Grasping in an uncertain environment is a topic of great interest in robotics. In this paper we focus on the challenge of object handover capable of coping with a wide range of different and unspecified objects. Handover is the action of object passing an object from one agent to another. In this work handover is performed from human to robot. We present a robust method that relies only on the force information from the wrist and does not use any vision and tactile information from the fingers. By analyzing readings from a wrist force sensor, models of tactile response for receiving and releasing an object were identified and tested during validation experiments.

Abstract: With the development of technology, especially information and communication systems, new ways of providing services emerged, based on the model of "collective consumption" or "sharing economy". This represents a trending economic phenomenon when it comes to consumption. Within sharing economy, consumers are organized by using specific technological platforms that enable them to innovatively consume or produce a particular product/service. These models provide maximum use of scarce resources on the basis of technological support and social capital of the community. Consequently, efficiency and confidence are essential for the functioning of sharing economy, whose size is estimated at 225 billion dollars by 2025. However, these trends are not evenly distributed and the development of the sharing economy depends on a series of conditions, which will be discussed in the paper. Thus, sharing economy makes tremendous challenges for all relevant stakeholders, especially the governments, in the context of adjusting the regulatory framework to meet its demands. Compared to developed countries, Western Balkan countries are significantly lagging when it comes to sharing economy. This is reflected in the lack of foreign and domestic investment in this area. The aim of this paper is to present the conceptual framework for this new economic trend, with the emphasis on the current state of sharing economy in Western Balkans. Paper will focus on the discussion of development potentials of sharing economy in the function of rural business development. Based on this, a set of recommendations will be made for improving the state of sharing economy in the Western Balkans. Keywords: sharing economy, Internet, rural development, Western Balkans JEL Classification: O18, O33, M13

The concept of corporate social responsibility implies that the company has far more responsibilities that overcome its basic economic responsibility. Corporate social responsibility is the imperative of modern business and one of the prerequisites for achieving competitive advantage. Thus, in order to be socially responsible, it is important for a company to demonstrate a certain level of responsibility towards its stakeholders. Historically, the concept of social responsibility has been the subject of numerous discussions, but also different theoretical models. Some of these will be presented in the paper. The aim of the paper is to explore the notion of corporate social responsibility, with the presentation of social responsibility in Bosnia and Herzegovina, and the analysis of the perception of social responsibility of representatives in local companies. Paper shows results of the research of 100 companies in Bosnia and Herzegovina, about their most important stakeholders and various types of social responsibility. The paper will also examine the impact of sociodemographic factors and job characteristics on the attitudes about corporate social responsibility. The paper, in addition to the conclusion, offers concrete recommendations for improving the state of corporate social responsibility in Bosnia and Herzegovina.

Clinical and subclinical disorders and diseases cause reproductive failures and decline in milk production. Etiology of disorders is mainly because of pathological effect of microorganisms, lapses in nutrition and lodging, as well as in management. After partrition, body is under stress and milk yield is highest, which favors appearance of metabolic and infective diseases. Status of puerperium, number of lactation, body condition score and season of parturition, have highest effect to cyclic ovarian activity. Regular development of dominant follicles, ovulation, formation of corpus luteum and luteolysis is necessary for establishment of regular cyclic ovarian activity, which leads to better fertility. Experiment had included 50 cows during first 52 days of lactation. Cows were separated in two main groups, those with normal puerperium NP (n=32) and abnormal puerperium AP (n=18). Examinations have been performed during period of 6 to 52 days postpartum. Ovarian dominant follicles have been observed using diagnostic ultrasound linear scanner. The highest number of dominant follicles are present during first two examinations, then their number declines and later in last two examinations rise again. Decrease in number of dominant follicles in both groups is most expressed in period of 14-30 days. During first examination, left ovaries have more dominant follicles, compared with right ovaries, while during later examinations, it is changed in favor of right ovaries. Increased number of vital dominant follicles from period 38-45 days postpartum and absence of abnormal uterine content in lumen in same period postpartum is sign of upcoming fertile estrus. Benjamin Čengić et al. 182

This chapter studies energy efficient driving of (semi)autonomous electric vehicles operating in a dynamic environment with other traffic participants on a unidirectional, multi-lane road. This scenario is considered to be a so called hard problem, as constraints imposed are varying in time and space. Neglecting the constraints imposed from the surrounding traffic, the generation of an energy optimal speed trajectory may lead to bad results, with the risk of low driver acceptance when applied in a real driving environment. An existing approach satisfies constraints from surrounding traffic by modifying an existing unconstrained trajectory. In contrast to this, the proposed approach incorporates a leading vehicle’s motion as constraint in order to generate a new optimal speed trajectory in a global optimal sense. First simulation results show that energy optimal driving considering other vehicle participants is important. Even in simple setups significantly (8%) less energy is consumed at only 1.3% travelling time prolongation compared to the best constant speed driving strategy. Additionally, the proposed driving strategy is using 4.5% less energy and leads to 1.6% shorter travelling time compared to the existing overtaking approach. Using simulation studies, the proposed energy optimal driving strategy is analyzed in different scenarios.