Disseny d’un braç robòtic per a la classificació de paquets en grans magatzems

L'objectiu principal d'aquest Treball de Fi de Grau és el disseny d'un braç robòtic per a la classificació de paquets en grans magatzems. Per portar-lo a terme s'estudien els requisits que presenta un braç robòtic per a poder realitzar aquestes funcions, tenint en compte els diferents paquets que haurà de classificar (diferents grandàries i pesos), com diferenciar-los, els moviments que haurà de ser capaç de fer, etc. Un cop estiguin definides les característiques i funcionalitats que requerirà el robot, es procedirà a fer el disseny CAD 3D mitjançant el programa SolidWorks. Amb aquest programa també es duran a terme diversos estudis estàtics per tal de triar quin és el material més adequat. Posteriorment, s'estudiarà quins serien els seus límits de càrrega, els moments de força que hauria de suportar i els mètodes de transmissió de moviment que s’implementarien. La principal diferència respecte a altres braços robòtics similars serà l'ampli ventall de que podra classificar.El objetivo principal de este Trabajo de Fin de Grado es el diseño de un brazo robótico para la clasificación de paquetes en grandes almacenes. Para llevarlo a cabo se estudian los requisitos que presenta un brazo robótico para poder realizar estas funciones, teniendo en cuenta los diferentes paquetes que tendrá que clasificar (diferentes tamaños y pesos), como diferenciarlos, los movimientos que tendrá que ser capaz de hacer, etc. Una vez estén definidas las características y funcionalidades que requerirá el robot, se procederá a hacer el diseño CAD 3D mediante el programa SolidWorks. Con este programa también se llevarán a cabo varios estudios estáticos para elegir cuál es el material más adecuado. Posteriormente, se estudiará cuáles serían sus límites de carga, los momentos de fuerza que tendría que soportar y los métodos de transmisión de movimiento que se implementarían. La principal diferencia respecto a otros brazos robóticos similares será el amplio abanico de posibilidades que ofrecerá en cuanto a las diferentes medidas y pesos de los paquetes que podrá clasificar.The main purpose of this End-of-degree project is to design a robotic arm for classifying packages in department stores. To carry this out, the requirements of a robotic arm are studied to perform these functions, taking into account the different packets it will have to classify (different sizes and weights), how to differentiate them, the movements it will have to be able to make, etc. Once the features and functions required by the robot are defined, the CAD 3D design will be done using the SolidWorks program. Several static studies will also be conducted with this program in order to choose which material is most suitable. Subsequently, it will be studied what its load limits would be, the moments of force it would have to endure and the methods of motion transmission that would be implemented. The main difference from other similar robotic arms will be the wide range of possibilities it will offer in terms of the different measurements and weights of the packages it will be able to classify

A Linux Kernel scheduler extension for multi-core systems

In this thesis, it is presented a Linux kernel extension that allows a user-space application to be notified of the blocking and unblocking of its threads, making it possible for a core to execute another thread while the other is blocked. The OmpSs Nanos6 runtime is adapted to use this feature

A Linux Kernel Scheduler Extension for Multi-core Systems

The Linux kernel is mostly designed for multi-programed environments, but high-performance applications have other requirements. Such applications are run standalone, and usually rely on runtime systems to distribute the application's workload on worker threads, one per core. However, due to current OSes limitations, it is not feasible to track whether workers are actually running or blocked due to, for instance, a requested resource. For I/O intensive applications, this leads to a significant performance degradation given that the core of a blocked thread becomes idle until it is able to run again. In this paper, we present the proof-of-concept of a Linux kernel extension denoted User-Monitored Threads (UMT) which tackles this problem. Our extension allows a user-space process to be notified of when the selected threads become blocked or unblocked, making it possible for a runtime to schedule additional work on the idle core. We implemented the extension on the Linux Kernel 5.1 and adapted the Nanos6 runtime of the OmpSs-2 programming model to take advantage of it. The whole prototype was tested on two applications which, on the tested hardware and the appropriate conditions, reported speedups of almost 2x.Comment: 10 pages, 5 figures, conferenc

A Linux kernel scheduler extension for multi-core systems

©2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes,creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.The Linux kernel is mostly designed for multi-programed environments, but high-performance applications have other requirements. Such applications are run standalone, and usually rely on runtime systems to distribute the application's workload on worker threads, one per core. However, due to current OSes limitations, it is not feasible to track whether workers are actually running or blocked due to, for instance, a requested resource. For I/O intensive applications, this leads to a significant performance degradation given that the core of a blocked thread becomes idle until it is able to run again. In this paper, we present the proof-of-concept of a Linux kernel extension denoted User-Monitored Threads (UMT) which tackles this problem. Our extension allows a user-space process to be notified of when the selected threads become blocked or unblocked, making it possible for a runtime to schedule additional work on the idle core. We implemented the extension on the Linux Kernel 5.1 and adapted the Nanos6 runtime of the OmpSs-2 programming model to take advantage of it. The whole prototype was tested on two applications which, on the tested hardware and the appropriate conditions, reported speedups of almost 2x.This project is supported by the European Union’s Horizon 2021 research and innovation programme under the grant agreement No 754304 (DEEP-EST), the Ministry of Economy of Spain through the Severo Ochoa Center of Excellence Program (SEV-2015-0493), by the Spanish Ministry of Science and Innovation (contract TIN2015-65316-P) and by the Generalitat de Catalunya (2017-SGR-1481).Peer ReviewedPostprint (author's final draft

Advanced synchronization techniques for task-based runtime systems

Task-based programming models like OmpSs-2 and OpenMP provide a flexible data-flow execution model to exploit dynamic, irregular and nested parallelism. Providing an efficient implementation that scales well with small granularity tasks remains a challenge, and bottlenecks can manifest in several runtime components. In this paper, we analyze the limiting factors in the scalability of a task-based runtime system and propose individual solutions for each of the challenges, including a wait-free dependency system and a novel scalable scheduler design based on delegation. We evaluate how the optimizations impact the overall performance of the runtime, both individually and in combination. We also compare the resulting runtime against state of the art OpenMP implementations, showing equivalent or better performance, especially for fine-grained tasks.This project is supported by the European Union’s Horizon 2020 Research and Innovation programme under grant agreement No.s 754304 (DEEP-EST), by the Spanish Ministry of Science and Innovation (contract PID2019-107255GB and TIN2015-65316P) and by the Generalitat de Catalunya (2017-SGR-1414).Peer ReviewedPostprint (author's final draft

A Linux Kernel Scheduler Extension for Multi-Core Systems

International audienc

Fine tuning the extracellular environment accelerates the derivation of kidney organoids from human pluripotent stem cells

The generation of organoids is one of the biggest scientific advances in regenerative medicine. Here, by lengthening the time that human pluripotent stem cells (hPSCs) were exposed to a three-dimensional microenvironment, and by applying defined renal inductive signals, we generated kidney organoids that transcriptomically matched second-trimester human fetal kidneys. We validated these results using ex vivo and in vitro assays that model renal development. Furthermore, we developed a transplantation method that utilizes the chick chorioallantoic membrane. This approach created a soft in vivo microenvironment that promoted the growth and differentiation of implanted kidney organoids, as well as providing a vascular component. The stiffness of the in ovo chorioallantoic membrane microenvironment was recapitulated in vitro by fabricating compliant hydrogels. These biomaterials promoted the efficient generation of renal vesicles and nephron structures, demonstrating that a soft environment accelerates the differentiation of hPSC-derived kidney organoids

A Linux Kernel scheduler extension for multi-core systems

In this thesis, it is presented a Linux kernel extension that allows a user-space application to be notified of the blocking and unblocking of its threads, making it possible for a core to execute another thread while the other is blocked. The OmpSs Nanos6 runtime is adapted to use this feature

Projecte de rehabilitació d'una casa unifamiliar situada al carrer Major, 10 de Granyena de Segarra

Al plantejar-me rehabilitar una casa familiar situada a la població de Granyena de Segarra a la comarca de la Segarra, vaig tenir clar, des d'un inici, que no volia fer una rehabilitació habitual. Potser aquesta decisió també ve presa que la casa en quant a problemes en general no en te cap. L'estructura està en bon estat, les humitats són inexistents, i només presenta algun defecte propi de l'edat de la casa. Així doncs, al interessar-me per la sostenibilitat en els projectes vaig decidir intentar millorar la casa des del punt de vista mediambiental