Fig. 5. Output from a typical simulation showing both the position and orientation of the moth every 1.6 wingbeats (A) and the variation in time for each of the kinematic parameters (B). The Y-axis scales in B extend to the minimum and maximum values allowed for each kinematic parameter. Wing parameters are (azimuthal angle), (sweep angle) and (span axis rotational angle), each of which has an amplitude (subscripted A), phase () and mean (bar over). ß is the abdominal angle.