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On a different tack "prolegomena" (plural form) is part of a standard
curricula at some graduate schools of theology. The course addresses the
primary bases for the beliefs held and taught by the school and/or
denomination.
As for the usage difference, I have seen that preface and prologue are much
more interchangeable, but "preface" is more akin to "introduction or
foreword by someone other than the author," while "prologue" is most likely
to be "introduction written by the author to explain something he/she thinks
you need to know about the book."
Joe Hauglie
Technical Editor, Texas Instruments - Tucson
jhauglie -at- ti -dot- com