Abstract: Regarding the fact that the industrial robot PUMA 560 is one of the robots with the best mathematical description of its kinematics, it found the new application in the research laboratories for educational purposes. For that reason there is a need to design new controllers which would be compatible with the contemporary CAD tools used for robot movement programming in a graphic manner. Basically, new controllers can be divided into two groups: PC-based and with embedded computer. It is well established that PC computers are known for their unreliability and sensitivity to computer viruses and the suggestion is that the stated shortcomings should be overcome by the use of FPGA based embedded computers. In this paper is suggested FPGA based controller which has to answer the following requirement of the hypothesis: realisation of the robot controller based on FPGA chip (single chip) which contributes the system availability and safety while answering all the functional, safety and economical requirements. The new controller will enable the use of advance CAD tools which is one of the aims of the research.

Abstract The World Bank Highway Development and Management (HDM-4) tool has been used extensively for the management of road networks, particularly in developing countries. The paper describes the application of HDM-4 model for local roads in Bosnia and Herzegovina (BiH), in the Herzegovina-Neretva Canton (HNC). The HDM-4 study was performed with the aim to define road works program and investment priorities by analyzing impacts of different budgets on future network condition. The 396 km-long HNC road network consists of 13 roads that are either graveled or paved. A large part of these roads do not have sufficient pavement width. This road network is in relatively poor condition due to its age (the average age is over 30 years) and limited spending on maintenance in the past. Only a small percentage of the network has been reconstructed in recent years. The Average Annual Daily Traffic (AADT) has a wide range, and varies from 27 to 12735 vpd. The major challenge in the study was to obtain HDM-4 input data with limited resources, since usually this task requires extensive investigations. In addition to inventory data, it is necessary to define the condition of the road network, traffic volume, traffic data, etc. Road geometry data were obtained from previous studies and project documentations. The IRI data were taken from the earlier surveys or estimated where no data were available. Other parameters were obtained by field tests. Traffic data were available from regular network traffic counts. After analyzing the parameters, the network was divided into 65 homogeneous sections, based on the AADT and road condition (IRI and other parameters) classes. HDM-4 program analysis was performed for a period of 30 years. Due to very low traffic loading and relatively large investment needed for improvement, for majority of sections a negative NPV and IRR were obtained for maintenance alternatives other than routine maintenance, and for significant number of sections they were on the verge. Out of 65 homogeneous sections, only 29 sections proved cost-effective (NPV/CAP ratio is positive). The implementation of developed road work programs would result in a substantial improvement of the overall network condition. The IRI of paved road network would change from current value of 4.5 m/km to 4.0 m/km and 3.7 m/km for budget levels of 2.0 and 3.0 mill. BAM after five years. The better road network condition would also result in improved traffic safety, social and economic impacts, since many of these roads are crucial links in the HNC.

One of the most important health problems of today's society is hypokinesia accompanied by obesity. The assumption is that reduced physical activity has a large negative impact on the school population. The problem of reduced commitment and involvement of pupils in extracurricular activities is increasingly evident in recent times, which results in a number of negative health effects on the human body of an individual. This study comprised a group of older school children from first to fourth year of high school in Pale. The total sample consisted of 127 female pupils aged 15 to 18 years. As a way of gathering the required information we used an anonymous questionnaire of open type in order to collect information about student involvement in extracurricular sports activities. The survey was conducted in November 2012 and all the pupils voluntarily participated in the study. Based on the survey results have been obtained the necessary information to reflect the relative lack of physical activity, of the studied population. Of the total sample of female pupils, the survey confirmed that only about 22% are physically active pupils. The alarming are the results which showed that with the increasing age of pupils they are less physically active, and in the higher years is evident negative trend in physical activity (sports).