Ocean wave energy is a promising renewable source to contribute to supplying the world’s energy demand. The Division of Electricity at Uppsala University is developing a technology to capture energy from ocean waves with a wave energy converter (WEC) consisting of a linear permanent magnet generator and a point absorber. The linear generator is placed on sea bed and is driven directly by the floating absorber. Since March 2006, multiple wave energy converters have been deployed on the Swedish west coast outside the town of Lysekil. The technology is verified by long-term operation during at sea and satisfactory reliability of the electricity generation. This thesis focuses on developing advanced control strategies for fully coupled wave energy converters subject to constraints. A nonlinear control strategy is studied in detail for a single WEC subject to constraints under regular and irregular waves. Besides, two coordinated control strategies are developed to investigate the performance of a wave energy farm subject to constraints. The performance of the WECs using these control strategies are investigated in case studies, and optimal PTO damping coefficients are found to maximize the output power. The results show that these control strategies can significantly improve the performance of the WECs, in terms of mean power, compared to a conventional control. Besides these control strategies, a wave-to-wire simulation platform is built to study the power generation control of the WEC subject to constraints.  The wave-to-wire simulation platform allows both nonlinear and linear control force. The results show that there is a good agreement between the desired value and the actual value after advanced control.

Master of Engineering (Research) / Soil surrounding a submarine buried pipeline consolidates as ocean waves propagate over the seabed surface. Conventional models for the analysis of soil behaviour near the pipeline assume a two-dimensional interaction problem between waves, the seabed soil, and the structure. In other words, it is often considered that water waves travel normal to the orientation of pipeline. However, the real ocean environment is three-dimensional and waves approach the structure from various directions. It is therefore the key objective of the present research to study the seabed behaviour in the vicinity of marine pipelines from a three-dimensional point of view. A three-dimensional numerical model is developed based on the Finite Element Method to analyse the so-called momentary behaviour of soil under the wave loading. In this model, the pipeline is assumed to be rigid and anchored within a rigid impervious trench. A non-slip condition is considered to exist between the pipe and the surrounding soil. Quasi-static soil consolidation equations are then solved with the aid of the proposed FE model. In this analysis, the seabed behaviour is assumed to be linear elastic with the soil strains remaining small. The influence of wave obliquity on seabed responses, i.e. the pore pressure and soil stresses, are then studied. It is revealed that three-dimensional characteristics systematically affect the distribution of soil response around the circumference of the underwater pipeline. Numerical results suggest that the effect of wave obliquity on soil responses can be explained through the following two mechanisms: (i) geometry-based three-dimensional influences, and (ii) the formation of inversion nodes. Further, a parametric study is carried out to investigate the influence of soil, wave and pipeline properties on wave-associated pore pressure as well as principal effective and shear stresses within the porous bed, with the aid of proposed three-dimensional model. There is strong evidence in the literature that the failure of marine pipelines often stems from the instability of seabed soil close to this structure, rather than from construction deficiencies. The wave-induced seabed instability is either associated with the soil shear failure or the seabed liquefaction. Therefore, the developed three-dimensional FE model is used in this thesis to further investigate the instability of seabed soil in the presence of a pipeline. The widely-accepted criterion, which links the soil liquefaction to the wave-induced excess pressure is used herein to justify the seabed liquefaction. It should be pointed out that although the present analysis is only concerned with the momentary liquefaction of seabed soil, this study forms the basis for the three-dimensional analysis of liquefaction due to the residual mechanisms. The latter can be an important subject for future investigations. At the same time, a new concept is developed in this thesis to apply the dynamic component of soil stress angle to address the phenomenon of wave-associated soil shear failure. At this point, the influence of three-dimensionality on the potentials for seabed liquefaction and shear failure around the pipeline is investigated. Numerical simulations reveal that the wave obliquity may not notably affect the risk of liquefaction near the underwater pipeline. But, it significantly influences the potential for soil shear failure. Finally, the thesis proceeds to a parametric study on effects of wave, soil and pipeline characteristics on excess pore pressure and stress angle in the vicinity of the structure.

Master of Engineering (Research) / Soil surrounding a submarine buried pipeline consolidates as ocean waves propagate over the seabed surface. Conventional models for the analysis of soil behaviour near the pipeline assume a two-dimensional interaction problem between waves, the seabed soil, and the structure. In other words, it is often considered that water waves travel normal to the orientation of pipeline. However, the real ocean environment is three-dimensional and waves approach the structure from various directions. It is therefore the key objective of the present research to study the seabed behaviour in the vicinity of marine pipelines from a three-dimensional point of view. A three-dimensional numerical model is developed based on the Finite Element Method to analyse the so-called momentary behaviour of soil under the wave loading. In this model, the pipeline is assumed to be rigid and anchored within a rigid impervious trench. A non-slip condition is considered to exist between the pipe and the surrounding soil. Quasi-static soil consolidation equations are then solved with the aid of the proposed FE model. In this analysis, the seabed behaviour is assumed to be linear elastic with the soil strains remaining small. The influence of wave obliquity on seabed responses, i.e. the pore pressure and soil stresses, are then studied. It is revealed that three-dimensional characteristics systematically affect the distribution of soil response around the circumference of the underwater pipeline. Numerical results suggest that the effect of wave obliquity on soil responses can be explained through the following two mechanisms: (i) geometry-based three-dimensional influences, and (ii) the formation of inversion nodes. Further, a parametric study is carried out to investigate the influence of soil, wave and pipeline properties on wave-associated pore pressure as well as principal effective and shear stresses within the porous bed, with the aid of proposed three-dimensional model. There is strong evidence in the literature that the failure of marine pipelines often stems from the instability of seabed soil close to this structure, rather than from construction deficiencies. The wave-induced seabed instability is either associated with the soil shear failure or the seabed liquefaction. Therefore, the developed three-dimensional FE model is used in this thesis to further investigate the instability of seabed soil in the presence of a pipeline. The widely-accepted criterion, which links the soil liquefaction to the wave-induced excess pressure is used herein to justify the seabed liquefaction. It should be pointed out that although the present analysis is only concerned with the momentary liquefaction of seabed soil, this study forms the basis for the three-dimensional analysis of liquefaction due to the residual mechanisms. The latter can be an important subject for future investigations. At the same time, a new concept is developed in this thesis to apply the dynamic component of soil stress angle to address the phenomenon of wave-associated soil shear failure. At this point, the influence of three-dimensionality on the potentials for seabed liquefaction and shear failure around the pipeline is investigated. Numerical simulations reveal that the wave obliquity may not notably affect the risk of liquefaction near the underwater pipeline. But, it significantly influences the potential for soil shear failure. Finally, the thesis proceeds to a parametric study on effects of wave, soil and pipeline characteristics on excess pore pressure and stress angle in the vicinity of the structure.

Wave ocean energy is a source of renewable energy which is gaining interest in the modern world. In contrast to other well-researched renewable energy sources such as wind energy, wave ocean energy is under the development phase. Governments around the world are encouraging the research of harnessing wave energy. As of now, there are different concepts to harness energy from waves. Tribological components are one of the main aspects that need attention in these wave energy converters. The moving components such as bearings can be the life-determining component of the entire device. This thesis provides conceptual solutions to adapt an existing start-stop bearing test rig to the conditions of wave energy converters. The test rig can test different bearing sused in the wave energy converters. The new design intends to provide scaled wave energy conditions. These conditions are mainly influenced by the oscillating movement of the bearings, the complex load condition and the salty environment. Since the testing of bearings in wave energy converters is in the initial stage, modular designs are implemented to test different types of bearings. / Se filen

For the west coast of North America, from northern California to southern Washington, a habitat suitability prediction framework was developed to support wave energy device siting. Concern that wave energy devices may impact the seafloor and benthos has renewed research interest in the distribution of marine benthic invertebrates and factors influencing their distribution. A Bayesian belief network approach was employed for learning species-habitat associations for Rhabdus rectius, a tusk-shaped marine infaunal Mollusk. Environmental variables describing surficial geology and water depth were found to be most influential to the distribution of R. rectius. Water property variables, such as temperature and salinity, were less influential as distribution predictors. Species-habitat associations were used to predict habitat suitability probabilities for R. rectius, which were then mapped over an area of interest along the south-central Oregon coast. Habitat suitability prediction models tested well against data withheld for crossvalidation supporting our conclusion that Bayesian learning extracts useful information available in very small, incomplete data sets and identifies which variables drive habitat suitability for R. rectius. Additionally, Bayesian belief networks are easily updated with new information, quantitative or qualitative, which provides a flexible mechanism for multiple scenario analyses. The prediction framework presented here is a practical tool informing marine spatial planning assessment through visualization of habitat suitability. / Graduation date: 2012

Nonlinear four-wave interactions (Snl) are critical for acquiring realistic spectra needed by operational wave models. High computational demand to calculate these interactions led to an approximation method named the Discrete Interaction Approximation (DIA) to be used broadly in the major operational wave models for a long time. However, the accuracy of the DIA has been controversial since it was first introduced and more precise approximations such as the Two Scale Approximation (TSA in short) are now available. The only issue with the initial TSA`s efficiency is performing an order of a magnitude slower than the DIA in speed. This study questions the exactness of the DIA while trying to increase the competence of the TSA by making improvements on its execution time. Particularly, in this thesis, the main effort is on the local scale term of the TSA since it is the part that consumes the most time while running the code. The findings of this work imply that the TSA can improve its operation speed significantly while maintaining its accuracy with making alterations in the code. By decreasing the number of bands in the local scale it is possible to run the TSA up to 7.5 faster than its initial version.