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I would like to acknowledge the contributions to this work of my thesis advisor,
Professor Sharon Sickel; for her many ideas and criticisms, and her continual
encouragement and support.  I am grateful to the members of my committee,
 Professors Frank Deremer and Carl Morgenstern for their scrutinization
and approval of various drafts. I would also like to thank John McCarthy, Lester
Earnest and the Stanford Artificial Intelligence Laboratory for allowing me access 
to their facilities for the implementation of my research.

I am indebted to all of my friends and family, who never doubted that I would
succeed, thus making it impossible for me to quit.

Finally, I would like to express my deep gratitude to the one person who really
kept me going, my friend, colleague, and husband, John Allen, for his encouragement,
patience, answers, and insights.

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The work reported herein was supported in part by the Office of Naval Research
under contract grant number ONRN0001476C0682.
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