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Figure 4: Interfacing CTRNN Architecture to MFWR Model to evolve and analyze flight controllers. In the figure, (with range −90 to 90) indicates the instantaneous rotational angle of the wing, (with range −60 to 60) indicates the instantaneous stroke angle of the wing, and (with range −45 to 45) indicates the instantaneous stroke plane angle of the wing. The parameters with “ ” indicate the rate of change for the parameter it is referring to and these parameters with “r” and “l” indicate the right (r) and left (l) wing parameters, respectively.