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achieved action variables algorithm alternative applied approach ARBS artificial intelligence attributes backtracking backward chaining bang-bang control Bayesian updating blackboard system certainty factor chapter closed world assumption component considered constraints control action control valve database defect defined denies weights derived described diagnosis example expert system fire flexural_modulus flow rate fuzzy sets given goal heuristic hierarchical hypothesis inference engine input instance interpretation knowledge base knowledge source knowledge-based systems language Lisp manufacture maximum_temperature membership functions method neural network nodes object object-oriented object-oriented programming operations output parameters performance PID controller pieces of evidence planner polymer polypropylene possible preconditions problem procedure Prolog properties pulse refrigerator relationship release valve represented rule rule-based schedule selection shortlist shown in figure simulation Smalltalk solution specification steam outlet strategy techniques temperature thermoplastic ultrasonic valve is stuck