I would like to acknowledge former and current students whose research has contributed to this chapter. These include Charisma Choudhury, Song Gao, Varun Ramanujam, Anita Rao, Sujith Rapolu, Kamil Sveda, and Tomer Toledo. In particular, I greatly benefited from the work of Maya Abou-Zeid and the editorial contributions of Tina Xue.

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