This part is the key, the last step in that How-to:
[root@sme5]# /sbin/e-smith/config setprop userpanel AvailablePanels panel1,panel2,panel3...
First, find out the names of all the symlinks that are in the directory now:
[root@sme5]# ls /etc/e-smith/web/panels/manager/cgi-bin
You'll get back a glob that looks like:
awstats           localnetworks    qmailanalog                    support
backup            mailinglists       quota                             sysmon
blades             mp3jukebox      reboot                            updates
datetime          online-manual    reinstall                          useraccounts
directory          otheremail         remoteaccess                 viewlogfiles
emailretrieval    password          review                             virtualdomains
groups             pleasewait        servermanager-navigation  workgroup
hostentries       printers            services
ibays               pseudonyms     starterwebsite
ALL of these have to be entered into the command given above, as a comma-separated string -- ick.
In fiddling with this myself, I decided a little scriptlet was the best way to manage it, so I made one.  I just did:
[root@sme5]# ls /etc/e-smith/web/panels/manager/cgi-bin > setnav
[root@sme5]# vi setnav
...and edited the names into a comma-delimited list.  Then, I added the config command to the beginning of the file like this:
/sbin/e-smith/db accounts setprop admin AdminPanels awstat,backup,blades, etc....etc.. 
Saved the file.
[root@sme5]#chmod +x setnav
[root@sme5]#  ./setnav
Boom, all desired entries are in place.  Just because I tend to forget things like this when I don't use them frequently, I made two files in my /root/util directory:  setnav and shownames.   'shownames' just does the 'ls /etc/e-smith/web/panels/manager/cgi-bin'  After installing something with a new panel, I just ls the directory, figure out what the last package added to that directory, append that name into my 'setnav' script, ./setnav again, and we're off and running.
Dan G.