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Fig. 3. Non-dimensional angular velocity of pitching rotation and azimuthal rotation (A), lift coefficient CL (B), thrust coefficient CT (C), wing lift coefficient C1 (D), wing drag coefficient Cd (E) and x' component of wing drag coefficient Cd' (F) versus time during one cycle for five advance ratios. J. {tau}c, non-dimensional period of one flapping cycle; {tau}, non-dimensional time (midstroke angle of attack {alpha}m and stroke plane angle ß vary with flight speed; stroke amplitude {Phi}h=150°).