especially want to thank Simon Monk for reading the manuscript twice and spotting blatant errors and inaccuracies. Given his background in cybernetics and computer science, Simon brought to this project an unconventional view of the ...

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