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Design and Control of Atwo-Wheeled Balancing Robot

Thesis Info

Author

Faizan Ahmed

Supervisor

Adeel Mehmood

Department

Department of Electrical Engineering

Program

BCE

Institute

COMSATS University Islamabad

Institute Type

Public

City

Islamabad

Province

Islamabad

Country

Pakistan

Thesis Completing Year

2015

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

1676720190882

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کھیل اور تعلیمی درسگاہیں

کھیل اورعلمی درسگاہیں
شیرخوار سے نونہال اور نونہال سے نوجوان اور نوجوان سے رجل رشید بنتا ہے۔ یہ قانونِ قدرت ہے پہلے بچہ پھر لڑکا اور پھر عفوان شباب کے گلستان میں گل چینی کرنے والا معرض وجود میں آتا ہے۔ اور اس طرح سلسلہ چلتا رہتا ہے، اور پھر عالم برزخ سے گزرتا ہوا اپنے اصلی مقام کی طرف گامزن ہو جا تا ہے۔ اس مختصر سے وقفے کو پر مسرّت اور خوشیوں بھرا بنانے کے لیے ہر معاشرہ مستعد نظر آتا ہے۔ اور اپنے نونہالوں کو زیورِ علم سے آراستہ کرنے کے لیے تعلیمی اداروں کے قیام کو یقینی بناتا ہے۔ اگر چہ تعلیمی ادارے بچے کی تعلیم وتربیت کے لیے جزولاینفک ہیں لیکن تعلیمی اداروں میں کھیلوں کی اہمیت کو بھی نظر انداز نہیں کیا جاسکتا۔ اور ان کی موجودگی طلبا ء کی صلاحیتوں کو نکھارنے کے لیے انتہائی ناگزیر ہے۔
تعلیمی اداروں میں کھیلوں کی اہمیت اظہر من الشمس ہے کھیل طلباء کی صلاحیت کو نکھارتے ہیں ، طلباء کے شعور کو جلا بخشتے ہیں، طلباء میں کام کرنے کی صلاحیت بڑھ جاتی ہے، طلباء میں محنت کا جذبہ پیدا ہوتا ہے جو اُن کی نجی زندگی میں ممد و معاون ثابت ہوتا ہے، اُن کی دماغی صلاحیت میں خاطر خواہ اضافہ ہو جاتا ہے، ان کی تعلیمی اوقات میں سستی و کاہلی بھی عنقا ہو جاتی ہے۔ کھیل طلباء میں جذبہ مسابقت پیدا کرتے ہیں، برداشت کی قوت میں خاطر خواہ اضافہ ہو جاتا ہے جوان جملہ امورِ حیات میں باعث تسکین بنتا ہے۔
جولوگ اپنے تعلیمی اداروں میں کھیلوں کی اہمیت سے آشناء ہیں وہ ہمیشہ اُن تعلیمی اداروں میں اپنے بچوں کی تعلیم کا انتظام کرتے ہیں جن میں کھیل کے میدان ہوتے ہیں ، جن میں فزیکل انسٹرکٹر کے فرائض انجام دے رہے ہوتے ہیں۔ کیونکہ جو بچے کھیل...

Entrepreneurial Orientation and the Performance of the Agro-allied Enterprises in Akwa Ibom State, Nigeria

It is widely recognized that Small and Medium Enterprises (SMEs) are the major drivers of sustainable economic growth, sources of income generation and panacea for poverty reduction in developing countries. Unfortunately, they are faced with numerous challenges that threaten their existence and survival. This precarity of small entrepreneurial organizations in entrepreneurial ecosystem has prompted widespread attention by scholars and researchers. Hence, it is critical to take into consideration examining the performance of the enterprises. This study analyzed the effect of entrepreneurial orientation dimensions, personal and institutional characteristics on the performance of small and medium agro allied enterprises. Through the multistage sampling procedure, a total of 198 SMEs were selected for the study and data were collected with the aid of questionnaire. Data were analyzed using multiple regression analysis. Results revealed that among the entrepreneurial orientation dimensions, only risking taking and innovativeness significantly and positively affected the performance of SMEs agro allied enterprises. Furthermore, findings showed that except for size of business which was negatively related to the growth of SMEs, educational level of entrepreneurs, managerial and business experience positively and significantly impacted on the performance of SMEs. Policies to encourage SMEs invest in risky investments and create new product and services should be pursued.

On Designing Efficient High-Speed Wireless Lans

In the last decade, wireless LANs (WLANs) based on the IEEE 802.11 standards have become ubiquitous in our daily lives. During this time we have seen more than 10-fold increase in usage and the number of wireless devices. To satisfy ever increasing demands, physical layer (PHY) data rates in WLANs have scaled from a few Mbits/sec in 802.11g to hundreds of Mbits/sec in IEEE 802.11n to over Gbits/sec in the IEEE 802.11ac standard. In addition, due to the emergence of popular online services, such as YouTube and Netflix, there has been persistent traffic growth due to real-time applications (e.g., video streaming). These trends bring about new performance challenges that are likely to become problematic for high-speed WLANs: These challenges include (a) achieving high user-level throughputs at high PHY data rates and (b) meeting the quality of service requirements of diverse applications (e.g., video streaming, web surfing, and bulk transfers) when they co-exist in a WiFi network. Due to the shared nature of the wireless medium, a carrier sensing based random access protocol is used in all 802.11-based standards. To arbitrate access to the channel, wireless access protocols introduce overheads like backoffs, preambles, and acknowledgements that lower performance efficiency at high data rates thereby resulting in low throughput. To address this inefficiency, recentWiFi standards (e.g., 802.11n/ac) allow (a) frame aggregation, whereby multiple frames are transmitted as a single aggregate frame on every channel access, and (b) block acknowledgements, whereby a single frame is to used for acknowledging the receipt of several frames. These features amortize the contention overhead over multiple frames and thus improve efficiency. At high data rates, frame aggregation introduces two challenges. First, sending large aggregate frames in a single transmission increases the opportunity cost of losing a frame, which leads to greater degradation in performance. In WiFi networks, frame losses can occur due to a weak signal, collisions, or hidden nodes. The MAC layer should respond differently to different types of losses. To achieve high performance, it is essential to infer the cause of frame loss accurately. We propose, implement and evaluate BLMon, a framework for loss differentiation that uses loss patterns within aggregate frames and their retries to achieve loss differentiation accurately and with low overhead. The second challenge arises in the presence of a mix of traffic, ranging from delay sensitive real-time applications to bulk file transfers that require high throughput. We show that using QoS mechanisms in high-speed WLANs presents a tradeoff between maximizing the performance of real-time applications and achieving high throughput. We design SlickFi; a service differentiation scheme that addresses this tradeoff and simultaneously maximizes the performance of real-time applications and network throughput. SlickFi achieves this by (a) isolating different types of traffic in non-overlapping parts of the spectrum by mapping them to different radios; and (b) adapting channel width on a per-frame basis to make efficient use of the wireless channel. The proposed solutions are readily deployable on commodity devices using only software level changes. We demonstrate the validity of our solutions by performance evaluation over a real testbed in diverse scenarios.