Those are complex questions. Some answers are given in my books. For the answers, one should take up the challenge to find the answers during yoga practice. Then as one discovers one may share the solutions with others.

Discovery of yoga, has to be done over and over by each student. It is dissimilar to other types of discovery. For instance Magellan did the first ship voyage circumambulation. He died in the Philippines. One senior officer on his ships completed the voyage back to Europe. Now an ordinary person with little or no nautical experienc, using GPS can circumambulate the earth using land travel and sea travel combined.

In yoga however this type of way where technology provides a quick method, where one does not have to get a sail ship, and do the travel as Magellan did, cannot be done. One has to actually do it. There is no invented GPS. You have to build the wooden ship, outfit it with sails, engage some sea hardy people and get out there and make the voyage with the same peril and risks as Magellan did.

Do it and send back your notes!

As for Magellan, except for his notes, he is useless, being that he was killed on the island in the Philippines. In that sentence, read Michael Beloved for Magellan.