The aim of the present study was to investigate the histopathological changes on the kidneys of the brown trout (Salmo trutta m. Fario) inflicted by per os lead poisoning in the 46-week experimental period. The fish were kept in well-oxygenated freshwater basins. Approximately calculated toxic doses of lead-acetate for fish were 550 mg/kg. Following the experimental period, fish organs, in particular kidneys, were examined by light microscopy. Only fish with lesions observed in kidneys were further examined by electron microscopy. An accumulation of proteinaceous material in the glomeruli of the kidneys, and thickening of the basal membrane were observed histopathologically. This proteinaceous material was also observed in the lumina of the kidney tubules. Electron microscopic examination completely supported this finding. Furthermore, to the authors' previous knowledge, undocumented damage of the brush borders of the proximal kidney tubules was also observed.

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.