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Submitted on: 14 April 2002.
Revised on: 24 May 2002.
Accepted on: 09 June 2002.
___________________Bioinspiration & Biomimetics---IOP PUBLISHING LTD
Submitted on: 21 March 2008.
Revised on: 27 May 2008.
Accepted on: 18 July 2008.
___________________Bioinspiration & Biomimetics---IOP PUBLISHING LTD
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