$(5$ pts $)($Octopus arm control system$)$ Consider an octopus using its arm to catch a prey $($see Fig. $1($a$)).$ Using the block diagram in Fig. $1($b$)$ as a guide, describe all the different components $($e$.$g$.$ sensors$,$ actuators, computer, possible noise, disturbances etc.$)$ of the control system responsible for the octopus arm motion. Ignore the $\text{'}$A$/$D$\text{'}$ and $\text{'}$D$/$A$\text{'}$ blocks, as they are not relevant for the octopus.

$($bonus$1$: $1$ pt $)$ Identify at least two sensing modalities that the octopus may use during this maneuver.

$($bonus$2$: $1$ pt $)$ Identify at least two locations in the octopus' body where the 'Computer' might be located.

$($b$)$

Fig. $1$: Octopus arm control: $($a$)$ An octopus senses a target $($shrimp$)$ and attempts to catch it using one of its arms. $($b$)$ A block diagram of the control system.