<html xmlns:eXclaimer="http://www.exclaimer.co.uk" xmlns:v="urn:schemas-microsoft-com:vml" xmlns:o="urn:schemas-microsoft-com:office:office" xmlns:w="urn:schemas-microsoft-com:office:word" xmlns:m="http://schemas.microsoft.com/office/2004/12/omml" xmlns="http://www.w3.org/TR/REC-html40">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta content="text/html; charset=UTF-16" body:head?="">
<meta name="Generator" content="Microsoft Word 15 (filtered medium)">
<style><!--
/* Font Definitions */
@font-face
{font-family:Wingdings;
panose-1:5 0 0 0 0 0 0 0 0 0;}
@font-face
{font-family:"Cambria Math";
panose-1:2 4 5 3 5 4 6 3 2 4;}
@font-face
{font-family:Calibri;
panose-1:2 15 5 2 2 2 4 3 2 4;}
@font-face
{font-family:"Segoe UI";
panose-1:2 11 5 2 4 2 4 2 2 3;}
/* Style Definitions */
p.MsoNormal, li.MsoNormal, div.MsoNormal
{margin:0cm;
margin-bottom:.0001pt;
font-size:12.0pt;
font-family:"Times New Roman",serif;}
a:link, span.MsoHyperlink
{mso-style-priority:99;
color:blue;
text-decoration:underline;}
a:visited, span.MsoHyperlinkFollowed
{mso-style-priority:99;
color:purple;
text-decoration:underline;}
p
{mso-style-priority:99;
margin:0cm;
margin-bottom:.0001pt;
font-size:12.0pt;
font-family:"Times New Roman",serif;}
span.StileMessaggioDiPostaElettronica18
{mso-style-type:personal-reply;
font-family:"Calibri",sans-serif;
color:#1F497D;}
.MsoChpDefault
{mso-style-type:export-only;
font-size:10.0pt;}
@page WordSection1
{size:612.0pt 792.0pt;
margin:70.85pt 2.0cm 2.0cm 2.0cm;}
div.WordSection1
{page:WordSection1;}
/* List Definitions */
@list l0
{mso-list-id:321735118;
mso-list-template-ids:1427400960;}
@list l0:level1
{mso-level-number-format:bullet;
mso-level-text:\F0B7;
mso-level-tab-stop:36.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Symbol;}
@list l0:level2
{mso-level-number-format:bullet;
mso-level-text:o;
mso-level-tab-stop:72.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:"Courier New";
mso-bidi-font-family:"Times New Roman";}
@list l0:level3
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:108.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l0:level4
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:144.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l0:level5
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:180.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l0:level6
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:216.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l0:level7
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:252.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l0:level8
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:288.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l0:level9
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:324.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l1
{mso-list-id:822620999;
mso-list-template-ids:-992317976;}
@list l1:level1
{mso-level-number-format:bullet;
mso-level-text:\F0B7;
mso-level-tab-stop:36.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Symbol;}
@list l1:level2
{mso-level-number-format:bullet;
mso-level-text:o;
mso-level-tab-stop:72.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:"Courier New";
mso-bidi-font-family:"Times New Roman";}
@list l1:level3
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:108.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l1:level4
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:144.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l1:level5
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:180.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l1:level6
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:216.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l1:level7
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:252.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l1:level8
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:288.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l1:level9
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:324.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l2
{mso-list-id:1597784020;
mso-list-template-ids:-766058384;}
@list l2:level1
{mso-level-number-format:bullet;
mso-level-text:\F0B7;
mso-level-tab-stop:36.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Symbol;}
@list l2:level2
{mso-level-number-format:bullet;
mso-level-text:o;
mso-level-tab-stop:72.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:"Courier New";
mso-bidi-font-family:"Times New Roman";}
@list l2:level3
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:108.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l2:level4
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:144.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l2:level5
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:180.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l2:level6
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:216.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l2:level7
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:252.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l2:level8
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:288.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
@list l2:level9
{mso-level-number-format:bullet;
mso-level-text:\F0A7;
mso-level-tab-stop:324.0pt;
mso-level-number-position:left;
text-indent:-18.0pt;
mso-ansi-font-size:10.0pt;
font-family:Wingdings;}
ol
{margin-bottom:0cm;}
ul
{margin-bottom:0cm;}
--></style><!--[if gte mso 9]><xml>
<o:shapedefaults v:ext="edit" spidmax="1026" />
</xml><![endif]--><!--[if gte mso 9]><xml>
<o:shapelayout v:ext="edit">
<o:idmap v:ext="edit" data="1" />
</o:shapelayout></xml><![endif]-->
</head>
<body rightMargin="15" lang="IT" link="blue" vlink="purple">
<eXclaimer:ORIGINAL_BODY_BEFORE Field="body:before">
<p></p>
<div class="WordSection1">
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">Hi Simone, just a quick hint in order to understand the freeze: try to run the setup inside a VM (kvm or virtualbox) in order to catch
the serial log from the kernel or, if you have a UART avaiable on your system, directly from it.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">In this way we should try to understand the issue better.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">R.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<div>
<div style="border:none;border-top:solid #E1E1E1 1.0pt;padding:3.0pt 0cm 0cm 0cm">
<p class="MsoNormal"><b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif">Da:</span></b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif"> etherlab-users [mailto:etherlab-users-bounces@etherlab.org]
<b>Per conto di </b>Simone Comari<br>
<b>Inviato:</b> mercoledì 22 maggio 2019 18:52<br>
<b>A:</b> etherlab-users@etherlab.org<br>
<b>Oggetto:</b> [etherlab-users] System randomly freezes in multi-thread Qt application with a RT process<o:p></o:p></span></p>
</div>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Hi all,<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">I am a young research fellow at the university of Bologna and I just started working with EtherCAT technology and RT systems yet, so please forgive me if I misuse words or I'm not
precise enough.<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><br>
First, I'll try to describe my setup:<o:p></o:p></span></p>
<ul type="disc">
<li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l0 level1 lfo1">
<span style="font-family:"Calibri",sans-serif">Ubuntu 16.04.6 with patched fully preemptible RT kernel 4.13.13-rt5 <o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l0 level1 lfo1">
<span style="font-family:"Calibri",sans-serif">Qt 5.12.2<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l0 level1 lfo1">
<span style="font-family:"Calibri",sans-serif">PCI driver e1000e<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l0 level1 lfo1">
<span style="font-family:"Calibri",sans-serif">Ethercat master running on this Linux RT<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l0 level1 lfo1">
<span style="font-family:"Calibri",sans-serif">Elmo GOLD SOLO WHISTLE Drives (ethercat slaves) <o:p></o:p></span></li></ul>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Secondly, a brief outline of my software architecture:<o:p></o:p></span></p>
</div>
<div>
<ul type="disc">
<li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l1 level1 lfo2">
<span style="font-family:"Calibri",sans-serif">POSIX threads<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l1 level1 lfo2">
<span style="font-family:"Calibri",sans-serif">Qt-based GUI running on a non-RT thread<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l1 level1 lfo2">
<span style="font-family:"Calibri",sans-serif">Ethercat network setup (ethercat master and slaves init) done in the same non-RT thread<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l1 level1 lfo2">
<span style="font-family:"Calibri",sans-serif">If initialization is successful, start a new RT-thread in charge of handling all ethercat-related functionalities (read/write/status-check).<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l1 level1 lfo2">
<span style="font-family:"Calibri",sans-serif">Shared resources between RT and non-RT ones handled with pthread_mutex (even if I'm not 100% sure I'm using it correctly)<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l1 level1 lfo2">
<span style="font-family:"Calibri",sans-serif">Implementation of our generic ethercat master can be found
<a href="https://github.com/UNIBO-GRABLab/grab_common/blob/e5278b6fe611654bfa84c951d8b77e56ebbc8fa9/libgrabec/src/ethercatmaster.cpp" title="https://github.com/UNIBO-GRABLab/grab_common/blob/e5278b6fe611654bfa84c951d8b77e56ebbc8fa9/libgrabec/src/ethercatmaster.cpp">
here</a> <o:p></o:p></span></li></ul>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Problem description:<o:p></o:p></span></p>
</div>
</div>
<div>
<ul type="disc">
<li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l2 level1 lfo3">
<span style="font-family:"Calibri",sans-serif">Once the ethercat network is setup and the RT thread is started, quite randomly the system freezes without errors of any sorts. Sometimes it happens when motors are enabled and operational, sometimes when they
are enabled and idle, sometimes even if they are disabled. It is not reproducible and I couldn't link it to any particular step in my application. Sometimes it happens even if I simply start it, but always after successful initialization.<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l2 level1 lfo3">
<span style="font-family:"Calibri",sans-serif">Even when I manage to close the application, next time I try to run it it tells me that master is busy and ec_e1000e is in use. Only solution is to manually hard-shut-down the PC.<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l2 level1 lfo3">
<span style="font-family:"Calibri",sans-serif">Other thing I noticed is that even if the main thread (the GUI one, so non-RT) is closed, the child RT-thread stays running with status D (uninterruptible sleep) blocking a great deal of CPU (that is why probably
the whole system freezes).<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l2 level1 lfo3">
<span style="font-family:"Calibri",sans-serif">We tried with different computers (both laptop and desktop) to exclude a platform's dependency, but the issue remains.<o:p></o:p></span></li></ul>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Please let me know if there is any missing important information that can help understanding the problem.<o:p></o:p></span></p>
</div>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Thank you a lot for the support.<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Best regards,<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Simone<o:p></o:p></span></p>
</div>
</div>
<div id="Signature">
<div id="divtagdefaultwrapper">
<p><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121"></span></p>
</div>
</div>
</div>
<p></p>
<p>
<table style="FONT-FAMILY: Arial FONT-SIZE: 11px; FONT-WEIGHT: bold">
<tbody>
<tr>
<td style="COLOR: #0093d3">Roberto Viola</td>
</tr>
<tr>
<td>Technical Dept</td>
</tr>
<tr>
<td style="FONT-SIZE: 10px">+39 0536836680 </td>
</tr>
<tr>
<td style="FONT-SIZE: 10px"></td>
</tr>
<tr>
<td style="PADDING-TOP: 10px"><img style="border: 0px Solid ; " src="cid:image208517.JPG@9e805ded.4fab4000"></td>
</tr>
</tbody>
</table>
</p>
<p>
<table cellspacing="0" cols="1" cellpadding="0" border="0">
<tbody>
<tr>
<td><strong>SYSTEM CERAMICS S.p.A.</strong></td>
</tr>
<tr>
<td><font size="2" face="Arial">Via Ghiarola Vecchia, 73</font></td>
</tr>
<tr>
<td><font size="2" face="Arial">41042 Fiorano (Mo) ITALY</font></td>
</tr>
<tr>
<td><font size="2" face="Arial">+39 0536 836111</font></td>
</tr>
<tr>
<td><font size="2" face="Arial"><span style="font-family:Arial;font-size:10pt;"><a href="mailto:info@system-electronics.it" title="" target="" style="font-family:Arial;font-size:10pt;"><span style="font-family:Arial; font-size:10pt;">info@system-electronics.it</span></a></span></font></td>
</tr>
<tr>
<td><span style="font-family:Arial;font-size:10pt;"><a href="http://www.system-electronics.it" title="" target="" style="font-family:Arial;font-size:10pt;"><span style="font-family:Arial; font-size:10pt;">www.system-electronics.it</span></a></span></td>
</tr>
</tbody>
</table>
</p>
<p><img style="border: 0px Solid ; " src="cid:image2bb2df.JPG@a8c6e8a2.4ea6a68f"></p>
</eXclaimer:ORIGINAL_BODY_BEFORE>
<div>
<table cellspacing="0" cellpadding="0" border="0">
<!-- Letter Heading -->
<tbody>
<tr>
<td></td>
</tr>
<!-- Letter Body -->
<tr>
<td colspan="3">
<center style="MARGIN-LEFT: 18pt; MARGIN-RIGHT: 18pt"></center>
<center style="MARGIN-LEFT: 18pt; MARGIN-RIGHT: 18pt">
<hr>
</center>
<center style="MARGIN-LEFT: 18pt; MARGIN-RIGHT: 18pt"></center>
</td>
</tr>
<!-- Disclaimer -->
<tr>
<td colspan="3"><span style="FONT-SIZE: 7pt; FONT-FAMILY: verdana; COLOR: gray">
<p style="MARGIN: 0cm 0cm 0pt"><font size="3"><font face="Times New Roman"></font></font></p>
<p style="TEXT-ALIGN: justify"><span style="FONT-SIZE: 7pt; FONT-FAMILY: 'Verdana','sans-serif'; COLOR: gray"></p>
<p>Le informazioni contenute in questa email, inclusi i suoi allegati, sono riservate e ad uso esclusivo del destinatario. Qualora le fosse pervenuta per errore, lei non è autorizzato a copiare, inoltrare e/o rendere nota questa email e i suoi allegati, totalmente
o parzialmente, e pertanto la preghiamo di cancellarla immediatamente senza visionarne il contenuto e gli allegati.</p>
<p>Avvertenza: la presente casella e-mail ed i messaggi da essa derivanti, sono di esclusivo utilizzo aziendale /lavorativo e mai personale.</p>
<p>Risposte al presente messaggio: si avvisa il destinatario che eventuali sue risposte, potranno essere lette dall’intera azienda /ufficio /reparto di appartenenza del mittente.</p>
<p>The information contained in this e-mail, including attachments, is confidential and exclusively for the use of the intended recipient. If you received this communication by mistake you are not authorized to copy, send and/or publish this message and its
attachments, in whole or in part and therefore please delete this message. </p>
</span>
<p></p>
<p></p>
<p></p>
<p></p>
<p></p>
<p></p>
<p></p>
<p></p>
</span></td>
</tr>
</tbody>
</table>
<div></div>
<p></p>
<div class="WordSection1">
<div id="Signature">
<div id="divtagdefaultwrapper">
<p><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">____________________________________________________</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
<br>
</span><b><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">SIMONE COMARI</span></b><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
<p><i><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:black">Research Fellow</span></i><i><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span></i><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">DIN – Dept. of Industrial Engineering</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">Alma Mater Studiorum – University of Bologna</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">Via Umberto Terracini, 24, 40131 Bologna (BO), Italy </span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
<p><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">E-mail:
</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><a href="mailto:simone.comari2@unibo.it"><span style="font-size:10.0pt">simone.comari2@unibo.it</span></a><br>
</span><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">Websites:</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span><span style="font-family:"Calibri",sans-serif;color:black"><a href="https://www.unibo.it/sitoweb/simone.comari2"><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif">https://www.unibo.it/sitoweb/simone.comari2</span></a></span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span><span style="font-family:"Calibri",sans-serif;color:black"><a href="http://grab.diem.unibo.it/" target="_blank"><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif">http://grab.diem.unibo.it</span></a><o:p></o:p></span></p>
</div>
</div>
</div>
</div>
</body>
</html>