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  \chapter{Preface}
  In 1998, I began work on the
  interrupt latency compatibility problem.  As I searched
  for prior work, I was
  surprised to discover the paucity
  of research available on practical embedded software
  problems.  Textbooks were also not very helpful,
  as I found that almost none
  of the hard
  problems that occur in practice
  were addressed.
  In 1999, I decided to compose my own book,
  maintained on the Web,
  to collect useful
  research results, solutions to practical problems,
  unsolved problems, and directions for future
  research and refinement.
  \LaTeX{} was chosen as the text-processing
  tool, as it was
  recognized immediately
  that size could become an issue and that the book
  would have a substantial mathematical content.
  The freedom from any practical length
  limitation
  means that I am
  free to include as many topics
  in as much detail as I'd like.\footnote{My readers will
  be consuming \emph{their} toner cartridges, not mine.}
  In 2001, this book was moved to
  \index{SourceForge}\emph{SourceForge}\footnote{\emph{SourceForge}
  (\texttt{http://www.sourceforge.net}), to whom I am very grateful,
  is an organization that hosts open-source projects.} and
  combined with a tool
  set for microcontroller software work
  (\emph{The Iju Tool Set}).
  In 2002, the collective set of materials (the tool set and this book)
  was renamed \emph{The ESRG Tool Set}\footnote{\emph{ESRG}
  is an acronym for \emph{E}mbedded \emph{S}ystems \emph{R}esearch \emph{G}roup.},
  and placed under a different
  project at \emph{SourceForge}.
  \emph{The ESRG Tool Set}, which is fully open-source and
  available for free from \emph{SourceForge} at the URL
  \texttt{http://esrg.sourceforge.net}, contains
  these materials:
  \begin{itemize}
  \item A \texttt{.PDF} copy of the most recent released
        version of this book.
  \item The packaged \LaTeX{} source code and graphics
        for the most recent released
        version of this book.
  \item The most recent (unreleased) source code for this book
        (available from the CVS version control archives).
  \item The most recent released version of
        \emph{The ESRG Tool Set}, packaged as an installation
        for Windows 95/98/ME/NT/2000/XP.  This installation also
            contains web pages with helpful URLs, and supplemental
            materials (such as spreadsheets to demonstrate techniques,
            other documents and standards maintained as part of this
            effort,
            Java applets, etc.).
  \item The packaged source code for the most recent released
        version of \emph{The ESRG Tool Set}.
  \item The most recent (unreleased) source code of
        \emph{The ESRG Tool Set} (available from the CVS
        version control arvhives).
  \item The most recent (unreleased) versions of the non-tool
        materials maintained with \emph{The ESRG Tool Set}, including
            spreadsheets to demonstrate techniques, other
        documents and standards maintained as part of this
            effort, Java applets, etc. (available from the CVS version control
            archives).
  \end{itemize}
  I have produced this set of works with the following four goals.
  \marginpar{\textbf{Goals of This Work}}
  \begin{itemize}
  \item \textbf{To share results and coordinate work
     with researchers.}  I have
     found that there is a disconnect between practitioners
     (those who have exposure to difficult problems) and
     researchers (those who often have the ability to solve these
     difficult problems).  A large work is required to
     explain the design challenges present in practical embedded software
     work, and to place the most difficult unsolved problems in the hands
     of researchers.
  \item \textbf{To share results and coordinate work with practitioners.}
     Many of the problems and solutions presented in this work apply
     to almost all applications of embedded software, and in many cases
     are inherent to \emph{all} software.  These problems and solutions
     will be useful to software practitioners.  I also expect
     that practitioners have strong solutions to contribute to this
     work.\footnote{With less jubilation, I also expect that
     practitioners have new hard problems to contribute.
     With any luck, I will obtain more new solutions than new problems.}
  \item \textbf{To enrich the educational experience for students.}
     All of the material contained in this set of works is free\footnote{Subject
     to license restrictions.  The license under which this book may be used
     is included later in this preface.  Software tools are licensed under the GPL.} (which,
     from a student's point of view, is the best price).
     For example, this book can be used by instructors as
     free supplemental
     material for a course.
  \item \textbf{To guide tool vendors.}  The design of tools
     is very much like the design of software, in that one must have
     a nearly complete understanding of the requirements
     in order to produce a useful product.  I have often found that
     tool vendors are unaware of the actual needs of embedded
     software developers.  By clearly enumerating requirements and
     lessons learned, I strive to give tool vendors the information
     and insight
     necessary to better support embedded software developers.
  \end{itemize}
  In \marginpar{\textbf{\emph{Small} Defined}}
  the title of this book, I've indicated that this book is
  about \index{small microcontroller system}\emph{small} microcontroller work.  By
  \emph{small microcontroller work}, I mean the development
  and production of small
  embedded
  software/hardware
  systems such as are found
  in consumer electronics and the automobile industry.  Although
  it is difficult to specify precisely what is and is not a
  \emph{small} microcontroller system, the systems
  I have in mind generally meet
  the following criteria.
  \begin{itemize}
  \item They
  involve a single-chip control solution (the address and data busses of
  the microcontroller are not extended outside the package).
  \item They
  involve ROM and RAM sizes of under 1M.\footnote{But usually much less--256K or less of ROM and 24K
  or less of RAM would be typical for my definition of \emph{small}.}
  \item They frequently involve non-preemptive scheduling.  In the systems I would
  classify as \emph{small}, pre-emptive scheduling and/or commercial
  RTOSs are relatively uncommon.
  \item They involve a software
  program that cannot easily be changed (either because the program
  is lithographically masked into the microcontroller or because special
  equipment or special access to the microcontroller is required).\footnote{A consequence of the
  software unchangeability
  combined with high production volumes is
  that software mistakes are very, very expensive.}
  \item They exist in an unstable electrical environment,
  characterized by supply voltage fluctuations,
  electrical transients, and spurious resets.
  \end{itemize}
  I use the term \index{hard problem}\emph{hard problem} throughout this book.
  I define a
  \marginpar{\textbf{\emph{Hard Problem} Defined}}
  \emph{hard} problem as a problem that
  meets the following two criteria.
  \begin{itemize}
     \item \textbf{The problem is \emph{hard}.}
           The time to solve the problem is measured in
           months or years, rather than hours or days; and furthermore,
           the problem may be beyond the analytical ability of
           most practicing embedded software engineers.  In practice, this means that
           an embedded software engineer cannot solve the problem in the time
           available during a product development cycle.
     \item \textbf{A solution to the problem is necessary for
           reliable software or for ease of software construction.}
           Generally, I would wish to exclude from consideration
           problems which are difficult but which have no practical implications
           for software reliability or ease of software construction
           if they are not solved.
  \end{itemize}
  Clearly, if an embedded software engineer is to be productive and
  produce a reliable embedded product, the number of unsolved
  \emph{hard} problems s/he encounters during a career must
  be fairly small.  However, the reality is that a practicing
  embedded software engineer encounters unsolved hard problems
  on a daily basis.
  In this work I take a special but not exclusive interest in
  \emph{hard} problems---those that are relevant and necessary
  but
  so difficult and time-consuming that a software engineer cannot
  solve them in the time available during the product development
  cycle.  I also have some interest in paradigms (ways of
  thinking about software systems and problems), and in
  best and worst practices (practices that are likely to to
  avert problems and practices that are nearly suicidal,
  respectively).  It is noteworthy that I do not
  have much interest in established
  mathematical results that are available in
  textbooks my readers probably already own.
  For example, I have very limited interest in
  reprinting the mathematical results surrounding
  sampled control systems, but
  I might be very interested in results predicting what
  could and could not happen if such a
  sampled control system is implemented on
  a microcontroller using economical but lossy
  multiplication and integration (to the best of my
  knowledge, this insight does not exist anywhere).
  <mv>\textbf{Volume \vconzeroroman{}: \vconzerotitle{}}
  <sv>\textbf{Part I:  Concepts}
  \marginpar{\textbf{Book Contents}}
  contains an introduction to the challenges of small microcontroller work.
  \begin{itemize}
  \item \textbf{Chapter\;\ref{cint0}, \cintzerotitle{}} explains the scope of the book
        and what is meant by \emph{small microcontroller work}.
  \item \textbf{Chapter\;\ref{chgr0}, \chgrzerotitle{}} provides my personal
        interpretation of the
        Holy Grail of embedded real-time software---that is, what is
        desirable and undesirable and what fundamental goals
        exist.  In this chapter, I deal primarily in paradigms of
        thought and
        unattainable goals.
  \end{itemize}
  <mv>\textbf{Volume \vmfrzeroroman{}: \vmfrzerotitle{}}
  <sv>\textbf{Part II:  Mathematical Frameworks}
  contains key mathematical frameworks and
  results that are divorced from any specific problem.
  \begin{itemize}
  \item \textbf{Chapter\;\ref{cpri0}, \cprizerotitle{}} presents results surrounding
        properties of integers and prime and composite numbers.
  \item \textbf{Chapter\;\ref{cfry0}, \cfryzerotitle{}} presents results surrounding
        the \index{Farey series}Farey series.  The Farey series, which is the
        ordered set of rational numbers with a certain maximum denominator,
        forms the basis for some techniques of rational approximation.
  \item \textbf{Chapter\;\ref{ccfr0}, \ccfrzerotitle{}} presents results surrounding
        \index{continued fractions}continued fractions.  The apparatus of continued
        fractions provides the best algorithm for finding Farey neighbors and hence
        best rational approximations.
  \item \textbf{Chapter\;\ref{cbal0}, \cbalzerotitle{}} presents results surrounding
        Boolean algebra.  Traditionally, Boolean algebra and the study of Boolean
        functions is associated with digital hardware design, but results and
        algorithms involving the simplification of Boolean functions also have
        application to the simplification of software control flow constructs.
  \item \textbf{Chapter\;\ref{cqua0}, \cquazerotitle{}} presents results surrounding
        the analysis of calculation error introduced by \emph{quantization}, the
        unavoidable mapping from $\vworkrealset{}$ to $\vworkintset{}$ that must occur
        as signals from the external world, which are usually continuous in nature,
        are converted and processed by a microcontroller, which can inherently manipulate
        only integers.
  \item \textbf{Chapter\;\ref{cmtn0}, \cmtnzerotitle{}} presents miscellaneous results
        from number theory which are useful or interesting, but awkward to
        categorize.
  \end{itemize}
  <mv>\textbf{Volume \vcswzeroroman{}:  \vcswzerotitle{}}
  <sv>\textbf{Part III:  Construction Of Embedded Software}
  details the way embedded systems are (or should be)
  constructed in practice.
  \begin{itemize}
  \item \textbf{Chapter\;\ref{cpco0}, \cpcozerotitle{}} outlines many aspects of
        the way that embedded software is constructed (or should be constructed)
        in practice.
  \item \textbf{Chapter\;\ref{csoc0}, \csoczerotitle{}} treats issues specific to
        the support of peripherals that are usually located on the same silicon
        die as the microcontroller, such as hardware watchdogs or EEPROM.
  \item \textbf{Chapter\;\ref{csoc1}, \csoconetitle{}} treats issues specific to
        the support of peripherals that are usually separate from the microcontroller,
        such as transducers and actuators.
  \item \textbf{Chapter\;\ref{csnc0}, \csnczerotitle{}} discusses the support
        of communication protocols and networks.
  \item \textbf{Chapter\;\ref{csfo0}, \csfozerotitle{}} discusses requirements
        that tend to occur in many different types of embedded software,
        such as the need to calibrate an embedded product or diagnose it
        via a communication link.
  \item \textbf{Chapter\;\ref{crta0}, \crtazerotitle{}} discusses the real-time
        analysis of embedded software; that is, how embedded software can be
        analyzed to be sure that it will always meet its real-time constraints.
  \end{itemize}
  <mv>\textbf{Volume \valgzeroroman{}: \valgzerotitle{}}
  <sv>\textbf{Part IV:  Embedded System Algorithms And Techniques}
  presents algorithms which are used in a target embedded system.
  \begin{itemize}
  \item \textbf{Chapter\;\ref{ccil0}, \ccilzerotitle{}} presents
        classical and simple\footnote{Here \emph{classical} is used
            in the same sense as Knuth uses it in \cite[p. 265]{bibref:b:knuthclassic2ndedvol2}.}
            integer algorithms and techniques which
        are used in embedded systems.  Because integer and fixed point algorithms
        are the dominant paradigm of arithmetic in small microcontroller
        systems, this chapter is the backbone of most arithmetic in these systems.
  \item \textbf{Chapter\;\ref{crat0}, \cratzerotitle{}} develops techniques
        and results surrounding rational approximation; that is, arpproximating a real number
        $r_I$ by a rational number $h/k$.
  \item \textbf{Chapter\;\ref{cdta0}, \cdtazerotitle{}} presents algorithms
        for use in discrete time (such as integration and differentiation),
        and also more sophisticated integer algorithms.
  \item \textbf{Chapter\;\ref{cnnu0}, \cnnuzerotitle{}} presents miscellaneous
        non-numerical algorithms for use in target embedded systems.
  \end{itemize}
  <mv>\textbf{Volume \vpaczeroroman{}: \vpaczerotitle{}}
  <sv>\textbf{Part V:  Practical, Administrative, Incidental, And Miscellaneous Topics}
  discusses topics that are non-technical, only peripherally related to embedded system
  software development,
  or difficult to categorize elsewhere.
  \begin{itemize}
  \item \textbf{Chapter\;\ref{cmpd0}, \cmpdzerotitle{}} discusses practical technqiues for
        the management of materials produced during the product development process.
  \item \textbf{Chapter\;\ref{cpit0}, \cpitzerotitle{}} provides designs and some
        analysis of circuits that are useful in microcontroller software
            development---either in microcontroller products themselves or in
            test fixtures.
  \item \textbf{Chapter\;\ref{cbma0}, \cbmazerotitle{}} discusses
        bad management and unpleasant work situations, provides paradigms
        and strategies for dealing with unpleasant work situations, and provides
            guidance in finding employment.
  \item \textbf{Chapter\;\ref{cpxf0}, \cpxfzerotitle{}} describes software and
        hardware products which are exceptionally useful in embedded product development.
  \item \textbf{Chapter\;\ref{corq0}, \corqzerotitle{}} describes open research
        questions, i.e. problems I am aware of but do not know how to solve.
  \item \textbf{Chapter\;\ref{cisk0}, \ciskzerotitle{}} contains reverse analyses of
        embedded product defects, and the lessons to be learned from these
            defects.\footnote{The word \emph{Insektengericht} (``insect court'', in German)
            comes from a page in a \emph{Beavis and Butthead} comic book purchsed in
            the M\"unchen Hauptbahnhoff around 1996.  In this comic book, Beavis and
            Butthead sit in judgement of insects (bugs), always with the verdict
            \emph{schuldig} (guilty), and always with harsh sentences such as
            \emph{Tod durch explodieren} (death by explosion).  I do much the same
            thing with embedded software bugs and embedded product defects.}
            Because it isn't possible in the product development process to address
            \emph{every} possible source of defect, I feel it is important to
            have a visceral feel for what is most likely to go wrong; and such
            intuition can only come from actively collecting product defects.  I very much
            hope that airline pilots study transcripts and reports from airplane crashes, and I
            encourage embedded software developers to do the same.
  \end{itemize}
  <mv>\textbf{Volume \vijtzeroroman{}: \vijtzerotitle{}}
  <sv>\textbf{Part VI:  ESRG Tool Set Reference Guide}
  is a reference for the research tool set for microcontroller
  work (based on Tcl/Tk from Scriptics/Ajuba/Interwoven), which is packaged
  with this book.
  \begin{itemize}
  \item \textbf{Chapter\;\ref{ctin0}, \ctinzerotitle{}} contains an overview
        of the tool set and its design goals and construction.
  \item \textbf{Chapter\;\ref{ctcm0}, \ctcmzerotitle{}} provides a reference
        for the Tcl scripting language, around which the tool set is constructed.
  \item \textbf{Chapter\;\ref{ctkm0}, \ctkmzerotitle{}} provides a reference
        for the Tk graphical extensions to Tcl.  These graphical extensions,
            which are built into the tool set, are very useful for providing
            attractive GUI interfaces.
  \item \textbf{Chapter\;\ref{cfaq0}, \cfaqzerotitle{}} addresses frequently
        asked questions and ``gotchas'' in Tcl and Tk.
  \item \textbf{Chapter\;\ref{cxtn0}, \cxtnzerotitle{}} documents the Tcl
        extensions which have been added to the script interpreters
            (\emph{EsrgScripter} and \emph{EsrgConsole}).  These extensions form the
            ``meat'' of \emph{The ESRG Tool Set}, and represent the new ideas or
            new effort we are trying to convey.  These new ideas and
        new effort are embedded into  Tcl interpreters to grant
            greater flexibility in their application.
  \item \textbf{Chapter\;\ref{cdcm0}, \cdcmzerotitle{}} documents the DOS command-line
        utilities packaged with the tool set.  In many cases, these utilities
            perform functions identical or similar to Tcl extensions, but there are advantages to
            packaging functionality as a DOS command-line utility.
  \end{itemize}
  <mv>\textbf{Volume \vsmazeroroman{}: \vsmazerotitle{}}
  <sv>\textbf{Part VIII:  Solutions To Selected Exercises}
  contains solutions for selected exercises
  found throughout the work.
  Although \marginpar{\textbf{Features For Readers}} I
  know that all of my readers will be involved in some way
  with technical things---such as mathematics, computer science,
  control theory, software quality, or the design and development
  of embedded products---I realize that my readers will
  vary in what they are trying to obtain from the work.  Some readers
  will be very research oriented, and may be trying to solve or pose
  a particular hard problem.
  Other readers may be looking for a specific practical
  solution.
  For the more practical reader, I have tried to be complete--that
  is, I have tried not to omit information that might be
  necessary in understanding my work without additional
  research effort.  In addition, a rich set of helpful materials is
  packaged with \emph{The ESRG Tool Set} installation.
  For the more research-oriented reader, I have tried to allow the
  reader to rapidly find books, technical papers, Web sites,
  technical experts,
  and researchers.  For this reason, books, papers,
  Web sites, and individuals
  are all cited and referenced using the same
  framework in the bibliography.  This means the
  reader is directed not only to technical documents,
  but also to the authors of the
  documents.
  Since \marginpar{\textbf{Version Identification}}
  this book will be maintained on the Web, the issue arises of how
  a reader would know one version of this book from another.
  I have provided two mechanisms for this.\footnote{\TeX{}
  tradition would demand that I pick a transcendental number
  and with each successive version reveal another decimal place,
  but that is too much work for me, given that
  version control systems will handle the task automatically.}
  \begin{itemize}
     \item The title page indicates when the work was compiled from
     \LaTeX{} source code.  Two copies of the work with the
     same compile date are almost certainly identical.
     \item The entire work is maintained under a version control
     system (CVS at \emph{SourceForge}),
     \index{CVS}\index{SourceForge} and I've included
     keyword expansions near the end of the \LaTeX{} source files so that version
     control information is included automatically in the document text (for example,
     a block of version control information is at the end of each chapter).
     Sections or chapters with the same version control information are almost certainly
     identical.
  \end{itemize}
  This \marginpar{\textbf{Book License}}\index{license} book is licensed under the
  \emph{Academic Free License v. 2.0}, reproduced below for convenience.\footnote{Please
  note that \emph{The ESRG Tool Set} and certain other materials are licensed under the GPL.  At this time
  only this book is licensed under the \emph{Academic Free License}.}
  \begin{it}
  This Academic Free License (the ``License'') applies to any original work of authorship
  (the ``Original Work'') whose owner (the ``Licensor'') has placed the following
  notice immediately following the copyright notice for the Original Work:\\
  \\
  Licensed under the Academic Free License version 2.0
  \begin{enumerate}
  \item \textbf{Grant of Copyright License.} Licensor hereby grants You a world-wide, royalty-free,
        non-exclusive, perpetual, sublicenseable license to do the following:
     \begin{enumerate}
     \item to reproduce the Original Work in copies;
     \item to prepare derivative works ("Derivative Works") based upon the Original Work;
     \item to distribute copies of the Original Work and Derivative Works to the public;
     \item to perform the Original Work publicly; and
     \item to display the Original Work publicly.
     \end{enumerate}
  \item \textbf{Grant of Patent License.} Licensor hereby grants You a world-wide, royalty-free, non-exclusive,
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  \item \textbf{Exclusions From License Grant.}  Neither the names of Licensor, nor the names of any
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            be used to endorse or promote products derived from this Original Work without express prior
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            Licensor otherwise would have a right to license.
  \item This section intentionally omitted.
  \item \textbf{Attribution Rights.}  You must retain, in the Source Code of any Derivative Works that
        You create, all copyright, patent or trademark notices from the Source Code of the Original Work,
            as well as any notices of licensing and any descriptive text identified therein as an
            ``Attribution Notice.''  You must cause the Source Code for any Derivative Works that
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            recipients that You have modified the Original Work.
  \item \textbf{Warranty of Provenance and Disclaimer of Warranty.}  Licensor warrants that the copyright in
        and to the Original Work and the patent rights granted herein by Licensor are owned by the
            Licensor or are sublicensed to You under the terms of this License with the permission of
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            constitutes an essential part of this License.  No license to Original Work is granted
            hereunder except under this disclaimer.
  \item \textbf{Limitation of Liability.}  Under no circumstances and under no legal theory, whether in
        tort (including negligence), contract, or otherwise, shall the Licensor be liable to any person for
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            incidental or consequential damages, so this exclusion and limitation may not apply to You.
  \item \textbf{Acceptance and Termination.}  If You distribute copies of the Original Work or a
        Derivative Work, You must make a reasonable effort under the circumstances to
        obtain the express assent of recipients to the terms of this License. Nothing
        else but this License (or another written agreement between Licensor and You)
        grants You permission to create Derivative Works based upon the Original Work
        or to exercise any of the rights granted in Section 1 herein, and any attempt
        to do so except under the terms of this License (or another written agreement
        between Licensor and You) is expressly prohibited by U.S. copyright law, the
        equivalent laws of other countries, and by international treaty. Therefore,
        by exercising any of the rights granted to You in Section 1 herein, You indicate
        Your acceptance of this License and all of its terms and conditions.
  \item \textbf{Termination for Patent Action.}  This License shall terminate automatically
        and You may no longer exercise any of the rights granted to You by this License
        as of the date You commence an action, including a cross-claim or counterclaim,
        for patent infringement (i) against Licensor with respect to a patent applicable
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        the Original Work (but excluding combinations of the Original Work with other
        software or hardware).
  \item \textbf{Jurisdiction, Venue and Governing Law.}  Any action or suit relating to this
        License may be brought only in the courts of a jurisdiction wherein the Licensor
        resides or in which Licensor conducts its primary business, and under the laws
        of that jurisdiction excluding its conflict-of-law provisions. The application
        of the United Nations Convention on Contracts for the International Sale of Goods
        is expressly excluded. Any use of the Original Work outside the scope of this
        License or after its termination shall be subject to the requirements and
        penalties of the U.S. Copyright Act, 17 U.S.C. 101 et seq., the equivalent
        laws of other countries, and international treaty. This section shall
        survive the termination of this License.
  \item \textbf{Attorneys Fees.}  In any action to enforce the terms of this License or
        seeking damages relating thereto, the prevailing party shall be entitled
        to recover its costs and expenses, including, without limitation, reasonable
        attorneys' fees and costs incurred in connection with such action, including
        any appeal of such action. This section shall survive the termination of
        this License.
  \item \textbf{Miscellaneous.} This License represents the complete agreement
        concerning the subject matter hereof. If any provision of this License
        is held to be unenforceable, such provision shall be reformed only to
        the extent necessary to make it enforceable.
  \item \textbf{Definition of ``You'' in This License.} ``You'' throughout this License,
        whether in upper or lower case, means an individual or a legal entity
        exercising rights under, and complying with all of the terms of, this
        License. For legal entities, ``You'' includes any entity that controls,
        is controlled by, or is under common control with you. For purposes of
        this definition, ``control'' means (i) the power, direct or indirect,
        to cause the direction or management of such entity, whether by
        contract or otherwise, or (ii) ownership of fifty percent (50%)
        or more of the outstanding shares, or (iii) beneficial ownership
        of such entity.
  \item \textbf{Right to Use.}  You may use the Original Work in all ways not
        otherwise restricted or conditioned by this License or by law,
        and Licensor promises not to interfere with or be responsible
        for such uses by You.
  \end{enumerate}
  \end{it}
  I \marginpar{\textbf{Intellectual Property}} believe very
  strongly in the notion of intellectual property.  I have endeavored
  in this book to cite all references and to identify all work and
  all ideas that are not my own.\footnote{I've actually gone a step
  further---I've tried to provide enough information to allow a
  motivated reader to get in touch with the originator of the work
  or ideas.}  I would request the same courtesy in return (but will
  not enforce this courtesy, except by exposure of parties responsible
  for the theft of ideas without credit).  Plagiarism and theft of intellectual property is a
  regrettable but common occurrence, and I can
  reliably predict that some student somewhere in the Webbed world
  will borrow my ideas or work without citation
  for a semester project---such events would earn my scorn
  but be relatively insignificant
  on my radar screen.  However, if any of my work appears without
  credit in academic journals, I would take the matter less
  jovially and would very likely report the plagiarism to the journal
  involved.
  I \marginpar{\textbf{Contacting the Author}}\index{contacting the author}
  can be contacted at \texttt{dtashley@aol.com}.  I invite readers
  to contact me about
  any material in this book, in \emph{The ESRG Tool Set}, or at
  the web site \texttt{http://esrg.sourceforge.net}.
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  \noindent\begin{figure}[!b]
  \noindent\rule[-0.25in]{\textwidth}{1pt}
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  $RCSfile: workprfa.tex,v $
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  $Revision: 1.7 $
  $Author: dtashley $
  $Date: 2003/11/28 23:23:17 $
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  % $Log: workprfa.tex,v $
  % Revision 1.7  2003/11/28 23:23:17  dtashley
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  % Addition of section "Information For Authors", and patch up of
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  % Printable version control information updated, quotes rearranged and
  % reformatted.
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  % *****************  Version 2  *****************
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  % Updated in $/uC Software Multi-Volume Book (A)/Shared, Volume Sections, Styles, And Graphics
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  %End of file WORKPRFA.TEX

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