COMMERCIAL IN CONFIDENCE JACK-based Holonic Control of a Gift Box Packing Cell Internal Report of the Centre for Distributed Automation and Control Martyn Fletcher, Andrew Lucas Agent Oriented Software Limited Mill Lane Cambridge CB2 1RX, United Kingdom Dennis Jarvis, Jacquie Jarvis Agent Oriented Software Pty. Ltd. Adelaide Applications Centre, 15 Kiama Avenue, West Lakes Shore, South Australia 5020, Australia Ralph Rönnquist Agent Oriented Software Pty. Ltd. 156 Pelham Street, Carlton, Victoria 3053, Australia Duncan McFarlane, James Brusey, Alan Thorne Institute for Manufacturing University of Cambridge Mill Lane Cambridge CB2 1RX, United Kingdom May 2003