ﷺ
وہ جس میں اُسوۂ کامل حلول ہوتا نہیں
’’قسم خدا کی محب رسولؐ ہوتا نہیں‘‘
حضورِ رب ازل ؛ مدعاے آدمؑ بھی
بغیر اسمِ محمدﷺ قبول ہوتا نہیں
بھٹکتا رہتا ہے وہ آندھیوں ، بگولوں میں
جو ذرّہ خاکِ مدینہ کی دُھول ہوتا نہیں
نبیؐ کے ذکرِ معطر میں جو بھی محو رہے
خزاں کے ہاتھوں وہ پامال پھول ہوتا نہیں
نبیؐ بھی ہم سے بشر ہیں تو پھر بتاؤ ہمیں
وحی کا ہم پہ بھلا کیوں نزول ہوتا نہیں
نظر میں جس کی رہے رحمتِ حبیبِ خداؐ
رہِ حیات میں ہرگز ملول ہوتا نہیں
خدا سے مانگو اگر صدقۂ رسولؐ خدا
قبولِ عرض میں عرفانؔ! طول ہوتا نہیں
Every branch of art leaves a deep impact on the human psyche, but the immortal fact is that the reason for their creation is also to reduce the tension of the human mind. The most representative theory of humor in philosophy and psychology and even in physics. Is the idea of well-being, comfort or well-being? Broadly speaking, this suggests that humor (which has an obvious physiological effect) has effects on the nervous system and allows different levels of stress to be released. In other words, laughter and good humor have the ability to release stored nervous energy.
Humor is included in human nature and man has a strong desire for this thing that there should be such means for him to express joy and expansion. Because through them, man is blessed with mental and physical peace and comfort. In these things, he considers the survival of his self-respect. Islam not only allows humor, sports and entertainment, but also sets rules and regulations within which human beings can fulfill their natural needs. Its cultural traditions should also be propagated. As the head and governor of the Islamic state, the Holy Prophet (ﷺ) made the best arrangements for his state, the taste of the people and their entertainment, and set an example for the rulers that, like other matters, oppression in this not to be taken for granted, fun and humor are part of human nature. He (ﷺ) allowed fun and laughter and He (ﷺ) himself used to be cheerful. Islam admires cheerfulness and cheerfulness, and encourages it so that people can be refreshed and perform their duties in an auspicious manner.
Through this paper, it will be clarified that what are the effects of humor on human psychology and what are the teachings of Islam and the Prophet of Islam in this regard.
Key Word: Fine Arts, Humor, Human terms, Human humor
Underactuated nonlinear systems are always equipped with less number of actua tors than the degree of freedom. This feature offers certain benefits like reduction in weight and minimum energy usage. Majority of the robotic systems (including aerial, underwater and ground robotics) are found to be underactuated in na ture. Therefore, research in such system is still quite demanding and challenging. It is also worthy to mention that the underactuation phenomenon, do not allow the direct design of control input as practiced in fully actuated systems. The two decades have witnessed many control methodologies which include feedback linearization, energy-based, back-stepping, fuzzy logics and sliding mode control. However, majority of these techniques lags behind in the robust stabilization of this class except sliding mode oriented techniques. An extensive simulation study of the underactuated system is carried out in the existing literature while consid ering the examples of translational oscillator with a rotational actuator (TORA), flexible robots, pendulums and surface vessels. In this thesis a simulation as well as experimental study is carried out for a class of underactuated systems. The nonlinear model, of the underactuated systems, is treated generally. The dynamics are either transformed into an input output form and then an integral manifold is devised for the control design purpose or an integral manifold is defined directly for the concerned class. Having defined the integral manifolds discontinuous control laws are designed which are capable to maintain sliding mode from the very beginning. The closed loop stability of these systems is presented in an impressive way. The effectiveness and demand of the designed control laws are proved in term of simulation and experimental results of a ball and beam system. In addition, a comparative experimental study is also performed between three generations of sliding mode control, which includes the conventional first order sliding mode control (FOSMC), second order sliding mode (SOSMC), fast terminal sliding mode (FTSMC), and integral sliding mode (ISMC). The comparative study takes into account certain features like tracking performance, i.e., settling time, overshoots, robustness enhancement, chattering reduction, sliding mode convergences and control efforts.