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In a bid to invest in Artificial Intelligence, consumer group LG recently earned some academic bragging rights as two of its research papers focused on AI were chosen and presented [...]

WORDS: CHRIS DOWS BENEVOLENT BOON OR CATASTROPHIC COMPUTING? In his groundbreaking 1950 paper ‘Computing Machinery and Intelligence’, British mathematician Alan Turing asked a simple question – can machines think? Widely [...]

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.ipm.2009.11.004 Byline: Jeongwoo Ko (a), Luo Si (b), Eric Nyberg (c) Keywords: Answer ranking; Answer merging; Question answering Abstract: Question answering (QA) aims at finding exact answers to a user's question from a large collection of documents. Most QA systems combine information retrieval with extraction techniques to identify a set of likely candidates and then utilize some ranking strategy to generate the final answers. This ranking process can be challenging, as it entails identifying the relevant answers amongst many irrelevant ones. This is more challenging in multi-strategy QA, in which multiple answering agents are used to extract answer candidates. As answer candidates come from different agents with different score distributions, how to merge answer candidates plays an important role in answer ranking. In this paper, we propose a unified probabilistic framework which combines multiple evidence to address challenges in answer ranking and answer merging. The hypotheses of the paper are that: (1) the framework effectively combines multiple evidence for identifying answer relevance and their correlation in answer ranking, (2) the framework supports answer merging on answer candidates returned by multiple extraction techniques, (3) the framework can support list questions as well as factoid questions, (4) the framework can be easily applied to a different QA system, and (5) the framework significantly improves performance of a QA system. An extensive set of experiments was done to support our hypotheses and demonstrate the effectiveness of the framework. All of the work substantially extends the preliminary research in . A probabilistic framework for answer selection in question answering. In: Proceedings of NAACL/HLT. Author Affiliation: (a) Search Quality Group, Google Inc., Mountain View, CA 94043, USA (b) Department of Computer Science, Purdue University, Lafayette, IN 47907, USA (c) School of Computer Science, Carnegie Mellon University, Pittsburgh, PA 15213, USA Article History: Received 21 February 2008; Revised 9 November 2009; Accepted 11 November 2009

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.cie.2008.09.042 Byline: Imed Kacem (a), A. Ridha Mahjoub (b) Keywords: Scheduling; Non-availability constraint; Approximation; Weighted flow-time; FPTAS Abstract: In a recent paper [Theoretical Computer Science 363, 257-265], He, Zhong and Gu considered the non-resumable case of the scheduling problem with a fixed non-availability interval under the non-resumable scenario. They proposed a polynomial time approximation scheme (PTAS) to minimize the total completion time. In this paper, we propose a fully polynomial-time approximation scheme to minimize the total weighted completion time. The FPTAS has O(n.sup.2/I[micro].sup.2) time complexity, where n is the number of jobs and I[micro] is the required error bound. The proposed FPTAS outperforms all the previous approximation algorithms designed for this problem and its running time is strongly polynomial. Author Affiliation: (a) Universite de Technologie de Troyes, ICD, LOSI, CNRS 2848, France (b) Universite Paris-Dauphine, LAMSADE, CNRS 7024, France Article History: Received 13 February 2008; Revised 27 September 2008; Accepted 29 September 2008

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.cose.2008.04.004 Byline: Shi-Jinn Horng (a)(b)(c)(e), Pingzhi Fan (a), Yao-Ping Chou (d), Yen-Cheng Chang (d), Yi Pan (e) Abstract: Most activities on the Internet can be recorded as log files of websites and website administrators can inspect log files to locate problems after any network intrusion occurs. However, since log files usually contain a huge quantity of data, without effective methods, it is generally not feasible for administrators to determine the concealed meanings within log files. One method for dealing with this issue is to use neural networks; this is an effective means to distinguish and classify abnormal data in log files, thus alleviating the administrator's burden. This paper presents the results of a study on intrusion detection on IIS (Internet information services) utilizing a hybrid intrusion detection system (IDS). The feasibility of the hybrid IDS is validated based on the Internet scanner system (ISS). In the intrusion detection system proposed, we used four different training data sets: 200, 800, 1400, and 2000. The system is trained either by Taguchi's experimental design or full factorial experimental design under different training data sets; the former can save much more time than the latter. Under Taguchi's experimental design, the best results are obtained when the training data set is of size 1400; overall accuracy in this case is 97.5%. On the contrary, for the full factorial experimental design, the best results are reached when the training data set is of size 2000; overall accuracy is 97.6%. Our study indicates that when to retrain the detector and how much time to allow for this training fully depend on the downgrade percentage of the detection rate, which determines the size of the retraining data set. To reduce the void time for updating the detector, the downgrade percentage should be restricted. Author Affiliation: (a) Institute of Mobile Communications, Southwest Jiaotong University, 610031 Chengdu, PR China (b) Department of Computer Science and Information Engineering, TWISC, National Taiwan University of Science and Technology, 106 Taipei, Taiwan (c) Department of Electronic Engineering, National United University, 36003 Miao-Li, Taiwan (d) Department of Electrical Engineering, National Taiwan University of Science and Technology, 106 Taipei, Taiwan (e) Department of Computer Science, Georgia State University, Atlanta, GA 30302, U.S.A. Article History: Received 27 December 2006; Revised 3 August 2007; Accepted 25 April 2008 Article Note: (footnote) [star] The revision of this paper was completed by the first author while visiting Georgia State University.

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.ipm.2005.09.005 Byline: Nicholas Lester (a), Justin Zobel (a), Hugh Williams (b) Keywords: Text indexing; Search engines; Index construction; Index update Abstract: Search engines and other text retrieval systems use high-performance inverted indexes to provide efficient text query evaluation. Algorithms for fast query evaluation and index construction are well-known, but relatively little has been published concerning update. In this paper, we experimentally evaluate the two main alternative strategies for index maintenance in the presence of insertions, with the constraint that inverted lists remain contiguous on disk for fast query evaluation. The in-place and re-merge strategies are benchmarked against the baseline of a complete re-build. Our experiments with large volumes of web data show that re-merge is the fastest approach if large buffers are available, but that even a simple implementation of in-place update is suitable when the rate of insertion is low or memory buffer size is limited. We also show that with careful design of aspects of implementation such as free-space management, in-place update can be improved by around an order of magnitude over a naA[macron]ve implementation. Author Affiliation: (a) School of Computer Science and Information Technology, RMIT University, Victoria 3001, Australia (b) MSN Search, Microsoft Corporation, One Microsoft Way, Redmond, WA 98052, United States Article History: Received 14 April 2005; Accepted 26 September 2005 Article Note: (footnote) [star] This paper incorporates and extends material from 'In-place versus re-build versus re-merge: Index maintenance strategies for text retrieval systems', N. Lester, J. Zobel, and H.E. Williams, Australasian Computer Science Conference, Dunedin, New Zealand, 2004.

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.cie.2005.12.001 Byline: Wojciech BoA1/4ejko (a), Jozef Grabowski (a), MieczysAaw Wodecki (b) Abstract: Problem of scheduling on a single machine to minimize total weighted tardiness of jobs can be described as follows: there are n jobs to be processed, each job has an integer processing time, a weight and a due date. The objective is to minimize the total weighted tardiness of jobs. The problem belongs to the class of NP-hard problems. Some new properties of the problem associated with the blocks have been presented and discussed. These properties allow us to propose a new fast local search procedure based on a tabu search approach with a specific neighborhood which employs blocks of jobs and a compound moves technique. A compound move consists in performing several moves simultaneously in a single iteration of algorithm and allows us to accelerate the convergence to good solutions. In the algorithm, we use an idea which decreases the complexity for the search of neighborhood from O(n.sup.3) to O(n.sup.2). Additionally, the neighborhood is reduced by using some elimination criteria. The method presented in this paper is deterministic one and has not any random element, as distinct from other effective but non-deterministic methods proposed for this problem, such as tabu search of Crauwels, H. A. J., Potts, C. N., & Van Wassenhove, L. N. (1998). Local search heuristics for the single machine total weighted tardiness Scheduling Problem. INFORMS Journal on Computing, 10(3), 341-350, iterated dynasearch of Congram, R. K., Potts C. N., & Van de Velde, S. L. (2002). An iterated dynasearch algorithm for the single-machine total weighted tardiness scheduling problem. INFORMS Journal on Computing, 14(1), 52-67 and enhanced dynasearch of Grosso, A., Della Croce, F., & Tadei, R. (2004). An enhanced dynasearch neighborhood for single-machine total weighted tardiness scheduling problem. Operations Research Letters, 32, 68-72. Computational experiments on the benchmark instances from OR-Library (http://people.brunel.ac.uk/mastjjb/jeb/info.html) are presented and compared with the results yielded by the best algorithms discussed in the literature. These results show that the algorithm proposed allows us to obtain the best known results for the benchmarks in a short time. The presented properties and ideas can be applied in any local search procedures. Author Affiliation: (a) Institute of Engineering Cybernetics, WrocAaw University of Technology, Janiszewskiego 11-17, 50-372 WrocAaw, Poland (b) Institute of Computer Science, University of WrocAaw, Przesmyckiego 20, 51-151 WrocAaw, Poland Article History: Received 25 May 2005; Revised 3 November 2005; Accepted 9 December 2005 Article Note: (footnote) [star] This paper was processed by Area Editor Maged M. Dessouky.

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.ipm.2005.03.006 Byline: Jane Reid (a), Mounia Lalmas (a), Karen Finesilver (b), Morten Hertzum (c) Keywords: Structured document retrieval; Focussed retrieval; Best entry points; User studies Abstract: Structured document retrieval makes use of document components as the basis of the retrieval process, rather than complete documents. The inherent relationships between these components make it vital to support users' natural browsing behaviour in order to offer effective and efficient access to structured documents. This paper examines the concept of best entry points, which are document components from which the user can browse to obtain optimal access to relevant document components. In particular this paper investigates the basic characteristics of best entry points. Author Affiliation: (a) Computer Science, Queen Mary University of London, London E1 4NS, UK (b) Open and Distance Learning Unit, Queen Mary University of London, London E1 4NS, UK (c) Computer Science, Roskilde University, DK-4000, Denmark Article History: Received 27 September 2004; Accepted 3 March 2005

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.compind.2005.03.004 Byline: Richard Crowder, Gary Wills, Wendy Hall Keywords: Open Hypermedia; Manufacturing; Effort Analysis Abstract: The most common questions asked by industrialists regarding any electronic based systems to support maintenance activities are, what are the benefits and how much will it cost. In this paper we will consider these questions by examining two hypermedia based maintenance support systems. In order to access the tangible and intangible benefits of hypermedia, the identification of benefits and cost are required at an early stage of the development process. This paper discusses some of the benefits to be gained by industry from using hypermedia applications to support their information provision. The cost is directly related to the effort required to produce a hypermedia application, with the greatest effort in authoring. Two methods of costing are presented: a detailed engineering approach and an approach using heuristics. In addition we will comment on how the presented approaches can be applied to Web and Semantic Web applications. Author Affiliation: Intelligence Agent Multimedia Group, School of Electronics and Computer Science, Department of Electronics and Computer Science, University of Southampton, UK Article History: Received 15 April 2004; Accepted 21 March 2005

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.cose.2009.03.002 Byline: Gedare Bloom (a), Bhagirath Narahari (a), Rahul Simha (a), Joseph Zambreno (b) Abstract: Integrated circuits (ICs) are often produced in foundries that lack effective security controls. In these foundries, sophisticated attackers are able to insert malicious Trojan circuits that are easily hidden in the large, complex circuitry that comprises modern ICs. These so-called Trojan circuits are capable of launching attacks directly in hardware, or, more deviously, can facilitate software attacks. Current defense against Trojan circuits consists of statistical detection techniques to find such circuits before product deployment. The fact that statistical detection can result in false negatives raises the obvious questions: can attacks be detected post-deployment, and is secure execution nonetheless possible using chips with undetected Trojan circuits? In this paper we present the Secure Heartbeat And Dual-Encryption (SHADE) architecture, a compiler-hardware solution for detecting and preventing a subset of Trojan circuit attacks in deployed systems. Two layers of hardware encryption are combined with a heartbeat of off-chip accesses to provide a secure execution environment using untrusted hardware. The SHADE system is designed to complement pre-deployment detection techniques and to add a final, last-chance layer of security. Author Affiliation: (a) The George Washington University, Department of Computer Science, Academic Center 7th Floor, 801 22nd Street NW, Washington, DC 20052, United States (b) Iowa State University, Department of Electrical and Computer Engineering, 2215 Coover Hall, Ames, IA 50011, United States Article History: Received 30 January 2009; Revised 12 March 2009; Accepted 13 March 2009

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.cie.2009.04.007 Byline: Li Chunlin, Li Layuan Keywords: Grid computing; System-centric scheduling; Simulation Abstract: In grid computing, grid users who submit applications and resources providers who provide resources have different motivations when they join the grid. Application-centric scheduling aims to optimize the performance of individual application. Resource-centric scheduling aims to optimize the resource utilization of resources provider. Due to autonomy both in grid users and resource providers, the objectives of application-centric and resource-centric scheduling often conflict. The paper proposes a system-centric scheduling that provides a solution of joint optimization of the objectives for both the grid resource and grid application. Utility functions are used to express the objectives of grid resource and application. The system-centric scheduling policy can be formulated as joint optimization of utilities of grid applications and grid resources, which combine both application centric and resource-centric scheduling benefits. Simulations are conducted to study the performance of the system-centric scheduling algorithm. The experiment results show that the system-centric scheduling algorithm yields significantly better performance than application-centric scheduling algorithm and resource-centric scheduling algorithm. Author Affiliation: Department of Computer Science, Wuhan University of Technology, Wuhan 430063, PR China Article History: Received 19 August 2007; Revised 9 December 2008; Accepted 14 April 2009

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.cie.2008.12.005 Byline: Mehdi Ghatee (a), S. Mehdi Hashemi (a), M. Zarepisheh (b), E. Khorram (b) Keywords: Network design; Fuzziness; Multi-objective MCFP; Risk attitude; Pessimistic and optimistic viewpoints Abstract: This paper studies the minimal cost flow problem (MCFP) with fuzzy link costs, say fuzzy MCFP, to understand the effect of uncertain factors in applied shipment problems. With respect to the most possible case, the worst case and the best case, the fuzzy MCFP can be converted into a 3-objective MCFP. Applying a lexicographical ordering on the objective functions of derived problem, two efficient algorithms are provided to find the preemptive priority-based solution(s), namely p-successive shortest path algorithm and p-network simplex algorithm. In both of them, lexicographical comparison is used which is a natural ordering in many real problems especially in hazardous material transportation where transporting through some links jeopardizes people's lives. The presented schemes maintain the network structure of problem and so, they are efficiently implementable. A sample network is also given to illustrate the procedure and to compare the computational experiences with those of previously established works. Finally, the presented approach is applied to find an appropriate plan to transit hazardous materials in Khorasan roads network using annual data of accidents. Author Affiliation: (a) Department of Computer Science, Amirkabir University of Technology, No. 424, Hafez Avenue, Tehran 15875-4413, Iran (b) Faculty of Mathematics and Computer Sciences, Amirkabir University of Technology, No. 424, Hafez Avenue, 15914 Tehran, Iran Article History: Received 2 August 2007; Revised 2 April 2008; Accepted 10 December 2008 Article Note: (footnote) [star] The first and the second authors were partially supported by Road Maintenance & Transportation Organization, Ministry of Roads & Transportation of Iran.

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.ipm.2009.02.002 Byline: Alexandros Nanopoulos (a), Dimitrios Rafailidis (b), Maria M. Ruxanda (c), Yannis Manolopoulos (b) Keywords: Multimedia information retrieval; Audio input/output; Sound and music computing; Web search Abstract: Nowadays we have a proliferation of music data available over the Web. One of the imperative challenges is how to search these vast, global-scale musical resources to find preferred music. Recent research has envisaged the notion of music search engines (MSEs) that allow for searching preferred music over the Web. In this paper, we examine the growing research topic of MSEs, and provide potential specifications to follow and challenges to face. Author Affiliation: (a) Hildesheim University, Institute of Computer Science, Germany (b) Department of Informatics, Aristotle University of Thessaloniki, Greece (c) Department of Computer Science, Aalborg University, Denmark Article History: Received 8 April 2008; Revised 2 February 2009; Accepted 3 February 2009

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.cose.2008.11.008 Byline: Jen-Ho Yang (a), Chin-Chen Chang (a)(b) Abstract: Recently, remote user authentication schemes are implemented on elliptic curve cryptosystem (ECC) to reduce the computation loads for mobile devices. However, most remote user authentication schemes on ECC are based on public-key cryptosystem, in which the public key in the system requires the associated certificate to prove its validity. Thus, the user needs to perform additional computations to verify the certificate in these schemes. In addition, we find these schemes do not provide mutual authentication or a session key agreement between the user and the remote server. Therefore, we propose an ID-based remote mutual authentication with key agreement scheme on ECC in this paper. Based upon the ID-based concept, the proposed scheme does not require public keys for users such that the additional computations for certificates can be reduced. Moreover, the proposed scheme not only provides mutual authentication but also supports a session key agreement between the user and the server. Compared with the related works, the proposed scheme is more efficient and practical for mobile devices. Author Affiliation: (a) Department of Computer Science and Information Engineering, National Chung Cheng University, 160 San-Hsing, Ming-Hsiung, Chiayi 621, Taiwan, ROC (b) Department of Information Engineering and Computer Science, Feng Chia University, 100 Wenhwa Rd., Seatwen, Taichung 40724, Taiwan, ROC Article History: Received 21 August 2008; Accepted 26 November 2008

Byline: Dustin Walsh, Chad Livengood and Kirk Pinho On paper, Amazon Inc.'s quest for a second headquarters in North America employing 50,000 people in the next 15 years looks like [...]

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.compind.2006.04.012 Byline: Kuo-Ming Chao (a), Muhammad Younas (b), Nathan Griffiths (c) Keywords: Grid Services; Workflow; Cooperative design Abstract: Engineers and scientists often do not have access to workflow control or sufficient computational resources, either due to limited resource availability and lack of process controls, or because of the quantity of data produced. The availability of Grid Services (e.g. GT3) presents a potentially feasible method to overcome the barriers of sharing heterogeneous computational resources. However, a lack of sophisticated coordination mechanisms for specifying workflow deters the widespread adoption of Grid Services. There is a need for a seamless, flexible, demand-based service to enable engineers and scientists to submit jobs to a computational Grid from remote sources in a manner that ensures that jobs are executed in an efficient, controlled method. In this paper, we propose a system that adopts Business Process Execution Language for Web Services (BPEL4WS) as a coordination language to define and manage workflow among Grid Services to meet engineering requirements. A prototype system is built and evaluated with a case study from the automotive industry to demonstrate the feasibility of the proposed system. Author Affiliation: (a) Department of Computer and Network Systems, Coventry University, UK (b) Department of Computing, Oxford Brookes University, UK (c) Department of Computer Science, University of Warwick, UK Article History: Accepted 27 April 2006

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.cose.2005.09.003 Byline: Vipul Goyal (a), Virendra Kumar (a), Mayank Singh (a), Ajith Abraham (b), Sugata Sanyal (c) Abstract: The most popular method of authenticating users is through passwords. Though passwords are the most convenient means of authentication, they bring along themselves the threat of dictionary attacks. While offline dictionary attacks are possible only if the adversary is able to collect data for a successful protocol execution by eavesdropping on the communication channel and can be successfully countered by using public key cryptography, online dictionary attacks can be performed by anyone and there is no satisfactory solution to counter them. In this paper, we propose an authentication protocol which is easy to implement without any infrastructural changes and yet prevents online dictionary attacks. Our protocol uses only one way hash functions and eliminates online dictionary attacks by implementing a challenge-response system. This challenge-response system is designed in a fashion that it hardly poses any difficulty to a genuine user but is extremely burdensome, time consuming and computationally intensive for an adversary trying to launch as many as hundreds of thousands of authentication requests as in case of an online dictionary attack. The protocol is perfectly stateless and thus less vulnerable to denial of service (DoS) attacks. Author Affiliation: (a) Crypto Group, Institute of Technology, Banaras Hindu University, India (b) IITA Professorship Program, School of Computer Science and Engineering, Chung-Ang University, South Korea (c) School of Technology and Computer Science, Tata Institute of Fundamental Research, India Article History: Revised 25 August 2005; Accepted 21 September 2005

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.compind.2005.05.004 Byline: A. Jimeno, J.L. Sanchez, H. Mora, J. Mora, J.M. Garcia-Chamizo Keywords: Tool path computing; Virtual digitizing; Specific hardware architectures; Reconfigurable computing Abstract: Tool path generation is one of the most complex problems in computer aided manufacturing. Although some efficient strategies have been developed, most of them are only useful for standard machining. The algorithm called Virtual Digitizing computes the tool path by means of a virtually digitized model of the surface and a geometry specification of the tool and its motion, so it can even be used in non-standard machining. This algorithm is simple and robust and avoids the problem of tool-surface collision by its own definition. A Virtual Digitizing optimisation that makes the most of specific hardware in order to improve the algorithm efficiency is presented in this paper. A comparative study will show the gain achieved in terms of total computing time. We also present a FPGA-based architecture that can be used to produce rotations with more precision and speed than other well-known classic implementations. Author Affiliation: Computer Science Technology and Computation Department, University of Alicante, Apdo. Correos 99, 03080 Alicante, Spain Article History: Received 11 November 2004; Accepted 13 May 2005

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.ipm.2004.11.003 Byline: ChengXiang Zhai (a), John Lafferty (b) Keywords: Retrieval models; Risk minimization; Statistical language models; Bayesian decision theory Abstract: This paper presents a probabilistic information retrieval framework in which the retrieval problem is formally treated as a statistical decision problem. In this framework, queries and documents are modeled using statistical language models, user preferences are modeled through loss functions, and retrieval is cast as a risk minimization problem. We discuss how this framework can unify existing retrieval models and accommodate systematic development of new retrieval models. As an example of using the framework to model non-traditional retrieval problems, we derive retrieval models for subtopic retrieval, which is concerned with retrieving documents to cover many different subtopics of a general query topic. These new models differ from traditional retrieval models in that they relax the traditional assumption of independent relevance of documents. Author Affiliation: (a) Department of Computer Science, University of Illinois at Urbana-Champaign, Illinois, United States (b) School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, United States Article History: Accepted 12 November 2004

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.cie.2003.11.004 Byline: Paulo M. Franca (a), Jatinder N.D. Gupta (b), Alexandre S. Mendes (d), Pablo Moscato (d), Klaas J. Veltink (c) Abstract: This paper considers the problem of scheduling part families and jobs within each part family in a flowshop manufacturing cell with sequence dependent family setups times where it is desired to minimize the makespan while processing parts (jobs) in each family together. Two evolutionary algorithms -- a Genetic Algorithm and a Memetic Algorithm with local search -- are proposed and empirically evaluated as to their effectiveness in finding optimal permutation schedules. The proposed algorithms use a compact representation for the solution and a hierarchically structured population where the number of possible neighborhoods is limited by dividing the population into clusters. In comparison to a Multi-Start procedure, solutions obtained by the proposed evolutionary algorithms were very close to the lower bounds for all problem instances. Moreover, the comparison against the previous best algorithm, a heuristic named CMD, indicated a considerable performance improvement. Author Affiliation: (a) Departamento de Engenharia de Sistemas, DENSIS Universidade Estadual de Campinas, UNICAMP C. P. 6101, 13081-970 Campinas, SP, Brazil (b) Department of Accounting and Information Systems, College of Administrative Science, The University of Alabama in Huntsville, Huntsville, AL 35899, USA (c) Department of Econometrics, University of Groningen Postbus 800, 9700 AV Groningen, The Netherlands (d) Department of Computer Science, School of Electrical Engineering and Computer Science, Faculty of Engineering and Built Environment, University of Newcastle Callaghan, 2308, NSW, Australia Article History: Received 1 April 2001; Revised 1 November 2002; Accepted 1 November 2003

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