Intermittent Demand Forecasting

Intermittent Demand Forecasting
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INTERMITTENT DEMAND FORECASTING The first text to focus on the methods and approaches of intermittent, rather than fast, demand forecasting Intermittent Demand Forecasting is for anyone who is interested in improving forecasts of intermittent demand products, and enhancing the management of inventories. Whether you are a practitioner, at the sharp end of demand planning, a software designer, a student, an academic teaching operational research or operations management courses, or a researcher in this field, we hope that the book will inspire you to rethink demand forecasting. If you do so, then you can contribute towards significant economic and environmental benefits. No prior knowledge of intermittent demand forecasting or inventory management is assumed in this book. The key formulae are accompanied by worked examples to show how they can be implemented in practice. For those wishing to understand the theory in more depth, technical notes are provided at the end of each chapter, as well as an extensive and up-to-date collection of references for further study. Software developments are reviewed, to give an appreciation of the current state of the art in commercial and open source software. “Intermittent demand forecasting may seem like a specialized area but actually is at the center of sustainability efforts to consume less and to waste less. Boylan and Syntetos have done a superb job in showing how improvements in inventory management are pivotal in achieving this. Their book covers both the theory and practice of intermittent demand forecasting and my prediction is that it will fast become the bible of the field.” — Spyros Makridakis , Professor, University of Nicosia, and Director, Institute for the Future and the Makridakis Open Forecasting Center (MOFC). “We have been able to support our clients by adopting many of the ideas discussed in this excellent book, and implementing them in our software. I am sure that these ideas will be equally helpful for other supply chain software vendors and for companies wanting to update and upgrade their capabilities in forecasting and inventory management.”— Suresh Acharya , VP, Research and Development, Blue Yonder. “As product variants proliferate and the pace of business quickens, more and more items have intermittent demand. Boylan and Syntetos have long been leaders in extending forecasting and inventory methods to accommodate this new reality. Their book gathers and clarifies decades of research in this area, and explains how practitioners can exploit this knowledge to make their operations more efficient and effective.”— Thomas R. Willemain , Professor Emeritus, Rensselaer Polytechnic Institute.

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John E. Boylan. Intermittent Demand Forecasting

Table of Contents

List of Tables

List of Illustrations

Guide

Pages

Intermittent Demand Forecasting. Context, Methods and Applications

Preface

Glossary

About the Companion Website

1 Economic and Environmental Context. 1.1 Introduction

1.2 Economic and Environmental Benefits

1.2.1 After‐sales Industry

1.2.2 Defence Sector

1.2.3 Economic Benefits

1.2.4 Environmental Benefits

1.2.5 Summary

1.3 Intermittent Demand Forecasting Software

1.3.1 Early Forecasting Software

1.3.2 Developments in Forecasting Software

1.3.3 Open Source Software

1.3.4 Summary

1.4 About this Book

1.4.1 Optimality and Robustness

1.4.2 Business Context

1.4.3 Structure of the Book

1.4.4 Current and Future Applications

1.4.5 Summary

1.5 Chapter Summary

Technical Note

Note 1.1 3D Printing

2 Inventory Management and Forecasting. 2.1 Introduction

2.2 Scheduling and Forecasting

2.2.1 Material Requirements Planning (MRP)

2.2.2 Dependent and Independent Demand Items

2.2.3 Make to Stock

2.2.4 Summary

2.3 Should an Item Be Stocked at All?

2.3.1 Stock/Non‐Stock Decision Rules

2.3.2 Historical or Forecasted Demand?

2.3.3 Summary

2.4 Inventory Control Requirements

2.4.1 How Should Stock Records be Maintained?

2.4.2 When are Forecasts Required for Stocking Decisions?

2.4.3 Summary

2.5 Overview of Stock Rules

2.5.1 Continuous Review Systems

2.5.2 Periodic Review Systems

2.5.3 Periodic Review Policies

2.5.4 Variations of the Periodic Policy

2.5.5 Summary

2.6 Chapter Summary

Technical Notes

Note 2.1 Order Overplanning

Note 2.2 Cessation of Replenishment and Stock Write Off

Note 2.3 External and Internal Lead Times

Note 2.4 Renewal Processes

Note 2.5 Optimisation of (R,S) and (s,Q) Systems

3 Service Level Measures. 3.1 Introduction

3.2 Judgemental Ordering

3.2.1 Rules of Thumb for the Order‐Up‐To Level

3.2.2 Judgemental Adjustment of Orders

3.2.3 Summary

3.3 Aggregate Financial and Service Targets

3.3.1 Aggregate Financial Targets

3.3.2 Service Level Measures

3.3.3 Relationships Between Service Level Measures

3.3.4 Summary

3.4 Service Measures at SKU Level

3.4.1 Cost Factors

3.4.2 Understanding of Service Level Measures

3.4.3 Potential Service Level Measures

3.4.4 Choice of Service Level Measure

3.4.5 Summary

3.5 Calculating Cycle Service Levels

3.5.1 Distribution of Demand Over One Time Period

3.5.2 Cycle Service Levels Based on All Cycles

3.5.3 Cycle Service Levels Based on Cycles with Demand

3.5.4 Summary

3.6 Calculating Fill Rates

3.6.1 Unit Fill Rates

3.6.2 Fill Rates: Standard Formula

3.6.3 Fill Rates: Sobel's Formula

3.6.4 Summary

3.7 Setting Service Level Targets

3.7.1 Responsibility for Target Setting

3.7.2 Trade‐off Between Service and Cost

3.7.3 Setting SKU Level Service Targets

3.7.4 Summary

3.8 Chapter Summary

Technical Note

Note 3.1 Fill Rate Expression of Zhang and Zhang

4 Demand Distributions. 4.1 Introduction

4.2 Estimation of Demand Distributions

4.2.1 Empirical Demand Distributions

4.2.2 Fitted Demand Distributions

4.2.3 Summary

4.3 Criteria for Demand Distributions

4.3.1 Empirical Evidence for Goodness of Fit

4.3.2 Further Criteria

4.3.3 Summary

4.4 Poisson Distribution

4.4.1 Shape of the Poisson Distribution

4.4.2 Summary

4.5 Poisson Demand Distribution

4.5.1 Poisson: A Priori Grounds

4.5.2 Poisson: Ease of Calculation

4.5.3 Poisson: Flexibility

4.5.4 Poisson: Goodness of Fit

4.5.5 Testing for Goodness of Fit

4.5.6 Summary

4.6 Incidence and Occurrence

4.6.1 Demand Incidence

4.6.2 Demand Occurrence

4.6.3 Summary

4.7 Poisson Demand Incidence Distribution

4.7.1 A Priori Grounds

4.7.2 Ease of Calculation

4.7.3 Flexibility

4.7.4 Goodness of Fit

4.7.5 Summary

4.8 Bernoulli Demand Occurrence Distribution

4.8.1 Bernoulli Distribution: A Priori Grounds

4.8.2 Bernoulli Distribution: Ease of Calculation

4.8.3 Bernoulli Distribution: Flexibility

4.8.4 Bernoulli Distribution: Goodness of Fit

4.8.5 Summary

4.9 Chapter Summary

Technical Notes

Note 4.1 Triangular Distribution Calculations

Note 4.2 Memoryless Property of the Poisson Process

Note 4.3 Chi‐square Test for Goodness of Fit

Note 4.4 Chi‐square Calculations by Shale et al. (2008)

Note 4.5 Memoryless Property of the Bernoulli Process

5 Compound Demand Distributions. 5.1 Introduction

5.2 Compound Poisson Distributions

5.2.1 Compound Poisson: A Priori Grounds

5.2.2 Compound Poisson: Flexibility

5.2.3 Summary

5.3 Stuttering Poisson Distribution

5.3.1 Stuttering Poisson: A Priori Grounds

5.3.2 Stuttering Poisson: Ease of Calculation

5.3.3 Stuttering Poisson: Flexibility

5.3.4 Stuttering Poisson: Goodness of Fit for Demand Sizes

5.3.5 Summary

5.4 Negative Binomial Distribution

5.4.1 Negative Binomial: A Priori Grounds

5.4.2 Negative Binomial: Ease of Calculation

5.4.3 Negative Binomial: Flexibility

5.4.4 Negative Binomial: Goodness of Fit

5.4.5 Summary

5.5 Compound Bernoulli Distributions

5.5.1 Compound Bernoulli: A Priori Grounds

5.5.2 Compound Bernoulli: Ease of Calculation

5.5.3 Compound Bernoulli: Flexibility

5.5.4 Compound Bernoulli: Goodness of Fit

5.5.5 Summary

5.6 Compound Erlang Distributions

5.6.1 Compound Erlang Distributions: A Priori Grounds

5.6.2 Compound Erlang Distributions: Ease of Calculation

5.6.3 Compound Erlang‐2: Flexibility

5.6.4 Compound Erlang‐2: Goodness of Fit

5.6.5 Summary

5.7 Differing Time Units

5.7.1 Poisson Distribution

5.7.2 Compound Poisson Distribution

5.7.3 Compound Bernoulli and Compound Erlang Distributions

5.7.4 Normal Distribution

5.7.5 Summary

5.8 Chapter Summary

Technical Notes

Note 5.1 Form of Stuttering Poisson Distribution

Note 5.2 A Priori Models for the Negative Binomial

Note 5.3 Recursive Form of the Negative Binomial

Note 5.4 Kolmogorov–Smirnov Test

Note 5.5 Compound Bernoulli Distribution: Variance to Mean Ratio

Note 5.6 Computation of the Compound Erlang

Note 5.7 Condensed Poisson Distribution

6 Forecasting Mean Demand

6.1 Introduction

6.2 Demand Assumptions

6.2.1 Elements of Intermittent Demand

6.2.2 Demand Models

6.2.3 An Intermittent Demand Model

6.2.4 Summary

6.3 Single Exponential Smoothing (SES)

6.3.1 SES as an Error‐correction Mechanism

6.3.2 SES as a Weighted Average of Previous Observations

6.3.3 Practical Considerations

6.3.4 Summary

6.4 Croston's Critique of SES

6.4.1 Bias After Demand Occurring Periods

6.4.2 Magnitude of Bias After Demand Occurring Periods

6.4.3 Bias After Review Intervals with Demands

6.4.4 Summary

6.5 Croston's Method

6.5.1 Method Specification

6.5.2 Method Application

6.5.3 Summary

6.6 Critique of Croston's Method

6.6.1 Bias of Size‐interval Approaches

6.6.2 Inversion Bias

6.6.3 Quantification of Bias

6.6.4 Summary

6.7 Syntetos–Boylan Approximation

6.7.1 Practical Application

6.7.2 Framework for Correction Factors

6.7.3 Initialisation and Optimisation

6.7.4 Summary

6.8 Aggregation for Intermittent Demand

6.8.1 Temporal Aggregation

6.8.2 Cross‐sectional Aggregation

6.8.3 Summary

6.9 Empirical Studies

6.9.1 Single Series, Single Period Approaches

6.9.2 Single Series, Multiple Period Approaches

6.9.3 Summary

6.10 Chapter Summary

Technical Notes

Note 6.1 Stationary Mean and Local Level Models

Note 6.2 Simple Moving Averages

Note 6.3 SES Bias: End of Review Intervals with Demand

Note 6.4 Approximate Bias of Croston's Method

Note 6.5 SBA is Approximately Unbiased

Note 6.6 Revised Croston's Method

Note 6.7 Cross‐sectional Aggregation

7 Forecasting the Variance of Demand and Forecast Error. 7.1 Introduction

7.2 Mean Known, Variance Unknown

7.2.1 Mean Demand Unchanging Through Time

7.2.2 Relating Variance Over One Period to Variance Over the Protection Interval

7.2.3 Summary

7.3 Mean Unknown, Variance Unknown

7.3.1 Mean and Variance Unchanging Through Time

7.3.2 Mean or Variance Changing Through Time

7.3.3 Relating Variance Over One Period to Variance Over the Protection Interval

7.3.4 Direct Approach to Estimating Variance of Forecast Error Over the Protection Interval

7.3.5 Implementing the Direct Approach to Estimating Variance Over the Protection Interval

7.3.6 Summary

7.4 Lead Time Variability

7.4.1 Consequences of Recognising Lead Time Variance

7.4.2 Variance of Demand Over a Variable Lead Time (Known Mean Demand)

7.4.3 Variance of Demand Over a Variable Lead Time (Unknown Mean Demand)

7.4.4 Distribution of Demand Over a Variable Lead Time

7.4.5 Summary

7.5 Chapter Summary

Technical Notes

Note 7.1 Variance of Demand Over the Protection Interval

Note 7.2 Variance of Forecast Errors Over the Protection Interval

Note 7.3 Backcasting for Initial MSE Estimation

8 Inventory Settings. 8.1 Introduction

8.2 Normal Demand

8.2.1 Order‐up‐to Levels for Four Scenarios

8.2.2 Scenario 1: Mean and Standard Deviation Known

8.2.3 Scenario 2: Mean Demand Unknown Standard Deviation Known

8.2.4 Scenario 3: Mean Demand Known Standard Deviation Unknown

8.2.5 Scenario 4: Mean and Standard Deviation Unknown

8.2.6 Summary

8.3 Poisson Demand

8.3.1 Cycle Service Level System when the Mean Demand is Known

8.3.2 Fill Rate System when the Mean Demand is Known

8.3.3 Poisson OUT Level when the Mean Demand is Unknown

8.3.4 Summary

8.4 Compound Poisson Demand

8.4.1 Stuttering Poisson OUT Level when the Parameters are Known

8.4.2 Negative Binomial OUT Levels when the Parameters are Known

8.4.3 Stuttering Poisson and Negative Binomial OUT Levels when the Parameters are Unknown

8.4.4 Summary

8.5 Variable Lead Times

8.5.1 Empirical Lead Time Distributions

8.5.2 Summary

8.6 Chapter Summary

Technical Notes

Note 8.1: OUT Levels for Normally Distributed Demand

Note 8.2: Calculations of CSLs for Different OUT Levels

Note 8.3: Adjusted Safety Factors for Fill Rates

Note 8.4: CSL+ Calculations for Poisson Demand

Note 8.5: Fill Rate Calculations for Poisson Demand

Note 8.6: Calculations for Stuttering Poisson Demand

9 Accuracy and Its Implications. 9.1 Introduction

9.2 Forecast Evaluation

9.2.1 Only One Step Ahead?

9.2.2 All Points in Time?

9.2.3 Summary

9.3 Error Measures in Common Usage

9.3.1 Popular Forecast Error Measures

9.3.2 Calculation of Forecast Errors

9.3.3 Mean Error

9.3.4 Mean Square Error

9.3.5 Mean Absolute Error

9.3.6 Mean Absolute Percentage Error (MAPE)

9.3.7 100% Minus MAPE

9.3.8 Forecast Value Added

9.3.9 Summary

9.4 Criteria for Error Measures

9.4.1 General Criteria

9.4.2 Additional Criteria for Intermittence

9.4.3 Summary

9.5 Mean Absolute Percentage Error and its Variants

9.5.1 Problems with the Mean Absolute Percentage Error

9.5.2 Mean Absolute Percentage Error from Forecast

9.5.3 Symmetric Mean Absolute Percentage Error

9.5.4 MAPEFF and sMAPE for Intermittent Demand

9.5.5 Summary

9.6 Measures Based on the Mean Absolute Error

9.6.1 MAE : Mean Ratio

9.6.2 Mean Absolute Scaled Error

9.6.3 Measures Based on Absolute Errors

9.6.4 Summary

9.7 Measures Based on the Mean Error

9.7.1 Desirability of Unbiased Forecasts

9.7.2 Mean Error

9.7.3 Mean Percentage Error

9.7.4 Scaled Bias Measures

9.7.5 Summary

9.8 Measures Based on the Mean Square Error

9.8.1 Scaled Mean Square Error

9.8.2 Relative Root Mean Square Error

9.8.3 Percentage Best

9.8.4 Summary

9.9 Accuracy of Predictive Distributions

9.9.1 Measuring Predictive Distribution Accuracy

9.9.2 Probability Integral Transform for Continuous Data

9.9.3 Probability Integral Transform for Discrete Data

9.9.4 Summary

9.10 Accuracy Implication Measures

9.10.1 Simulation Outline

9.10.2 Forecasting Details

9.10.3 Simulation Details

9.10.4 Comparison of Simulation Results

9.10.5 Summary

9.11 Chapter Summary

Technical Notes

Note 9.1 Amended Definitions of MAPE and sMAPE

Note 9.2 The Mean Arctangent Absolute Percentage Error

Note 9.3 Probability Integral Transform: Fractional Allocation of Counts

Note 9.4 Randomised Probability Integral Transform

Note 9.5 Calculation of the Brier Score

10 Judgement, Bias, and Mean Square Error. 10.1 Introduction

10.2 Judgemental Forecasting

10.2.1 Evidence on Prevalence of Judgemental Forecasting

10.2.2 Judgemental Biases

10.2.3 Effectiveness of Judgemental Forecasts: Evidence for Non‐intermittent Items

10.2.4 Effectiveness of Judgemental Forecasts: Evidence for Intermittent Items

10.2.5 Summary

10.3 Forecast Bias

10.3.1 Monitoring and Detection of Bias

10.3.2 Bias as an Expectation of a Random Variable

10.3.3 Response to Different Causes of Bias

10.3.4 Summary

10.4 The Components of Mean Square Error

10.4.1 Calculation of Mean Square Error

10.4.2 Decomposition of Expected Squared Errors

10.4.3 Decomposition of Expected Squared Errors for Independent Demand

10.4.4 Summary

10.5 Chapter Summary

Technical Notes

Note 10.1 Bias–Variance Decomposition

Note 10.2 Extended Bias–Variance Decomposition

11 Classification Methods. 11.1 Introduction

11.2 Classification Schemes

11.2.1 The Purpose of Classification

11.2.2 Classification Criteria

11.2.3 Summary

11.3 ABC Classification

11.3.1 Pareto Principle

11.3.2 Service Criticality

11.3.3 ABC Classification and Forecasting

11.3.4 Summary

11.4 Extensions to the ABC Classification

11.4.1 Composite Criterion Approach

11.4.2 Multi‐criteria Approaches

11.4.3 Classification for Spare Parts

11.4.4 Summary

11.5 Conceptual Clarifications

11.5.1 Definition of Non‐normal Demand Patterns

11.5.2 Conceptual Framework

11.5.3 Summary

11.6 Classification Based on Demand Sources

11.6.1 Demand Generation

11.6.2 A Qualitative Classification Approach

11.6.3 Summary

11.7 Forecasting‐based Classifications

11.7.1 Forecasting and Generalisation

11.7.2 Classification Solutions

11.7.3 Summary

11.8 Chapter Summary

Technical Notes

Note 11.1 Classification Rule for SES and SBA

Note 11.2 Refined Classification Rules

12 Maintenance and Obsolescence. 12.1 Introduction

12.2 Maintenance Contexts

12.2.1 Summary

12.3 Causal Forecasting

12.3.1 Causal Forecasting for Maintenance Management

12.3.2 Summary

12.4 Time Series Methods

12.4.1 Forecasting in the Presence of Obsolescence

12.4.2 Forecasting with Granular Maintenance Information

12.4.3 Summary

12.5 Forecasting in Context

12.6 Chapter Summary

Technical Notes

Note 12.1 Preventive and Corrective Maintenance

Note 12.2 On‐condition Monitoring

Note 12.3 Deterioration, Perishability, and Obsolescence

Note 12.4 Forecasting of Spare Parts Based on Component Repairs

13 Non‐parametric Methods

13.1 Introduction

13.2 Empirical Distribution Functions

13.2.1 Assumptions

13.2.2 Length of History

13.2.3 Summary

13.3 Non‐overlapping and Overlapping Blocks

13.3.1 Differences Between the Two Methods

13.3.2 Methods and Assumptions

13.3.3 Practical Considerations

13.3.4 Performance of Non‐overlapping Blocks Method

13.3.5 Performance of Overlapping Blocks Method

13.3.6 Summary

13.4 Comparison of Approaches

13.4.1 Time Series Characteristics Favouring Overlapping Blocks

13.4.2 Empirical Evidence on Overlapping Blocks

13.4.3 Summary

13.5 Resampling Methods

13.5.1 Simple Bootstrapping

13.5.2 Bootstrapping Demand Sizes and Intervals

13.5.3 VZ Bootstrap and the Syntetos–Boylan Approximation

13.5.4 Extension of Methods to Variable Lead Times

13.5.5 Resampling Immediately After Demand Occurrence

13.5.6 Summary

13.6 Limitations of Simple Bootstrapping

13.6.1 Autocorrelated Demand

13.6.2 Previously Unobserved Demand Values

13.6.3 Summary

13.7 Extensions to Simple Bootstrapping

13.7.1 Discrete‐time Markov Chains

13.7.2 Extension to Simple Bootstrapping Using Markov Chains

13.7.3 Jittering

13.7.4 Limitations of Jittering

13.7.5 Further Developments

13.7.6 Empirical Evidence on Bootstrapping Methods

13.7.7 Summary

13.8 Chapter Summary

Technical Notes

Note 13.1 Calculation of the Theta Function

Note 13.2 General Expression for the Variance of the OB Estimate

Note 13.3 General Condition for OB Outperformance

14 Model‐based Methods. 14.1 Introduction

14.2 Models and Methods

14.2.1 A Simple Model for Single Exponential Smoothing

14.2.2 Critique of Weighted Least Squares

14.2.3 ARIMA Models

14.2.4 The ARIMA(0,1,1) Model and SES

14.2.5 Summary

14.3 Integer Autoregressive Moving Average (INARMA) Models

14.3.1 Integer Autoregressive Model of Order One, INAR(1)

14.3.2 Integer Moving Average Model of Order One, INMA(1)

14.3.3 Mixed Integer Autoregressive Moving Average Models

14.3.4 Summary

14.4 INARMA Parameter Estimation

14.4.1 Parameter Estimation for INAR(1) Models

14.4.2 Parameter Estimation for INMA(1) Models

14.4.3 Parameter Estimation for INARMA(1,1) Models

14.4.4 Summary

14.5 Identification of INARMA Models

14.5.1 Identification Using Akaike's Information Criterion

14.5.2 General Models and Model Identification

14.5.3 Summary

14.6 Forecasting Using INARMA Models

14.6.1 Forecasting INAR(1) Mean Demand

14.6.2 Forecasting INMA(1) Mean Demand

14.6.3 Forecasting INARMA(1,1) Mean Demand

14.6.4 Forecasting Using Temporal Aggregation

14.6.5 Summary

14.7 Predicting the Whole Demand Distribution

14.7.1 Protection Interval of One Period

14.7.2 Protection Interval of More Than One Period

14.7.3 Summary

14.8 State Space Models for Intermittence

14.8.1 Croston's Demand Model

14.8.2 Proposed State Space Models

14.8.3 Summary

14.9 Chapter Summary

Technical Notes

Note 14.1 INARMA(1,1) Cumulative Forecasts

Note 14.2 INAR(1) Conditional Probabilities

Note 14.3 Normal Approximation to Order‐up‐to Level for an INAR(1) Process

15 Software for Intermittent Demand. 15.1 Introduction

15.2 Taxonomy of Software

15.2.1 Proprietary Software

15.2.2 Open Source Software

15.2.3 Hybrid Solutions

15.2.4 Summary

15.3 Framework for Software Evaluation

15.3.1 Key Aspects of Software Evaluation

15.3.2 Additional Criteria

15.3.3 Summary

15.4 Software Features and Their Availability

15.4.1 Software Features for Intermittent Demand

15.4.2 Availability of Software Features

15.4.3 Summary

15.5 Training

15.5.1 Summary

15.6 Forecast Support Systems

15.6.1 Summary

15.7 Alternative Perspectives

15.7.1 Bayesian Methods

15.7.2 Neural Networks

15.7.3 Summary

15.8 Way Forward

15.9 Chapter Summary

Technical Note

Note 15.1: Evolution of ERP Systems

References

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WILEY END USER LICENSE AGREEMENT

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John E. Boylan

Lancaster University

.....

With regard to continuous review systems, the two most commonly encountered policies are of the or form. After each transaction, the inventory position is compared with a control number, , the order point. If the inventory position is less than (or in some cases at or than ), a replenishment order is released. The replenishment order can be for a standard order quantity or, alternatively, enough may be ordered to raise the inventory position to the value , the order‐up‐to level, or OUT level. (This is also known as the ‘replenishment level’.) If all demand transactions are unit sized, the two systems are identical because the replenishment requisition will always be made when the inventory position is exactly at (so that ). If the demand sizes vary, then the replenishment quantity in the policy also varies. In Figure 2.3, we show graphically the operation of the policy and its equivalence to , assuming unit sized transactions. We further assume, for ease of presentation, that no stockouts occur (i.e. backordered demand does not need to be accounted for).

Figure 2.3 Continuous review and policies for unit sized transactions.

.....

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