Body rate decoupling using haltere mid-stroke measurements for inertial flight stabilization in diptera. Thompson, R., Wheling, M. F., Evers, J., & Dixon, W. E. J. Comp. Physiol. A: Neuro. Sens. Neural Behav. Physiol., 195:99–112, 2009.
Body rate decoupling using haltere mid-stroke measurements for inertial flight stabilization in diptera [pdf]1  bibtex   

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