On the other hand, if it is determined that the elastic force Y exceeds the retaining force F of the brake device, {HEAD ~ the updating} of {TAIL ~ the register Emax} of Step a4 is not performed and the procedure proceeds from Step a3 to Step a5 
On the other hand , if it is determined that the elastic force Y exceeds the retaining force F of the brake device , { HEAD ~ the updating } of { TAIL ~ the register Emax } of Step a4 is not performed and the procedure proceeds from Step a3 to Step a5
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH