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Washington Air-Sea Interaction Research Facility Waves and Currents Test Data

This archive includes data from the University of Washington WASIRF (Washington Air-Sea Interaction Research Facility) flume. WASIRF is a laboratory testing tank at the Northwest National Marine Renewable Energy Center designed to investigate wind-wave-current interactions. It includes test data for simultaneous waves and current generation done at the WASIRF lab. A report included in the archive further details testing methodology. Wave and current data is provided in .dat files.

16 TIDAL AND WAVE POWER↗

Characterization and verification of a two-body wave energy converter with a novel power take-off

The lack of high efficient, predictable and reliable power take-off (PTO) systems limits developments of ocean wave energy technology. In this paper, a two-body self-reacting wave energy converter (WEC) with a novel PTO is designed, modelled and implemented for efficiency enhancement. A novel mechanical motion rectifier (MMR) using a ball screw mechanism and an enclosed gear set is integrated to improve the energy harvesting efficiency and reliability by rectifying the oscillatory wave motion into unidirectional rotation of the generator. Detailed design and dynamic modelling for the proposed WEC are presented. A prototype of the PTO is tested in a dry lab to characterize and refine the dynamic modelling. The characterized PTO model is combined with the WEC model to create an overall system model. A water tank test is conducted to verify the overall system dynamics, which proves the accuracy of the model and shows the advantages of the proposed WEC on efficiency and predictability. Following the method of how the WEC system is characterized, performance prediction of the proposed WEC with MMR PTO can be achieved with high accuracy.

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Performance characterization and modeling of an oscillating surge wave energy converter

Abstract Testing wave energy converters in the ocean could be expensive and complex, which necessitates the use of numerical modeling. However, accurately modeling the response of wave energy converters with high-fidelity simulations can be computationally intensive in the design stage where different configurations must be considered. Reduced-order models based on simplified equations of motion can be very useful in the design, optimization, or control of wave energy converters. Given the complex dynamics of wave energy converters, accurate representation, and evaluation of relative contributions by different forces are required. This effort is concerned with a performance characterization of the hydrodynamic response of an oscillating surge wave energy converter that is based on a reduced-order model. A state-space model is used to represent the radiation damping term. Morison’s representation of unsteady forces is used to account for the nonlinear damping. Wave tank tests are performed to validate simulations. A free response simulation is used to determine the coefficients of the state-space model. Torque-forced simulations are used to identify the coefficients of the nonlinear damping term for different amplitudes and wave frequencies. The impact of varying these coefficients on the response is investigated. An assessment of the capability of the model in predicting the hydrodynamic response under irregular forcing is performed. The results show that the maximum error is 3% when compared with high-fidelity simulations. It is determined that the nonlinear damping is proportional to the torque amplitude and its effects are more pronounced as the amplitude of the flap oscillations increases.

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Analysis of Air-Purifying Respirator (APR) and Powered Air-Purifying Respirator (PAPR) Cartridge Performance Testing on Hanford Tanks BY-108 and BY-110 Volume 2: Raw Analytical Data

As the Tank Operations Contractor for U.S. Department of Energy operations at the Hanford site in Washington State, Washington River Protection Solutions (WRPS) is responsible for managing highly radioactive wastes stored in tanks at Hanford. WRPS tests air-purifying respirator (APR) and powered air-purifying respirator (PAPR) chemical cartridges commonly used by workers at Hanford Tank Farms to determine the period of time that the cartridges would provide adequate performance for APRs and PAPRs used to protect workers when exposed to a mixture of Chemicals of Potential Concern (COPC) from any vapors exiting headspaces in the storage tanks. The Occupational Safety and Health Administration (OSHA) Standard promulgated in Title 29 of the Code of the Federal Regulations (CFR) 1910.134(d)(3)(iii)(b)(2) specifies that for protection against gases and vapors, employers shall implement a schedule for cartridges to ensure that change-outs occur before the end of service life. The change schedule can be based on objective information or data that ensures cartridge change-outs occur before the end of their service life. The primary function of the WRPS Cartridge Test Program is to obtain objective data to determine service lives for the APR and PAPR cartridges used at Hanford Tank Farms. WRPS contracted with Pacific Northwest National Laboratory to analyze the test data and offer an independent analysis and any recommendations. This report summarizes data analysis of APR and PAPR cartridge testing on BY-110 and BY-108 headspace vapors, respectively. Two different APR cartridges from SCOTT Safety (Monroe, North Carolina) were assessed for the BY-110 headspace vapors, and two different PAPR cartridges—one from MSA Safety Inc. (Pittsburgh, Pennsylvania) and another from 3M (Maplewood, Minnesota)—were assessed for the BY-108 headspace vapors. Volume 1 of this report documents the testing, data analysis, results, conclusions, and recommendations resulting from the cartridge testing of vapors from the BY-110 and BY-108 headspaces. Volume 2 provides an introduction to the raw data, including analytical laboratory analysis results that supported the analysis and conclusions documented in Volume 1.

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Biofouling Analysis for Wave Energy Piston Design: Post-Access Test Report

This report summarizes the purpose, procedures, results, and conclusions of prolonged seawater tank testing of a prototype wave energy converter apparatus. Test objectives included determination of the effectiveness of a biofouling mitigation element in one test assembly compared to a control, and system force over many cycles of actuation over months.

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Modeling and Design of the Triton OWC System (Final Report)

Two versions of the Triton Oscillating Water Column type device will be modeled in WEC Sim. First, a model of a wave-tank scale device which can be tuned and validated against tank test data. Second, a model of the deployment-scale device will be constructed following the method of the tank-scale device to ensure that relevant physics are captured. In the latter case, the geometry, PTO architecture, and other design details are not yet finalized, so the model will serve as a platform for design iteration as time and budget allows. A subset of this iteration will be automated using existing WEC-Sim capabilities. A primary focus of this work will be familiarizing Triton personnel with the WEC-Sim workflow and model details so that the model of the deployment device can continue to be enhanced after project end.

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Evaluation of 1/100-Scale Mooring Systems for Wave Energy Converters

This study evaluates the feasibility, accuracy, and limitations of using 1/100th scale physical mooring systems to represent full-scale mooring behavior for wave energy converters (WECs) during small-scale tank testing. The work focuses on an RM3-style point absorber deployed in conditions representative of the PacWave South test site and examines whether small-scale physical testing can reliably inform numerical modeling, design decisions, and future prototype development. Overall, this study concludes that small-scale (1/100th) physical mooring models can provide valuable qualitative insights, including relative comparisons between mooring types and trends in device behavior, but cannot reliably replicate full-scale mooring loads or dynamic response without significant scaling distortion. Physical tests at this scale are most appropriate for motion characterization and model validation within known limitations, not for deriving absolute mooring loads or final engineering design values. Key lessons learned emphasize the importance of improved instrumentation strategies, iterative wave tank tuning, more precisely manufactured scaled mooring components, and enhanced anchoring systems to reduce experimental uncertainty.

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MASK4 Test Report

Wave energy converters (WECs) are designed to produce useful work from ocean waves. This useful work can take the form of electrical power or even pressurized water for, e.g., desalination. This report details the findings from a wave tank test focused on that production of useful work. To that end, the experimental system and test were specifically designed to validate models for power transmission throughout the WEC system. Additionally, the validity of co-design informed changes to the power take-off (PTO) were assessed and shown to provide the expected improvements in system performance.

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Analysis of Respirator Cartridge Performance Testing on Hanford Tank A-101

Washington River Protection Solutions (WRPS) conducted tests on two types of chemical cartridges for use in air purifying respirators (APR) to determine the period of time that the cartridges would provide adequate performance1 to protect workers when exposed to a mixture of Chemicals of Potential Concern (COPCs) from vapors emanating from the headspace of tank A-101 on the Hanford Site. The Occupational Safety and Health Administration (OSHA) identifies cartridge testing as a valid approach for establishing a cartridge change schedules.[3] Testing is commonly applied in situations where mixtures of COPCs exist, and where other approaches, such as manufacturer recommendations and modeling, are less reliable. The tests were designed and conducted to ensure measurement and/or control of the key variables OSHA identified as important to estimate cartridge service life, including temperature, humidity, COPC concentration, breathing rate, and cartridge adsorption capacity. Testing was conducted over a period from July 22-24, 2016, using headspace vapors from Hanford tank A-101 under static conditions2 fed to a respirator cartridge test stand developed by WRPS in collaboration with HiLine Engineering (Richland, Washington). Multipurpose respirator cartridges, SCOTT 7422-SD1 and 7422-SC1 (SCOTT Safety, Monroe, North Carolina) were assessed on separate days with A-101 headspace vapors. Sample media (sorbent tubes) were used to collect samples of the vapor stream entering and exiting the respirator cartridge, and were subsequently analyzed for COPC concentrations. Pacific Northwest National Laboratory was tasked with conducting an independent analysis of the analytical results and making recommendations based on the results for respiratory cartridge performance and service life. Key conclusions from the assessment of the 59 COPCs in this study are described below: • Based on d measured cartridge inlet vapor concentrations from tank A-101 headspace, both ammonia and N-Nitrosodimethylamine (NDMA) exceeded their Occupational Exposure Limits (OEL).3 These measurements were generally consistent with maximum A-101 headspace measurements previously obtained for these two compounds. • Ammonia had respirator cartridge outlet concentrations that exceeded 10% of the OEL for both cartridges tested, indicating breakthrough for each. For the SCOTT 7422-SD1 cartridge, ammonia appeared to breakthrough above 10% of its OEL after 2 hours. For the SCOTT 7422-SC1 cartridge, ammonia breakthrough appeared to occur after 8 hours. 1 “Adequate performance” refers to the breakthrough criteria used in this analysis—that is, sustained cartridge outlet concentrations above 10% of the OEL. For some COPCs, an alternate threshold has been applied when necessary due to higher detection limit (DL)/reporting limit (RL) values for specific compounds. Ultimately, Industrial Hygiene professionals will use these results along with specific hazard assessments to determine service life and cartridge use that provides the necessary performance. 2 These tests were conducted under static conditions absent waste-disturbing activities in the subject tank or tank farm. 3 Occupational Exposure Limits accepted for Hanford Tank Farm use are based on OELs established by a U.S. governmental agency or national professional organization (e.g., OSHA, National Institute for Occupational Safety and Health, American Conference of Governmental Industrial Hygienists), or if no U.S. OEL exists, standard toxicological practices are applied to develop OELs using non-U.S. exposure limits, other established OELs for chemical surrogates when available, or other standard procedures. The OEL for NDMA was established in 2005 based on the MAK (Maximale Arbeitsplatzkonzentration) Commission standard adopted in Europe. iv • Despite respirator inlet measurements for NDMA that were in excess of its OEL, all corresponding outlet measurements, from both respirator cartridges, were below analytical DL 1 for the

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Optimization-based calibration of hydrodynamic drag coefficients for a semisubmersible platform using experimental data of an irregular sea state

For the simulation of the coupled dynamic response of floating offshore wind turbines, it is crucial to calibrate the hydrodynamic damping with experimental data. The aim of this work is to find a set of hydrodynamic drag coefficients for the semisubmersible platform of the Offshore Code Comparison Collaboration, Continuation, with Correlation and unCertainity (OC6) project which provides suitable results for an irregular sea state. Due to the complex interaction of several degrees of freedom (DOF), it is common to calibrate drag coefficients with the time series of decay tests. However, applying these drag coefficients for the simulation of an irregular sea state results in misprediction of the motions. By using numerical optimization, it is possible to calibrate multiple drag coefficients simultaneously and effectively, while also considering several DOF. This work considers time series of structural displacements from wave tank tests of the OC6 project and from simulations of the same load cases in OpenFAST. Results are transferred into the frequency domain and the deviation between power spectral densities of surge, pitch and heave from experiment and numerical simulation is used as an objective function to obtain the best fitting drag coefficients. This novel numerical optimization approach enables finding one set of drag coefficients for different load cases, which is a major improvement compared to decay-test-tuned drag coefficients.

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Pool-Based Tow System for Testing Tethered Hydrokinetic Devices Being Developed to Harvest Energy From Ocean Currents

Abstract The immense potential for ocean current energy harvesting is being actively explored as the push for renewable energy becomes more urgent. This paper demonstrates a tow testing platform built to examine and validate mathematical models related to the performance of tethered, underwater, hydrokinetic devices in development to harvest energy from ocean currents, and presents experimental results illustrating how such a system can be used. The platform has been modularly designed to allow for the testing of various tethered, underwater energy-generation systems, including kite-based systems, coaxial turbines, and duct sails. Previous research on tethered energy-generating systems has primarily been focused on airborne systems. Additionally, the limited experimental research on tethered, underwater energy-generation systems has relied on a rigid rod for mechanical and electrical connections between the test articles and instrumentation. The tow testing platform presented in this paper accomplishes the mechanical and electrical connection through a dual-function tether, featuring internal conductors and an external sheath to support towing loads. The goal of this platform was to enable the emulation of ocean currents, which are largely unidirectional, and to retrofit a regular pool into a cost-effective, adaptable, small-scale tow tank test bed. The capabilities of the system include two-way communication with tethered devices, multiple towing profiles in order to emulate different flow regimes, real-time control, and differential velocities via dual winch operation.

Engineering↗

Controls Optimization Final Report, Controls Algorithms Report, Control Optimization - SPA II: Heaving Buoy Test Results [Three reports]

The over-arching project objective is to fully develop and validate optimal controls frameworks that can subsequently be applied widely to different WEC devices and concepts. Optimal controls of WEC devices represent a fundamental building block for WEC designers that must be considered as an integral part of every stage of device development. Using a building-blocks approach to optimal controls development, this effort will result in the full development of a feed-forward and feed-back control approach and a wave prediction system. Phase I focused primarily on numerical offline optimization and validation using wave tank testing of three industry partners’ WEC devices, including; CalWave, Ocean Energy, and Resolute Marine Energy. These industry partnerships allowed us to identify optimal control strategies for these different WEC topologies at different maturity levels. Phase II focused on demonstrating an integrated control system on an at-sea prototype that is to be custom-built and maturing the HW and SW required to successfully run our advanced controls code frameworks on at-sea systems. A secondary focus during phase II is to adapt our systems identification, controls and wave-prediction frameworks to become more robust and comprehensive in respect to RT capability, robustness, and reliability.

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Performance Testing of an Integrated Magnetic Power Take-Off

A wave energy converter (WEC) and the power take-off (PTO) generator system can be represented by using a mass-spring-dampener model. By incorporating a negative stiffness spring within the PTO, the overall stiffness of the PTO can be lowered allowing the impedance of the PTO to be more closely matched with the WEC. By designing for impedance matching the WEC can greatly enhance its power generation capability. This project has involved the design, fabrication and testing of a new type of linear-stroke length and rotary stroke length adjustable negative stiffness magnetic springs for use within a wave energy converter (WEC). The magnetic springs were studied by using 3-D finite element analysis with the objective of creating high energy density and a long linear stroke length. After the construction and testing of both a proof-of-principle adjustable linear and rotary magnetic spring prototype the rotary (torsional) magnetic spring was selected for scaling up analysis. The selected scaled-up proof-of-principle magnetic spring had a peak torque of 850 Nm with a ±45 degree stroke length. By translating the inner rotor relative to the outer rotor, the stiffness could be adjusted to be either negative or positive stiffness. During this project a magnetic lead screw was also studied, and it was shown that by combining the magnetic lead screw with a linearly translating magnetic spring a very long rotary stroke length could be attained. However, as the magnetic lead screw increased complexity and reduced overall energy density relative to a rotary (torsional) spring, this design approach was not further pursed. Dynamometer testing of the variable stiffness magnetic springs was first completed by Portland State University and following this the magnetic spring performance was independently verified by Sandia National Laboratory (Sandia). A WEC analysis when using a variable stiffness magnetic spring was completed by using the WecOptTool. WecOptTool is an open-source WEC optimization software developed by Sandia that supports efficient power take-off (PTO) and control optimization. Wave condition data from the Oregon PacWave test-site was used in this study. The analysis showed that a WEC with a tunable stiffness value could consistently achieve about 80% of its maximum theoretical power production. The use of a tunable stiffness WEC, rather than zero-stiffness or a constant stiffness WEC was also shown to lead to a smaller maximum PTO force requirement. The variable stiffness magnetic spring was integrated into an experimental WEC developed by Sandia, called a Wave-Bot. Sandia successfully completed water-tank testing of the Wave-Bot at the Navy’s Carderock, Maryland, wave-basin test site. The wave-basin testing helped to experimentally demonstrate the operating capabilities and increased power generation capability of a WEC containing an integrated variable stiffness magnetic spring. A WEC capacity factor analysis was also completed. The capacity factor was defined as the ratio of annual average WEC generator power to the maximum (RMS) generated power. This capacity factor provided a means of identifying the ratio of potential revenue to cost. It was calculated that if a tunable variable stiffness magnetic spring has RMS constraints it could operate with a capacity factor above 30%. This is comparable to a wind turbine’s capacity factor.

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FY25 Report on Water NSTF Testing: Parametric and Accident Testing with Lower Tank Inlet

The Natural Convection Shutdown Heat Removal Test Facility (NSTF) at Argonne National Laboratory has continued to generate empirical validation data on the performance of water-based reactor cavity cooling system (RCCS) for seven years. This data is actively being used to support the development of passive decay heat removal systems for advanced reactors. Distinguishing this facility are 1) the large, ½ scale of the facility and 2) its governance under an NQA-1 qualified program for producing data of the highest pedigree for advanced reactor designers and regulators. In addition to the experimental activities discussed in this report, a computational modeling program continues to support the experimental program and further accuracy and understanding of the computational models. Together, the experimental and computational work create a mutually beneficial relationship integral to the overall program objective of advancing the understanding of the RCCS technology.

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CalWave's xWave Design for PacWave (Final Technical Report)

CalWave Inc. (CalWave) is developing a wave energy converter (WEC) technology that can generate electricity from ocean waves. CalWave’s design offers a unique approach to wave energy conversion that operates fully submerged and can actively adjust the wave excitation. This capability gives the architecture enhanced survivability in ocean storms without adding significant costs. Prior to this project, CalWave had completed a demonstration of a fully functional WEC system in an open ocean demonstration at nominal 1:5 scale under FOA 1663. The goal of this project was the detailed design, following relevant standards and industry best-practices, of a variant of the xWave WEC technology that can safely and efficiently operate at the DOE’s PacWave South test site for a targeted deployment of up two years. The WEC design and associated review processes proceeded in two distinct project phases: a ‘Preliminary’ and a ‘Final’ design phase. The first phase of the project consisted of the systematic design of the WEC’s key features with regards to appropriate IEC standards. The work resulted in a preliminary design of the xWave hull including structural and Power Take-Off (PTO) load estimates, as well as performance estimates for all ocean conditions the WEC would operate in at PacWave South. Following the first open-water demonstration of CalWave’s small-scale “x1” device under FOA 1663, lessons learned were fed directly into a comprehensive review of the xWave design in the second design phase of this FOA project. CalWave’s work was supported by Sandia National Lab (SNL) and the National Renewable Energy Lab (NREL) on the holistic WEC design, and detailed feedback from specialized partners on hull design, mooring and anchoring specification, and electrical grid interconnection. Optimization of the WEC system was performed using a novel numerical optimization tool developed by Sandia and optimization trends were confirmed via an experimental model scale tank test campaign. Performance estimates for PacWave and a detailed xWave design including integration of all relevant system components were concluded. The mooring design was also concluded in the Final design phase using the most up to date sea floor characterization (CPT) data.

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DOE Hanford Tank Side Cesium Removal System (TSCR) Update: Fabrication and Factory Acceptance Testing - 20300

The Tank Side Cesium Removal (TSCR) System is a modular, quickly-deployable, and passively safe system for efficiently removing solids and cesium from alkaline liquid waste raffinate created by fuel processing on the Hanford site. This paper provides an overview of the project with particular emphasis on completion of fabrication and factory acceptance testing (FAT). All TSCR System components are inside three enclosures known as the Process Enclosure, Ancillary Enclosure, and Control Enclosure. The Process Enclosure is seismic design category II (SDC-II) and built to withstand the rigors of transportation and lifting, high winds, volcanic ash fall, and heavy precipitation (snow) over a temperature range of -25 to 115 deg. F. The Process Enclosure and Control Enclosure were fabricated in AVANTech's Columbia, SC facility, while the Ancillary Enclosure was fabricated in AVANTech's Richland, WA facility. The design and preliminary documented safety analysis were completed in December 2019, with all work being performed in accordance with ASME NQA-1 quality assurance requirements. The Process Enclosure, Ion Exchange Columns (IXCs), and several other TSCR components have a nuclear safety function and are designated as safety significant structures, systems, and components (SS-SSCs). The NQA-1 Commercial Grade Dedication (CGD) process was used to identify critical characteristics in order to accept materials and items used for fabrication of several safety significant TSCR components. This paper also addresses unique aspects and challenges of implementing CGD in DOE facilities and systems. After fabrication and preliminary testing, the Process and Control Enclosures were shipped to AVANTech's Richland facility where the complete TSCR System was setup and connected in a represented layout and configuration that will be used on the Hanford site. Test tanks and pumps were put in place and connected to the TSCR Process Enclosure in a manner that mimicked interfacing Double Shell Tanks in the 241-AP Tank Farm. The TSCR System was then tested/operated under conditions equivalent to those planned for onsite operation. Testing was separated into five separate phases as defined below: - Phase 1: Confirmation of TSCR System readiness for the FAT; - Phase 2: Verification of TSCR System operation under standard conditions; - Phase 3: Demonstration of TSCR System operation under non-standard conditions; - Phase 4: Demonstration of ion exchange media removal from an IXC; and - Phase 5: Completion of TSCR System lift plans and site mobilization. The Hanford Tank Operations Contractor, Washington River Protection Solutions (WRPS), participated in all phases of testing. Testing at AVANTech's Richland Facility allowed WRPS personnel to familiarize themselves with TSCR operations in a radiologically clean facility prior to onsite mobilization. Engineering and operations personnel gained valuable experience that allowed them to better refine onsite operational protocols and procedures - including handling and movement of IXCs with a forklift. This paper describes the technologies used by the TSCR System as well as how these technologies are deployed and operated to advance the Hanford mission of safely, efficiently, and effectively treating tank waste. It also provides detailed information on fabrication and FAT, including operational data from simulated tank waste runs. A project schedule for WRPS' planned construction acceptance testing, operational acceptance testing, and actual tank waste treatment is provided. This presentation should be of great interest to parties responsible for the design, testing, and mobilization of modular NQA-1 technologies for the treatment of raffinate and similar liquid wastes containing high concentrations of radioactive cesium. (authors)

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Control-inspired design and power optimization of an active mechanical motion rectifier based power takeoff for wave energy converters

Ocean waves have high energy density and are persistent and predictable. Yet, converting wave energy to a useable form remains challenging. A significant hurdle is the oscillatory nature of waves resulting in the alternating loads, which necessitate the use of rectification at some stage of the energy conversion. This research effort presents a novel design of active mechanical motion rectifier (AMMR) for the power takeoff (PTO), which provides enhanced controllability and better power performance when compared to passive mechanical motion rectifiers (MMR). Inspired by transistors used in synchronous electrical rectifiers, the proposed design uses controllable electromagnetic clutches in the mechanical transmission to allow active engagement-disengagement control; thus, rectifying the oscillatory motion into a unidirectional rotation for high energy conversion efficiency and allowing the generator in unidirectional rotation to control the bidirectional wave capture structure for maximizing the power output. A semi-analytical computational approach is developed to efficiently evaluate the optimal power achieved using the proposed AMMR-based PTO and active control. It is found that the AMMR-based PTO design yields a higher optimal power than the previous passive MMR design across the wave spectrum. The influences of generator inertia and reactive power are discussed. Furthermore, the effects of control parameters on the power output and the optimal trajectories are analyzed. Wave tank tests with the AMMR prototype demonstrated the effectiveness of AMMR based PTO design and validated the numerical analysis.

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TEAMER: Electrically Engaged Undulation System for Unmanned Underwater Vehicles

This TEAMER RFTS 1 (Request for Technical Support) project supported the flume tank testing of a long range, high endurance unmanned underwater vehicle (UUV) to monitor maritime space. Today, battery-powered remotely operated vehicles (ROVs) lack the duration to make persistent, wide-area data collection possible.The proposed solution, an Electrically Engaged UnduLation (EEL) drone, can sustain missions for longer duration through hydrodynamic energy harvesting. Power is provisioned via the piezoelectric effect, a material-led phenomenon that converts applied stress into electricity. The EEL subsystems include power, propulsion, navigation, ballast, telemetry, and instrumentation. By mimicking the gait of aquatic eels, EEL can counter currents during maneuvering and level-flight. The identified opportunity is in the future capability of extreme endurance UUVs in swarms. The specific goal for the EEL development is to expand the spatio-temporal coverage of the existing ocean observation mission by overcoming significant challenges of autonomous robotics. Some of the challenges presented include novel compliant mechanism for robust actuation, bio-inspired design to emulate efficient locomotion, smart material-based energy harvesting for sustained power, and swarming architecture through enabled autonomy.

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