(Acrobat download: http://users.ece.cmu.edu/~koopman/pubs/koopman14_crc_faa_conference_presentation.pdf)
A recording of an older variant of this presentation can be viewed below:
Webinar download: https://cmu.box.com/s/nn5r9ogwpw100fqkp6g2
Accompanying slides for that older webinar can be found: here