Copyright Notice: This paper appears in Journal of Manufacturing Systems Volume 20, Number 6, pages 416-428, 2001/2002. Personal use of this material is permitted. Any other uses require permission of the copyright holder.
This material is based upon work supported by the National Science Foundation under Grant Number 9713718. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation.
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