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g. jellyfish). One-way flexibility results in a rigid plate during the effective stroke while permitting a simple hinged articulation during the recovery stroke. The waveform used for the temporally asymmetric case consists of a basic triangle waveform which could generate faster effective strokes than recovery strokes. The results of the single-plate tests indicate that increased asymmetry introduced in the triangular wave actuation leads to increased pumping performance and energy consumption. In the case of flexible plates, the resul
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