{HEAD ~ Each} of {TAIL ~ the master and slave subsystems} includes a servo actuated electric motor package, 29 and 30, respectively 
{ HEAD ~ Each } of { TAIL ~ the master and slave subsystems } includes a servo actuated electric motor package , 29 and 30 , respectively
HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH