Attention Control Systems, Inc., began studying the neuropsychology of human planning in order to increase autonomy for NASA robots. A computer model of executive functions led to the development of PEAT (The Planning and Execution Assistant and Trainer), the most powerful cuing and scheduling treatment currently available. PEAT offers help to people with a wide range of cognitive and attention disorders, including brain injury, stroke, MS, Alzheimer's disease, developmental disorders, anoxia and others