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abstract action algorithm analysis applied approach Artificial Intelligence assumptions ATMS Barcan formula behavior belief function Carnegie Mellon University case-based Case-Based Reasoning causal Civic Center clause complete components Computer Science configuration space conflict confluences consistent constraints defined described domain dynamic efficient environment equations evaluation example execution expert system explanation factors fault Figure formulas given goal graph heuristic implemented inference inference engine input Kleer knowledge label logic mechanism method node object operator optimal orbit paper parallel parameter partial performance PGPs phase space possible predicted problem solving procedure processors propagation propositions Q-space qualitative reasoning relation represent representation requires Research resolution rule resource scheduling selected sequence simulation solution space specialist specific speedup strategy structure subset surface normal task techniques temporal theorem theory tion tree Truth Maintenance Systems University variables