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ایٹمی پروگرام کا خالق

ایٹمی پروگرام کا اصل خالق کون

چئیر مین بھٹو شہید کی پھانسی کی اصل وجہ کیا تھی اور ضیاء الحق کو ایٹمی پروگرام کا کریڈٹ ؟

 

کبھی یہ سوچنا تم نے کیا کیا لوگو

یہ تم نے کس کو سرِ دار کھو دیا لوگو

یہ نظم اٹک سے تعلق رکھنے والے سابق سینیٹر شاعر دانشور احمد وحید اختر مرحوم کی ہے ۔

تو ہراساں نہ ہوا ظلم کے ایوانوں سے

تو نے جنگ لڑی وقت کے فرعونوں سے

سے قائد عوام اے قائدِ عوام

 

سند قانون : فقہائے اسلام اور مغربى مفکرین کى آراء کا تحقیقى وتنقیدى جائزہ

It is generally agreed that every legal system claims authority, however, the notion of authority is one of the most controversial concepts found in western legal philosophy. There are various distinct problems involved in the notion of authority and the problem of its paradoxes. The first section of the present paper introduces the viewpoints of various western schools of thought and the philosophical analysis of the concept of legitimate authority. The conflict about the concept of legitimate authority reflects their code of life and concept of religions. The second section of the paper presents a study of the origins of the Islamic law as well as the contemporary western legal thoughts in connection with authority. In Islamic law authority-which is at once religious and moral is the will of the Creator which is basic source of Islamic law, however, jurists differentiate between legal and moral values. It concludes with the comparison between Islamic and western notion of authority.

An Algorithm for the Solution of Trajectory Planning for Non- Non - Holonomic Mobile Robot in Presence of Obstacles

Path planning and trajectory generation for nonholonomic mobile robot in dynamic environment is a difficult problem. It has to consider the nonholonomic constraints of robot as well as the detection and avoidance of the possible collision with dynamic obstacles. In this research an adaptive path planning technique has been proposed for mobile robot motion in an environment with dynamic obstacles. A trajectory is formulated between the starting and target positions for the three wheeled mobile robot. For this purpose kinematics and dynamic models of the mobile robot have been used. Inverse kinematics model has been developed by the wheel space technique for calculating the required wheels displacements to reach the target location. A collision-free motion of robot between its starting and goal positions is required to be executed therefore, a safe global path which is a sequence of control points is planned, incorporating the prior knowledge of environment. Artificial potential function has been implemented for calculating intermediate target positions between the initial and final position of mobile robot, to avoid obstacles in its path. A feasible global path is calculated for vthe known environment and a time based trajectory is generated. This global path is set as a reference path for the wheeled mobile robot. When dynamic obstacles moving with certain velocity come in the path of mobile robot, it has to modify the path to avoid possible collision. An algorithm is proposed in this dissertation which efficiently detects and avoids the possible collision with dynamic obstacles. This novel algorithm detects possible collision with dynamic obstacle even if its velocity is not uniform. Expected collision of obstacle coming in the path of mobile robot is detected by measuring the relative velocity of obstacle and mobile robot at each time step. The reactive scheme of algorithm is activated for changing the velocity of mobile robot to avoid the expected possible collision and the local path planner plans a modified path to be executed by the mobile robot.
Asian Research Index Whatsapp Chanel
Asian Research Index Whatsapp Chanel

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