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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.





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