12. Yusuf/Prophet Joseph
I/We begin by the Blessed Name of Allah
The Immensely Merciful to all, The Infinitely Compassionate to everyone.
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Alif. Lam. Ra’.
These are the Messages of the Clear Book – The Qur’an.
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Truly WE have sent it down as an Arabic Qur’an,
so that you people may understand its meaning, and message and practice it.
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WE are now going to recount to you the best of narratives of the ancient past in what WE have revealed on to you – of this Qur’an,
though before it, you were indeed of the unaware of the details of this narrative.
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It is a narrative of the occasion when Joseph said to his father:
‘O my dear father!
Truly, I saw in a dream eleven stars, and the sun, and the moon.
I saw them prostrating themselves before me.’
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He said:
‘O my dear son!
Do not narrate your dream to your brothers, lest they hatch some plot against you out of jealousy.
Surely, Satan is a clear enemy to man’ and can incite them to do such a thing.
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‘In this way, your Rabb -The Lord is going to choose you O Joseph, as a Prophet,
and teach you the interpretation and explanation of the events/dreams,
and thus confer HIS Favors upon you and upon the Family of Jacob,
as HE conferred it before upon your forefathers, Abraham and Isaac.
Indeed, your Rabb - The Lord is All-Knowing, All-Wise.’
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In fact, in this narrative of Joseph and his eleven brothers, there are lessons for those seeking answers.
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Remember...
Religion is the cradle of human civilization and will always be a core influence in determining the trends, outlooks and progression of our society, which inevitably confronts questions and issues with religious undertones. As the world becomes more multi-religious and multi-ethnic, however, there is a seemingly diminished respect for the diverse existence of faiths and ethnicities, and more concerns rise towards this new threat to peace, which can be seen in the form of religious hatred, persecution, and conflicts often involving physical violence. This rising hostility, which has become a prolonged, unstable social factor, in all manifestations is an obstacle to peace. According to the different religious scholars of the semitic and nonsemitic religions it is recommended that religion plays a vital role to save the humanity. For this purpose many scholars recommend a religious alliance and unity for the whole universe as we can prevent the violence against humanity. In this paper the different views of the scholars in favour of religious alliance while the stance of Islamic Sharia has been discussed in detail as well.
Complete Coverage Path Planning (CCPP) is the process of finding a path that passes through all the accessible positions within the environment. CCPP is inherent to many real world robotic applications such as cleaning, agriculture, painting, lawn mowing, underwater operations, mine sweeping, search and rescue operations. The total operational time required for performing coverage is significantly influenced by total number of turns, optimization of backtracking sequence, and incorporating smoothness in the complete coverage path. A considerate amount of operational time is required by the backtracking sequence optimization algorithm in CCPP. The problem becomes evident when real world applications are involved. This thesis proposes two new methods to maximize coverage efficiency by first improvising current state of the art backtracking sequence optimization scheme and later generating smooth coverage path for feasible trajectory following by the robots. An efficient complete coverage path planning technique, online Boustrophedon using Two-way Proximity Search (B-TWPS) is proposed to minimize the total operational time, memory requirements and total coverage path length. The proposed algorithm first performs online boustrophedon motion until a critical point is detected. An intelligent backtracking point detection strategy is used, that efficiently detects all the backtracking points. The nearest point is selected as the next starting point by the algorithm. An optimal path from the critical point to the new starting point is computed using TWPS. The proposed online coverage technique is tested and validated in Matlab simulations. The proposed complete coverage path planning algorithm not only generated shorter complete coverage paths but also reduced the memory requiremens by 79.21% and total computational time requirements upto 97.49%. The current state of the art CCPP algorithms generate rectilinear coverage path comprising of straight lines with sharp turns. Such paths are infeasible for nonxi holonomic mobile robots, as the robot has to decelerate and reorient to follow the rectilinear path. A computationally efficient smoothness approach using rational conic Bezier spline is proposed. The proposed smoothness approach ensures ob- ´ stacle avoidance by automatically adjusting weight parameter. The proposed approach ensures suitable level of smoothness for slow speed non-holonomic mobile robots. The proposed coverage path smoothing algorithm reduced total coverage path length by 18.96% and total operational time upto 45.59% as compared to traditional rectilinear coverage path planning algorithms.