Merge pull request #5 from blehman/master

Signal Latency Example
Added to intro, minor edits throughout
Text changes in Sections 1 & 2, additional notes for future work
Merge pull request #6 from jrmontag/master

Incremental update
edits and new conf interval table
Added trade-offs figure
edits
Edits and updated some sections/outline
Minor edits
Update readme
Merge pull request #7 from jrmontag/master

Text edits
updates
resolved conflicts
added pdf for download
Edits to first 1/3
V1 candidate, sans Ex1