MUSCARINIC RECEPTOR ANTAGONISTS Field of the Invention The present invention relates to muscarinic receptor antagonists, which are useful, among other uses, for the treatment of various diseases of the respiratory, urinary and gastrointestinal systems mediated through muscarinic receptors. The invention also relates to the processes for the preparation of the disclosed compounds, pharmaceutical compositions containing the disclosed compounds, and methods for treating diseases mediated through muscarinic receptors. Also provided herein are pharmaceutical compositions comprising one or more muscarinic receptor antagonists and at least one other active ingredients including, but not limited to, corticosteroids, beta agonists, leukotriene antagonists, 5-lipoxygenase inhibitors, antihistamines, antitussives, dopamine receptor antagonists, chemokine inhibitors, PAF, EGFR, p38 MAP kinase inhibitor and PDE-4 inhibitors. Background of the Invention Muscarinic receptors belong to the superfamily of G-protein coupled receptors and five molecularly distinct subtypes are known to exist (M1, M2, M3, Mt and Ms). These receptors are widely distributed on multiple organs and tissues and are critical to the maintenance of central and peripheral cholinergic neurotransmission. The regional distribution of these receptor sub-types in the brain and other organs has been documented (for example, the M1 subtype is located primarily in neuronal tissues such as cerebral cortex and autonomic ganglia, the M2 subtype is present mainly in the heart and bladder smooth muscle, and the M3 subtype is located predominantly on smooth muscle and salivary glands (Nature, 323, p.411 (1986); Science, 237, p.527 (1987)). A review in Curr. Opin. Chern. Bioi., 3, p. 426 (1999), as well as in Trends in Pharmacal. Sci., 22, p.409 (200 1) by Eglen et al., describes the biological potentials of modulating muscarinic receptor subtypes by ligands in different diseases conditions, such as Alzheimer's diseases, pain, urinary disease condition, chronic obstructive pulmonary diseases, and the like. The pharmacological and medical aspects of the muscarinic class of acetylcholine agonists and antagonists are presented in a review in Molecules,§., p.l42 (2001). Birdsall et al. in Trends in Pharmacal. Sci., 22, p.215 (2001) has also summarized the recent developments on the role of different muscarinic receptor subtypes using different muscarinic receptor of knock out mice. Almost all the smooth muscles express a mixed population of M2 and M3 receptors. Although the Mz-receptor are the predominate cholinoreceptors, the smaller population of M3-receptor appears to be the most functionally important as they mediate the direct contraction of these smooth muscle. Muscarinic receptor antagonist are known to be useful for treating various medical conditions associated with improper smooth muscle function, such as overactive bladder syndrome, irritable bowel syndrome and chronic obstructive pulmonary disease. However, the therapeutic utility of 3 antimuscarinic has been limited by poor tolerability as a result of treatment related, frequent systemic adverse events such as dry mouth, constipation, blurred vision, headache, somnolence and tachycardia. Thus, there exist needs for novel muscarinic receptor antagonist that demonstrate target organ selectivity. WO 2004/005252 discloses azabicyclo derivatives described as muscarinic receptor antagonists. WO 2004/004629, WO 2004/052857, WO 2004/067510, WO 2004/014853, WO 2004/014363 discloses 3, 6-disubstituted azabicyclo [3.1.0] hexane derivatives described as useful muscarinic receptor antagonists. WO 2004/056811 discloses flaxavate derivatives as muscarinic receptor antagonists. WO 2004/056810 discloses xanthene derivatives as muscarinic receptor antagonists. WO 2004/056767 discloses 1-substituted-3-pyrrolidine derivatives as muscarinic receptor antagonists. WO 99/14200, WO 03/027060, U.S. Patent No. 6,200,991, WO 00/56718 discloses heterocycle derivatives as muscarinic receptor antagonists. WO 2004/089363, WO 2004/089898, WO 2004/069835, WO 2004/089900 and WO 2004/089364 disclose substituted azabicyclohexane derivatives as muscarinic receptor antagonists. WO 2006/018708 discloses pyrrolidine derivatives as muscarinic receptor antagonists. WO 2006/035303 discloses azabicyclo derivatives as muscarinic receptor antagonists. WO 01/04118 and WO 2004/096800 disclose quinuclidine derivatives as muscarinic receptors antagonist. WO 2005/090342 discloses quatemized quinuclidine ester as antimuscarinic agents with potent and long lasting effect. The present invention fills the need of muscarinic receptor antagonists useful in the treatment of disease states with improper smooth muscle function and respiratory disorders. Summary of the Invention In one aspect, there are provided muscarinic receptor antagonists which can be used as therapeutic or prophylactic agents for the treatment of various diseases of the respiratory, urinary and gastrointestinal systems. Also provided are processes for the synthesis of such compounds. In another aspect, pharmaceutical compositions containing such compounds are provided which may also contain acceptable carriers, excipients or diluents which are useful for the treatment of various diseases of the respiratory, urinary and gastrointestinal systems. The enantiomers, diasteromers, N-oxides, polymorphs or solvates and pharmaceutically acceptable solvates of these compounds are also provided, as well as pharmaceutical composition comprising the compounds, their enantiomers, diastereomers, N-oxides, polymorphs or solvates thereof, in combination with a pharmaceutically acceptable carrier and optionally included excipients. In still another aspect, pharmaceutical compositions of one or more compounds of Formula I are provided with at least one other active ingredients selected from corticosteroids, beta agonists, leukotriene antagonists, 5-lipoxygenase inhibitors, anti-histamines, antitussives, dopamine receptor antagonists, chemokine inhibitors, p38 MAP Kinase inhibitors and PDE-IV inhibitors. .. _ 4 Other aspects will be set forth in the description which follows, and in part will be apparent from the description or may be learnt by the practice of the invention . Detailed Description of the Invention The present invention relates to compounds having the structure ofF ormula I z- Formula I and their pharmaceutically acceptable solvates, enantiomers, diastereomers, polymorphs or N-oxides wherein R1 is thienyl, or cycloalkyl substituted with difluoro on same carbon (geminal substitution); R is C14 linear alkyl or alkyl which is substituted with phenyl or phenyl carbonyl, where phenyl is optionally substituted with one or more halogen atoms, hydroxyl, alkyl, alkenyl, alkynyl, cycloalkyl, alkoxy, acyl, aryloxy, cyano, nitro, -COORc, -NHC(=O)Rb, -NRbRl, -C(=O)NRbRl, - NHC(=O)NRbRl, -OC(=O)NRbRl, -SOmRc, heterocyclyl, heteroaryl, heterocyclylalkyl, heteroarylalkyl, -SRb or haloalkyl; wherein Rb and RI are independently selected from hydrogen, alkyl, alkenyl, alkynyl, alkoxy, cycloalkyl, aryl, aralkyl, heterocyclyl, heteroaryl, heterocyclylalkyl, heteroarylalkyl, or carboxy; Rc is hydrogen, alkyl, alkenyl, alkynyl, cycloalkyl, aralkyl, aryl, heterocyclyl, heteroaryl, heteroarylalkyl or heterocyclylalkyl; m is an integer from 0 to 2; Z is an anion selected from acetate, succinate, maleate, methanesulphonate, benzenesulphonate, trifluoroacetate, oxalate, tartarate, citrate, glutamate, fumarate, malonate, adepate, ascorbate, carbonate, camphoenate acid, nicotinate, butyrate, tartarate, lactate, sulphate, phosphate, glucurinate, chloride, bromide, iodide, hexafluorophosphate, nitrate, borate and perchlorate. In one embodiment, R1 is thienyl, 3, 3-difluorocylopentyl or 3,3-difluorocyclohexyl. In another embodiment, R is methyl, ethyl, propyl, butyl, benzyl, 4-bromobenzyl, 3 fluorobenzyl, 3,5-difluorobenzyl, 3-bromobenzyl, 4-fluorobenzyl, 4-chlorobenzyl, 2,5- difluorobenzyl, 1-phenylethanone, ethyl benzene or 1-( 4-fluorophenyl) ethanone. 5 In another embodiment, the invention encompasses compounds of Formula I, which may include, but not limited to the following: (3R)-3- {[Hydroxy( dithiophen-2-yl)acetyl]oxy }-1-methyl-1-azoniabicyclo[2.2.2]octane bromide (Compound No. 1 ); (.3R)-1-Benzyl-3-{[hydroxy( dithiophen-2-yl)acetyl] oxy} -1-azoniabicyclo [2.2.2]octane bromide (Compd No. 2); (.3R)-I-( 4-Bromobenzyl)-3-{ [hydroxy( dithiophen-2-yl)acetyl]oxy }-1-azoniabicyclo[2.2.2]octane bromide (Compound No.3); (.3R)-1-Ethyl-3-{ [hydroxy( dithiophen-2-yl)acetyl]oxy }-1-azoniabicyclo[2.2.2]octane bromide (Compound No. 4); (.3R)-l-(3-Fluorobenzyl)-3- {[hydroxy( dithiophen-2-yl)acetyl]oxy }-1-azoniabicyclo[2.2.2]octane bromide (Compound No.5); (.3R)-1-(3,5-Difluorobenzyl)-3-{[hydroxy( dithiophen-2-yl)acetyl]oxy }-1-azoniabicyclo[2.2.2]octane bromide (Compound No. 6); (.3R)-1-(3-Bromobenzyl)-3-{[hydroxy( dithiophen-2-yl)acetyl]oxy} -1-azoniabicyclo[2.2.2]octane bromide (Compound No.7); (.3R)-I-( 4-Fluorobenzyl)-3-{ [hydroxy( dithiophen-2-yl)acetyl]oxy }-l-azoniabicyclo[2.2.2]octane bromide (Compound No.8); (.3R)-I-( 4-Chlorobenzyl)-3-{[hydroxy( dithiophen-2-yl)acetyl]oxy }-l-azoniabicyclo[2.2.2]octane bromide (Compound No.9); (.3R)-l-(2,5-Difluorobenzyl)-3- {[hydroxy( dithiophen-2-yl)acetyl]oxy }-1-azoniabicyclo[2.2.2]octane bromide (Compound No. I 0); (.3R)-3-{[Hydroxy( dithiophen-2-yl)acetyl]oxy} -1-(2-oxo-2-phenylethyl)-1-azoniabicyclo [2.2.2]octane bromide (Compound No. 11); (.3R)-3-{ [Hydroxy( dithiophen-2-yl)acetyl]oxy} -1-propyl-1-azoniabicyclo[2.2.2]octane bromide (Compd No. 12); (.3R)-1-Butyl-3-{[hydroxy( dithiophen-2-yl)acetyl]oxy }-1-azoniabicyclo[2.2.2)octane bromide (Compound No. 13); (3R)-3- { [ (3 ,3-Difluorocyclopentyl)(hydroxy )thiophen-2-ylacetyl]oxy} -1-methyl-1-zoniabicyclo[2.2.2]octane bromide (Compound No. 14); (.3R)-3- { [ (3 ,3-Difluorocyclopentyl)(hydroxy )thiophen-2-ylacetyl]oxy} -1-ethyl-1-azoniabicyclo[2.2 .2]octane bromide (Compound No. 15); (.3R)-3-{ [(3,3-Difluorocyclopentyl)(hydroxy)thiophen-2-ylacetyl]oxy }-1-propyl-1-azoniabicyclo[2.2.2]octane bromide (Compound No. 16); (.3R)-1-Butyl-3-{ [ (3 ,3-difluorocyclopentyl)(hydroxy)thiophen-2-ylacetyl]oxy} -1-azoniabicyclo[2.2.2]octane bromide (Compound No. 17); (.3R)-3- { [ (3,3-Difluorocyclopentyl)(hydroxy)thiophen-2-ylacetyl]oxy} -1-(2-oxo-2-phenylethyl)-1- azoniabicyclo[2.2.2]octane bromide (Compound No. 18); (.3R)-3- { [ (3,3-Difluorocyclopentyl)(hydroxy )thiophen-2-ylacetyl]oxy }-1-(2-phenylethyl)-1-azoniabicyclo[2.2.2]octane bromide (Compound No. 19); and (.3R)-3- { [ (3 ,3-Difluorocyclopentyl)(hydroxy)thiophen-2-ylacetyl]oxy} -1-[2-(3-fluorophenyl)-2-oxoethyl]-1- azoniabicyclo [2.2.2] octane bromide (Compound No. 20). In another embodiment, there are provided herein pharmaceutical compositions comprising a therapeutically effective amount of a compound of Formula I described herein together with one or more pharmaceutically acceptable carrier(s), excipients(s) or diluent(s). In yet another embodiment there are provided methods for the treatment or prophylaxis of a mammal suffering from a disease or disorder of the respiratory, urinary or gastrointestinal systems, wherein the disease or disorder is mediated through muscarinic receptors. The method includes administration of at least one compound having the structure of Formula I. In yet another embodiment, there are provided methods for the treatment or prophylaxis of a mammal suffering from a disease or disorder of the respiratory system such as bronchial asthma, chronic obstructive pulmonary disorders (COPD), pulmonary fibrosis, and the like; urinary system which induce such urinary disorders as urinary incontinence, lower urinary tract symptoms (LUTS); and gastrointestinal system such as irritable bowel syndrome, obesity, diabetes and gastrointestinal 6 hyperkinesis with compounds of Formula I, wherein the disease or disorder is associated with muscarinic receptors. In yet another embodiment, there are provided pharmaceutical compositions comprising one or more muscarinic receptor antagonist compound having the structure of Formula I and at least one or more therapeutic agent selected from histamine antagonists, corticosteroids, beta agonists, leukotriene antagonists, EGFR kinase inhibitors, PAF antagonist, 5-lipoxygenase inhibitors, chemokine inhibitors, PDE-4 inhibitors or p-38 MAP kinase inhibitors. In yet another embodiment, there are provided processes for preparing the compounds of Formula I. In yet another embodiment, the enantiomeric compounds of the invention may be obtained (a) by separation of the components of the corresponding racemic mixture, for example by preferential crystallization using chiral resolving agents, chiral chromatography, enzymatic resolution methods or preparing and separating suitable diastereoisomers, (b) by direct synthesis from the appropriate chiral starting materials or by using chiral reagents. The term "alkyl," unless otherwise specified, refers to a monoradical branched or unbranched saturated hydrocarbon chain having from 1 to 20 carbon atoms. Alkyl groups can be optionally interrupted by atom(s) or group(s) independently selected from oxygen, sulfur, a phenylene, sulphinyl, sulphonyl group or -NRa-, wherein Ra can be hydrogen, alkyl, cycloalkyl, alkenyl, cycloalkenyl, alkynyl, aryl, acyl, aralkyl, -C(=O)ORA., SOmR"' or -C(=O)NRA.R7t. This term can be exemplified by groups such as methyl, ethyl, n-propyl, iso-propyl, n-butyl, iso-butyl, sec-butyl, tbutyl, n-pentyl, isopentyl, neopentyl, n-hexyl, n-decyl, tetradecyl, and the like. Alkyl groups may be substituted further with one or more substituents selected from alkenyl, alkynyl, alkoxy, cycloalkyl, cycloalkenyl, acyl, acylamino, acyloxy, alkoxycarbonylamino, azido, cyano, halogen, hydroxy, keto, oxo, thiocarbonyl, substituted thiocarbonyl, carboxy, carboxyalkyl, aryl, heterocyclyl, heteroaryl, (heterocyclyl)alkyl, cycloalkoxy, -NRA.C(=O)ORA., COORA., -CH=N-O(CI-6alkyl), -CH=N-NH(CI-6 alkyl), -CH=N-NH(C1.6 alkyl)-C1.6 alkyl, arylthio, thiol, alkylthio, aryloxy, alkoxyamino, nitro, aminosulfonyl, aminocarbonylamino, -NHC(=O)RA., -NRA.R1t, -C(=O)NRA.R1t, -NRA.C(=O)NRA.R7t, - C(=O)heteroaryl, C(=O)heterocyclyl, -O-C(=O)NRA.R1t {wherein RA. and R7t are independently selected from hydrogen, halogen, hydroxy, alkyl, alkenyl, alkynyl, alkoxy, cycloalkyl, cycloalkenyl, aryl, aralkyl, heterocyclyl, heteroaryl, heterocyclylalkyl, heteroarylalkyl, carboxy or RA. and R7t may also together join to form a heterocyclyl or heteroaryl ring} or -SOmR"' (wherein m is an integer from . 0-2 and R"' is hydrogen, alkyl, alkenyl, alkynyl, cycloalkyl, aralkyl, aryl, heterocyclyl, heteroaryl, heteroarylalkyl or heterocyclylalkyl). Unless otherwise constrained by the definition, alkyl substituents may be further substituted by 1-3 substituents selected from alkyl, alkenyl, alkynyl, 7 carboxy, -NR1.Rn, -C(=O)NR'-Rn, -OC(=O)NR1.Rn, -NR~.C(=O)NR'-Rn, hydroxy, alkoxy, halogen, CF3, cyano, and -SOmRIJI; or an alkyl group also may be interrupted by 1-5 atoms of groups independently selected from oxygen, sulfur or -NRx- (wherein Rx, R~., Rn, m and RIJI are the same as defined earlier). Unless otherwise constrained by the definition, all substituents may be substituted further by 1-3 substituents selected from alkyl, alkenyl, alkynyl, carboxy, carboxyalkyl, -NR~.Rn, -C(=O)NR~.Rn, -0-C(=O)NR~.Rn, hydroxy, alkoxy, halogen, CF3, cyano, and -SOmRIJI (wherein R~., Rn, m and RIJI are the same as defined earlier); or an alkyl group as defined above that has both substituents as defined above and is also interrupted by 1-5 atoms or groups as defined above. The term "alkenyl," unless otherwise specified, refers to a monoradical of a branched or unbranched unsaturated hydrocarbon group having from 2 to 20 carbon atoms with cis, trans or geminal geometry. Alkenyl groups can be optionally interrupted by atom(s) or group(s) independently chosen from oxygen, sulfur, phenylene, sulphinyl, sulphonyl and -NRx- (wherein Rx is the same as defined earlier). In the event that alkenyl is attached to a heteroatom, the double bond cannot be alpha to the heteroatom. Alkenyl groups may be substituted further with one or more substituents selected from alkyl, alkenyl, alkynyl, alkoxy, cycloalkyl, cycloalkenyl, acyl, acylamino, acyloxy, -NHC(=O)R~., -NR1.Rn, -C(=O)NR1.Rn, -NHC(=O)NR'-Rn, -0-C(=O)NR'-Rn, alkoxycarbonylamino, azido, cyano, halogen, hydroxy, oxo, keto, carboxyalkyl, thiocarbonyl, carboxy, arylthio, thiol, alkylthio, aryl, aralkyl, aryloxy, heterocyclyl, heteroaryl, heterocyclylalkyl, heteroarylalkyl, aminosulfonyl, aminocarbonylamino, alkoxyamino, hydroxyamino, alkoxyamino, nitro or SOmRIJI (wherein R~., Rn, m and RIJI are as defined earlier). Unless otherwise constrained by the definition, alkenyl substituents optionally may be substituted further by 1-3 substituents selected from alkyl, alkenyl, alkynyl, carboxy, hydroxy, alkoxy, halogen, -CF3, cyano, -NR~.Rn,C(= O)NR~.Rn, -O-C(=O)NR1.Rn and -SOmRIJI (wherein R~., Rn, m and RIJI are as defined earlier). Groups, such as ethenyl or vinyl (CH=CH2), !-propylene or allyl ( -CH2CH=CH2), iso-propylene ( -C(CH3)=CH2), bicyclo[2.2.1 ]heptene, and the like, exemplify this term. The term "alkynyl," unless otherwise specified, refers to a monoradical of an unsaturated hydrocarbon, having from 2 to 20 carbon atoms. Alkynyl groups can be optionally interrupted by atom(s) or group(s) independently chosen from oxygen, sulfur, phenylene, sulphinyl, sulphonyl andNRx- (wherein Rx is the same as defined earlier). In the event that alkynyl groups are attached to a heteroatom, the triple bond cannot be alpha to the heteroatom. Alkynyl groups may be substituted further with one or more substituents selected from alkyl, alkenyl, alkoxy, cycloalkyl, cycloalkenyl, acyl, acylamino, acyloxy, alkoxycarbonylamino, azido, cyano, halogen, hydroxy, keto, oxo, thiocarbonyl, carboxy, carboxyalkyl, arylthio, thiol, alkylthio, aryl, aralkyl, aryloxy, aminosulfonyl, aminocarbonylamino, hydroxyamino, alkoxyamino, nitro, heterocyclyl, heteroaryl, heterocyclylalkyl, heteroarylalkyl, -NHC(=O)R~., -NR1.Rn, -NHC(=O)NR1.Rn, -C(=O)NR'-Rn, -0- 8 C(=O)NR).Rlt or -SOmR'V (wherein RA., Rlt, m and R'V are the same as defined earlier). Unless otherwise constrained by the definition, alkynyl substituents optionally may be substituted further by 1-3 substituents selected from alkyl, alkenyl, alkynyl, carboxy, carboxyalkyl, hydroxy, alkoxy, halogen, CF3, -NRA.R1t, -C(=O)NRA.Rlt, -NHC(=O)NRA.Rlt, -C(=O)NRA.R1t, cyano or -SOmR'V (wherein RA., Rlt, m and R'V are the same as defined earlier). The term "cycloalkyl," unless otherwise specified, refers to cyclic alkyl groups of from 3 to 20 carbon atoms having a single cyclic ring or multiple condensed rings, which may optionally contain one or more olefinic bonds, unless otherwise constrained by the definition. Such cycloalkyl groups can include, for example, single ring structures, including cyclopropyl, cyclobutyl, cyclopentyl, cyclohexyl, cycloheptyl, cyclooctyl, cyclopentenyl, and the like or polycyclic ring structures such as, adamantyl, tricyclo[3.3.1.1]decane, bicyclo[2.2.2]octane, bicyclo[4.4.0]decane, bicyclo-[ 4.3.0]nonane, bicyclo[3.3.0]octane, bicyclo[2.2.1 ]heptane and the like, or cyclic alkyl groups to which is fused an aryl group, for example, indane, and the like. Spiro and fused ring structures can also be included. Cycloalkyl groups may be substituted further with one or more substituents selected from alkyl, alkenyl, alkynyl, alkoxy, cycloalkyl, cycloalkenyl, acyl, acylamino, acyloxy, alkoxycarbonylamino, azido, cyano, halogen, hydroxy, oxo, thiocarbonyl, carboxy, carboxyalkyl, arylthio, thiol, alkylthio, aryl, aralkyl, aryloxy, aminosulfonyl, aminocarbonylamino, - NRA.R1t, -NHC(=O)NRA.Rlt, -NHC(=O)RA., -C(=O)NRA.Rlt, -0-C(=O)NRA.Rlt, nitro, heterocyclyl, heteroaryl, heterocyclylalkyl, heteroarylalkyl or SOmR'V (wherein RA., Rlt, m and R'V are the same as defined earlier). Unless otherwise constrained by the definition, cycloalkyl substituents optionally may be substituted further by 1-3 substituents selected from alkyl, alkenyl, alkynyl, carboxy, hydroxy, alkoxy, halogen, CF3, -NRA.Rlt, -C(=O)NRA.R1t, -NHC(=O)NRA.Rlt, OC(=O)NRA.Rlt, cyano or -SOmR'V (wherein RA., Rlt, m and R'V are the same as defined earlier). "Cycloalkylalkyl" refers to alkyl-cycloalkyl group linked through alkyl portion, wherein the alkyl and cycloalkyl are the same as defined earlier. The term "alkoxy" denotes the group 0-alkyl, wherein alkyl is the same as defined above. The term "aryl," unless otherwise specified, refers to aromatic system having 6 to 14 carbon atoms, wherein the ring system can be mono-, bi- or tricyclic and are carbocyclic aromatic groups. For example, aryl groups include, but are not limited to, phenyl, biphenyl, anthryl or naphthyl ring and the like, optionally substituted with 1 to 3 substituents selected from halogen (e.g., F, Cl, Br, I), hydroxy, alkyl, alkenyl, alkynyl, cycloalkyl, alkoxy, acyl, aryloxy, CF3, cyano, nitro, -CHO, OCF3,SCF3, COORijl, NHC(=O)RA., -NRA.R1t, C(=NOH)NH2, -C(=O)NRA.R1t, -NRA.C(=O)NRA.Rlt, NRA.C(=O)ORA., -0-C(=O)NRA.Rlt, -SOmRijl, carboxy, heterocyclyl, heteroaryl, heterocyclylalkyl, heteroarylalkyl, acylamino, thiocarbonyl, substituted thiocarbonyl, amino carbonyl amino, mercapto, haloalkyl, optionally substituted aryl, optionally substituted heterocyclylalkyl, thioalkyl, -CONHR7t, - 9 OCOR1t, -COR1t, -NHS02R1t or -S02NHR1t (wherein R~.., R1t, m and R11 are the same as defined earlier). Aryl groups optionally may be fused with a cycloalkyl group or a heteroaryl group, wherein the cycloalkyl group may optionally contain heteroatoms selected from 0, Nor S. Groups such as phenyl, naphthyl, anthryl, biphenyl, and the like exemplify this term. The term "aralkyl," unless otherwise specified, refers to alkyl-aryl linked through an alkyl portion (wherein alkyl is as defined above) and the alkyl portion contains 1-6 carbon atoms and aryl is as defined below. Examples of aralkyl groups include benzyl, ethyl phenyl, propyl phenyl, naphthylmethyl and the like. The term "aryloxy" denotes the group 0-aryl, wherein aryl is as defined above. The term "carboxy," as defined herein, refers to -C (=0) OH. The term "heteroaryl," unless otherwise specified, refers to an aromatic monocyclic, bicyclic or a tricyclic ring system (they can be fused, spiro or bridged) containing 1-8 heteroatom(s) independently selected from N, 0 or S optionally substituted with 1 to 4 substituent(s) selected from halogen (e.g., F, Cl, Br, I), hydroxy, alkyl, alkenyl, alkynyl, cycloalkyl, acyl, acylamino, thiocarbonyl, substituted thiocarbonyl, thioacyl, oxo, -CHO, -OCF3, -CF3, -SCF3, carboxy, aryl, alkoxy, alkoxyamino, aralkyl, cyano, nitro, heterocyclyl, heteroaryl, -NR~..R1t, CH=NOH,( CH2)wC(=O)RTJ, COOR1.. {wherein w is an integer from 0-4 and RTJ is hydrogen, hydroxy, OR~., NR~..R1t, -NHORo or -NHOH}, -C(=O)NR~..R1t, -NR~..C(=O)OR~.., -NR~..C(=O)NR~..R1t,SOmR"', -0-C(=O)NR~..Rlt, -0-C(=O)R~.., or -0-C(=O)OR~.. (wherein m, R"', R1.. and R1t are as defined earlier and Ro is alkyl, cycloalkyl, aryl, heteroaryl, heterocyclyl, heteroarylalkyl or heterocyclylalkyl). Unless otherwise constrained by the definition, the substituents are attached to a ring atom, i.e., carbon or heteroatom in the ring. Examples ofheteroaryl groups includes but are not limited to are benzimidazolyl, 1 ,4-benzodioxanyl, 1 ,3-benzodioxolyl, benzoxazolyl, benzothiazolyl, benzothienyl, benzo- triazolyl, dihydroimidazolyl, dihydropyranyl, dihydrofuranyl, dioxanyl, dioxolanyl, furyl, homopiperidinyl, imidazolyl, imidazolinyl, imidazolidinyl, indolinyl, indolyl, isoquinolinyl, isothiazolidinyl, isothiazolyl, isoxazolidinyl, isoxazolyl, morpholinyl, napthyridinyl, oxazolidinyl, oxazolyl, piperazinyl, piperidinyl, purinyl, pyrazinyl, pyrazolinyl, pyridinyl, pyrimidinyl, pyrrolidinyl, pyrrolinyl, pyrrolyl, pyrrolopyridinyl, imidazolpyridinyl, quinolinyl, tetrahydrofuranyl, quinozinyl, quinolizinyl, 6H-pyrido-[ 1 ,2-a ]pyrimidinyl, tetrahydropyranyl, thiazolidinyl, thiazolyl, thienyl, pyridazinyl, carbazolyl, isobenzofuranyl, thianthrene, triazinyl, furanyl, benzofuranyl, tetrazolyl, quinazolinyl, benzoxazinonyl, benzothiazinonyl, benzimidazolone, pyrazolone, xanthene and the like. The term "halogen or halo" refers to fluorine, chlorine, bromine or iodine. 10 The term "haloalkyl" refers to alkyl of which one or more hydrogen(s) is/are replaced by halogen. The term "heterocyclyl," unless otherwise specified, refers to a non-aromatic monocyclic or polycyclic ring (fused, spiro or bridged) system having 1 to 8 heteroatoms selected from 0, S or N, and optionally are benzofused or fused heteroaryl having 5-6 ring members and/or optionally substituted, wherein the substituents are selected from halogen (e.g., F, Cl, Br, I), hydroxy, alkyl, alkenyl, alkynyl, cycloalkyl, acyl, acylamino, optionally substituted thiocarbonyl, optionally substituted aryl, alkoxy, alkoxyamino, alkaryl, cyano, nitro, oxo, -CHO, -OCF3, -CF3, -SCF3, carboxy, optionally substituted heterocyclyl, optionally substituted heterocyclylalkyl, optionally substituted heteroaryl, -0-C(=O)R).., -0-C(=O)OR).., -C(=O)NRAR1t, SOmR"', -OC(= O)NRAR1t, -NRAC(=O)ORA, -NRAC(=O)NRAR1t, -NRAR1t, mercapto, haloalkyl, thioalkyl, -COOR"', -COONHR).., -COR)., -NHS02RA or S02NHRA (wherein m, R"', RA and Rx are as defined earlier) or guanidine. Heterocyclyl can optionally include rings having one or more double bonds. Such ring systems can be mono-, bi- or tricyclic. Carbonyl or sulfonyl group can replace carbon atom(s) of heterocyclyl. Unless otherwise constrained by the definition, the substituents are attached to the ring atom, i.e., carbon or heteroatom in the ring. Also, unless otherwise constrained by the definition, the heterocyclyl ring optionally may contain one or more olefinic bond(s). Examples ofheterocyclyl groups includes but are not limited to are tetrahydrofuranyl, dihydrofuranyl, dihydropyridinyl, dihydrobenzofuryl, azabicyclohexyl, dihydroindolyl, piperidinyl, isoxazolinyl, thiazolinyl, thiazolidinonyl, oxazolinyl, oxazolidinonyl, azabicyclo[3.1.0]hexyl, diazabicyclo[2.2.1 ]heptyl, azetidinyl, 1 ,4-benzodioxanyl, 1 ,3-benzodioxolyl, dihydrobenzofuryl, dihydroimidazolyl, dihydropyranyl, dihydrofuranyl, dihydroindolyl, dihydroisoxazolyl, dihydropyridinyl, dioxanyl, dioxolanyl, homopiperi-dinyl, imidazolinyl, imidazolidinyl, imidazopyridinyl, indolinyl, indolyl, isoindole1 ,3-dione, isothiazolidinyl, morpholinyl, napthyridinyl, oxazolidinyl, oxazolyl, phenoxazinyl, phenothiazinyl, piperazinyl, purinyl, pyrazinyl, pyrazolinyl, pyrazolyl, pyrimidinyl, pyrrolidinyl, pyrrolinyl, pyrrolyl, pyrrolopyridinyl, tetrahydropyranyl, tetrazolyl, thiazolidinyl and thiazolyl, and thienyl and the like. "Heteroarylalkyl" refers to alkyl-heteroaryl group linked through alkyl portion, wherein the . alkyl and heteroaryl are as defined earlier. "Heterocyclylalkyl" refers to alkyl-heterocyclyl group linked through alkyl portion, wherein the alkyl and heterocyclyl are as defined earlier. "Acyl" refers to -C(=O)R¢¢ wherein R¢¢ is selected from hydrogen, alkyl, cycloalkyl, aryl, aralkyl, heteroaryl, heterocyclyl, heteroarylalkyl or heterocyclylalkyl. The phrase "pharmaceutically acceptable carriers" is intended to include non-toxic, inert solid, semi-solid or liquid filler, diluent, encapsulating material or formulation auxiliary of any type. 11 The term "Protecting Groups" is used herein to refer to known moieties, which have the desirable property of preventing specific chemical reaction at a site on the molecule undergoing chemical modification intended to be left unaffected by the particular chemical modification. Also the term protecting group, unless or other specified may be used with groups such as hydroxy, amino, carboxy and example of such groups are found in T.W. Greene and P.G.M. Wuts, "Protective Groups in Organic Synthesis", 2"d Edn. John Wiley and Sons, New York, N.Y., which is incorporated herein by reference. The species of the carboxylic protecting groups, amino protecting groups or hydroxy protecting group employed is not so critical so long as the derivatised moiety/moieties is/are stable to conditions of subsequent reactions and can be removed at the appropriate point without disrupting the remainder of the molecule. The term "pharmaceutically acceptable salts" refers to derivatives of compounds that can be modified by forming their corresponding acid or base salts. Pharmaceutically acceptable salts may also be formed by complete derivatization of the amine moiety, e,g., quaternary ammonium salts. The compounds described herein exhibit affinity for M3 receptor, as determined by in vitro receptor binding assay. Pharmaceutical compositions for the possible treatment for the disease or disorders associated with muscarinic receptors are provided. In addition, the compounds can be administered orally or parenterally. The compounds disclosed herein may be prepared by methods represented by the reaction sequences, shown in Scheme I. rv{ 's~/G, ~,g + HD--(CH,)"" -e) Formula II Formula Ill Scheme I Condensing agent c;:_ r /0 (\I -----l~ 0 q '-(CH,),1__() Formula IV R-Z l Formula V N-derivatization OH (\I v/s J /o'