Table 2 General emergency tasks insertion algorithm

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Start Procedure

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Initialize the sets w, w ₁ , w ₂ , w ₃ =Φ, mintime=0

original task index i, emergency task indexr j,

the earliest start time ES, the latest end time LE,

Task time T _j

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for each level of emergency tasks do

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 midtime=(ES+LE)/2

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 Search from midtime to both sides, form w₁, w₂

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 Form an ascending sequence w according to the

 income level of w ₁ , w ₂

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 for index i in w do

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  mintime=mintime+w[i]

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  Delele w[i]

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  if mintime>T_j+σ then

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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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 Insert emergency tasks

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end for

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Task Replanning

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End Procedure