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Fig. 6. Temporal variation in angle of attack, tip velocity and translatory force in a single individual, color-coded according to downstroke deviation as in Fig. 5A. All data are shown along a normalized time axis, where 0 is the beginning and 1 is the end of the half-stroke. The slope and R² regression statistics for the correlation between each parameter and downstroke deviation are shown for normalized time intervals of 0.05. Mid-stroke was defined as a normalized time of 0.55, indicated by the vertical dotted lines. (A) Angles of attack over the downstroke. (B) Tip velocities over the downstroke. (C) Translatory forces over the downstroke. Regression statistics are shown for the individual (black circles) and the population (gray circles). (D) Angles of attack over the upstroke. (E) Tip velocities over the upstroke. (F) Translatory forces over the upstroke. Regression statistics are shown for the individual (black circles) and the population (gray circles).

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