From Step: 132, {HEAD ~ control} may proceed to Step: 102 in {TAIL ~ a closed loop manner} 
From Step : 132 , { HEAD ~ control } may proceed to Step : 102 in { TAIL ~ a closed loop manner }
OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL