Question 1 [20 marks] yo 3 m 2 m 2 XO E Figure Q1 Determine the work space and the work envelope traced out by E for the simple robot shown in Figure Q1, if the robot variables have the following restrictions: -45 . = 01 90 0 and -30 0 = 0 2 90 0. The point O is fixed. All angles are positive in the counterclockwise direction. Question 2 [30 marks] (a) Write the Boolean expression for f in the following logic gate system. [10]