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In this paper, we describe how the swimming of linked-rigid bodies can be simulated using smoothed particle hydrodynamics (SPH). The fluid is assumed to be viscous and weakly compressible though with a speed of sound which ensures the Mach number is ∼0.1 and the density fluctuation (relative to the average density) is typically 0.01. The motion is assumed to be two-dimensional. The boundaries of the...