Operating Systems and Middleware: Supporting Controlled
Interaction, published January 19, 2006, by Course
Revised Edition 1.1 released July 27, 2011.
Revised Edition 1.2 released July 11, 2015.
Available for free on the web along with supporting materials.
Concrete Abstractions: An Introduction to Computer Science Using Scheme
Out of print but available for free on the web.
A conference paper about our introductory course also provides some motivation for this book. We also have an annotated table of contents and supporting materials available.