Average forces for fins with fin rays of different stiffness at a fin-beat frequency of 1.00 Hz, and flow rates of 0, 90, 180, and 270 mm s–1. Average.

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Average forces for fins with fin rays of different stiffness at a fin-beat frequency of 1.00 Hz, and flow rates of 0, 90, 180, and 270 mm s–1. Average forces for fins with fin rays of different stiffness at a fin-beat frequency of 1.00 Hz, and flow rates of 0, 90, 180, and 270 mm s–1. Fins are depicted in the order of decreasing stiffness: 3 (blue, tapered 1000×), 6 (purple, tapered 600×), 4 (red, uniform 1000×), 7 (light blue, tapered 500×), and 5 (green, uniform 600×). Averages are shown for the 2-D force vector (top row), and for the thrust (middle row) and lift (bottom row) components over the full cycle (left column), the outstroke (middle column), and the instroke (right column). Standard errors ranged from 1 to 9 mN and are not depicted; in most cases, standard error bars were too small to see clearly. James L. Tangorra et al. J Exp Biol 2010;213:4043-4054 © 2010.