Underactuated mechanical system has less independent inputs than the degrees of freedom(DOF) of the mechanism. The energy efficiency of this class of mechanical
3,4-Dihydropyrimidin-2(1H)-ones(DHPMs) were oxidized with 1.2 equiv.of nitrosonium tetrafluoroborate(NO~+BF_4~-) to pyrimidin-2(1H)-ones in acetonitrile at room