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Fig. 3. This diagram illustrates the numerical method used for these simulations:
the immersed boundary method. The fluid domain is represented as a Cartesian
grid. The boundary (wing) points are represented as red squares. These points
interact with the fluid and move at the local fluid velocity. The green
springs represent the bending and stretching stiffness of the boundary. The
desired motion of the wing is prescribed by the target points, which are shown
as blue circles. These points do not interact with the fluid and they move
according to the desired motion of the wing. They also apply a force to the
actual boundary via the target springs (shown in purple). The further
the actual boundary is from its target boundary, the larger the force applied
to the actual boundary.