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