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The primary focus in this article is on BBN's theoretical and applied work on problems involving humans in the information processing and control loop of control systems. This article discusses the evolution and outcome of key technical developments, people involved, and the role of BBN's environment -computational, organizational, and human. The history of the long and productive R&D program from its early beginnings, circa 1960, to the end of the 1980s is the main focus of this article. The history includes efforts in developing decision aids for pilots and for advanced command and control applications, because these can be viewed as natural evolutions of earlier control work. In something of a departure from this main focus, multitarget tracking, which emerged from the control efforts, is discussed because it eventually resulted in major programs for BBN and illustrates how BBN's diverse research efforts and its environment lead to unexpected rewards.