Subtask 
-------- 
Dilation SE4
Dilation SE3
 Erosion SE4
 Erosion SE3
Iterate 3 Dilation SE2
Iterate 3  Erosion SE2

Subtask 
-------- 
Dilation SE6
Dilation SE3
 Erosion SE6
 Erosion SE3
Iterate 3 Dilation SE2
Iterate 3  Erosion SE2

Subtask 
-------- 
Dilation SE6
Dilation SE7
 Erosion SE6
 Erosion SE7
Iterate 3 Dilation SE2
Iterate 3  Erosion SE2