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The chemical reactivity of cannabidiol is based on its ability to undergo intramolecular cyclization driven by the addition of a phenolic group to one of its two double bonds. The main products of this cyclization are Δ9-THC (trans-Δ-9-tetrahydrocannabinol) and Δ8-THC (trans-Δ-8-tetrahydrocannabinol). These two cannabinoids are isomers, and the first one is a frequently investigated psychoactive compound and pharmaceutical agent. The isomers Δ8-iso-THC (trans-Δ-8-iso-tetrahydrocannabinol) and Δ4(8)-iso-THC (trans-Δ-4,8-iso-tetrahydrocannabinol) have been identified as additional products of intramolecular cyclization. The use of Lewis and protic acids in different solvents has been studied to investigate the possible modulation of the reactivity of CBD (cannabidiol). The complete NMR spectroscopic characterizations of the four isomers are reported. High-performance liquid chromatography analysis and 1H NMR spectra of the reaction mixture were used to assess the percentage ratio of the compounds formed.

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This paper proposes a practical multi-input multi-output (MIMO) closed loop parameters identification procedure for robot manipulators. It is based on the weighted least squares (WLS) method, coupled with particular solutions to facilitate the estimation, reducing the noise effect. More precisely, a two steps procedure to reduce the condition number of the input data matrix with optimal trajectory planning, and a method to estimate the variances matrix to be used as a weight matrix for the WLS method are illustrated. Moreover, the identification problem is solved with reference to an MIMO coupled system. A closed loop identification is needed because the system is open loop unstable, and because the robot has to track an optimal reference input so as to correctly execute the identification procedure. Some solutions are also presented to overtake common identification problems, such as the bias of the estimated parameters, the presence of outliers, the necessity of balancing the kinematics of the third link, and the reduction of the sensitivity to noise of the estimate. The presented procedure has been successfully experimentally tested on a COMAU SMART3-S2 industrial manipulator used in a planar configuration.

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An increase in water consumption sustainability can be achieved by means of a smart use of condensed water coming from HVAC system chillers. In the current paper, a preliminary study regarding an integrated HVAC system is presented, which combines air conditioning and water extraction from air. Its design was particularly focused on the optimization between the two said effects, also taking energy efficiency into account. The system behaviour is analysed, taking into account real climatic conditions and in particular those of the Arab Emirates coast. The study of the suitable climatic conditions for this application are outlined. Preliminary calculations show that the water extracted from air, by condensation, can support up to almost half of the needs of the case of study represented by a modern hotel.