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In page Developmental psychology:

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In the MHC, there are three main axioms for an order to meet in order for the higher order task to coordinate the next lower order task. Axioms are rules that are followed to determine how the MHC orders actions to form a hierarchy. These axioms are: a) defined in terms of tasks at the next lower order of hierarchical complexity task action; b) defined as the higher order task action that organizes two or more less complex actions; that is, the more complex action specifies the way in which the less complex actions combine; c) defined as the lower order task actions have to be carried out non-arbitrarily.[citation needed]