Multiresponse parameter estimation

I am looking for a way to do multiresponse parameter estimation for a 
problem that is quite similar in form to the alpha-pinene example in Bates 
and Watts (1988), p. 147, where the model is a set of ODEs.  I am 
specifically interested in obtaining the parameter covariance matrix, as 
well.  Which package(s) in R would I use to do such a thing?

Mark Schaffer
Dept. of Chemical Engineering
Queen's University
Kingston, ON
Tel: 613-533-6758
Fax: 613-533-6637
Email: schaffer at chee.queensu.ca
http://chemeng.chee.queensu.ca/~schaffer/

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