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computational modeling. The incorporation of such a pair of small
wing attachments were found to decrease turning radii, angle of
attack and even drag, particularly at low speeds ~Bandyopadhyay
et al. @2#!. An experimental investigation showed that such wings
dampen the pitching effects of traveling waves. A closed-loop
control theory has been developed that makes use of dorsal and
caudal fins, described here, in proximity of perturbations like surface
waves, to achieve a precision maneuverability in the vertical
plane ~Bandyopadhyay et al. @3#!. The successful incorporation of
the dynamics of the control surfaces into a closed-loop control
theory has helped demonstrate to some extent the engineering
value of fish hydrodynamics. The following summarizes the experience:
although difficult, the biologically based mechanisms
need to be applied to rigid bodies and not just to flexible bodies;
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