"... In PAGE 6: ...4 Control module for going to an adjacent node - correctness The actions used in this control module were of two types: turning actions, that change the heading of the robot and navigational actions, that take the robot from one kind of node to an adjacent node. The turning actions are listed in the third column of Table2 and the navigation actions are listed in the third and sixth columns of Table 1. Following gives a avor of how the e ect of navigation and turning actions could be formally speci ed: detect corridor causes at(X); :at(Y ) if at(Y ); type(Y; junction); type(X; corridor); heading(dir); adj(X; Y; dir) turn 180 causes heading(west); :heading(east) if heading(east) In the above speci cation, type(X; corridor) means that node X is of the type corridor.... In PAGE 7: ...Figure 3: A sample map. is appropriate (as speci ed in Table 3), and if not, the robot executes the turning action speci ed by the Table2 . If the heading is appropriate the robot executes the navigation action speci ed by Table 1.... ..."

"... In PAGE 2: ...1.2 Feature Annotation As the developer navigates their feature sketch, there are various decisions they can make about each of the nodes ( Table1 ) and dependencies (Table 2) that they encounter. The developer can quickly annotate each entity using single keystroke commands, creating a visual bread crumb trail revealing trends in the decisions they have already made.... ..."

"... In PAGE 13: ... All other nodes represent valid-next-steps. Bolded nodes depict achievement of this subgoal ( Table4 ). For example, in Fig.... In PAGE 18: ....4. Updating the graph From the initial state, each subsequent student action is translated into an event that propagates through the DSG and alters its structure. When the event propagates, alterations to individual nodes are specific to the type of node ( Table4 ). For example, after a correct identification of a feature (student action matches a particular Identify-Fea- Figure 6 Expert model ture node exactly) the graph updates by (1) chan- ging the state of the Identify-Feature node to identified, (2) adding Assert-Hypothesis nodes which are supported by this feature, (3) creating arcs between the Identify-Feature and each Assert- Hypothesis node supported that feature, (4) updat- ing the evidence cluster, and (5) calculating the new best-next-step.... ..."

"... In PAGE 19: ... In a crisis situation, a reorganization of the Pathfinder mission amounts to a dynamic contigency plan, aiming at returning any kind of information that may help to understand what went wrong. Table3 presents a list of a priori defined crisis classes, and the corresponding corrective actions to be taken. Each crisis class identifies a set of features common to a number of crisis situations.... In PAGE 19: ... The new goals are related with image capturing and the study of dynamics of Mars. The corrective action from Table3 is sent to CEO methodology state expressing the need to rapidly change to a contingency mode. The CEO methodology... ..."

"... In PAGE 31: ... These limits may be tighter or wider than the criteria listed in Table 4; therefore, the QC Chemists base their data review and qualification of data on the internal control limits provided by the laboratories. Table5 lists the corrective action for QC failure. 2.... ..."

"... In PAGE 16: ...Table 3: Required nodes for each action of the derivation in Figure 10 action required nodes 1 v2, v3 2 v1, v5 3 v4, v1;1 4 v1;0, v2;1 Example 4 For the derivation in Figure 10, Tables 3 and 4 give the required nodes of each action and the association of the names with position numbers. Looking at the initial tree, or equivalently at Table3 , we see that actions 1 and 2 are ready. We choose to do action 2 rst, because action 2 destroys the node with the smallest name.... ..."

"... In PAGE 16: ... Example 4 For the derivation in Figure 11, Tables 3 and 4 give the required nodes of each action and the association of the names with pre-position numbers. Looking at the initial tree, or equivalently at Table3 , we see that actions 1 and 2 are ready. We choose to do action 2 rst, because action 2 destroys the node with the smallest name.... ..."

"... In PAGE 9: ... Structure and Conditional Probability Distributions World and Event Nodes. The CPDs for the nodes A, F, Fall and S are given in Table1 . The model for walking is represented by the arcs from Fi to Ai, and Fi, Ai and Si to Fi+1.... ..."