Algorithm I

Stage 1

Stage 2

Stage 3

Stage4

Algorithm II

Stage 1 Stage 2

Stage 3 Stage 4

Stage 5 Stage 6

Stage 7 Stage 8

Stage 9 Stage 10

Stage 11 Stage 12

Note: The first half of the cycle (stage1 – stage6) is not the same

as the second half of the cycle (stage7 – stage12).

The leg that contract (pull) first is different.