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Compiling Control., , and . SLP, page 70-77. IEEE-CS, (1986)long version: JLP 6(1&2): 135-162.The Centralized Scheduler vs. the Distributed Specialists: Towards a Flexible Controller in Prolog for Expert Systems., , , and . Wissensbasierte Systeme, volume 112 of Informatik-Fachberichte, page 370-383. Springer, (1985)Compiling Control., , and . J. Log. Program., 6 (1&2): 135-162 (1989)preliminary version: SLP 1986: 70-77.