Univesity of Thi-Qar Journal

In this paper, solved a robot path planning problem in known environment using anew algorithm called the Fuzzy Probalistic Road Map Star PRM* algorithm. In this algorithm, we have modeled the workplace including obstacles As fuzzy. Here, we develop PRM algorithm, so that it can run in a fuzzy environment.We assign a weight for each obstacle (fuzzy number) which represents the obstaclemeasures, meaning that whenever this weight is larger, the obstacle becomes more impassable (or more dangerous). This algorithm has been designed for using by robot\'s movement in difficult areas (such as areas full with obstacles in which the robot requiresto crossover these obstacles to reach its goal). By compare the FPRM* withnormal PRM we found that modeling the environment as fuzzy helps to improve the path.

In the present study, the concentrations of ALT,AST,ALP total protein , urea and creatinine and some trace elements Cooper (Cu),Iron (Fe) and Zinc (Zn) in the serum of 40 adult patients with diagnosed of leukemia (after treatment) were studied.
Samples were collected from oncology center/AL-Habboubi Teaching Hospital in Thi-Qar province, Serum levels of liver enzyme and trace elements were compared with(25) healthy group samples. It was found that a significant increase (P<0.05) in liver enzyme ALT, AST, ALP concentrations in blood serum of control and patients with leukemia . Also there is significant increase in urea serum level in patients at (p<0.05) and increase in creatinine but non significant . As regards the results of trace elements Serum levels of Cu and Fe elements were significantly higher in with leukemia patients than in the controls (p≤ 0.05). Also the level of Zinc was higher but statistically not significant (p>0.05).

Designing an innovative, ribbon-like wind turbine, a devices to convert wind energy into electricity, requires analysis, simulations and calculations of strength and usefulness characteristics. Such analysis may be carried out on the basis of existing numerical methods. Developed models of the pressure, forces, power and torqu, when converting wind energy with variable speed, for the fundamental innovation.
A conceptual design was realized and fundamental numerical strength tests and power of a wind power plant with a turbine which has ribbon blades. Wind turbine with ribbon blades was subjected to safety analysis: strength and efficiency.
The obtained results allow to determine the theoretical strength of individual arms of rotor with their maximum displacement. All the results allowed to determine the distribution of the safety factor on the rotor structure, which in theory allows predicting durability during use. The theoretical analysis determined the powers depending from the wind speed, efficiency of the working rotor. Also carried out the elementary analysis of the effectiveness of the existing, new idea, construction of wind power plant with a turbine which has ribbon blades

The aim of the study is to prepare suggested exercises for the development of some motor abilities and learn some free skills in the rhythmic gymnastic for the first stage students. The Faculty of Physical Education and Sports Sciences / Dhi-Qar University. The research community consisted of 40 students. (4) students, and the number of female (2) students, and participants in the pilot experiment and the number (10) students, The remaining number is (24) students divided into two groups of control and experimental, the researcher came to a set of conclusions, the most important of which is the use of proposed exercises aimed at the nature of fun and competition used on the experimental group has directly and significantly in performance, which led to the improvement and development of motor abilities And the improvement in the performance of students in the post-test, there were significant differences between the pre-test and the remote and for the benefit of the post-test and the experimental group, In addition to the performance of the experimental exercises, the study showed that there were significant differences in the post-test between the experimental group and the control group and in the interest of the experimental group in the development of motor characteristics (agility, flexibility, balance, compatibility). The proposed exercise has developed better than the traditional curriculum.