Dietrich Hauptmeier Sven Oliver Krumke Jörg Rambau Hans-Christoph Wirth Euler is Standing in Line. 42-54 http://link.springer.de/link/service/series/0558/bibs/1665/16650042.htm 1999 conf/wg/1999 WG db/conf/wg/wg99.html#HauptmeierKRW99