As a systems engineer, your task is to design a robotic arm to interact with a human worker without undesired contact to avoid potential injuries. To achieve this goal, you need to analyze the movements of the workers within the same workspace. Moving Trajectory of Arm Motion In order to avoid undesired contacts between the robot and human workers, it is necessary to know the moving trajectories of different body parts of the human worker. In this part, you need to analyze the moving trajectories of a set of recorded data of right arm movement. Load the file PathData.matin MATLAB and run the script below. figure subplot(211), plot(0:0.1:99.9, EL01, 0:0.1:99.9, EL02, 0:0.1:99.9, EL03,0:0.1:99.9, E L04,0:0.1:99.9, EL05,0:0.1:99.9, EL06,0:0.1:99.9, EL07,0:0.1:99.9, EL08,0:0.1:99. 9, EL09,0:0.1:99.9, EL10) xlabel('Elbow angle (deg)'), ylabel('Shoulder angel (deg)'), grid, axis ( [0 100 6 0 180]) subplot(212), plot(0:0.1:99.9, SH1,0:0.1:99.9, SH2,0:0.1:99.9, SH03,0:0.1:99.9,S H04,0:0.1:99.9, SH5,0:0.1:99.9, SH06,0:0.1:99.9, SH07,0:0.1:99.9, SH08,0:0.1:99. 9, SH09,0:0.1:99.9, SH10) xlabel('Elbow angle (deg)'),ylabel('Shoulder angel (deg)'),grid, axis ( [0 100 0 100]) You should be able to generate two figures of the moving trajectories. Based on the technique we learned in this class, suggest a mathematical tool and procedures for how this information can be used. Sensor Response In addition to the movement of the human worker, the robot also needs to handle a component that needs to be processed by a laser beam. A color-detecting transducer is used to detect the surface property. The following figure shows the response of the sensor. The control input of the laser is shown in the upper figure, and the response of the sensor is shown as the lower one. It is clear that the transducer has a delayed response. As an engineer, you need to design a control sequence after the property of the surface is stabilized (or achieves a steady state). input volt output volt 1.1 1 0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 1.1 1 0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 0.2 0.4 0.6 0.8 2 2.2 2.4 1 1.2 1.4 1.6 1.8 2 2.2 2.4 time (sec) Response of the sensor of surface property detection. Noise of the Received Signal In addition to the transducer used for surface property, another sensor has been used to detect another physical property. The measurement is anticipated to be a first-order response. However, the measured response includes some noise. The recorded signal is stored in this file Noise.mat. You can plot the data using MATLAB. In order to remove the induced noise, how are you going to analyze the signal and reduce the noise to a minimum? Output (volt) 5 m 2 1 5 Time (sec) Graph of signal output and time. 2 3 4 6 7 8 9 10 Write a report to analyze these three issues in your system. Suggest required mathematical methods that can be used to analyze and take care of these issues. Provide your solutions for all individual parts.