Haruhisa Nozue Hajime Nakajima Haruo Oishi Takeshi Masuda Tetsuya Yamamura Process Control Technique Using Planning and Constraint Satisfaction. 62-71 2007 conf/apnoms/2007 APNOMS http://dx.doi.org/10.1007/978-3-540-75476-3_7 db/conf/apnoms/apnoms2007.html#NozueNOMY07