عشقی الہاشمی
عشقی الہاشمی(۱۹۰۹ء ۔۱۹۸۳ئ)کا اصل نام جعفر علی اور عشقیؔ تخلص کرتے تھے۔ عشقیؔ سیالکوٹ کے سادات نقوی خاندان میں ہوئے۔ آپ عربی فارسی میں خدا داد قابلیت رکھتے تھے اور علومِ شرقیہ کے بہترین اساتذہ میں شمار ہوتے تھے۔ عشقیؔ نے شاعری میں علی طالب الہٰ آباد ی اور لسان الہند مرزا ہادی عزیز لکھنوی سے فیض حاصل کیا۔ سیالکوٹ میں عشقیؔ کے بہت زیادہ شاگرد تھے۔ جنھوں نے اُردو شاعری میں اعلیٰ مقام حاصل کیا۔ اصغر سودائیؔ اور تابؔ اسلم جیسے کاملِ فن شعرا عشقیؔ کے تلمذ میں رہے۔(۴۴۱)
آپ نے مجلہ در’’نجف‘‘ میں بحیثیت مدیر معاون کام کیا۔ ’’شبابِ اردو‘‘ ،اور’’نوروز‘‘ کی ادارت بھی سنبھالی ۔اور امر تسر کے ہفت روزہ ’’مجلہ آرٹ‘‘ کے مدیر بھی رہے۔ (۴۴۲) ’’سر شک بہار‘‘ ،’’مطلع الانوار‘‘ ،’’سوزو ساز‘‘ ،’’سہا و سمن‘‘ اور ’’غزلستان‘‘ عشقیؔ کے چار شعری مجموعے ہیں۔’’العروض ‘‘تصنیف میں فنِ شاعری پر تنقید اور تبصرے شامل ہیں۔(۴۴۳)
عشقیؔ روایتی شاعر ہیں ان کے ہاں کوئی جدت نظر نہیں آتی۔ عشقی ؔ کے اسلوب پر دبستان دہلی اورلکھنو کے اثرات بھی دیکھے جا سکتے ہیں ۔ اُن کی غزلیات چھوٹی اور لمبی بحروں میں ہیں ۔شاعری میں قافیہ اور ردیف پر بہت زور دیتے ہیں ۔ان کی اکثر غزلیات کی طویل ردیفیں ہیں ایسا لگتا ہے جیسے وہ شاعری پر قافیہ اور ردیف کو فوقیت دیتے ہیں ۔ مذکورہ بالا خامیوں کے باوجود عشقیؔ کے ہاں آفاقی موضوعاتِ شاعری بھی موجود ہیں۔ اخلاقیات،رجائیت،قومیت،حقیقت پسندی،اصلاح ،عشقِ مجازی اور عشقِ حقیقی عشقیؔ کی شاعری کے اہم موضوعات ہیں۔ اس حوالے سے نمونہ کلام ملاحظہ ہو:
قوم پر جب زوال آتا ہے
نوجوان بے لگام ہوتے ہیں
جن کو جینے کا آ گیا طریق
ان کے اونچے مقام ہوتے ہیں
جو بشر احترام کرتے ہیں
The article explains the origins of anxiety disorders during pregnancy, and their treatment. Pregnant women's anxiety is normally manifests itself as emotions, perceptions, and behaviors, which is mediated by biological, social, and genetic influences. Probability analysis is done of this kind. Using a survey of 1500 rural residents as a random number between 100 and 1600 produces a 200% response rate. Those findings revealed that 60% of the participants had adequate reproductive age and 51% had mild to moderate anxiety, and 78.4% had high anxiety. The reasons leading to pregnant women's anxiety include their age, working status, lack of care from a boyfriend, having had previously given birth, and their wellbeing before becoming pregnant, all of the woman's family members, and maternal well-being. To resolve this is by sufficient relaxation, anti-depressants, a safe diet, and physical exercise, along with learning how to behave more positively, and by means of ourselves, or through prantal massage.
The main objective of the lateral guidance algorithm is to keep the vehicle on preplanned desired path by controlling the lateral track errors during flight and to keep them as small as possible by generating suitable reference commands. Cross track (lateral) error control of unmanned aerial vehicles (UAVs) in the presence of uncertainties and disturbances with bounded control input (φref ) is a challenging task. The path following guidance law needs to be devised using generalized kinematic model and by explicitly considering the UAV autopilot dynamics. However, the inclusion of these dynamics into guidance design further complicates the problem by increasing the relative degree, and stability, and control boundedness becomes difficult to analyze. To address these challenges, several studies for inclusion of autopilot dynamics into guidance design are presented in this thesis for lateral path following applications. Firstly, the guidance and control framework based on sliding mode theory is presented to solve the two dimensional path-following problem. Limitations of the existing nonlinear sliding surface for lateral guidance are indicated and thus two novel stable nonlinear sliding manifolds are proposed for the guidance problem. The two surfaces are then employed to generate two new nonlinear guidance laws for UAV path following. The proposed guidance schemes rely on First Order Sliding Mode Control (FOSMC) algorithm derived at the kinematic level generating reference bank commands. The autopilot based on super twisting algorithm using linear sliding surface forms the inner control loop for control actuation. The autopilot is involved in the feedback nonlinear sliding mode based guidance law design for path following of UAVs. The major contribution of this work is the dynamics of the autopilot taken into account for guidance law design, along-with saturation constraints on guidance commands for high performance in all scenarios. To solve relative degree two problem, a nonlinear sliding manifold is used with real twisting algorithm for guidance design, the guidance loop generates bank angle commands for executing roll maneuvers. The strategy provides a framework to implement the developed controller on the experimental vehicle without modifying the key structure of the original autopilot controller. viii Moreover, an innovative sliding mode based partially integrated lateral guidance and control scheme for UAVs is proposed. Guidance and control framework based on second order sliding modes is presented to solve the problem of two dimensional path-following. The main contribution of the technique presented here is the partial integration of the two loops i.e., a guidance and control system via series interconnection of two stable sliding manifolds. The proposed guidance scheme relies on a nonlinear switching surface with the real twisting algorithm derived at the kinematic level, generating roll error commands. The autopilot based on the super-twisting algorithm using a linear sliding surface forms the autopilot loop. Finally, a new guidance law for accurate following of flight path to observe tight ground track control is presented. The unique feature is to explicitly account for autopilot constraints by defining a 3-D sliding manifold. The guidance solution described is based on state stabilization of kinematics-dynamics trajectories i.e., the guidance law is evolved based on the knowledge of dynamical characteristics of the UAV. A robust FOSMC guidance algorithm is derived using the nonlinear 3-D sliding manifold to develop the guidance law. For the proposed schemes, proof of existence of sliding mode, actuation boundedness and performance of the path-following closed-loop system is analyzed. Flight results validate the performance and effectiveness of the proposed framework for guidance and control design. Keywords: Sliding Mode Control, Unmanned Aerial Vehicles (UAVs), Guidance & Control, Sliding Surface, Cross Track Error, Lateral Guidance.