Peace, the Essential Message of Islam

Misunderstanding of Westerner about Islam. Islam originates from the word "Salam" which means peace, submission and tolerance. Islam has never preached for intolerance, hatred and violence. It has despised violence and bloodshed and having no place for extremism. Islam is a religion of moderation rather than extremism. The Holy Quran enshrines benign treatment and attitude even towards non-believers, who are residing in Muslim state and to guarantee them all their basic rights of life and property. It negates hatred and fundamentalism and stands for universality. There arises question that how this situation has been muddled and the real soul of Islam is distorted? How incendiary norms have been infested in federally administered tribal areas of Pakistan? There is a need for implementation of anti-terror laws and to condemn terrorism in all its manifestations.

An Algorithm for the Solution of Trajectory Planning for Non- Non - Holonomic Mobile Robot in Presence of Obstacles

Path planning and trajectory generation for nonholonomic mobile robot in dynamic environment is a difficult problem. It has to consider the nonholonomic constraints of robot as well as the detection and avoidance of the possible collision with dynamic obstacles. In this research an adaptive path planning technique has been proposed for mobile robot motion in an environment with dynamic obstacles. A trajectory is formulated between the starting and target positions for the three wheeled mobile robot. For this purpose kinematics and dynamic models of the mobile robot have been used. Inverse kinematics model has been developed by the wheel space technique for calculating the required wheels displacements to reach the target location. A collision-free motion of robot between its starting and goal positions is required to be executed therefore, a safe global path which is a sequence of control points is planned, incorporating the prior knowledge of environment. Artificial potential function has been implemented for calculating intermediate target positions between the initial and final position of mobile robot, to avoid obstacles in its path. A feasible global path is calculated for vthe known environment and a time based trajectory is generated. This global path is set as a reference path for the wheeled mobile robot. When dynamic obstacles moving with certain velocity come in the path of mobile robot, it has to modify the path to avoid possible collision. An algorithm is proposed in this dissertation which efficiently detects and avoids the possible collision with dynamic obstacles. This novel algorithm detects possible collision with dynamic obstacle even if its velocity is not uniform. Expected collision of obstacle coming in the path of mobile robot is detected by measuring the relative velocity of obstacle and mobile robot at each time step. The reactive scheme of algorithm is activated for changing the velocity of mobile robot to avoid the expected possible collision and the local path planner plans a modified path to be executed by the mobile robot.