Acknowledgments
Thanks to our families and friends for their tremendous support throughout the years,
especially while we were writing this book.
A special thanks to Harry Helms for his encouragement and support during this project.
Thanks also to Rachel Roumeliotis for her help with this project.
A special thanks to Helen for her careful reading of the manuscript. Her comments were very
helpful to us.
A special thanks to Jon LaRosa, Jim Burns, and Alec Rooney of Meetinghouse, Ellis Wong of
Aylus Networks, and John Vollbrecht of the University of Michigan for their careful readings
of draft chapters of the manuscript. Their technical expertise helped identify a number of bugs
and greatly helped improve the manuscript. We are very grateful for their ...