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Fig. 1. Sketches of the model wings, the flapping motion and the reference frames.
FW and HW denote fore- and hindwings, respectively. OXYZ is an
inertial frame, with the X and Y axes in the horizontal
plane; oxyz is another inertial frame, with the x and
y axes in the stroke plane;
o'x'y'z' is a
frame fixed on the wing, with the x' axis along the wing chord
and y' axis along the wing span. ß, stroke plane angle;
, positional angle; 
, angle of attack; R, wing
length.
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