Browsing by Author "Karki, Krishna Bahadur"

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    Construction of communities in Khushwant Singh’s I shall not hear the nightingale
    (Department of English, 2011) Karki, Krishna Bahadur
    This research depicts despicable side of India’s history in the colonial India and the traumatic experiences faced by Indian people in I Shall Not Hear the Nightingale, especially from April 1942 to April 1943. It highlights the religion, customs, life style and behavior of Sikh community in Panjab. Besides this, the research shows stereotypes and problematic representation of the Hindus and Muslim characters. It exposes Khushwant Singh as pro- Britisher because he misrepresents the role of Indian characters such as Buta Singh and Wazir Singh’s families in the novel. And it assesses the tussle between father, Buta Singh as pro-Britisher and son, Sher Singh as anti-Britisher. To some extent, it shows revolutionary spirit of Sher Singh, Madan Lal and other students by protesting against British rule in India. Even though their families are in favor of the Britishers, they want to quit the Britishers from their country. This is because of the traumatic consequences that are rooted in their mind from the history of India. Singh’s I Shall Not Hear the Nightingale also elides the essence of violence as a result Hindu, Muslim and Sikh communities are constructed. Thus, it exposes the preparation of partition of India and Pakistan and traumatic consequences felt by the Indian citizens in the Indian history.
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    MODEL PREDICTIVE CONTROL-BASED OPTIMAL TRAJECTORY TRACKING IN AUTONOMOUS QUADROTOR SYSTEM
    (I.O.E, 2024-03) Simkhada, Dipesh; Bhatta, Hemant; Karki, Krishna Bahadur; Thapa, Prasanna Pratap; Luitel, Mahesh Chandra
    Optimal trajectory tracking through nonlinear optimization is a computational process that aims to track the reference path for a system, considering the dynamics and objectives of system along with the constraints that are provided. Among current approaches in trajectory tracking formulation as an optimization problem, this paper describes Model Predictive Control( MPC), an approach that provides a continually evolving optimized trajectory tracking system that also respects system dynamics and constraints. The project showcases both the numerical simulation for the MPC implemented for reference trajectory tracking followed by an implementation on the actual quadcopter. However, in the actual hardware implementation flight test have been conducted in the quadrotor where only the attitude has been controlled in the PX4 firmware directly using Model Predictive Control. In this paper, the MPC-based control technique is used for trajectory tracking of the quadrotor model in different types of trajectories. For numerical simulation, non linear model has been developed and analyzed using the Finite-length time horizon control referred to as Model Predictive Control whereas, for SITL(Software-in-The-Loop) simulation, linear model of MPC have been used. For the flight test, to achieve efficient computational cost for the Pixhawk Flight Controller, the linear model has been implemented to analyze the attitude control shown by the quadrotor system.