Automatic shifting software

[StevenB]

Our team is working on a multi-speed drive system with using the DeWalt transmissions. It's my belief that we really need automatic shifting to make the most effective use of it. For those that have done this before, I have some questions:
What was the basic algorithm you followed?
What sensors did you use?
Were you able to make it shift without a major speed jolt when going up or down, and how?

In the NBD whitepaper, Joe P. mentions something about using "software syncronization" to acheive smoother shifting. I'm guessing this involves shifting into "neutral", matching the input and output speeds to the correct ratio, and then shifting into gear. Is this correct, and could someone explain how they made it work?
Thanks!