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

A Fuzzy Logic Controller (FLC) has two antecedents: X1 and X 2, and one output Y1. It uses singleton fuzzification. Each antecedent is represented by three fuzzy sets \{Low, Medium, High\} as shown in Figure (2). Y1 is represented by three fuzzy sets \{Low, Medium, High\} as shown in Figure (2). The rule base for this FLC is as follows: Rule I: IF X1 is Low and X2 is Low Then Y1 is High Rule 2: IF X1 is Low and X2 is Medium Then Y1 is Low Rule 3: IF X1 is Low and X2 is High Then Y1 is Medium Rule 4: IF X1 is Medium and X2 is Low Then Y1 is Medium Rule 5: IF X1 is Medium and X2 is Medium Then Y1 is High Rule 6: IF X1 is Medium and X2 is High Then Y1 is Low Rule 7: IF X1 is High and X2 is Low Then Y1 is Medium Rule 8: IF X1 is High and X2 is Medium Then Y1 is Low Rule 9: IF X1 is High and X2 is High Then Y1 is Medium If the current crisp inputs to the FLC are X1=12 and X2=35 : (i) Indicate which rules will be fired from the rule base. [5%] (ii) For each fired rule calculate the firing strength using the Minimum operation [10%] to represent the AND logical connective. (iii) Draw the fuzzy output of each fired rule using the Minimum implication. [20%] Figure (2): The membership functions of the antecedents to the FLC, X1 and X2 as well as the output of the FLC Y1