Imagine having the Proceedings of the National Academy of Sciences publish a paper of yours, and in the same issue, a paper explaining your paper. UW CSE professor Emo Todorov, whose research concerns optimal control, no longer has to imagine it. Start with the explanation, here. Then brave the paper, here. When you’re done, send a note to PNAS telling them that in their next life they should choose a name with a different acronym.