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Fig. 2. Comparison of idealized normal hovering along a horizontal stroke plane (A) and dragonfly hovering along an inclined stroke plane (B). (i) Wing motion and averaged lift and drag, (ii) instantaneous vertical (CV) and horizontal (CH) force coefficients (solid line, net force; broken line, lift contribution; dotted line with circles, drag contribution), (iii) snapshots of vorticity (red, counterclockwise rotation; blue, clockwise rotation) and velocity fields (red vectors) during the fourth period, and (iv) time-averaged velocity field over one period (blue vectors). The maximum translational velocity (Umax) serves as a reference velocity scale. The broken square corresponds to the region shown in iii.





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