$1-$ Suppose we want to design a Robot$-$assisted surgery system. This system will be

conducted by a doctor who controls the system remotely $($a doctor commands robot

from a different location$).$ Explain how you can design such a system, starting with the

conceptual design phase and defining its requirements. Your answer should include

equations and written text describing your assumptions, explaining your approach,

models of system, models of uncertainty, measurement model etc. $[50$P$]$