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While both the Mobile Digital Scribe and ZPen would be more palatable if they captured natively into a more standard file format such as JPEG or PDF, both do a solid job of recording pages of notes and line drawings.
ENGADGET: Switched On: More options for getting from scribble to screen
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Booktype can format for a series of standard book sizes, then spit out several file types, including pdf, epub, mobi, odt and html files.
FORBES: Booktype: Book Collaboration Made Easy
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This whole frustration goes for several other file types as well, such as movies, images and even files that use the standard Google Doc format (Gdoc spreadsheets, for instance, can be emailed in PDF format, but can't be directly saved onto your device that way by default).
ENGADGET: Google Drive preview: an in-depth look at features and functionality