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97. Al-Qadr/Great Eminence

97. Al-Qadr/Great Eminence

I/We begin by the Blessed Name of Allah

The Immensely Merciful to all, The Infinitely Compassionate to everyone.

97:01
a. Indeed, WE began sending this down – The Qur’an –during the later part of the Night of Great Eminence.

97:02
a. And what will enable you to perceive the value, honor, magnificence of the Night of Great Eminence?

97:03
a. The Night of Great Eminence is better than the nights of a thousand months of worship and meditation.

97:04
a. The Angels descend in it and the Spirit - again and again - by the Command of their
Rabb - The Lord, for every matter of significance.

97:05
a. Spiritual peace of the Night prevails till the rising of the dawn.

The Socio-Economic Implications of Decline in Artisanal Fishing and its Effect on Women: A Case Study of Shams Pir Island, Karachi

Artisanal fishing is carried out in the coastal villages of Karachi. Through centuries, these fishing villages have maintained their traditional practices of fishing. Shams Pir Island is in vicinity of Karachi coast. The main occupation of islanders is artisanal fishing which is extremely threatened by various factors. Historically, in coastal communities of Karachi, women were part of fishing and its related activities. With the decline in traditional fishing methods, females have been withdrawn from fishing work. Implications of this process have been drastic for fishing households such as increased poverty, unemployment, environmental degradation etc. The research is conducted to highlight these problems especially from gender perspective. It is exclusively based on females of Shams Pir Island. Female’s socio-economic conditions, family status, perceptions on different contemporary issues pertaining to the endangered livelihood of their family and its relation with environmental changes is investigated in particular. In total, sixty women representing fishing households, few community leaders and representatives of fisher folk’s NGO were interviewed. The results emphasized the livelihood issues of females and their perceptions on environment and climate change. The vulnerabilities of females in fishing communities have been discussed in detail. ______

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.
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