Complex sentence: In the 30th and 31st centuries, the Science Police is under the jurisdiction of the United Planets and has divisions on each world within the U.P. Its headquarters are on Earth in the city of Metropolis.
Split into simpler sentences: In the 30th and 31st centuries, the Science Police serves the United Planets, with divisions on each U.P. world. Its main headquarters are on Earth in the city of Metropolis.