[PSUBS-MAILIST] I found a reference to a biological propulsion	method
    Michael Holt 
    mholt at ohiohills.com
       
    Wed Mar 12 21:06:01 EDT 2014
    
    
  
http://en.wikipedia.org/wiki/Anomalocaris
In the section "Anatomy," there are two (or maybe three) references that 
report that the side fins on the animal is an inherently stable 
propulsion technique.  I don't seem to have access to the full texts but 
one comment is that mechanical model was made and tested.
M
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