Subtask 
-------- 
Dilation SE4
Dilation SE3
 Erosion SE4
 Erosion SE3
Iterate 2 Dilation SE8
Iterate 2  Erosion SE8

Subtask 
-------- 
Dilation SE5
Dilation SE7
 Erosion SE5
 Erosion SE7
Iterate 2 Dilation SE8
Iterate 2  Erosion SE8

Subtask 
-------- 
Dilation SE3
Dilation SE3
 Erosion SE3
 Erosion SE3
Iterate 2 Dilation SE8
Iterate 2  Erosion SE8