When we first conceived of this book, we knew it would be a challenge to cover everything we wanted to cover yet keep the book from becoming too technical or overwhelming. As always it took many people to get this book into your hands, and we would like to extend our thanks to all.

First, thanks to our editors, Nancy, Bob, and Darren. Nancy who patiently pushed us to stay on schedule. To Bob for helping us to better explain the more obscure and vague concepts, and to Darren for having such a keen eye. To Danielle for laying out the book so splendidly and putting up with our constant changes.

We would like to extend a very special thank you to our friend and instructor David McFarland for those simple words that started it all, ...

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