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What are the key theoretical principles behind the design of sustainable urban drainage systems $($SuDS$)$ in civil engineering, and how do they contribute to mitigating the impacts of urbanization on the natural water cycle and environment? Discuss the fundamental concepts such as permeability, infiltration, retention, and attenuation, and explain how they are integrated into SuDS designs to manage stormwater runoff. Additionally, analyze the role of green infrastructure elements like green roofs, permeable pavements, swales, and constructed wetlands in promoting infiltration and reducing surface water runoff. Explore the theoretical underpinnings of SuDS in enhancing water quality, reducing flood risk, and fostering biodiversity within urban environments while ensuring long$-$ter