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A lattice Boltzmann algorithm for the computation of incompressible Navier-Stokes flow is presented.This algorithm can be written down in a simple, explicit form for a general class of lattices.By working consistently within a Boltzmann description, the model is free from ambiguities and inconsistencies.It automatically gives rise to isotropic, Galilean-invariant flow behaviour for any regular 2D or 3D lattice of sites.
J. M. V. A. Koelman (1991) studied this question.