Table 1 Emergency task insertion algorithm

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Start Procedure

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Initialize position percentage ρ, original task number i

emergency task number j

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for each emergency task do

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 Determine the search starting point i according ρ

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 Search backward from the beginning task i

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 Delete task i

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 if (E _i -S _i )>T _j +σ then

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  Insert emergency task

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  loop for

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 end if

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 i=i+1

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end for

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End Procedure