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active tail additional costs Ahmadi algorithm amount of rework assume binary search budget cluster completion concurrently consecutive constraint cost curves cost function crashing and overlapping Critical Path Problems decrease Define derived design activities Design for Manufacturability design process design stage i-1 development costs development lead development projects due date due to overlapping Engineering expected rework Ferdows Figure impact implies intensity Journal of Operations Krishnan linear costs linear crashing costs lower bound Management Science marginal costs marginal price minimize network flow NONAKA objective function OFCAIIFO Operations Research OPTIMAL CRASHING POLICY optimal overlapping optimal solution structures overlapping and crashing Overlapping Policy overlapping problem overlapping strategies phase ill probability function probability of rework product design product development processes Profit Maximizing Proof Proposition rework function Rocketdyne Roemer rt(t Sashimi scenarios scheduling sequential solution to SDP solve SDP stage i/j starting sub-)cluster subclusters TAKEUCHI Terwiesch turbopumps upper bound yields