chainssh is a shell script to smplify the ssh login via multiple sshgateways/firewallgateaways. e.g. connect from homehost via sshgateway to a clusternode with one command.
The Distribulator: Distributed Computing For The Rest Of Us. This is an SSH-based command execution and file transfer utility that includes support for batch, console, and shell integration modes, multiple server enviornments, and full audit logs.