progress, they begin to practice jiyu waza (lit. free techniques), which is a time-limited free-form attack and defense. In higher grades, jiyu-waza is performed against multiple attackers and/or attackers with weapons. Yoshinkan students do not normally practice the randori free-form found in other styles of aikido. The syllabus contains a few weapons forms, although they are rarely practised outside the hombu dojo, where they are taught to senshusei students. Jiyu-waza for yudansha includes free-form techniques against sword and knife, and some Yoshinkan dojos teach knife take-away techniques. Some Yoshinkan dojos offer aiki-ken classes (classes in which aikido principles are investigated through sword practice) and some offer non-aikido weapons training, such as iaido, concurrently with aikido classes. Like many styles of aikido, Yoshinkan eschews competition; instead, it emphasizes self-defence applications. Yoshinkan aikido is one of the martial arts that has been taught to the Tokyo police. Besides the usual attention to distance, timing and balance, the Yoshinkan style places particularly heavy emphasis on stance and basic movements. Yoshinkan’s distinctive stance, or kamae (lit. "posture" in Japanese), stresses the position of feet and hips. Yoshinkan aikido practitioners stand with hips and shoulders square to the front, the front foot pointing outward and the back foot pointing about 90 degrees to the front foot. Kamae is the foundation of all Yoshinkan aikido techniques and practitioners of Yoshinkan aikido strive to perfect their kamae so that their overall technique will be strengthened. Along with kamae there are 6 kihon dosa (lit. "basic movements") which are considered to be central for the 150 basic techniques. Yoshinkan aikido students practice these diligently to understand how to move their kamae around to put themselves in a strong position. Without proper form in one's basic movements one's aikido will not be as effective. Senshusei course In 1990, Gozo Shioda founded the International Yoshinkan Aikido Federation (IYAF) to facilitate the learning of Yoshinkan aikido outside Japan. Under current dojo director Susumu Chino, the Yoshinkan hombu dojo, located in Shinjuku Tokyo, runs an annual 11-month intensive course called the Senshusei course, in which students from Japan and foreign nations train with the Tokyo Metropolitan Riot Police. The book Angry White Pyjamas by Robert Twigger is based on the author's experiences during the course. In addition to the Senshusei Course, a number of other Uchi-deshi and specialized training programs have arisen in recent years. For example, Shihan Tsuneo Ando offers live-in