M theory, Joyce Orbifolds and Super Yang-Mills

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We geometrically engineer d=4 N=1 supersymmetric Yang-Mills theories by considering M theory on various Joyce orbifolds. We argue that the superpotential of these models is generated by fractional membrane instantons. The relation of this superpotential to membrane anomalies is also discussed.
v2: A careless error which appeared at the end of section four and propagated to section six has been corrected. (The mistake was to identify the Coxeter number of the gauge group with the order of a certain finite group). The results are unchanged. Some references have also been added. v3: A previously unrecognised monodromy recognised. New monodromy free examples added. 21 pages, Latex

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