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Figure 2


Fig. 2. Two successive wingbeats run continuously together as long as none of the defining parameters change from wingbeat to wingbeat (black line). However, changing parameters between wingbeats ({Phi} in this instance) creates a discontinuity at the boundary from one wingbeat to the next (cyan line). A hyperbolic tangent combines the distinct second wingbeat with the prior wingbeat (Eqn 4, broken red line) for a smooth transition.





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