Collins, JohnKetter, WolfgangGini, Maria2020-09-022020-09-022008-11-10https://hdl.handle.net/11299/215780This Technical Report has been completely re-written and re-released as #09-028. The updated version is available for download at its new location: http://www.cs.umn.edu/research/technical_reports.php?page=report&report_id=09-028en-USReport