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Fig. 1. A two-dimensional approximation of a three-dimensional stroke. The motion
of the wing is divided here into three stages: downstroke (A), rotation (B)
and upstroke (C). In reality, the rotational phase overlaps with the
downstroke and the upstroke. The wing moves approximately along a horizontal
plane. The center of rotation is 0.2 chord lengths from the leading edge of
the wing.
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