Before revision:  As a result, we obtain forces  which are on average an order of magnitude more accurate compared to the direct boundary-integral computation from the Navier-Stokes solution  .
After revision:  As a result, we obtain forces which are on average an order of magnitude more accurate compared to the direct boundary-integral computation from the Navier-Stokes solution , leading to solid motion comparable to that obtained on highly resolved meshes that would substantially increase the simulation costs .