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Fig. 1. (A) Diagram of robotic apparatus. The wing assembly is shown mounted on linear translation rails above the 1 mx2.4 mx1.2 m towing tank. (B) Coordinate system for the mechanical wing. Three angles are used to specify the position of the wing: {varphi}, {theta} and {alpha}. The instantaneous stroke position, {varphi}(t), is defined as the angular position of the projection of the wing axis in the stroke plane. The instantaneous stroke deviation, {theta}(t), is defined as the angle between the wing axis and the stroke plane. The instantaneous angle of attack, {alpha}(t), is defined as the angle between the wing's chord and the tangent to its trajectory.





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