{HEAD ~ The controller} may control charging and discharging in {TAIL ~ accordance} with measurements from voltage sensors or may convey information from a voltage sensors to the central controller and receive charging and discharging commands from the central controller 
discharging in
{ HEAD ~ The controller } may control charging and discharging in { TAIL ~ accordance } with measurements from voltage sensors or may convey information from a voltage sensors to the central controller and receive charging and discharging commands from the central controller
HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH REL REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH