@TECHREPORT{Wilhelms01jt-tr-jgt,
	AUTHOR	= "Jane Wilhelms and Van Gelder, Allen",
	TITLE	= "Efficient Spherical Joint Limits with Reach Cones",
	INSTITUTION = "UCSC",
	NUMBER	= "",
	YEAR	= "2001",
	PAGES	= "",
	MONTH	= "April",
        ADDRESS = "",
	NOTE	= "Available at\newline
		{\tt http://www.acm.org/jgt; includes C code.}",
	ANNOTE	= ""
	}