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Fig. 20. Mean force vector and resultant directional forces and moments. (A) Schematic illustrating the difference in mean force vector during the downstroke between modes. While force magnitude is similarly modulated within each mode, the mean forces can be slightly lower during Mode 1. Correlation between downstroke deviation and downstroke (B) mean force magnitude and (C) mean force inclination for Mode 2 (gray points; black line regression) and Mode 1 (pink points; red line). Correlation between downstroke deviation and downstroke (D) mean lift and (E) mean roll for Mode 2 (blue points; black line) and Mode 1 (pink points; red line). (F) Schematic illustrating the difference in mean force vector during the upstroke between modes. While force inclination is similarly modulated within each mode (not shown), the mean force magnitudes are much lower during Mode 1. (G) Correlation between downstroke deviation and upstroke mean force magnitude. (H) Correlation between dorsal amplitude and upstroke mean force inclination. Correlation between downstroke deviation and upstroke (I) mean thrust and (J) mean yaw for Mode 2 (green points; black line) and Mode 1 (pink points; red line).





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