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