Where are chemoreceptors which detect the acidity of blood

Where are the chemoreceptors which detect the acidity of blood and trigger the respiratory compensation positioned?

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The chemoreceptors which participate in the ventilation control are structures which collect information regarding the acidity and alkalinity of blood. The information is then broadcast by nervous fibers to the respiratory center situated in the medulla. The center then commands the respiratory muscles to reimburse the abnormal pH. There are peripheral and central chemoreceptors. Peripheral chemoreceptors of pH, carbon-dioxide partial pressure and oxygen partial pressure are situated in the walls of aorta and of the carotid arteries. Central chemoreceptors which get pH information are situated in the medulla in respiratory center. (The pulmonary ventilation is as well controlled by receptors which receive pH information from the cerebrospinal fluid.)

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