آخرکیا ہے زندگی؟
زندگی پر یہ بے لاگ تبصرے
وقت کے ضیاع کے سوا کچھ نہیں
زندگی کا سراغ کسے ملا ہے
ہر کسی کو زندگی سے گلہ ہے
یہ کیوں اور کس لیے ملی؟
مورِ ناتواں کے سکڑتے پیٹ کی صدا ہے زندگی؟
بیلوں کی بھوک سے نکلی پسلیوں کی نوا ہے زندگی؟
سنگ و خشت اٹھائے مزدوروں کی ندا ہے زندگی؟
تخت پہ بیٹھے شیروں کی عیش کا نام ہے زندگی؟
Tasaw’uf(mysticism)is a branch of Islamic knowledge which focuses on the spiritual development of the Muslim. Allah sent His final messenger, Prophet Muhammad, as a source of knowledge for the entire Ummah. He was the model of spirituality for the world. His God-consciousness, deep spirituality, acts of worship, and love for Allah were preserved and propagated by an Islamic science called Tasaw’uf(mysticism). After the Prophet (SAW), the scholars carried different branches of knowledge. The aim of the scholars of Tasaw’uf(mysticism)was purification of the heart, and development of consciousness of Allah through submission to the Shariā and Sunnah. The Sofiy’ā have role model to keep the society peaceful. In this paper will be discussed about the role of Tasaw’uf(mysticism) and Sofiy’ā In the establishment of a moral and tolerant society.
Wheeled mobile robots (WMRs) are difficult to stabilize and control due to nonholonomic constraints. The complexity of control increases when there is a need to control a group of WMRs in a specific formation. The research described in the thesis concerns the modeling, control and formation of nonholonomic WMRs for trajectory tracking. In particular, this research work proposes novel control approaches for WMR trajectory tracking and formation control of multi-robot system. The kinematic model of WMR is studied, and then various kinematic controllers have been implemented to identify suitable kinematic controller for WMR trajectory tracking using performance based simulation results. The trajectory tracking problem is extended by including the dynamic model of WMR along with the model uncertainties and disturbances. A novel adaptive sliding mode state feedback control law is proposed for trajectory tracking, which includes the integral action and hence it is able to remove the steady state errors and reject the external disturbances. The proposed adaptive dynamic controller uses velocities as input commands, which is more practical and appropriate from the view-point of real-time application. The proposed dynamic state feedback controller requires all the states specially WMR linear and angular velocities. Therefore, the trajectory tracking control problem is addressed again in the context of output feedback control for WMR. The tracking formulation is defined with the high gain observer to estimate the linear and angular velocities. It is shown that using high gain observer and a globally bounded state feedback stabilizing controller, the close-loop system performance can be recovered in the presence of un-modeled dynamics. The formation control problem of vi multi-robot system is addressed using leader-follower formation approach. The kinematic model of the leader-follower formation is developed in the presence of uncertainties and disturbances. It is followed by an integral terminal sliding mode control for robust formation control and finite-time convergence. The proposed controller eliminates the requirement of leader’s velocity information which increases the reliability of multi-robot system. Obstacle detection and collision avoidance are incorporated to maintain the desired formation in the presence of obstacles. The stability analyses is carried out using Lyapunov stability theory. The performances are verified and validated using time invariant and time varying trajectories.