Roger D. Chamberlain Ron K. Cytron Doug Shook Bill Siever Computers Interacting with the Physical World: A First-Year Course. 197-205 2018 CyPhy/WESE https://doi.org/10.1007/978-3-030-23703-5_11 conf/cyphy/2018 db/conf/cyphy/cyphy2018.html#ChamberlainCSS18