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Fault Toerant Control of a Robotic Manipulator

Thesis Info

Author

Zainab Shahid Awan

Supervisor

Adeel Mehmood

Department

Department of Electrical Engineering

Program

REE

Institute

COMSATS University Islamabad

Institute Type

Public

City

Islamabad

Province

Islamabad

Country

Pakistan

Thesis Completing Year

2016

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

1676720246901

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المبحث الخامس: الراقصة السيئة

المبحث الخامس: الراقصة السيئة

قصيدة (الراقصة المذبوحة) ([1]) لنازك الملائكة

ارقصي مذبوحةَ القلب وغنّيا
واضحكي فالجرح رقص وابتسام
إسألي الموتى الضحايا أن يناموا
وارقصي أنت وغنّي واطمئني
* * *
أدموعٌ ؟ أسكتي الدمع السخينا([2])
واعصري من صرخة الجرح ابتساما
أانفجارٌ ؟ هدأ الجرح وناما
فاتركيه واعبدي القيد المهينا([3])
* * *
ثورةٌ ؟ لا تبغضي السوطَ([4]) المُلحّا([5])
أيّ معنى لاختلاجات([6]) الضحايا ؟
بعض أحزان ستنسى , ورزايا([7])
وقتيل أو قتيلان , وجرحى
* * *
إقبسي من جرحك المحرق لحنا
رنّميه([8]) بالشّفاهِ الظامئات([9])
لم تزل فيها بقايا من حياة
لنشٍيد لم يفض بؤسا وحزنا
* * *
صرخةٌ ؟ أيّ جحودٍ وجنون !
أتركي قتلاك صرعى دون دفن
واحدٌ مات ... فلاصرخةَ حزنِ !
أيّ معنىً لانتفاضات([10]) السجين ؟
* * *
إنتفاضاتٌ ؟ وفي الشعب بقايا
من عروق لم تسل نبع دماء ؟
إنفجاراتٌ ؟ وبعض الأبرياء
بعضهم لم يسقطوا بعد ضحايا ؟
* * *
لم يكن جرحك بدعاً في الجروح
فارقصي في سكرة الحزن المميت
الأرقّاء الحيارى للسكوت
إحتجاجاتٌ ؟ لماذا ؟ إستريحي !
* * *
إضحكي للمدية الحمراء حبّا
واسقطي فوق الثرى دون اختلاج
منّةٌ أن تذبحي ذبح النعاج
منّةٌ أن تطعني روحا وقلبا
* * *

وجنون يا ضحايا أن تثوري([11])
وجنون غضبة الأسرى العبيد
أرقصي رقصة ممتنّ سعيد
وابسمي في غبطة([12]) العبدِ الأجيرِ
*...

بچوں کے عمرانی مسائل: اسلامی تعلیمات اور بین الاقوامی قوانین کے تناظر میں ایک جائزہ

The way the religion of Islam has emphasized the human rights, might be any other religion has given importance to this very specific topic. Although in Islam, there has no any chapter making been made in Quran and hadith on the permanent bases on the topic of basic human rights, yet if some search is made to find out these Quran and Sunnah, these are also present in expended form in various places and along with these guided principles are also present there. In Quran there is admonition in many places for the protection of human soul, goods and honor as well. Whereas Hadith along with the other various teachings, specifically on the eve of the last sermon known as ( Khutba hajja tul wida) of the Rasool(PBUH) the prescribed charter of human rights is enough to highlight its importance, but no distinctive laws are cited with a special regarded to  children. Anyhow, in 18th century, issues relevant to children came into view those also became the cause of many movements and all the countries are formulated unanimous laws which are still being applied. In present era, the social issues of the children are becoming obnoxious severe. On the behalf of these issues their growth, training and many other facts of life are also attention catching. In this article, an analysis of Islamic and International laws with respect to children will be made and those causes will also be cited due to which social issues of children are continuously being generated.

Prevalence of Abnormal Aminoglycoside Trough Levels in Children With Clinically Suspected Gram Negative Infections at the Aga Khan University Hospital, Nairobi

Background: Aminoglycosides are commonly used in the treatment of severe gram-negative infections. Their use is associated with substantial risk of toxicity and hence need to monitor therapeutic drug levels. The prevalence of abnormal aminoglycoside trough levels in hospitalized children in our local setting has not been determined thus putting into question the cost benefits of providing therapeutic drug monitoring services in our resource poor settings. Objective: To determine the prevalence of abnormal aminoglycoside trough levels in children below the age of 12 years with clinically suspected gram negative infections at the Aga Khan University Hospital, Nairobi. The secondary objective was to determine if glomerular filtration rate (GFR) estimation using Schwartz formula correlates with drug trough levels in children on aminoglycoside therapy. Methods: Children aged 1 day up to 12 years started on aminoglycoside therapy with either gentamicin or amikacin were identified in this hospital based cross-sectional survey that was undertaken at the Aga Khan University Hospital, Nairobi over a period of six months. Aminoglycoside drug trough levels and serum creatinine measurements were done in 81 patients at 24hours after initiation of aminoglycoside therapy. GFR was calculated using Schwartz formula for all the serum creatinine values obtained. Data analysis: Data accrued were analysed using Stata Data Analysis and Statistical software. The prevalence of abnormal aminoglycoside trough levels was calculated. The Pearson correlation coefficient was calculated between the drug trough levels and estimated GFR. The prevalence, sensitivity, specificity, positive and vi negative predictive values as well as likelihood ratios, and hence accuracy of estimated GFR in predicting for abnormal aminoglycoside trough levels was also calculated. The area under the receiver operating characteristic (ROC) curve was also determined. Results: A total of eighty one participants were recruited into this study with a median age of three days, 48.2% of whom were males and 51.8% female. The prevalence of abnormal aminoglycoside trough levels in children below the age of 12 years with clinically suspected gram negative infections admitted at the Aga Khan University Hospital, Nairobi was 4.9% (95% CI 1.4% to 12.2%). There were no reported adverse outcomes in any of the children with abnormal drug trough levels upon follow-up. The strength of the association between aminoglycoside trough levels and glomerular filtration rate was found to be weak with Pearson correlation co-efficient of -0.342. The sensitivity and specificity of estimated GFR in predicting for abnormal aminoglycoside trough levels was 25.0% and 98.7% respectively. The