1. Department of Mathematics and Computer Science Leiden University Niels Bohrweg 1 NL-2333 CA, Leiden The Netherlands
2. Informatik Centrum Dortmund Center for Applied Systems Analysis Joseph-von-Fraunhofer-Strasse 20 D-44227 Dortmund, Germany and Department of Mathematics and Computer Science Leiden University Niels Bohrweg 1 NL-2333 CA, Leiden The Netherlands