protected boolean processGoal(final NAL nal, final Task task) {

        final Sentence goal = task.sentence;
        final Sentence oldGoal = selectCandidate(goal, desires); // revise with the existing desire values
        boolean revised=false;

        if (oldGoal != null) {
            final Stamp newStamp = goal.stamp;
            final Stamp oldStamp = oldGoal.stamp;

            if (newStamp.equals(oldStamp)) {
                if (task.getParentTask() != null && task.getParentTask().sentence.isGoal()) {
                    memory.removeTask(task, "Duplicated");
                }
                return false;
            } else if (revisible(goal, oldGoal)) {
                nal.setTheNewStamp(newStamp, oldStamp, memory.time());
                nal.setCurrentTask(task);
                revision(goal,oldGoal,false,nal);
                return false;
            }
        }

        if (task.aboveThreshold()) {

            final Sentence belief = selectCandidate(goal, beliefs); // check if the Goal is already satisfied

            if (belief != null) {
                trySolution(belief, task, nal);
            }

            // still worth pursuing?
            if (task.aboveThreshold()) {

                addToTable(task, goal, desires, memory.param.conceptGoalsMax.get(), ConceptGoalAdd.class, ConceptGoalRemove.class);

                if (!Executive.isExecutableTerm(task.sentence.content)) {
                    //memory.activatedTask(task, budget, belief, belief);
                    //memory.activatedTask(task, task.budget, belief, belief);
                    memory.addNewTask(new Task(goal,task.budget), "Derived");
                    //memory.executive.decisionPlanning(nal, task, this);
                } else {
                    memory.executive.decisionMaking(task, this);
                    return false;
                }
                return true;
            }
        }
        return false;
    }