The proposal of this study was to obtain the profile of these metals distribution Al, Co, Cu, Pb, Cr, Ni, Co and Zn in sediments from lakes in the city of Londrina-PR and evaluate the environmental risk resulting from such distribution. The parameters of comparison were the values of geological occurrence of these metals in soil from this region, the concentrations of metals in soil samples in the surroundings of the sediments collection points, the guiding values from CETESB and resulting rate risk from RAC criterion application. The result shows that the numerical scale RAC alone is incomplete to this evaluation.

The Slovene toolmaking industry is forced to follow the trends of world automotive industry demanding increased use of steels with improved mechanical properties like high strengths, high elongations etc. The higher strengths of so-called 'high strength low alloyed' steels and 'advanced high strength' steels cause higher tool pressures and loads during forming, higher springback effects of the products after forming and demand special design of the tools. In the paper, the material properties of H220, H420LA and TRIP700 steels were analysed and the bending tests were performed in order to compare the springback effects of all three materials. Based on the obtained data, first guidelines were prepared for the design of the tools. These guidelines were taken into account when the first forming tools for HSLA and AHSS materials were designed in Gorenje Orodjarna d.o.o. tool factory. The FEA approach was used for the tool design of the part made of H420LA steel.

This paper shows an overview of the walking model by grouping them into two large groups: the models with the concentrated mass and models with distributed mass. As an example of the models with concentrated mass, a mass-spring inverted pendulum model is shown, accompanied with a short analysis. As an example of a more complex model, a 13 DOF walking robot model is analyzed including the model kinematics, dynamics and controls accompanied with numerical solutions (simulations) for particular desired joint trajectories, recorded from a real human walking cycle. Kinematic and Dynamic analysis is discussed including results for joint torques and ground force necessary to implement the prescribed walking motion. This analysis is accompanied with a limited comparison with available experimental data. Finally, an inverse plant and tracking error linearization based controller design approach is described accompanied with results analysis and conclusions about the controller performances.