1. (a) A jellyfish-like robot can swim in a fluid bulk (Fig. 1A) by generating an upward force (f) to propel itself against gravity (Fig. 1B). It is given that the mass of the robot is M, the damping coefficient of the fluid is c, the upward velocity of the robot is v and the gravitational acceleration constant is g. Draw the free body diagram of the robot when it is swimming vertically up (Fig. 1B). Subsequently, derive the equation of motion and block diagram of the robot. (b) The values of the variables are given as M = 0.01 kg, c = 2 Ns/m and g = 10 N/kg. Solve for the general solution of v when is a step input that has a magnitude of 2.1. (NOTE: We assume that the robot has zero initial conditions for the entire question.) A B M = 0.01 kg c = 2 Ns/m Fig. 1. A jellyfish-like robot that can swim in fluid bulk. g