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Value in bold: best known result on the instance is reached. Value underlined: previously best known result on the instance is improved. * tight bound Table 5: Upper bound comparison, Robotics and Computer Integrated Manufacturing (52.2) 1006 (239221) 1009 * 1009 * 986 996 996 t2-ps07 416 970 * (20.0 970 * (927515) 970, pp.73-81, 1018. ,