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Nonlinear Control of Two-Wheeled Self Balancing Robot

Thesis Info

Author

Muhammad Haseeb

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

1676720323479

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بھانویں خواب اندر اوہ آگئے

بھانویں خواب اندر اوہ آگئے
ہک وار تاں من پرچا گئے
پا سرمہ نین نشیلیاں وچ
نیناں دے تیر چلا گئے
توں لبھناں ایں پھل بہاراں دے
ساڈے اگلے وی کُرما گئے
اساں رو رو حال سناندے رہے
اوہ چپ دے جندرے لا گئے
ساڈے کولوں آ کے ٹر گئے
تارے چٹے دینہہ وکھا گئے
سُن ناں کرونا وائرس دا
لوکی حجریاں وچ سما گئے

Comparative Analysis of Municipal Powers in Karachi

This study aims to draw a comparative analysis of the powers of local governments in Karachi. The subject of local government structure and its authority has become more important in the current local scenario. The findings of the study reveal that in past successive civilian governments in Pakistan did not pay attention to developing a solid local government system and instead preferred controlling districts and tehsils through the bureaucracy, with the absence of democracy and accountability at the local level. Instead of using this third tier of the government for the delivery of swift and better municipal services, they always made an effort to keep them weakened through legislation at different levels. The situation has now got worst in the biggest city and economic hub of Pakistan where people are deprived of basic facilities due to a handicapped system. The Mayor of the biggest city of Pakistan felt powerless as the provincial government through the Sindh Local Government Act 2013 deprived the Karachi Metropolitan Corporation of its main functions. The local bodies will have to be given the authority and essential powers. Only then these institutions can be made capable of providing basic services to the people.

Integrated Nitrogen Management With and Without Beneficial Microbes in Spring Maize and its Carry over Effect on Subsequent Mung Bean

The effectiveness of beneficial microbes in improving soil fertility and crop productivity may vary with soil organic matter and nitrogen contents. For this purpose, field trials were conducted at the Agronomy Research Farms of the University of Agriculture Peshawar to evaluate the effect of beneficial microbes, organic and inorganic N ratios and N levels in spring maize and mung bean cropping system in semi-arid alkaline calcareous soil condition of Peshawar during 2014 and 2015. Maize was sown in spring followed by mung bean in summer. The experiment was consisted of three factors i.e., beneficial microbes (BM) (with BM and without BM), organic and inorganic N sources (R) (0:100, 25:75, 50:50, 75:25 and 100:0), desired nitrogen (N) levels (100, 150 and 200 kg N ha-1) and control. The experiment was carried out in randomized complete block design (RCBD) with 3 replications. Plot size was 4.2 m x 4 m having six rows in maize and 12 rows in subsequent mung bean. Row to row distance for maize and mung bean was 70 and 35 cm respectively. Mung bean was sown without application of the cited treatments for carry over only. Based on the average results of the two years, BM significantly enhanced plant height (220 cm), SPAD value (62.53), days to tasselling (63.3 d), silking (66.9 d), maturity (101 d), leaf rea (437 cm2), LAI (3.47), ears m-2 (7.0), grains ear-1 (576), thousand grains weight (269 g), biological yield (16543 kg ha-1), grain yield (5438 kg ha-1), harvest index (32.9 %), soil organic matter (1.04 %), stover N (0.77 %), grain N (1.64 %), grain protein (10.23 %), stover N uptake (76.3 kg ha-1), grains N uptake (89.8 kg ha-1), total N uptake (127 kg ha-1) and N use efficiency (24.5 kg grains kg-1 N supply). Higher soil mineral N (47.7 mg kg-1) was observed without application of BM. Application of organic and inorganic N in 50:50 R significantly improved plant height (222 cm), SPAD value (63.68), days to tasselling (63.1 d), days to silking (66.9 d), days to maturity (100 d), leaf area (456 cm2), LAI (3.61), ear m-2 (7.0), grains ear-1 (554), thousand grains weight (266.3 g), biological yield (16792 kg ha-1), grain yield (5732 kg ha-1), harvest index (34.1 %), stover N (0.81 %), grain N (1.68 %), grain protein content (10.5 %), stover N uptake (81.06 kg ha-1), grains N uptake (97.17 kg ha-1), total N uptake (131.9 kg ha-1) and N use efficiency (25.9 kg grains kg-1 N supply). Higher soil organic matter (1.21 %) was observed with application of full dose of N applied from organic source. Soil mineral N (50.2 mg kg-1) and soil total N (0.085%) were observed with application of organic and inorganic N in 75:25 R. Application of N @150 kg ha-1 significantly increased SPAD value (61.9), leaf area (445 cm2), LAI (3.59), ears m-2 (6.9), grains ear- 1 (548), thousand grains weight (266.2 g), grain yield (5228 kg ha-1), harvest index (32.7 %), grain N (1.63 %), grain protein (10.19 %) and grains N uptake (85.82 kg hav 1). Higher plant height (220 cm), days to tasselling (63.9 d), silking (67.3 d), and maturity (102 d), biological yield (16589 kg ha-1), soil organic matter (1.21 %), soil total N (0.082%), stover N (0.89 %), stover N uptake (93.13 kg ha-1) and total N uptake (144.03 kg ha-1) were observed with application of 200 kg N ha-1. Similarly, N use efficiency (26.13 kg grains kg-1 N supply) were recorded with application of N @ 100 kg ha-1. In mung bean, higher pods m-2 (214), grains pod-1 (11), thousand grains weight (50.8 g), grain yield (918 kg ha-1), biological yield (5896 kg ha-1) and harvest index (17.12 %) were observed with the residual effect of BM. However, more pods m-2 (231), grains pod-1 (11.2), thousand grains weight (50.8 g), grain yield (927 kg ha-1) and biological yield (6141 kg ha-1) were obtained with the residual effect of organic and inorganic N in 75:25 and 50:50 R while higher harvest index (17.7 %) was observed with organic and inorganic N in 50:50 R. Higher grains pod-1 (10.8), thousand grains weight (51.24 g), grain yield (917 kg ha-1) and biological yield (5935 kg ha-1) were observed with the residual effect of 150 kg N ha-1 while higher harvest index (17.12%) was observed with residual effect of 100 kg N ha-1. On the basis of above results, it was concluded that BM in combination with N @ 150 kg N ha-1 in organic and inorganic ratio of 50:50 performed better and are, therefore, recommended for higher productivity in spring maize-mung bean cropping system in the agro-climatic conditions of Peshawar Pakistan.