Hello, please write with full explanation because I will be using it for understanding and revision purposes. This regards Robotics in Computer Science. Thank you.

(a) If a robot can measure its bearing with respect to two known locations located in the [40\%] x-axis (where the distance between these locations is known), explain a method (while providing the needed equations) which allows the robot to measure y-axis coordinate. (b) A mobile robot has one sonar sensor in the front of its left side, denoted as Front Side Sensor (FSS) and another sonar sensor in the back of its left side, denoted as Back Side Sensor (BSS). The robot has also three front sonar sensors denoted as Left Front Sensor (LFS), Medium Front Sensor (MFS) and Right Front Sensor (RFS). The robot has two independent motors, one for controlling the steering of the front wheels and the other for controlling the speed of the front wheels. The robot is required to implement the left edge following behaviour while avoiding obstacles. You are required to design a hierarchical fuzzy logic controller which combines the left edge following behaviour and the obstacle avoidance behaviour. (i) Draw a block diagram of this hierarchical controller and explain its overall [30\%] operation. (ii) Describe the benefits of using hierarchical fuzzy coordination when compared [10\%] to subsumption coordination. (c) A PD controller was used to control the speed of a car with the set point at 30Km/h. [20\%] Assume that the PD controller has been operated for 2 seconds. In the 1st second, the speed actual value was 25Km/h and the output to the speed controller was 31 . In the 2nd second, the speed actual value was 28Km/h and the output to the speed controller was 32 . Calculate the values of KP and KD