{TAIL ~ At least one servo actuated manipulator slave subsystem} is located adjacent to the worksite for performing {HEAD ~ work} there 
{ TAIL ~ At least one servo actuated manipulator slave subsystem } is located adjacent to the worksite for performing { HEAD ~ work } there
TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD OTH