Acknowledgements

This work was supported by the Cleveland Advanced Manufacturing Program (CAMP) through the Center for Automation and Intelligent Systems Research (CAISR) and the Case School of Engineering. Additional support was provided by the National Science Foundation through grants IRI92-57269 and DMI94-20373, which is gratefully acknowledged. The authors would also like to recognize the support of CAM-LEM Inc. and the CAISR agile manufacturing research team.

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