Bernard Mangold Mike Dooley Gary William Flake Havi Hoffman Tejaswi Kasturi David M. Pennock Rael Dornfest 94-97 2005 38 IEEE Computer 7 http://doi.ieeecomputersociety.org/10.1109/MC.2005.243 db/journals/computer/computer38.html#MangoldDFHKPD05