See https://wordpress.com/view/667-per-cm.net/ Retired data scientist and statistician. Now working projects in quantitative ecology and, specifically, phenology of Bryophyta and technical methods for their study.
Darren Wilkinson's introduction to ABC
Darren Wilkinson’s introduction to approximate Bayesian computation (“ABC”). See also his post about summary statistics for ABC https://darrenjw.wordpress.com/2013/09/01/summary-stats-for-abc/
I have used dlm almost exclusively, except when extreme efficiency was required. Since Jouni Helske's KFAS was rewritten, though, I'm increasingly drawn to it, because the noise sources it supports are more diverse than dlm's. KFAS uses the notation and approaches of Durbin, Koopman, and Harvey.
``The real problem is that programmers have spent far too much time worrying about efficiency in the wrong places and at the wrong times; premature optimization is the root of all evil (or at least most of it) in programming.'' Professor Donald Knuth, 1974