Such operational relationships may be updated based on an error analysis and {HEAD ~ other analysis} performed by {TAIL ~ the controller} 28 at Step: 132 
performed by
Such operational relationships may be updated based on an error analysis and { HEAD ~ other analysis } performed by { TAIL ~ the controller } 28 at Step : 132
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH