The documentation of NUCM consists of the following:

   ICSE18.ps - a relatively old paper, but still relevant in that it 
	       describes the issues addressed by and general philosophy
	       taken by of NUCM.  The interface functions described in 
	       the paper are those of version 1.0, and should be 
	       ignored.
   html      - the up-to-date documentation in html-format at the point
	       in time that version 2.0 was released.  These documents
	       are also maintained online at:
		
	       http://www.cs.colorado.edu/users/serl/cm/nucm/nucm-2.0.html

	       You should periodically check the online documentation as 
	       it is guaranteed to be maintained.
