This is over 15 years old. Title should probably reflect that. There are several early versions of the paper: here is probably the definitive one, published in

This is over 15 years old. Title should probably reflect that. There are several early versions of the paper: here is probably the definitive one, published in 2002. https://link.springer.com/article/10.1023%2FA%3A1013298507114?LI=true https://link.springer.com/article/10.1023%2FA%3A101329850711...