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Control Design for Multi-Degree of Freedom Robotic Arm Manipulator

Thesis Info

Author

Muhammad Imran Ullah

Supervisor

Jamshed Iqbal

Department

Department of Electrical Engineering

Program

REE

Institute

COMSATS University Islamabad

Institute Type

Public

City

Islamabad

Province

Islamabad

Country

Pakistan

Thesis Completing Year

2014

Thesis Completion Status

Completed

Subject

Electrical Engineering

Language

English

Added

2021-02-17 19:49:13

Modified

2023-01-06 19:20:37

ARI ID

1676720177291

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مولانا محمد الیاس کاندھلوی

مولانا محمد الیاس کاندھلوی
وادریغا!مولانا محمد الیاس کاندھلویؒ نے چند ماہ کی شدید علالت کے بعد ۱۲/ جولائی بروز پنج شنبہ داعی اجل کو لبیک کہا اوراس جہانِ آب وگل کوخیر بادکہہ کر اپنے’’رفیق اعلیٰ‘‘سے جاملے۔مولانا کی عمر ابھی ایسی کچھ زیادہ نہ تھی۔لیکن تبلیغ کے کام میں انہماک کے باعث آپ نے اس مقدس اورضروری فریضۂ اسلام کے علاوہ ہرچیز کو قطعاً فراموش کررکھا تھا۔یہاں تک کہ سینکڑوں دیکھنے والوں نے دیکھا کہ مرض الموت میں بھی جب کہ آپ پر عالمِ سکرات طاری تھا اور ضعف ونقاہت اورمرض کے پے بہ پے حملوں کے باعث آپ کاجسم ناتواں ہڈیوں کاایک ڈھانچہ ہوکر رہ گیاتھا۔جو کوئی شخص آپ کی مزاج پرسی کرتا اورمرض کی کیفیت دریافت کرتا آپ اس پر خفگی کااظہار کرتے اور فرماتے تھے’’میرا مرض تم لوگ ہو جوتبلیغ کے فرض سے غافل ہو،بس اس کے سوا مجھے کوئی اوربیماری نہیں۔‘‘
آپ درحقیقت فنانی التبلیغ تھے۔ہرآن اسی کی دھن تھی۔یہی ایک خیال اور یہی ایک جذبہ تھا جوسیماب کی طرح ان کو بے چین اورمتحرک رکھتاتھا۔عمل اور اخلاص کاحقیقی پیکر تھے۔دل خشیتِ ربانی سے معمور تھا۔تقریر اگرچہ رسمی فصاحت و بلاغت سے عاری تھی۔مگر غایت اخلاص وﷲیت کی وجہ سے ایک ایک لفظ جو دل سے نکلتا تھا سننے والوں پر تیروسنان کاکام کرتا تھا۔حقیقت یہ ہے کہ آپ کی پوری زندگی اتباع سنت کاکامل نمونہ تھی۔مولانا مرحوم کی ان صفات کاہی یہ اثر تھا کہ آپ نے چند سالوں میں ہی اصلاح وتبلیغ کے میدان میں وہ کچھ کردکھایا جوسالہا سال میں بڑی بڑی جماعتیں بھی نہیں کرسکتیں۔دعا ہے کہ اﷲ تعالیٰ اعلیٰ علیین میں مولانا کے مراتب ومدارج بیش ازبیش بڑھائے اورآپ اپنے پیچھے جو کام چھوڑ گئے ہیں،آپ کے جانشین مولانا محمد یوسف صاحب اوران کے اعوان و رفقاء ان کاموں کوباحسن وجوہ قائم وبرقرار رکھ سکیں۔رحمہ اﷲ رحمۃً واسعۃً وتغمدہ...

مستدلات شرعیہ کی روشنی میں بیعت کا ناقدانہ جائزہ

Literally Bai't means solemn assurance to do something and absolute submission to one's commands. All the believers have declared to follow the commands of Allah Al-Mighty  and act upon the guideline of His Holy Prophet (P.B.U.H). In the early days of Islam, every person intending to embrace Islam use to take an oath of obedience and loyalty to the orders given by the Prophet (P.B.U.H). The person gave his hand in the hands of the Prophet (P.B.U.H). Afterwards, this sort of oath was introduced in many kinds; one of them is "Bai't Islah or Bai't Al Tuba".  The Bai't is in accordance with the spirit  of Islamic teachings. The scholars of Islam in majority have accepted its authenticity as discussed in the article under reference.

Laboratory and Field Evaluation of a Locally Prepared Montanide Adjuvanted Combined Hemorrhagic Septicemia-Mastitis Vaccine.

The present study represents a maiden attempt to develop and evaluate a combined hemorrhagic septicemia (HS) and mastitis vaccine in cows and buffaloes. The study was compartmentalized into two phases. In phase I (laboratory settings), isolates of Pasteurella multocida, Staphylococcus aureus and Streptococcus agalactiae recovered from field cases of HS and mastitis were scrutinized for virulence/pathogenicity and immunogenicity in laboratory animals. Bacterin- toxoids of S. aureus and Str. agalactiae were blended with prepared antigen of P. multocida, Montanide® ISA 201 VG, thimerosal and sodium azide to prepare combined HS- mastitis vaccine that was evaluated for sterility, safety and side effects underin vitro conditions/in cattle, buffaloes and mice. A challenge-protection assay conducted in immunized mice indicated 100% survival of challenged mice. The vaccine was physically stable in terms of pH, sedimentation, color, appearance, and syringibility for 6 months observation period at 37°C. In Phase II (field evaluation), the combined vaccine was evaluated in cows, buffaloes and calves. To this end, a total of 70 S. aureus and Str. agalactiae free lactating buffaloes (n=45) and cows (n=25), 50 lactating cows (n=25) and buffaloes (n=25) positive for S. aureus/Str. agalactiae and dairy calves (buffalo calves n=70; cow calves n=50) aged up to 1 year were treated with 2 doses of combined HS-mastitis vaccine at 21 day interval and evaluated (where relevant) for 6 months in terms of ELISA based antibody titers against P. multocida, S. aureus and Str. agalactiae, incidence of HS, local and systemic reactions, incidence and prevalence of S. aureus and Str. agalactiae mastitis, severity of mastitis, milk somatic cell count, milk yield, cost effectiveness and vaccine efficacy. ELISA based antibody titers against P. multocida, S. aureus and Str. agalactiae were higher in vaccinated groups than in un-vaccinated groups. Two cases of HS were recorded in vaccinated animals vis-à-vis 7 cases in un-vaccinated animals. Incidence of S. aureus and Str. agalactiae over 180 days in vaccinated and un-vaccinated cows and buffaloes initially cultural –ve for these pathogens was 3 and 10, respectively; the corresponding figures in groups initially culture +ve for these pathogens being 2 and 12, respectively. Cumulative mean somatic cell counts in vaccinated groups were significantly lower (P>0.05) than those in respective unvaccinated controls. Milk yield was significantly higher (P<0.05) in vaccinated cows and buffaloes than in un-vaccinated controls. Mastitis severity scores were lower in vaccinated groups than in un-vaccinated controls. The vaccine tested had a vaccine efficacy 84.78 and 90.25% against HS and mastitis, respectively with a financial benefit worth Rs 2,060,300. In sum, Montanide® adjuvanted combined HS-mastitis vaccine had preventative role against HS and both preventative and curative role against S. aureus and Str. agalactiae associated mastitis. In view of the preliminary nature of the study, additional work involving much larger number of cows, buffaloes and calves is clearly warranted.