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. 2019 Mar 12;4(1):23. doi: 10.3390/biomimetics4010023

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© 2019 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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(A,B) Thrust forces for dorsal-rearward and dorsal-forward configurations, respectively. (C,D) Lateral forces for dorsal-rearward and dorsal-forward configurations, respectively, from caudal and dorsal fins operated alone are characteristic of flexible fin rayed fins.