A Simple, Robust Leadtime-Quoting Policy Wallace J. Hopp • Melanie Roof Sturgis Department of Industrial Engineering and Management Sciences, Northwestern University, 2145 Sheridan Drive, Evanston, Illinois 60208 W e examine leadtime-quoting polices for minimizing average lead time subject to customer service constraints on fill rate, tardiness, or relative tardiness in simple systems with exponential and normal processing times. By studying the resulting safety leadtimes implied by each policy we gain insight into why some policies perform more robustly with respect to different measures of customer service than do others. This analysis suggests that a simple constant safety leadtime policy should work reasonably well under most conditions. A series of simulation experiments of more complex production environments indicates that the constant safety leadtime policy does indeed exhibit robust performance. This, plus the fact that it is extremely simple to adapt to a wide range of production environments, makes it an attractive basis for real-world leadtime-quoting systems. (Leadtime Quoting; Customer Service; Available to Promise; Capable to Promise) 1. Introduction A critical trade-off in production systems is between responsiveness and customer service. To be competitive in the time-based sense (Stalk and Hout 1990) a firm should quote short, responsive leadtimes. But to be a quality supplier to its customers, the firm must also meet promised due dates reliably. Many traditional manufacturing and service firms negotiated this trade-off by establishing fixed leadtimes (e.g., by publishing them in a catalog or by following a standard rule) based on experience. But the advent of increasingly sophisticated information systems has made available many types of data that can be used to support leadtime quoting. Enterprise Resource Planning (ERP) and SupplyChain Management (SCM) software provide status information on purchase orders and customer demands. Manufacturing Execution Systems (MES) software provides job and equipment status information within the production system. Allocated Available to Promise (AATP) and Capable to Promise (CTP) software systems are designed to assist leadtime quoting by predicting delivery times for prod1523-4614/01/0304/0321$05.00 1526-5498 electronic ISSN ucts that are either in stock or in production (AATP) or for products that have not yet begun production (CTP). Finally, the connection between customer transactions and information in these data bases is becoming increasingly tight as we move toward greater use of e-commerce. As the elements of the customer contact process are automated, however, the incentive to ‘‘humanize’’ the experience through customized service (e.g., real-time leadtime quotes) is growing. Spurred by advances in technology and a desire to provide a high-quality customer experience, firms in many industries are making use of dynamic leadtime quotes. For instance, Dell Computer provides online leadtime quotes to customers ordering PCs over the web. Walt Disney World provides estimates of waiting times at amusement park rides. And many call centers offer automatic messages telling customers how long they can expect to wait to talk to an associate. But in general, these leadtime quotes are not simple estimates of the mean waiting time. Because it is generally better to be early than late, most leadtime quotes contain some kind of safety leadtime. MANUFACTURING & SERVICE OPERATIONS MANAGEMENT 䉷 2001 INFORMS Vol. 3, No. 4, Fall 2001, pp. 321–336 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy This trend suggests that the problem of dynamically choosing safety leadtimes to balance responsiveness with service is increasingly important to managing manufacturing and service systems. However, a difficulty in developing models to support the leadtime-quoting process is deciding how to represent customer service. A standard measure is average f ill rate (i.e., percent of jobs delivered on time). However, under the fill-rate measure, jobs that are a day late have the same impact as jobs that are 10 days late. Because length of delays experienced by customers may be important to service, an alternate measure is average tardiness. But even this may fail to fully capture customers’ perception of service, since jobs that are a day late when quoted 100-day leadtimes may be less offensive than jobs that are one day late when quoted 10-day leadtimes. So a third potential measure is average relative tardiness (i.e., average tardiness as a percent of the leadtime). All three of these measures could apply to customers in the same system. To illustrate this, consider three different customers at a copy shop. (1) Customer 1. Placed an order at 10:00 this morning for copies of an important report that must go out overnight mail and was promised a 4:00 pickup time (i.e., just in time to get the copies in the mail). Any amount of lateness will result in missing the mail pickup and fury on the part of the customer. So, fill rate is the proper measure of service for this customer. (2) Customer 2. Placed an order yesterday for copies of an office report and was promised a 4:00 pickup time today. She doesn’t really need the copies until tomorrow, but has a dinner engagement an hour away. So, any delay in the readiness of the copies will cause her to be late for her engagement. Since a 60minute delay is clearly worse than a 5-minute delay, average tardiness is a reasonable measure of service for this customer. (3) Customer 3. Placed an order three weeks ago for bound copies of company reports and was promised a 4:00 pickup time today. However, he is not planning to check on their availability until tomorrow because he has some open time in his schedule then. He knows from experience that a three-week leadtime 322 doesn’t mean that the job will be done in precisely that amount of time anyway. So, for long leadtime jobs like this, he generally picks them up on the Friday after the due date (after calling to see if they are ready). However, he also places orders with short leadtimes (e.g., drop off in the morning, pick up that afternoon), which he expects to be done the same day. Because of his differing expectations for jobs with different leadtimes, relative tardiness is a plausible measure of service for this customer. Clearly no single measure captures service for all customers. Given this, firms can respond in one of two ways: (1) They can differentiate between customers based on information about them. This is what many AATP and CTP systems do; they classify customers on the basis of past sales history, source of customer order, or other data, and apply different leadtime rules for each category. (2) They can apply a uniform rule to all customers and hope that it performs robustly well. In systems where customer information is not available (e.g., many call center systems) or fairness considerations prevent differential treatment (e.g., many waiting line situations), this approach is all that is available. In this paper our primary focus is the second class of environments, where customers are treated uniformly in first-come-first-serve (FCFS) order and the objective is to find a dynamic leadtime-quoting policy that performs well in different environments under different measures of service. Our results may be indirectly relevant to the first class of environments as well, since a FCFS protocol could be used to quote leadtimes within customer categories. The approach we take is to first derive optimal (or near optimal) leadtime-quoting policies for simple single-step production environments that minimize average leadtime subject to either a fill-rate constraint, a tardiness constraint, or a relative tardiness constraint. Then we evaluate the performance of these policies with respect to all three performance measures to see how robustly they perform. For some simple systems, we are able to compare performance against the analytically optimal policy. By examining the nature of the safety leadtimes implied by the opMANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy timal policies for different measures we gain insight into why some policies perform more robustly than others. This analysis suggests that a simple policy using constant safety leadtimes—termed the ‘‘constant policy’’—should be effective. We then test the constant policy, along with the others, in various complex environments and find that it does indeed produce robust results relative to the various measures of service. This robustness, combined with its simplicity, makes it an attractive option for leadtime quoting in real-world systems. The remainder of this paper is organized as follows: Section 2 contains a brief survey of leadtime-quoting policies. Section 3 formalizes the leadtime-quoting problem and derives several leadtime-quoting policies based on different service constraints and assumptions about the underlying production system. Section 4 reports the performance measures resulting from each leadtime policy for a fixed average leadtime for various production systems. Section 5 summarizes the conclusions from our work. 2. Literature Review Cheng and Gupta (1989) surveyed due-date-setting methods and noted that many of them specify a cost function (e.g., average tardiness, average lateness, or total aggregate cost) to be minimized. Examples of this approach can be found in Adam et al. (1993), Dellaert (1991), Fry et al. (1989), Philipoom et al. (1994), Raman and Talbot (1993), and Udo (1993). A number of papers address the due date problem from a scheduling perspective. Weng (1996) considered an environment with demand from leadtimesensitive and leadtime-insensitive customers and determined the optimal leadtime policy and the acceptance rate for both types of customers. Duenyas (1995) also looked at due-date setting for different customer classes and developed a heuristic for setting due dates, as well as sequencing customer orders. Gordon and Strusevich (1999) presented algorithms for solving the scheduling and common slack duedate assignment problems to minimize earliness penalties subject to precedence constraints. Qi and Tu (1998) also developed algorithms that solved this problem where jobs were assumed independent. In MANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 both of these studies, a due-date-setting rule (namely, the common slack rule) was specified. Another approach to the leadtime-quoting problem, which we adopt in this paper, is to minimize average leadtimes (or weighted average leadtime) subject to some sort of service constraint. Bookbinder and Noor (1985) solved the leadtime-quoting problem subject to a fill-rate constraint for a single server with exponential processing times. They modeled batch arrivals and incorporated job scheduling. Wein (1991) looked at minimizing average weighted leadtimes subject to a fill-rate constraint as well as a constraint on average tardiness by examining parametric and nonparametric leadtime policies via simulation for a multiclass M/G/1 queueing system. Spearman and Zhang (1999) also looked at minimizing average leadtime subject to (a) a fill-rate constraint and (b) an average tardiness constraint. Representing the production system as an M/M/1 queue, they showed that the optimal solution to problem (a) could lead to unethical management decisions (i.e., deliberately quoting zero leadtimes with no chance of on-time delivery) and the solution to problem (b) is a constant service leadtime policy (i.e., leadtimes are quoted such that the expected fill rate is the same for all orders regardless of the work backlog at the time of the order). Unlike Bookbinder and Noor (1985), they considered a single-class queuing system and assumed first-come-first-serve production. Hopp and Roof (2000) applied the results of Spearman and Zhang’s (1999) constant service policy and developed a statistical service control (SSC) method to dynamically set leadtime quotes to meet fill rate constraints. Enns (1994) also set due dates subject to a fill-rate constraint and developed a dynamic forecasting model which encompassed flow time estimates and forecast errors. Lawrence (1995) also estimated flow times with a forecasting model and used empirical data on the forecast errors to set due dates with consideration of various objectives including fill rate, cost, mean absolute lateness, and mean squared lateness. 3. Modeling the Leadtime-Quoting Problem We consider the leadtime-quoting problem (LQP) in the context of a single product, make-to-order system 323 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy in which customers are served in first-come-firstserved (FCFS) order. Many service systems (e.g., call centers, amusement parks, banks, retail outlets) are operated in this manner. In manufacturing, FCFS is less pervasive but is still used. For example, a large metal manufacturer with whom we interacted has three divisions, two of which quote orders FCFS and one of which reserves capacity blocks for rush orders by high-priority customers. Since many customers desire delivery sooner rather than later, being able to quote reasonable leadtimes is an important determinant of a firm’s competitiveness. Firms with long leadtime quotes are likely to lose customers to the competition. But firms that do not deliver on their leadtime promises are also likely to lose business over the long term. Therefore, a natural objective under these conditions is to quote leadtimes as a function of the number of customers ahead of the current customer so as to minimize average leadtime subject to a customer service constraint. Mathematically, we can express the LQP as min l̃ 冘 p(n)l(n) ⫽ L¯ (1) E[g(l˜ )] ⱕ  (2) n s.t. where n ⫽ number of jobs seen by an arriving job (i.e., the job for which we are computing a leadtime quote) including itself, l(n) ⫽ leadtime for jobs that see n jobs in the system upon arrival, l̃ ⫽ the vector of leadtimes for n ⫽ 1, 2, . . . , p(n) ⫽ the long-run probability that an arriving job sees n jobs in the system, L̄ ⫽ average leadtime, g(l̃ ) ⫽ customer service measure (e.g., fraction of tardy jobs, average tardiness, average relative tardiness) as a function of l̃, and  ⫽ customer service target value. We have used average leadtime as the criterion in the LQP because it is an extremely common measure of responsiveness used in industry. The implicit assumption underlying this choice is that shortening a two-day leadtime by one day is equally valued by 324 customers as shortening a 10-day leadtime by one day. But other measures are possible. For example, call centers often focus on a percentile (e.g., the 80th percentile) instead of the mean. Furthermore, if customer preferences were such that a one-day reduction in leadtime is valued more for short leadtimes than for long leadtimes (i.e., because it is a greater percentage reduction), then average leadtime could be replaced by a strictly concave function of leadtime. Although we have never encountered a firm that actually used a measure like this for evaluating leadtimes, it would be an interesting future research topic to determine how robust various leadtime-quoting policies are under this and other plausible objectives. As we show below, the solution to the LQP depends strongly on what measure is used to represent customer service in Equation (2). In this paper we consider three possibilities: fraction of tardy jobs (one minus fill rate), average tardiness, and average relative tardiness. The solution to the LQP also depends on flow times, which are in turn dependent on processing times. In this paper we consider simple M/ M/1 and M/G/1 (with normal processing times) models of flow time, as well as more complicated multistation production systems. To develop solutions to the LQP, we will make use of the following notation. FT(n) ⫽ flow time of a job that sees n jobs in the system, a random variable, (n) ⫽ mean flow time of a job that sees n jobs in the system, (n) ⫽ standard deviation of flow time of a job that sees n jobs in the system, z␣ ⫽ ␣-percentile of the standard normal distribution, ⫽ control parameter used to adjust a leadtime policy to ensure the customer service constraint is met, f n( ) ⫽ probability density function (pdf) of flow time of a job that sees n jobs in the system, Fn( ) ⫽ cumulative distribution function (cdf) of flow time of a job that sees n jobs in the system. MANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy Since M/M/1 and M/G/1 models are not representative of real-world production environments, policies derived for them may not satisfy the customer service constraint when used in more complex environments. Therefore, we modify the leadtime policies to contain a single control parameter, , that allows us to adjust them to ensure the service constraint is met. Hopp and Roof (1998) used such a control parameter to dynamically adjust due dates to meet a fill-rate constraint. 3.1. Leadtime Policies Subject to a Fill-Rate Constraint (LQP-F) If we represent the production system as a simple M/ M/1 queue, the LQP subject to a fill-rate constraint (LQP-F) can be formulated as min 冘 p(n)l(n) (3) n s.t. 冘 p(n)F [l(n)] ⱖ ␣, n n (4) where ␣ is the target fill-rate value. To be consistent with our original formulation of the LQP, note that ␣ ⫽ 1 ⫺ . 3.1.1. Fill-Rate Constraint—Exponential Processing Times. Spearman and Zhang (1999) solved the LQP-F for an M/M/1 system by finding l(n) values such that f n(l(n)) ⫽ 1/ where is the Lagrange multiplier. They showed that for some n⬘, the solution f n(l(n)) ⫽ 1/ does not exist for all n ⱖ n⬘. In those instances, the optimal leadtime quote is l(n) ⫽ 0. This implies that it is optimal (although unethical) to quote leadtimes that are impossible to achieve (i.e., quote zero leadtimes) to customers that see n⬘ jobs or more in the system. 3.1.2. Fill-Rate Constraint—Exponential Processing Times (Bounded). Realizing that quoting zero leadtimes is not practical, we modify the LQP-F and add another constraint requiring quoted leadtimes to customers that see n jobs in the system to be at least equal to the mean flow time for all customers that see n jobs in the system. (Of course, we could set any arbitrary lower limits on leadtime quotes, but we use mean flow time as a representative and ‘‘fair’’ option.) The leadtime-quoting problem with a fill-rate MANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 constraint and bounds on the quotes (LQP-FB) can be expressed as min 冘 p(n)l(n) (5) n 冘 p(n)F [l(n)] ⱖ ␣, s.t. (6) n n l(n) ⱖ (n) ∀ n. (7) The solution to the LQP-FB is very similar to that of the LQP-F and results in l(n) such that f n(l(n)) ⫽ 1/ or l(n) ⫽ (n) when f n(l(n)) ⫽ 1/ does not exist. Note that the value of that solves this problem can be different from the value of that solves the LQP-F. For our purposes, is merely a control parameter that can be adjusted to ensure the constraint is met. 3.1.3. Fill-Rate Constraint—Normal Processing Times. The above solutions to the LQP are elegant but may not perform well in realistic systems because they were derived under restrictive M/M/1 assumptions. To be more general, we now consider the case where processing times are i.i.d normal random variables. Under this assumption, constraint (4) of LQP-F can be written as: ⫺ (n) 冘 p(n)⌽ [l(n)(n) ] ⱖ ␣. ⬁ (8) n Note that we use ⌽() to represent the cdf (pdf) of the standard normal distribution. We can write the Lagrangian of the LQP-F as L⫽ ⫺ (n) 冘 p(n)l(n) ⫺ [冘 p(n)⌽ [l(n)(n) ] ⱖ ␣]. ⬁ ⬁ n n (9) Taking the partial of L with respect to l(n) we get the following: [ ] L l(n) ⫺ (n) 1 ⫽ p(n) ⫺ p(n) ⫽ 0. l(n) (n) (n) (10) Solving for l(n), the leadtime quote, yields 冪 l(n) ⫽ (n) ⫹ (n) ⫺2 ln [ ] 兹2 2 (n) . (11) For low fill-rate levels, the radical term in Equation (11) is undefined (i.e., the value under the radical is negative) for some values of n in certain systems. In these instances, we choose to set l(n) equal to (n) so 325 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy that, as in the LQP-FB, the leadtime quote for a customer that sees n jobs in the system is quoted at least the mean flow time. 3.2. Leadtime Policies Subject to a Tardiness Constraint (LQP-T) The leadtime-quoting problem subject to a tardiness constraint (LQP-T) can be formulated as min 冘 p(n)l(n) (12) n s.t. 冘 p(n)E{[FT (n) ⫺ l(n)] } ⱕ , ⫹ where  is the target average relative-tardiness level (i.e., ratio of tardiness to leadtime quote). 3.3.1. Relative Tardiness—Exponential Processing Times. If we assume exponential processing times, then the flow time of a job that sees n jobs in the system is n-Erlang. Hence, the expected value in constraint (17) of LQP-RT can be written as E 冦 冧 冕 [FT (n) ⫺ l(n)]⫹ ⫽ l(n) ⬁ xn ⫺ l(n) e ⫺xn · dx l(n) (n ⫺ 1)! n l(n) (13) ⫽ e ⫺l(n) n where  is the target average tardiness level. 3.2.1. Tardiness Constraint—Exponential Processing Times. Spearman and Zhang (1999) showed that the solution to the LQP-T with exponential processing times is to quote leadtimes such that 1 Fn [l(n)] ⫽ 1 ⫺ . (14) 3.2.2. Tardiness Constraint—Normal Processing Times. Hopp and Roof (2000) showed that the solution to the LQP-T with i.i.d normal processing times is l(n) ⫽ (n) ⫹ z␣(n)兹n (15) with ⫽ 1. Note that since the solution to the LQP-T is to quote leadtimes such that the same fill rate is experienced by each customer, ␣ represents that target fill rate. Hence, if flow times were independent normal random variables, then ⫽ 1 would yield a fill rate of ␣. To accommodate cases where the i.i.d normal assumption is violated, we include as a control parameter. 3.3. Leadtime Policies Subject to a RelativeTardiness Constraint (LQP-RT) The leadtime-quoting problem subject to a relative tardiness constraint (LQP-RT) can be formulated as min 冘 p(n)l(n) (16) n 冘 p(n)E冦[FT (n)l(n)⫺ l(n)] 冧 ⱕ , ⫹ s.t. n 326 (17) n i⫺1 i⫽0 ] . (19) Substituting (19) into constraint (17), the Lagrangian for LQP-RT can be written as L⫽ 冘 p(n)l(n) n⫺i ⫺ 冦 冘 p(n)e 冘 [ i! l(n) ⬁ n⫽0 ⬁ n ⫺l(n) n⫽0 In other words, quote leadtimes such that the same fill rate is experienced by any customer regardless of the congestion level of the system. n⫺i 冘 [ i! l(n) (18) i⫺1 i⫽0 ] 冧 ⫺ . (20) Taking the partial of L with respect to l(n) and setting the result equal to zero yields the following: 冦 [ 冘 (i ⫺ 1)(ni! ⫺ i) l(n) ⫺e 冘 n ⫺i! 1 l(n) ]冧 ⫽ 0. p(n) ⫺ p(n) e ⫺l(n) n (i⫺1)⫺1 i⫽0 n ⫺l(n) i⫺1 i⫽0 (21) Unfortunately, we cannot simplify this to get a closed-form expression for l(n). However, we can rearrange (21) to get l(n) ⫽ e ⫺l(n) 冦冘 n i!⫺ i l(n) n i⫽0 i⫺1 冧 [i ⫺ 1 ⫺ l(n)] . (22) It is a fairly simple task to solve Equation (22) numerically for l(n) given a value of (e.g., Goal Seek in Excel can do it). To find a value of that achieves the service constraint requires searching over , which is also straightforward. 3.3.2. Relative Tardiness—Normal Processing Times. If we assume i.i.d normal processing times in the LQP-RT, then flow times are nearly normal. The distribution of the flow time of a job that sees n jobs in the system is given by the convolution of n ⫺ 1 process times plus the remaining life of the job curMANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy rently in process. If we approximate this remaining life by a full regular process time, then the flow time can be represented as a normal random variable (FT (n) ⬃ N((n), 2(n))) and the expected value in constraint (17) of LQP-RT can be written as E [ ] ⫽ 冕 冦 ⬁ ]冧 [ x n ⫺ l(n) 1 1 xn ⫺ (n) · exp ⫺ l(n) 2 (n) 兹2(n) l(n) (n) 兹2l(n) ⫹ 冦 exp ⫺ [ 2 冬 ]冧 [ 1 l(n) ⫺ (n) 2 (n) ⫺2ln ⫺l(n) 2 兹2 (n) ⫺ (n) ⫺ (n) 2 l(n) ⫹ (n) ⫻ 2 ] [ ⫻ ] 1 (n) l(n) ⫺ (n) ⫺ 1 erfc , 2 l(n) 兹2(n) 冘 (⫺1) ⬁ i i⫽0 冭 2i l(n) ⫺ (n) (n) [ (23) ] i! 1/2 . (26) where erfc(·) is the complimentary error function. Substituting (23) into Constraint (17), the Lagrangian for LQP-RT can be written as L⫽ l(n) ⫽ (n) ⫹ (n) (FT (n) ⫺ l(n))⫹ l(n) ⫽ We can rearrange this to get the following expression for l(n): 冘 p(n)l(n) Again, this is not a closed-form expression for l(n), so we will have to use a numerical method to solve for the optimal leadtime quotes as a function of n. ⬁ n ⫺ 冦冘 ⬁ n [ p(n) (n) 兹2l(n) ⫹ 冦 exp ⫺ 冢 ]冧 [ 1 l(n) ⫺ (n) 2 (n) 2 冣 冧 ] 冣 冢 1 (n) l(n) ⫺ (n) ⫺ 1 erfc ⫺ . 2 (n) 兹2(n) (24) Taking the partial of L with respect to l(n) and setting the result equal to zero yields: p(n) ⫺ p(n) ⫺ 1 兹2 冦 exp ⫺ ]冧 [ 1 l(n) ⫺ (n) 2 (n) ⫻ [ ⫹ ⫺兹2 1 (n) ⫺1 2 (n) 兹(n) ⫻ 2 ] l(n) ⫺ (n) (n) ⫹ l(n)(n) l(n) 2 [ ][ ] [ l(n) ⫺ (n) (n) i! ] 冘 (1) ⬁ i i⫽0 2i ⫽ 0. MANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 (25) 3.4. Characteristics of Safety Leadtimes Each policy defined above provides an option for setting leadtime quotes as a function of work backlog (n). To gain insight into the differences between these policies and anticipate their robustness over various performance measures, it is useful to separate the leadtime for a job that sees n jobs in the system into an estimate of mean flow time ((n)) plus a safety leadtime (sl(n)): l(n) ⫽ (n) ⫹ sl(n). (27) The key to the difference between leadtime policies is the behavior of sl(n) as a function of n. We examined this behavior for an M/M/1 system with a utilization level of 0.90 and analytically solved for l(n) in the above models (with the assumption that leadtimes are bounded to be at least equal to the expected response time) for the fill rate, tardiness, and relative-tardiness constraints. We controlled l(n) so that average leadtime was the same for each leadtime policy. We then computed the implied safety leadtime, sl(n), by subtracting the mean flow time of jobs that see n jobs in the system, (n), from the leadtime quote, l(n). We graphed the results as a function of n in Figure 1. It is clear from Figure 1 that the character of the 327 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy Figure 1 Safety Leadtimes as a Function of n for an M/M/1 System safety leadtime varies greatly depending on the service constraint. Safety leadtime for the LQP-T, denoted as Tardy SLT, is an increasing function of n. Safety leadtime for the LQP-FB, denoted Fill Rate SLT, is also an increasing function of n but less so than the Tardy SLT safety leadtimes. Safety leadtime for the LQP-RT, denoted as Rel Tardy SLT, increases in n for small values of n but decreases in n for large n. For small values of n, Rel Tardy SLT is greater than Tardy SLT; the reverse is true for large values of n. The reason for this is that for smaller values of n, and hence smaller leadtimes, it is imperative in the relative-tardiness constraint problem for jobs to be completed on time because even a short delay has an enormous impact on relative tardiness. Consequently, unlike the tardiness constraint problem where the likelihood of a job finishing processing on or before the quoted leadtime is the same regardless of n, the fill rate as a function of n tends to decrease in n in the relativetardiness constraint problem. Because the safety leadtimes are so different, we 328 would expect them to perform differently with respect to the various measures of customer service. Moreover, since Fill Rate SLT lies between Tardy SLT and Rel Tardy SLT, we would expect the fill-rate leadtime policy to perform better in terms of average tardiness than the relative-tardiness leadtime policy and better in terms of average relative tardiness than the tardiness leadtime policy. That is, the fill-rate policy should perform more robustly than the other two policies. 3.5. Constant Safety Leadtime Policy Figure 1 also suggests that a simple leadtime policy with safety leadtime that is constant across n might be effective, since it would result in safety lead times that lie in between the extremes of those implied by the various policies. So, in addition to the policies derived above, we will investigate the following policy. l(n) ⫽ (n) ⫹ , (28) which we term the Constant SLT policy. Here, the MANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy Table 1 Summary of Leadtime Policies LT Policy Constraint Leadtime Equation 冪 Fill Rate-Norm Average Fill Rate Fill Rate-Exp Average Fill Rate f n [l(n)] ⫽ Fill Rate-Exp (bounded) Average Fill Rate f n [l(n)] ⫽ Tardy-Norm Average Tardiness Tardy-Exp Average Tardiness Relative TardyNorm l(n) ⫽ (n) ⫹ (n) ⫺2 ln 1 1 Flow Times 兹2 2 (n) [ ] Normal Flow Times or l(n) ⫽ 0 Erlang Flow Times or l(n) ⫽ (n) Erlang Flow Times l(n) ⫽ (n) ⫹ z␣ (n)兹n Fn [l(n)] ⫽ 1 ⫺ Normal Flow Times Erlang Flow Times 1 冑 Average Relative Tardiness l(n) ⫽ (n) ⫹ (n) Average Relative Tardiness l(n) ⫽ e⫺l (n) Constant None l(n) ⫽ (n) ⫹ (n) ⫺ (n) ⫺l(n) 2 兹2 ⫺ (n) 2 l(n) ⫹ (n) ⫺2 ln 冦冘 (n ⫺i! i) l(n) Relative TardyExp n i⫺1 ⬁ i⫽0 [ 冧 [i ⫺ 1 ⫺ l(n)] i⫽1 control for ensuring the customer service constraint is met, , is simply the safety leadtime. Because of its simplicity, the Constant SLT policy is prevalent in industry. Virtually all MRP systems include a mechanism for inflating leadtimes by a constant amount; this is the equivalent of using the Constant SLT policy for internal leadtime quotes. Some service systems make use of this policy too. For example, during a recent trip to an amusement park, one of the authors noted that the estimated wait times posted at queues consistently exceeded actual waits by five minutes, regardless of the length of the queue. (Even empty queues had posted wait times of five minutes.) Whatever safety leadtime mechanism the park was using, the net effect was very close to that of the Constant SLT policy. 3.6. Leadtime Policy Overview We summarize all of the candidate leadtime policies in Table 1. For each leadtime-quoting policy, this table gives the definition of customer service used in the constraint, the formula for quoting leadtimes, and the key assumption about the distribution of the flow MANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 冘 2i l(n) ⫺ (n) (n) (⫺1)i i! ] Normal Flow Times Erlang Flow Times No Flow Time Assumption times. We label each policy according to its constraint and assumption from which the leadtime policy was derived. For example, Fill Rate-Norm refers to the leadtime policy derived when a fill-rate constraint and normal flow times are used. We denote policies with uppercase letters (i.e., Fill Rate-Norm) while constraints are denoted by lowercase letters (i.e., fill rate). 4. Numerical Analysis To compare the performance of the various leadtime policies, we tested each leadtime policy on a variety of production systems. We adjusted the control parameter () so that average leadtime for all policies was the same. We then compared their performance in terms of average fill rate, average tardiness, and average relative tardiness. 4.1. Simple Systems We began by testing the policies in simple environments represented by the M/M/1 and M/G/1 (with normal processing times) queues. Since the M/M/1 329 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy Table 2 Average Performance Measures for the M/M/1 System Performance Error Relative to ‘‘Best’’ Leadtime Policy Fill Rate Tardy Rel Tardy Fill Rate Tardy Rel Tardy Max Error Fill Rate-Norm Fill Rate-Exp Fill Rate-Exp (bounded) Tardy-Norm Tardy-Exp Relative Tardy-Norm Relative Tardy-Exp Constant ‘‘Best’’ for Measure 89.53% 90.57% 89.71% 84.39% 90.30% 89.68% 89.94% 89.69% 90.57% 0.336 0.507 0.301 0.272 0.234 0.311 0.281 0.286 0.234 0.016 1.1% 0.0% 0.9% 6.8% 0.3% 1.0% 0.7% 1.0% 44% 117% 29% 16% 0% 33% 20% 22% 6% 44% ⬁ 0.015 0.052 0.017 0.015 0.015 0.015 0.015 system was used to derive the ‘‘Exp’’ policies we would expect them to perform best in terms of their respective service measures. Similarly, since the M/ G/1 system was used to derive the ‘‘Norm’’ policies we would expect them to perform well in this environment. (However, since we simplified the distribution of the remaining life, it is not as clear that the ‘‘Norm’’ policies should be optimal as it is for the ‘‘Exp’’ policies, which were derived without any simplifying approximations.) 4.1.1. M/M/1 System. We tested an M/M/1 system with processing rate of one job per hour with average interarrival times of 1.1 hours. We simulated the system until we observed 32,000 outputs and recorded the flow time for each job as well as the number of jobs in the system that the arriving job saw (including itself). For each policy we adjusted the control parameter () to make the average leadtime equal to 14.0 hours. Then we observed the performance of each policy with respect to fill rate, tardiness, and relative tardiness. Table 2 summarizes the results of the performance measures for each leadtime policy. As we anticipated, the leadtime policies derived using the exponential processing-time assumption outperform those policies based on the normal flow time assumption. Fill Rate-Exp achieves the highest average service level among all policies, Tardy-Exp achieves the lowest average tardiness among all policies, and Relative Tardy-Exp achieves the lowest average relative tardiness among all policies. 330 ⬁ 1% 251% 13% 4% 0% 4% ⬁ 29% 251% 13% 33% 20% 22% Table 2 also compares the error of each policy relative to the ‘‘Best’’ leadtime policy for each performance measure. For example, the difference in average fill rate (as a percentage of the ‘‘Best’’ policy) between Tardy-Norm and Fill Rate-Exp is 6.8%. This implies that using the Tardy-Norm policy to quote leadtimes would achieve a fill rate that is 6.8% lower than the fill rate that would be achieved if we quoted leadtimes based on the Fill Rate-Exp policy for the same average leadtimes. Finally, Table 2 reports the maximum relative error for a given policy across all three performance measures. For example, the maximum error for the TardyNorm leadtime policy is 251%. This maximum error gives an indication of the robustness of the policies to the definition of customer service. 4.1.2. M/G/1 System. We tested an M/G/1 system with normal processing times with a mean processing time of one hour and a standard deviation of 0.3 hours. We simulated 32,000 outputs with average interarrival times of 1.1 hours. We recorded the flow time for each job as well as the number of jobs in the system that the arriving job saw (including itself). For each policy, we adjusted the control parameter () to make the average leadtime equal to 7.5 hours. Again we compared the policies in terms of fill rate, tardiness, and relative tardiness. Table 3 summarizes the resulting performance measures for each policy, compares the relative error of each policy relative to the ‘‘Best’’ policy, and reports the maximum error across all performance measures. MANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy Table 3 Average Performance Measures for the M/G/1 System Performance Error Relative to ‘‘Best’’ Leadtime Policy Fill Rate Tardy Rel Tardy Fill Rate Tardy Fill Rate-Norm Fill Rate-Exp Fill Rate-Exp (bounded) Tardy-Norm Tardy-Exp Relative Tardy-Norm Relative Tardy-Exp Constant ‘‘Best’’ for Measure 92.84% 91.37% 79.41% 86.82% 87.30% 92.49% 85.07% 92.43% 92.84% 0.049 1.496 0.174 0.039 0.042 0.052 0.258 0.039 0.039 0.003 0.0% 1.6% 14.5% 6.5% 6.0% 0.4% 8.4% 0.4% 27% 3776% 351% 0% 9% 34% 569% 5% ⬁ 0.016 0.014 0.020 0.003 0.016 0.003 0.003 From Table 3 we see that leadtime policies based on the normal flow time assumptions outperform leadtime policies based on the exponential processing-time assumption for the performance criteria from which they were derived. For example Fill RateNorm outperformed Fill Rate-Exp (mean) and Fill Rate-Exp with regard to average fill rate. Tardy-Norm outperformed Tardy-Exp with regard to average tardiness. Relative Tardy-Norm outperformed Relative Tardy-Exp with regard to average relative tardiness. In general, leadtime policies based on exponential processing times perform poorly in terms of robustness for a M/G/1 system with maximum errors at 373%, 485%, 569%, and ⬁. Finally, the clear winner in terms of robustness is the Constant policy with a maximum error of 5%. 4.2. Complex Systems While very useful for deriving formulas and developing intuition, the M/M/1 and the M/G/1 systems are not very representative of real-world production environments. So to test our leadtime-quoting policies under more realistic conditions, we simulated several more complex systems. Our analysis of such systems indicated that policies based on the normal flow time assumption always outperformed policies based on the exponential processing-time assumption. Hence, from this point on we will limit our discussion to policies based on the normal flow time assumption plus the Constant SLT policy. 4.2.1. Four-Machine Normal System. To test a system with serial resources, we simulated four maMANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 Rel Tardy 0% Max Error 27% ⬁ ⬁ 373% 310% 485% 2% 359% 0% 373% 310% 485% 34% 569% 5% chines in tandem with normally distributed processing times with a mean of one hour and a standard deviation of 0.3 hours. We tested this system under three different arrival rates that resulted in utilization levels of 75%, 90%, and 95%. Jobs were processed in order of arrival, and interarrival times were exponentially distributed with an average interarrival time of 1.325, 1.11, and 1.05 hours, respectively. We simulated for 32,000 outputs and recorded the flow time for each job, as well as the number of jobs in the system that the arriving job saw (including itself). For each policy and each utilization level, we adjusted so that the average leadtimes achieved three different levels (low, medium, high). This in turn resulted in three different service levels: ‘‘low’’ (75%), ‘‘medium’’ (90%), and ‘‘high’’ (95%). Hence, we analyzed the performance of 4 leadtime-quoting policies under nine different test conditions (three utilization levels and three leadtime levels). For these nine test conditions, we compared the policies in terms of fill rate, tardiness, and relative tardiness. We also compared the error of each policy relative to the ‘‘Best’’ leadtime policy for each performance measure as we did for the M/M/1 and M/ G/1 systems. The maximum errors across all performance measures for each policy at various leadtimes and utilization levels are listed in Table 4. For example, the maximum error across all three performance measures for a utilization level of 75% is 1% when using the Constant policy for low leadtimes. In other words, 331 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy Table 4 Maximum Percentage Error Across Performance Measures for Various Leadtime and Utilization Levels in the Four Machine Normal System Utilization ⫽ 0.75 Leadtime Levels Utilization ⫽ 0.90 Leadtime Levels Utilization ⫽ 0.95 Leadtime Levels Leadtime Policy Low Med High Low Med High Low Med High Max Error over all Util and LT Levels Fill Rate-Norm Tardy-Norm Relative Tardy-Norm Constant 12 18 22 1 9 53 178 0 0 97 7 5 25 38 35 1 11 106 34 0 0 156 20 3 31 46 36 1 11 134 70 0 0 293 50 18 31 293 70 18 the performance measures achieved from using the Constant policy will be no more than 1% off from the performance measures achieved by using the ‘‘Best’’ policy for the same average leadtime. By reporting the maximum error for various leadtimes and utilization levels, Table 4 shows that errors tend to be worse for high leadtime/utilization combinations. However, the worst error we observe for the Constant policy across all leadtimes and utilization levels is 18%. Recall that we calculated the maximum error based on performance measures that were estimated via simulation. Consequently, it is not a given that the ‘‘Best’’ policy is statistically significantly better than the other policies. Therefore, we performed a twosample t-test to determine which policies were significantly worse than the ‘‘Best’’ policy. We did this by dividing the output into 40 batches and calculating the average fill rate, average tardiness, and average relative tardiness for each batch. We then compared the average fill rate from the 40 batches of the ‘‘Best’’ leadtime policy with the average fill rate from the 40 batches of the other leadtime policies by calculating the appropriate t-statistic. We performed the same comparison on average tardiness and average relative tardiness. Based on this statistic, Table 5 lists the leadtime policies that are significantly different from (worse than) the ‘‘Best’’ policy. Table 5 also lists the utilization level, leadtime level, the performance criteria, the ‘‘Best’’ policy, and the level of significance for the four Machine Normal System. The key conclusions from this analysis are: (1) The Constant policy is never significantly different from the ‘‘Best’’ (in fact, it is the ‘‘Best’’ across 332 all utilization levels and all performance measures for medium leadtime levels). (2) The Constant policy has the smallest maximum error, at 18%, across all performance measures, all leadtime levels, and all utilization levels. The next lowest, as shown in Table 4, is 31% for the Fill RateNorm policy. Thus, the Constant policy is the most robust. (3) The Tardy-Norm policy is the worst performer in terms of average relative tardiness. This is not surprising considering the graph of safety leadtimes presented in Figure 1 where the Tardy and Relative Tardy policies represented the extremes. Because their safety leadtimes are so qualitatively different, these policies do not perform well for each other’s service criterion. 4.2.2. DPRO System. Because the key source of variability in effective process times in many production systems is machine failures, we simulated a serial line with deterministic processing times but with random outages. We designate this system ‘‘DPRO’’ (deterministic processing with random outages). The processing times were assumed deterministic with a duration of one hour. Machines 1, 3, and 4 were assumed reliable. Machine 2 was subject to random failures with mean time to failure (MTTF) and mean time to repair (MTTR) exponentially distributed with means of 40 and 4 hours, respectively. Jobs were processed in order of their arrivals, and interarrival times were also exponentially distributed with average interarrival times of 1.530 hours, 1.246 hours, and 1.173 hours, which yielded utilization rates of 75%, 90%, and 95% on machine 2. We simulated the system for 32,000 outputs and recorded the flow time for each MANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy Table 5 Identification of Leadtime Policies Significantly Different from ‘‘Best’’ Policy for the Four NORM System Utilization Level Leadtime Level low low fill rate Constant low low tardiness Constant low low relative tardiness Fill Rate low medium fill rate Constant low medium tardiness Constant low low low low medium medium medium high high high low low relative tardiness fill rate tardiness relative tardiness fill rate tardiness Constant Fill Rate Fill Rate Fill Rate Constant Constant medium medium medium medium medium medium medium high high low medium medium medium high high high low low relative tardiness fill rate tardiness relative tardiness fill rate tardiness relative tardiness fill rate tardiness Fill Rate Constant Constant Constant Fill Rate Fill Rate Fill Rate Fill Rate Tardy high high low medium relative tardiness fill rate Constant Constant high high medium medium tardiness relative tardiness Constant Constant high high high high high high fill rate tardiness relative tardiness Fill Rate Fill Rate Fill Rate Criterion job, as well as the number of jobs in the system that the arriving job saw (including itself). For each policy and each utilization level, we adjusted so that the average leadtimes achieved three different levels (low, medium, high). This in turn resulted in three different service levels: ‘‘low’’ (75%), ‘‘medium’’ (90%), and ‘‘high’’ (95%). As a result, we analyzed the performance of four leadtime-quoting policies under nine MANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 Best Policy LT Policies Significantly Different from Best Policy Significance Level Tardy Rel Tardy Fill Rate Rel Tardy Tardy Rel Tardy Tardy Rel Tardy Tardy Rel Tardy Tardy Tardy Tardy Tardy Tardy Fill Rate Rel Tardy Tardy Tardy Rel Tardy Tardy Tardy Tardy Tardy Tardy Fill Rate Rel Tardy Tardy Tardy Rel Tardy Rel Tardy Tardy Rel Tardy Tardy Tardy Tardy 5.0% 15.0% 2.5% 0.5% 0.5% 15.0% 0.5% 15.0% 10.0% 5.0% 0.5% 0.5% 0.5% 0.5% 2.5% 10.0% 2.5% 0.5% 0.5% 15.0% 0.5% 0.5% 15.0% 0.5% 10.0% 10.0% 5.0% 0.5% 0.5% 10.0% 5.0% 0.5% 10.0% 0.5% 10.0% 0.5% different test conditions (three utilization levels and three leadtime levels). As we did for the Four-Machine Normal System, we compared the policies in terms of fill rate, tardiness, and relative tardiness for nine test conditions. Again we compared the error of each policy relative to the ‘‘Best’’ leadtime policy for each performance measure. Table 6 summarizes the maximum error 333 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy Table 6 Maximum Percentage Error Across Performance Measures for Various Leadtime and Utilization Levels in the DPRO System Utilization ⫽ 0.75 Leadtime Levels Utilization ⫽ 0.90 Leadtime Levels Utilization ⫽ 0.95 Leadtime Levels Leadtime Policy Low Med High Low Med High Low Med High Max Error over all Util and LT Levels Fill Rate-Norm Tardy-Norm Relative Tardy-Norm Constant 0 0 0 0 17 8 12 7 0 25 0 4 0 0 0 0 14 29 17 9 1 60 1 10 2 6 2 4 11 69 25 6 6 136 17 17 17 136 35 17 across all performance measures for each policy at three different leadtime levels for utilization levels of 75%, 90%, and 95%. Again, we see that the errors tend to be larger for high leadtime/utilization combinations, although the maximum error we found across all leadtimes and utilizations for the Constant policy was 17%. To test statistical significance of the performance of each policy from the ‘‘Best’’ policy, we divided the output into 40 batches and then compared the average fill rate of the 40 batches from each policy to the average fill rate of the 40 batches from the ‘‘Best’’ leadtime policy using the two-sample t-test. We performed similar comparisons for average tardiness and average relative tardiness. Table 7 gives the leadtime level, performance criteria, ‘‘Best’’ policy, and the leadtime policies that are significantly different from the ‘‘Best,’’ along with the significance level. Note that to achieve ‘‘low’’ leadtime levels in the DPRO system with utilization rates of 75% (low) and 90% (medium), each leadtime policy was reduced to simply quoting the average mean flow time as a function of the number of jobs in the system. Adding any slack leadtime to the leadtime quote would only increase the leadtime above the desired level. Thus, the ‘‘Best Policy’’ is not indicated for low leadtime levels with low and medium utilization levels since all the policies were reduced to the same policy of simply quoting the mean leadtime. The key conclusions from Tables 6 and 7 are: (1) The Constant policy and the Fill-Rate policy are the most robust policies with the lowest maximum error of 17% across all performance measures, all leadtime levels, and all utilization levels. 334 (2) The Constant policy never differs significantly from the ‘‘Best’’ policy. 5. Conclusions This paper describes several leadtime-quoting policies that address the problem of minimizing the average leadtime, subject to a constraint on customer service. The policies for systems with exponential flow times and service measured via fill rate and average tardiness are from the previous literature, while the policies for systems with normal flow times and any service definition, as well as policies for any system with service measured via relative tardiness, are new to this paper. Because customer service can reasonably be defined as average fill rate, tardiness, or, as we introduce in this paper, relative tardiness, and because different customers care about different measures, a desirable feature of a leadtime-quoting policy is that it perform robustly well across these service measures, as well as across different production environments. However, because the safety leadtimes resulting from the policies derived for specific definitions of customer service are very different, these specialized policies do not necessarily perform robustly. Based on our analysis of different leadtimequoting methods for simple environments, we conjectured that a simple policy that quotes a constant safety leadtime should be robust for complex systems. Our tests on several simulated production environments supported this conjecture. From Tables 2, 3, 4, and 6 we see that the maximum error across all performance measures, all leadtime levels, and all production systems is 31% for the Fill Rate-Norm polMANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 HOPP AND STURGIS A Simple, Robust Leadtime-Quoting Policy Table 7 Identification of Leadtime Policies Significantly Different from ‘‘Best’’ Policy for the DPRO System Utilization Level Leadtime Level Criterion low low low low low low low medium fill rate tardiness relative tardiness fill rate — — — Tardy low low low low low medium medium medium medium medium medium medium medium medium high high high high high high high medium medium high high high low low low medium medium medium high high high low low low medium medium medium high tardiness relative tardiness fill rate tardiness relative tardiness fill rate tardiness relative tardiness fill rate tardiness relative tardiness fill rate tardiness relative tardiness fill rate tardiness relative tardiness fill rate tardiness relative tardiness fill rate Tardy Rel Tardy Tardy Rel Tardy Fill Rate — — — Tardy Tardy Rel Tardy Fill Rate Fill Rate Constant Rel Tardy Tardy Rel Tardy Constant Tardy Rel Tardy Fill Rate high high high high tardiness relative tardiness Fill Rate Constant icy, 293% for the Tardy-Norm policy, 70% for the Rel Tardy-Norm policy, but only 18% for the Constant policy. Because it is so simple, the constant safety leadtime policy is easily adapted to a broad range of manufacturing and service systems. Specifically, it may be useful for establishing reasonable leadtimes within a Capable to Promise (CTP) system. To strike a suitable balance between leadtime and service, the single control parameter, (i.e., the safety leadtime), can be adjusted in real time using the control chart method outlined by Hopp and Roof (2000). Hopp and Roof give an efficient procedure for adjusting in the case of a fill-rate constraint. In practical settings, however, MANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001 Best Policy LT Policies Significantly Different from Best Policy Significance Level — — — Fill Rate Rel Tardy Fill Rate — — — Tardy — — — Rel Tardy — Tardy Tardy — Tardy — — — — — Tardy Tardy Rel Tardy — Tardy — — — 5.0% 10.0% 10.0% — — — 0.5% — — — 15.0% — 5.0% 15.0% — 0.5% — — — — — 0.5% 5.0% 15.0% — 0.5% since leadtimes are generally quoted in increments of days, it may be possible to simply use a step size of one day. That is, increase (decrease) safety leadtime whenever the current system’s service is statistically higher (lower) than the target level. Further research is needed to determine whether a more efficient stepsize procedure is possible and effective for the LQP, subject to average tardiness and average relative tardiness constraints. 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Oper. Res. 89 259–268. The consulting Senior Editor for this manuscript was Lawrence Wein. This manuscript was received on April 12, 1999, and was with the authors 641 days for 3 revisions. The average review cycle time was 71.3 days. 336 MANUFACTURING & SERVICE OPERATIONS MANAGEMENT Vol. 3, No. 4, Fall 2001