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And fellow Briton Anne Keothavong said she and other female players had spent a long time practising curtseys before meeting the monarch.
BBC: Queen returns to Wimbledon after 33 years
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Andy Murray, Elena Baltacha and Anne Keothavong are in the main draw and the trio will learn their respective opponents on Thursday.
BBC: Jamie Baker makes progress in US Open qualifying
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British number two Anne Keothavong lost 7-5 6-3 to Kateryna Bondarenko.
BBC: Heather Watson reaches Auckland Classic quarter-finals
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Second seed Angelique Kerber of Germany had a much harder fight to dispatch Britain's Anne Keothavong, 4-6 6-3 6-3 and faces compatriot Mona Barthel in the quarterfinals.
CNN: STORY HIGHLIGHTS
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Williams, who reached the Australian Open final in 2003, will play 30th seed Andrea Petkovic of Germany in the next round after she beat British number two Anne Keothavong.
BBC: Australian Open: Venus Williams labours to victory
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Russian second seed Anna Chakvetadze beat Israeli Shahar Peer 6-3 6-4 and plays the winner of Thursday's second-round match between French sixth seed Marion Bartoli and Britain's Anne Keothavong.
BBC: Serena given workout in Stanford
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And while the likes of Anne Keothavong and Elena Baltacha can expect to benefit from the new coaches and facilities available to them, the focus is already on the next generation.
BBC: Carl Maes
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Baltacha, making her main draw debut at Roland Garros, must have feared a repeat of compatriot Anne Keothavong's 6-0 6-0 'double bagel' defeat by Dinara Safina at last year's French Open.
BBC: Elena Baltacha goes out with a fight at French Open
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South revealed she is battling injuries to both knees but insists she will stay on at Wimbledon to play in the doubles, where she will partner Anne Keothavong in the women's competition.
BBC: Elena Baltacha, Melanie South & Katie O'Brien go out
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The Russian, who has yet to drop a set in the tournament, will play Sweden's Sofia Arvidsson, a 6-4 4-6 6-4 winner over Britain's Anne Keothavong in the earlier semifinal on Friday night.
CNN: Venus and Sharapova into finals in Dubai and Memphis
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Although the British women also endured a miserable Wimbledon, they have made significant progress over the past couple of years, so the emergence of several young prospects behind the likes of Elena Baltacha, Katie O'Brien and Anne Keothavong is extremely good news.
BBC: British juniors shine at Wimbledon