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Novel Method for the Modeling and Control Investigation of Efficient Swimming for Robotic Fish

✍ Scribed by Li Wen; Tianmiao Wang; Guanhao Wu; Jianhong Liang; Chaolei Wang

Book ID
114627059
Publisher
IEEE
Year
2012
Tongue
English
Weight
1014 KB
Volume
59
Category
Article
ISSN
1932-4529

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Aldehydes and ketones react with one equivalent each of thiols and thiolacetic acid under acid catalysis to yield almost exclusively the mixed alkylthio-(or arylthio-) acvlthioacetals. Reaction of the mixed thioacetal with a nucleoohile (such as NaOMe) liberates the thiolate anion which can be trapp