The implementation of the policy should be focused on co-ordination among the policies.

Turning is the main upper-limb sport at taekwondo horizontal kicking, which not only serves to keep coordinate and cooperate, but helps to improve the attacking effect.

Pulse current is adjusted by pulse width modulation(PWM)signals from the single-chip processor. In addition, multiple $MA actuators' cooperation helps the active catheter to succeed in guiding motion.