We thank several sets of people for their help and encouragement as we wrote this book.

First and foremost are our family members, who inspired us to persevere: Bet, Andy, Cadence, Ellie, Nick, Jill, and Declan.

Second are our reviewers, whose insightful suggestions helped to make the book better: Stacy Decker, and Keith Sarto.

Third are the friends who contributed examples we used in this book: Raji Sivaraman and Rafael Santa Ana.

Finally, are all the colleagues, clients, and students with whom we have learned as we worked on many interesting projects.

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