INTRODUCTION 9 of Leicester, England, and the EU Network "Non-commutative Geo- metry" at NTNU Trondheim, Norway. The collaboration of the first and third authors was supported by the Sonderforschungsbereich 288, "Differentialgeometrie und Quantenphysik" at TU Berlin, Germany, and by the EU Network and NTNU Trondheim. The third author is supported by the Sonderforschungsbereich 288 "Differentialgeomet- rie und Quantenphysik" at TU Berlin. All three authors are most grateful for the financial help received from these various sources.
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