Based on kadi sicils and Franciscan chronicles, this paper seeks to present a picture of everyday lives of Christians and Muslims during a turbulent period, marked by political turmoil, unrest and general insecurity. Attacks, murders and various other acts of violence were part of everyday life. The ruling class of the time often abused their position and acted beyond their authority, putting additional pressure on the Christian population and further aggravating their social position and security within Eyalet of Bosnia. The efforts of the authorities to protect reaya were only temporarily effective in stopping the violence. The

Forests in Europe are, at present not endangered by soil erosion, however, this can change with climate change or intensified forest management practices. Using a newly established network of plots in beech forests across Europe, the aims of this study were 1) discrimination of soil properties and erodibility indices in relation to bedrock, 2) determination of geochemical properties and Corg influencing erodibility, and 3) assessment of the effect of soil depth on erodibility indices. Seventy-six soil samples from 20 beech forests were collected in 11 countries to quantify soil properties influencing erodibility indices clay ratio, modified clay ratio, sodium adsorption ratio, and oxides ratio. Results indicate that dominant soil properties, determined by bedrock, that correlate with forest soil erodibility indices are: Corg, pH, EC, Ca and Na ion concentrations, total-water soluble cations, and the % of sand. According to the tested indices, soil susceptibility to erosion follows the sequence: granite>andesite>sandstone>quartzite>limestone. Deeper soil horizons on granite are more susceptible to erosion than surface horizons, while this is not the case for soils on limestones. In conclusion, forest management should consider the predisposition of different soil types to erosion.

Paint production and for that colour mixing is an important process which has wide applications in several field. There are various kinds of colour mixing that can be done. It can either be additive colour mixing or subtractive colour mixing. Generally, there are various kinds of paint mixing machines available in the market. They vary in their size, shape, technology and methodologies. The aim of this paper is to present a calculation and analyse of hydraulic system for paint mixing machine. The paint mixing machine has the task of mixing the oil paint components in vessel until the finished mass is obtained. As oil paint is a typical representative of rheological materials where the viscosity depends on the shear rate, it is necessary to mix different paint structures during processing at different speeds - the number of revolutions of the propeller must be changes.

The goal of this article is to describe a power measuring system using the frequency-locked-loop (FLL). The FLLs have a wide variety of applications such as power converters, grid synchronization, sensorless flux estimation and control of motor drives. This nature of the FLL system allows for it to be a potentially perfect tool for power calculation. In this article, a new power calculation method has been presented. This method is based on FLL as part of phase locked loop (PLL) and has enhanced feature over classical methods for power calculation widely used in industry. The obtained results showcase the effectiveness of the proposed FLL power calculation method.

This paper is focused on investigating a new approach for collecting the data about robot’s position and orientation from the RoboDK software in which the robot’s movement is simulated. The code, as well as the GUI (Graphical User Interface) was developed using MATLAB environment and connection between the two software packages was achieved through the TCP (Transmission Control Protocol) internet protocol. Robot model used for this purpose is the Unimation’s PUMA 560 industrial robot which can be found in the online library of the RoboDK. Information regarding robot joint angles is important for planning the robot’s movement and generating the trajectory between the two positions, so it could be of use to have all the position/orientation vectors listed for further calculations. Drawback of the RoboDK software is the inability to generate the trajectory so the goal of this project is to avoid that problem with the help of the MATLAB software.

The paper focuses on the design and development of a two-wheeled and self-balancing robot as well as its control. The problem is equivalent to the inverted pendulum principle of balancing robots. Dynamic model based PD controller and empirical controller were designed. These controllers are used in closed loop system to provide the robot balance, even when robot is slightly pushed, which normally causes it to fall. The equations of robot motion were derived using Lagrangian and mapped to a transfer function in the complex s-domain. The controller parameters are initially tuned using PID Tuner in Simulink. Then, the zero-order-hold discretization method was applied to implement this control on the Arduino microcontroller. Furthermore, the controller parameters are additionally adjusted through experiments in order to exhibit better control performance. Moreover, the effect of an unexpected disturbance on the robot was taken into consideration. The effectiveness of the designed controllers was verified experimentally.

The OPENQKD project is demonstrating deployed QKD networks in several European cities. We present a virtual QKD testbed that allows the user to monitor live data but also to re-enact the past QKD exchange over the various links, together with a QKD network simulation tool.

Connecting a photovoltaic solar power plant (PVSP) to a radial low-voltage network can significantly influence the power quality. According to grid rules in our country, the PVSP with rated power of up to 150 kW can be connected to the low-voltage power distribution network. Common case is that the PVSP with rated power of approximately 100 kW is installed at the rooftop of a residential or commercial building and connected to one connection point. Usually, the owner tends to regulate PVSP to operate at unity power factor to maximize profit. However, when the power plant operates with unity power factor, voltages at the connection point and at the nearby buses are often increased. Also, a significant increase of power losses can occur. This paper describes the procedure for determining the maximum power of the PVSP operating with unity power factor while simultaneously meeting the following criteria: (1) the range of slow voltage variations must be within the limits defined by the EN 50160 standard; (2) after connecting the PVSP, the active power losses should be less or equal to active power losses calculated with the disconnected PVSP.

In the offshore industry, unmanned autonomous systems are expected to have a permanent role in future operations. During offshore operations, the unmanned autonomous system needs definite instructions on evaluating the gathered data to make decisions and react in real-time when the situation requires it. We rely on video surveillance and sensor measurements to recognize early warning signals of a failing asset during the autonomous operation. Missing out on the warning signals can lead to a catastrophic impact on the environment and a significant financial loss. This research is helping to solve the issue of trustworthiness of the algorithms that enable autonomy by capturing the rising risks when machine learning unintentionally fails. Previous studies demonstrate that understanding machine learning algorithms, finding patterns in anomalies, and calibrating trust can promote the system’s reliability. Existing approaches focus on improving the machine learning algorithms and understanding the shortcomings in the data collection. However, recollecting the data is often an expensive and extensive task. By transferring knowledge from multiple disciplines, diverse approaches will be observed to capture the risk and calibrate the trust in autonomous systems. This research proposes a conceptual framework that captures the known risks and creates a safety net around the autonomy-enabling algorithms to improve the reliability of the autonomous operations.

Climate problems, the increasingly robust European emissions policy and falling prices of solar and wind have led to the shutdown of many thermal power plants and increased installation of renewable energy power plants. The installed capacity of wind and solar power plants in our country is not yet significant, but small hydropower plants are often considered as a good solution for the power supply to remote areas despite the problems that sometimes arise after the installation of these power plants. This paper describes a power quality problem of high voltages occurs after the installation of a small hydropower plant of 800 kVA in an area with predominantly industrial consumers. Many industries use high technology for manufacturing and require high power quality and reliability of power supply. Even modest power quality problems can have significant technical and economic effects on these consumers. Therefore, it was necessary to precisely monitor power quality to adequately address all related problem recorded during the plant performance test phase. Also, the observed problem has led to power plant outage on several occasions in a short period of time which resulted in a reduction in power generation. Techniques for mitigation the observed power quality issue are also considered in this paper. The implemented solution of the problem is verified by power quality monitoring and SCADA system measurements.