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