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Constraint definition for the tasks, adapted from [20]. There are ...
![Constraint definition for the tasks, adapted from [20]. There are ...](https://www.researchgate.net/profile/Ian-Bullock-2/publication/273396238/figure/fig1/AS:294913167118337@1447324186147/Constraint-definition-for-the-tasks-adapted-from-20-There-are-twenty-possible-classes_Q640.jpg)