Firearm kneeling position: At the Battle of Mohács in 1526, the Janissaries equipped with 2000 tüfenks (usually translated as musket) "formed nine consecutive rows and they fired their weapons row by row," in a "kneeling or standing position without the need for additional support or rest."[173] The Chinese later adopted the Ottoman kneeling position for firing.[174] Marching band and military band: The marching band and military band both have their origins in the Ottoman military band, performed by the Janissary since the 16th century.[175] Matchlock volley fire: Volley fire with matchlocks was first implemented in 1526 when the Ottoman Janissaries utilized it during the Battle of Mohács.[176] Parallel rulers: Invented by Taqi ad-Din Muhammad ibn Ma'ruf and used at the Constantinople Observatory of Taqi ad-Din (1577-1580).[177] Practical impulse steam turbine: A practical impulse steam turbine was first described in 1551 by Taqi al-Din, a philosopher, astronomer and engineer in 16th century Ottoman Egypt, who described a method for rotating a spit by means of a jet of steam playing on rotary vanes around the periphery of a wheel.