Acknowledgments
The initial design for my Cruise Control systems were based on the four designs described in [CKS95]. UniCon designs for the pipe and filter and procedure call implementations where initially based on designs by Paul Kogut. Mary Shaw and Greg Zelesnik provided the framework for the state based/real time system. Mary Shaw, Greg Zelesnik, and Aaron Goldstein provided invaluable direction, feedback, and assistance during the course of this project. Greg Zelesnik also reviewed early drafts and provided significant improvements.