The following companies: Denso National Instruments Toyota And previously supported by: Agilent Bosch General Motors Hewlett-Packard HSBC Infineon Lockheed Martin Microsoft Thales The National Science Foundation (NSF) current awards: 1446619 (Mathematical Theory of CPS) 1329759 (COSMOI) 0931843 (ActionWebs) and previous awards: 0720882 (CSR-EHS: PRET) 1035672 (CPS: Medium: Timing Centric Software) and previously by: The Air Force Research Laboratory under agreement numbers FA8750-08-2-0001 and FA8750-11-C-0023. The Army Research Laboratory under Cooperative Agreement Numbers W911NF-07-2-0019 and W911NF-11-2-0038. The Naval Research Laboratory (NRL N0013-12-1-G015)

In LaTeX, the following text should be used:

This work was supported in part by the Center for Hybrid and Embedded Software Systems (CHESS) at UC Berkeley, which receives support from the National Science Foundation (NSF awards \#1446619 (Mathematical Theory of CPS), \#1329759 (COSMOI), and \#0931843 (ActionWebs), and the following companies: Denso, National Instruments, and Toyota. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of any of the sponsors.

If you are funded by NSF, note the following:

1. PIs of NSF awards must acknowledge NSF’s support in any publication (including Web pages) of any material based on or developed under the PI’s NSF project. The following statement should be used:

   "This material is based upon work supported by the National Science Foundation under Grant No. (NSF grant number)."

2. PI’s also must provide the following disclaimer (unless NSF states otherwise in the award document) in every publication of material (including World Wide Web pages) based on or developed under the PI’s NSF award, except scientific articles or papers appearing in scientific, technical or professional journals.

   "Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation."

3. NSF support also must be orally acknowledged by the PI during all news media interviews about the NSF project, including popular media such as radio, television and news magazines.

iCyPhy researchers should see the iCyPhy ack.

TerraSwarm researchers should see http://www.terraswarm.org/pubs which requires that the publication be posted to the FCRP site 60 days in advance of publication. In addition, the following text should be used:

This work was supported in part by the TerraSwarm Research Center, one of six centers supported by the STARnet phase of the Focus Center Research Program (FCRP) a Semiconductor Research Corporation program sponsored by MARCO and DARPA.