This project has dealt with the developing a new technology for a renewable energy source, the wave energy, which is considered as one of the renewable resources with a potential to contribute to an energy production corresponding to about 10% of the world’s energy consumption nowadays. A point absorber concept that is using a Power Take-off (PTO) unit converts the sea surface wave motion into electricity thanks to a buoy at the sea surface which is moved by the waves. Due to harsh working conditions, the maintenance would cause too many issues, and a mooring system needs to be developed. The aim in this paper is to design a durable mooring system for at least 20 years of operation even working in a harsh sea environment. A geometry model of the mooring system has been built since the dimensioning of its components was performed. Several concepts were generated and evaluated with a Pugh matrix. An analysis of the different stresses affecting the performance of the system was made to validate the design. In addition, the detail design of the different parts of the system has made to allow their manufacture in future work. / Projektet har behandlat utvecklingen av en ny teknik för en förnybar energikälla, vågenergin, som anses vara en av de mest lovande förnybara resurserna med potential att bidra till en energiproduktion som motsvarar cirka 10 procent av världens energiförbrukning . Ett punktabsorberande koncept som använder en kraftuttagsenhet (PTO) omvandlar havsytans vågsrörelser till elektricitet. På grund av hårda arbetsförhållanden ger underhållsarbete stora problem och ett förtöjningssystem behöver utvecklas. Syftet med detta projekt är att utforma ett hållbart förtöjningssystem för minst 20 års drift, även i en hård havsmiljö. En geometrisk modell av förtöjningssystemet har skapats baserad på dimensionering av dess komponenter. Flera koncept genererades och utvärderades med en Pugh-matris. En simulering av de olika spänningar som påverkar systemets prestanda gjordes för att validera designen. Dessutom har detaljkonstruktion av de olika delarna av systemet gjorts, så att de kan tillverkas i ett framtida arbete.

Wave energy is one of the possible solutions for meeting the future energy demand in a clean and sustainable way. Extracting large amounts of energy, a wave energy device would be subjected to extreme and fatigue loads from the waves. Designing such a device, a trade off needs to be done between making a device that is strong enough to withstand the loads and on the same time not too heavy making it inefficient and too costly. Having good estimations of extreme and fatigue loads are therefore critical when designing an efficient wave energy device. This thesis has aimed to create a tool that can be used between the already existing hydrodynamic and solid mechanic models available at CorPower Oceean. The goal has been that the tool shall extract the extreme and fatigue loads from the hydrodynamic model and format them in a way so that they can be used in the solid mechanical model. Four different tools have been created and compared for calculating fatigue using amplitude and spectral methods, where the amplitude methods also are able to estimate extreme loads. The fatigue tools have been evaluated against each other in a simple example showing that the estimated accumulated fatigue damage can be decreased by using several variables. An application of the tools has been done on a critical sub system of the wave energy device developed by CorPower Ocean. Where in this application critical points against extreme loading and fatigue have been localized. A new design has been suggested based on the strength analysis from the first one. Increasing the number of variables and using the tools developed in this thesis can significantly improve the fatigue damage estimations of the system. What fatigue method to use depends on the details for each case.

Wave energy and wave energy converters is a fast rapidly developing field of research and energy harvesting. In recent years, more and more designs have seen operational success, and more and more are in development. Wave energy converters face a challenge not properly explored until recently, high loaded, oscillating motion in a highly hostile environment. Which poses a multitude of challenges ranging from contact fatigue to corrosion wear. However, this field is still in early development, seeing little to no research published about it. This work intends to inform about the challenges these wave energy designs pose in tribology and more specifically to bearings, through a literature study and review. The review establishes a rating for different bearing designs based on how applicable a certain bearing selection would be based on available research. Reaching the conclusion that whilst currently inappropriate to employ, seawater lubricated bearings could reach commercial viability in the future for wave energy devices. Additionally, with the help of excellent sealing solutions and well conducted lubrication regimes, both sliding bearings and rolling element bearings have their advantages and disadvantages and can make use of a multitude of different materials. / Vågkraft och vågkraftsgeneratorer är ett område som växer snabbt i intresse för både forskning och produktutveckling. På senare år har fler och fler vågkraftsgeneratorer och designer för dessa sett framgång i prototyptester och flera är på fortsatt utveckling. Vågkraftsgeneratorer står inför flera utmaningar, med de sammansatta faktorerna av en väldigt korrosiv miljö, höga krafter och oscillerande rörelse. Vilket stället flera krav på designers på allt ifrån korrosionsskydd till materialkunskap krig utmattning av maskinkomponenter. Dessvärre finns ytterst lite noga dokumenterad forskning kring området då det är en väldigt ung bransch. Denna rapport söker att utforska och informera kring de utmaningar som kan ställas på vågkraftsgeneratorer inom specifikt tribologi och specifikt för lager och lagerval. Arbetet fokuserar på en litteraturstudie över de möjliga utmaningarna området skapar. Grundat på relevant forskning inom liknande områden betygsattes ett urval av lagerval för vågkraftsgeneratorer. Där slutsatserna pekar på att då det möjligtvis är olämpligt i nuvarande läge att nytta saltvatten som smörjningsmedel, i framtiden kan detta bli en kommersiell verklighet. Där både glidlager och rullningslager har sina fördelar och nackdelar inom applikationen, med noga valda materialkombinationer, smörjningsmedel och tätningar.

Our oceans contain tremendous resource potential in the form of mechanical energy. With the ability to capture and convert the energy carried in surface waves into usable electricity, wave energy converters (WECs) have been a long-held aspiration in ocean renewable energy. One of the most popular wave energy design concepts is the Oscillating Surge Wave Energy Converter (OSWEC). True to their namesake, OSWECs extract energy from the surge force induced by incident waves. In their most basic form, OSWECs are analogous to a bottom-hinged paddle which pitches fore and aft in the direction of wave motion. Most commonly, OSWECs are designed for nearshore use in water depths of less than 20 m where they are mounted to the seafloor at their point of rotation. This work seeks to explore the response and design loads of foundation raised OSWECs for use in deeper waters, unlocking new and greater areas of wave energy resource. A foundation raised OSWEC was designed, built, and tested in a laboratory wave tank. The scale OSWEC was modeled using two methods and compared to data from the experiments. The first of these methods is a highly efficient, analytical approach which derives from the solution to the boundary value problem transformed into elliptical coordinates. Previous validation results demonstrate the analytical model is capable of reproducing results from higher fidelity numerical simulations with computation times on the order of seconds. The second approach combines hydrodynamic coefficients evaluated in WAMIT with the open-source time domain solver WEC-Sim. Two model configurations were observed: the scale OSWEC with no external attachments, and the OSWEC with external torsion springs, as to excite the model at its natural period. The pitch displacement, surge and heave forces, and pitch moment were recorded at the base of the model foundation in response to regular waves with periods ranging from 0.8 s to 2.8 s and heights from 1.5 mm to 14.3 mm. The experimental results show the surge force and pitch moment increase drastically across the observed period range from the addition of external springs. The increase is 20–30 times greater in the most extreme cases. Little to no change in heave forcing was observed between the configurations. The analytical and numerical models capture the natural period of the two configurations well, but the pitch displacement responses of both models fall short of the observations by as much as 60-80% at some periods. Excellent agreement in surge, heave, and pitch loading was obtained between the experimental data and both models. The models were used to simulate a simple power takeoff (PTO) system to approximate the additional PTO torque on the OSWEC. This torque was found to be substantial in magnitude relative to the pitch foundation moment over much of the observed period range.

Wave energy has great potential in energy harvesting, but due to its high system cost per electricity production, it is still in the pre-commercialization stage for grid connection. A wave energy converter (WEC) system that harvests energy through wave motion consists of a wave energy converter and a power take-off (PTO). A wave energy converter, usually a floating buoy, absorbs the hydrodynamic motion from wave and generates a mechanical oscillation. A power take-off (PTO) with mechanical transmission, which harvests the electrical energy through the mechanical energy, usually includes a transmission that converts linear motions from the buoy to rotational motions, an electromagnetic generator that produces electricity from a rotational shaft, and a power electronics converter that converts the ac electric power from the generator and charges the output dc battery or the ac grid. The models of the WEC system are usually oversimplified in a multi-physics study. A PTO model as an ideal actuator with 100 % efficiency will show a different frequency response than the real tested results and can make the controller design invalid. A conventional regular-wave circuit model shows discrepancies in power and force prediction in time-domain under irregular wave conditions. A model that can bring the multiple fields together, and provides an accurate prediction from irregular wave dynamics and non-ideal PTO mechanism is needed. A methodology that converts mechanical transmission equations into a circuit model is created. The equivalent circuits of mechanical components such as one-way clutches, gears, a ball screw, mechanical couplings, and generator are derived respectively to describe the dry frictions, viscous damping, and mechanical compliances in these components. The non-ideal efficiency and force of the PTO are predicted in electrical simulations by integrating these sub-circuit models. The circuit model is simplified, and its parameters are categorized as dc and ac unknowns. Using PTO with a mechanical-motion-rectifier (MMR) gearbox as an example, the dc and ac tests on the PTO are performed sequentially to extract two sets of parameters through linear regression or nonlinear curve fitting. The simulated efficiencies of 30 – 80% match well with experimental results. The model is validated through its prediction capability over 25 test conditions on input forces, output voltages, and efficiencies, with correlation coefficients R2 value of 0.9, 0.98, and 0.981, respectively. An equivalent circuit model of fluid-body dynamics for irregular waves, applicable to real ocean conditions with frequency-dependent radiation damping, is developed. Different from PTO modeling, the time-invariant circuit is created from a fourth-order RLC equivalent circuit through transfer function approximation in the frequency domain and Brune network. The circuit-based wave energy converter (WEC) model is verified by comparing the results with the predictions of a detailed model under irregular wave conditions in the time and frequency domains based on a point absorber type of WEC with a power take-off (PTO). The results show that the developed model gives an accurate dynamic prediction for a WEC under both regular and irregular conditions. Along with the PTO model, the circuit-based W2W model is completed for control and design optimization of the WEC system. Wave energy converter systems have faced various challenges such as reciprocal wave motion, high peak-to-average power ratio, and potential wave height from hundred-year storm conditions. These could lead to an overdesigned power take-off (PTO) of the system and significantly reduce the lifetime of the power electronics converter. The power ratio between the peak and the average power of the wave power converter is around 10 – 20 times. Power optimization is necessary to reduce the over design ratio of the power electronics converter. The design guideline that optimizes the power ratings for the power converter and the generator is introduced. The methodology is developed from the W2W circuit model taking the losses of the power converter and the generator into consideration. By optimizing the power limiting and field-weakening controls, the ratio from the average output power to the rated power of the power converter is reduced to 2.4 in the maximum wave condition, and 15 in the annual wave profile. A maximum energy control algorithm on the power electronics in wave energy application is developed to increase the total energy produced from the power converter in a wave energy converter (WEC) system. A 4-D damping and power leveling maps for maximum energy are built for the algorithm. The maps are based on the irregular W2W circuit model and reliability analysis on the IGBT module. From the yearly wave mission profile, the strategy is proved to increase energy by 16 times or increase the lifetime from 3 to 18 years in exchange for 6 % of average output power than the conventional maximum power algorithm. In conclusion, this work provides a new circuit-based perspective for co-designing the multi-disciplinary WEC system. The methodologies of circuit modeling can benefit the co-design process of other mechatronic power systems, such as electric vehicle or renewable energy system. The newly invented mechanical device – the mechanical motion rectifier, is understood thouroughly via the non-ideal electrical model. The commercialization of wave energy converter is driven forward through the reduction of the levelized cost of electricity (LCoE) which is made possible by increasing the energy production and optimizing the cost per output power of the generation and power conditioning stages. / Doctor of Philosophy / Wave energy, if all been harvested along the U.S. coastline, can power around 65% of the energy consumption in U.S.. Comparing to other renewable energy sources like solar or wind, ocean wave can provide up to 90% of steady uptime. With the high energy density (2-3 kW/m2), it can produce more energy with the same amount of installation area comparing to the energy density of wind turbine (0.6 kW/m2) and solar panel(0.2 kW/m2). The predictability of wave provides advantages like planning installation, power dispatching, and maintenance activities. Although with all these advantages, wave energy converter system is still in the research stage due to its high system cost per electricity production. One of the challenges that need to be solved is the irregularity from the wave motion that leads to high instantaneous peak power into the wave energy converter, which usually reaches up to 10 - 20 times of the average power. The high peak power will not only bring high mechanical/electrical stress but also result in an overrating design of the components in the system. Another obstacle that prevents the wave energy system from moving forward is the high testing cost from the validations in wave-energy-test sites or tank-test sites. A high-fidelity multi-disciplinary system model, including hydrodynamics, mechanical dynamics, electromagnetics, and power electronics, is needed to predict the behavior of the system and reduce the cost of design validation. This work provides a unified circuit-based perspective for co-designing the multi-disciplinary wave energy system. The efficiencies and mechanical dynamics of the system are accurately predicted via the non-ideal electrical model. These methodologies of circuit modeling can also benefit the co-design process of other mechatronic power systems, such as electric vehicles or renewable energy systems. The peak of the irregular power is controlled by the power-leveling and field-weakening control, and as a result, the overdesign ratio of the power converter reduces from 11.1 to 2.4. Through proper design of the converter's control algorithm, the total produce electric energy is increased by 15 times, as well as the lifetime of the power electronics extended from 3 years to 18 years. Therefore, the commercialization of wave energy converter is driven forward through the reduction of the levelized cost of electricity (LCoE), which is made possible by optimizing the component lifetime and the output energy utilizing the developed circuit-based wave-to-wire model.

Point absorber style marine energy harvesters have been investigated based on their structure, energy harvesting efficiency, and reliability along with costs. However, due to the continuously varying ocean conditions and climates, the system usually suffers low power output and reliability from low input and high Peak to Average Ratio (PAR). Therefore, a Mechanical Motion Rectifier (MMR) based point absorber is introduced in this thesis to promote the harvesting efficiency and reduce the PAR by unifying the input rotation, and allow disengagement inside the gearbox during low power output phase. A 1:20 scale full system was then designed, prototyped, and tested based on the MMR. The bench test results show that the proposed MMR based point absorber could improve the energy conversion efficiency by 10 percent, which brings feasibility to the implementation. Traditional Wave Energy Converter(WEC) can only harvest ocean waves while ocean current is also one of the significant energy sources widely existing in ocean. In order to further increase the energy harvesting efficiency, one individual energy input source shows its limits. A vast majority of places around the world tends to co-exist both marine waves and current, and extracting energy from both sources could potentially increase the electric power output. Therefore, the Hybrid Wave and Current Energy Harvester (HWCEC) is introduced along with the hybrid gearbox. It is capable of harvesting energy from both ocean waves and current simultaneously so that the electric power output is significantly higher from a combined system. Tank test data shows 38-79 percent of electric power output promotion of an HWCEC compared to a regular WEC, and 70 percent reduced PAR in irregular wave condition. After that, system electric damping has been thoroughly investigated on both electrical side and mechanical side. The best power output corresponding electrical resistance is identical to the generator internal resistance while the best gear ratio of 3.5 is determined via both simulation and tank test. Furthermore, the system's PAR has been investigated by analyzing the trend of the peak occurrence. Tank test data shows the HWCEC's output power peak occurrence is at roughly 20 percent located at its PAR average. Therefore, the HWCEC system can promote energy harvesting efficiency to the combined system design, and improve its reliability from a significantly reduced peak to average ratio. It also gives HWCEC a large variety of deployable locations compared to a regular WEC under more marine environment. Furthermore, a new design of the Hybrid model, Hybrid LITE, is then developed, which not only features the HWCEC features, but also a lightweight, immersive and inflatable design for fast deployment and transportation. Since the system is built with an open water chassis, the overall system robustness is significantly improved since no water sealing is required on the powertrain compared to the HWCEC. / Master of Science / Ocean contains enormous amount of Marine Hydrokinetic (MHK) energy including ocean waves, tidal streams, and ocean current. Marine energy was investigated due to its continuous, massive and high-density hydrokinetic power output. In order to better serve the needs for ocean surface applications and take advantage of high energy density compared to other renewable energy sources, Wave Energy Converters (WEC) has been investigated, which harvests energy from the ocean wave. In the past years of study, it came to our attention that places such as the west coast of the U.S., northern Europe, and the Mediterranean area tend to have both abundant marine wave and current energy. Therefore, a new design of the Hybrid Wave and Current Energy Converter (HWCEC) is investigated for higher power output. In order to combine the energy sources from waves and current, a Hybrid Gearbox was selected to joint the power and unifies the motion from the wave for a higher efficiency. Simulations and 1:10 ratio co-existing wave and current basin test have been conducted for the HWCEC. By using the same system, single wave or current input are used as the baselines and the dual input HWCEC has demonstrated great benefit and potential. The electric damping and the gearbox ratio of the HWCEC are studied for the best power output in both simulation and tank test. The result shows that the HWCEC could promote up to 38-71 percent of electricity output in a regular wave condition, and 79 percent in irregular wave condition. The Peak to Average Ratio (PAR) is a key factor for system's mechanical reliability. The testing shows that the HWCEC can reduce 70 percent of the peak motion and contribute to the average, which is an indirect indicator of the system's better reliability. Furthermore, to align the needs of the design for real-life applications, The Hybrid LITE Converter idea was then developed for special deployment requirements for the future application of the Hybrid system. It has a novel open-system design with the implementation of a newly designed hybrid gearbox. This converter has the potential of promoting the reliability, deployability and weight reduction for easy transportation from its open system design compared to HWCEC. The system modeling could be done as future work varies from the changing deployment locations for higher electric power output.

Vibration control is a large branch in control research, because all moving systems may induce desired or undesired vibration. Due to the limitation of passive system's adaptability and changing excitation input, vibration control brings the solution to change system dynamic with desired behavior to fulfill control targets. According to preference, vibration control can be separated into two categories: vibration reduction and vibration amplification. Lots of research papers only examine one aspect in vibration control. The thesis investigates the control development for both control targets with two different control applications: vehicle suspension and ocean wave energy converter. It develops control methods for both systems with simplified modeling setup, then followed by the application of a novel mechanical motion rectifier (MMR) gearbox that uses mechanical one-way clutches in both systems. The flow is from the control for common system to the control design for a specifically designed system. In the thesis, active (model predictive control: MPC), semi-active (Skyhook, skyhook-power driven damper: SH-PDD, hybrid model predictive control: HMPC), and passive control (Latching Control) methods are developed for different applications or control performance comparison on single system. The thesis also studies about new type of system with switching mechanism, in which other papers do not talk too much and possible control research direction to deal with such complicated system in vibration control. The state-space modeling for both systems are provided in the thesis with detailed model of the MMR gearbox. From the simulation, it can be shown that in the vehicle suspension application, the controlled MMR gearbox can be effective in improving vehicle ride comfort by 29.2% compared to that of the traditional hydraulic suspension. In the ocean wave energy converter, the controlled MMR WEC with simple latching control can improve the power generation by 57% compared to the passive MMR WEC. Besides, the passive MMR WEC also shows its advantage on the passive direct drive WEC in power generation improvement. From the control development flow for the MMR system, the limitation of the MMR gearbox is also identified, which introduces the future work in developing active-MMR gearbox by using an electromagnetic clutch. Some possible control development directions on the active-MMR is also mentioned at the end of the thesis to provide reference for future works. / Master of Science / Vibration happens in our daily life in almost all cases. It is a regular or irregular back and forth motion of particles. For example, when we start a vehicle, the engine will do circular motion to drive the wheel, which causes vibration and we feel wave pulses on our body when we sit in the car. However, this kind of vibration is undesirable, since it makes us uncomfortable. The car manufacture designs cushion seats to absorb vibration. This is a way to use hardware to control vibration. However, this is not enough. When vehicle goes through bumps, we do have suspension to absorb vibration transferred from road to our body. The car still experiences a big shock that makes us feel dizzy. On the opposite direction, in some cases when vibration becomes the motion source for energy harvesting, we would like to enhance it. Hardware can be helpful, since by tuning some parameters of an energy harvesting device, it can match with the vibration source to maximize vibration. However, it is still not enough due to low adaptability of a fixed parameter system. To overcome the limitation of hardware, researches begin to think about the way to control vibration, which is the method to change system behavior by using real-time adjustable hardware. By introducing vibration control, the theory behind that started to be investigated. This thesis investigates the vibration control theory application in both cases: vibration reduction and vibration enhancement, which are mentioned above due to opposite application preferences. There are two major applications of vibration control: vehicle suspension control and ocean wave energy converter (WEC) control. The thesis starts from the control development for both fields with general modeling criteria, then followed by control development with specific hardware design-mechanical motion rectifier (MMR) gearbox-applied on both systems. The MMR gearbox is the researcher designed hardware that targets on vibration adjustment with hardware capability, which is similar as the cushion seats mentioned at the beginning of the abstract. However, the MMR cannot have capability to furtherly optimize system vibration, which introduces the necessity of control development based on the existing hardware. In the suspension control application, the control strategy introduced successfully improve the vehicle ride comfort by 29.2%, which means the vehicle body acceleration has been reduced furtherly to let passenger feel less vibration. In the WEC application, the power absorbed from wave has been improved by 57% by applying suitable control strategy. The performance of improvement on vibration control has proved the effect on further vibration optimization beyond hardware limitation.

The point absorber is one of the most popular types of ocean wave energy converter (WEC) that harvests energy from the ocean. Often such a WEC is deployed in an ocean location with tidal currents or ocean streams, or serves as a mobile platform to power the blue economy. The shape of the floating body, or buoy, of the point absorber type WEC is important for the wave energy capture ratio and for the current drag force. In this work, a new approach to optimize the shape of the point absorber buoy is developed to reduce the ocean current drag force on the buoy while capturing more energy from ocean waves. A specific parametric modeling is constructed to define the shape of the buoy with 12 parameters. The implementation of neural networks significantly reduces the computational time compared to solving hydrodynamics equations for each iteration. And the optimal shape of the buoy is solved using a genetic algorithm with multiple self-defined functions. The final optimal shape of the buoy in a case study reduces 68.7% of current drag force compared to a cylinder-shaped buoy, while maintaining the same level of energy capture ratio from ocean waves. The method presented in this work has the capability to define and optimize a complex buoy shape, and solve for a multi-objective optimization problem. / Master of Science / The marine kinetic energy includes ocean waves power, tidal power, ocean current power, ocean thermal power and river power. The total potential marine kinetic energy in 2021 is 2300 TWh/year, where 1400 TWh/year is from the ocean wave power. To discover and harvest the huge potential power from the marine, researchers have been developed for different types of WECs for several decades. One of the most successful concepts is the point absorber typed WEC, which can extract waver energy from the heaving vibration motion of a floating body and convert the kinetic energy into electrical energy. This thesis presents an optimization strategy to optimize the shape of the floating body to improve power extraction and reduce the installation cost by implementing the machine learning tool and genetic algorithm. Compared with the state-of-the-art optimization strategies, the proposed optimization method allows the floating body to have more parameters in shape changes and reduces the computational cost from minutes to milliseconds. The final optimized floating body shape performs extraordinarily compared to the other two state-of-the-art floating body shapes.

As worldwide energy consumption continues to increase, so does the demand for renewable energy sources. The total available wave energy resource for the United States alone is 2,640 TWh/yr; nearly two thirds of the 4,000 TWh of electricity used in the United States each year. It is estimated that nearly half of that available energy is recoverable through wave energy conversion techniques. In this thesis, a two-body 'point absorber' type wave energy converter with a mechanical power-takeoff is investigated. The two-body wave energy converter extracts energy through the relative motion of a floating buoy and a neutrally buoyant submerged body. Using a linear frequency-domain model, analytical solutions of the optimal power and the corresponding power-takeoff components are derived for the two-body wave energy converter. Using these solutions, a case study is conducted to investigate the influence of the submerged body size on the absorbed power of the device in regular and irregular waves. Here it is found that an optimal mass ratio between the submerged body and floating buoy exists where the device will achieve resonance. Furthermore, a case study to investigate the influence of the submerged body shape on the absorbed power is conducted using a time-domain numerical model. Here it is found that the submerged body should be designed to reduce the effects of drag, but to maintain relatively large hydrodynamic added mass and excitation force. To validate the analytical and numerical models, a 1/30th scale model of a two-body wave energy converter is tested in a wave tank. The results of the wave tank tests show that the two-body wave energy converter can absorb nearly twice the energy of a single-body 'point absorber' type wave energy converter. / Master of Science / As worldwide energy consumption continues to increase, so does the demand for renewable energy sources. The total available wave energy resource for the United States alone is 2,640 TWh/yr; nearly two thirds of the 4,000 TWh of electricity used in the United States each year. It is estimated that nearly half of that available energy is recoverable through wave energy conversion techniques. By absorbing the motion of a wave, wave energy converters can turn that energy into useful electricity. A single-body ‘point absorber’ type wave energy converter consists of a floating buoy connected to the seabed by a mechanism called the power-takeoff. The power-takeoff converts the up and down motion of the floating buoy into rotation. A generator is connected to the power-takeoff, which produces useful electricity from the rotation. Issues with the size of the floating buoy, as well as connecting the floating buoy to the seabed, make this design economically impractical. Instead of connecting the floating buoy to the seabed, the floating buoy can be connected to an additional submerged body. In this thesis, optimization strategies were employed on the size and shape of the submerged body to determine theoretical power limits. Here it is found that an optimal mass ratio between the submerged body and floating buoy exists for a given wave profile. It is also found that the optimal shape of the submerged body is long cylindrical body, having a small surface area normal to the motion. A scale model experiment of a two-body wave energy converter was conducted to validate our theoretical models. The results of this experiment are in good agreement with the models, showing that an optimal mass ratio exists for a given wave profile, and that the two-body wave energy converter can absorb nearly twice the energy of a single-body ‘point absorber’ type wave energy converter.

Wave energy conversion technology has gained popularity due to its potential to be-come one of the most preferred energy sources. Its high energy density and low car-bon footprint have inspired the development of many wave energy converter (WEC) technologies, few of which have made their way to commercialisation, and many are progressing. The Floating Power Plant (FPP) device is a combined floating wind and wave converter. The company, Floating Power Plant, was established in 2004 and has developed and patented a floating device that consists of a semi-submersible that serves as a foundation for a single wind turbine and hosts four wave energy converters (WECs). Each WEC consists of a partially submerged wave absorber whose pitching motion generates energy from incoming waves. The wave absorbers are connected to an oil hydraulic power take-off system located in a dry “engine room” above the free water surface, where the mechanical energy in the absorber is converted to electricity. When undergoing pitching movements, there are interactions between individual wave absorbers and the surrounding platform. This thesis focuses on developing methods to improve the FPP WEC’s hydrodynamic interactions. The first part of this thesis optimises the wave absorber (WA) ballast. An ana-lytical model is developed to enable systematic selection of WA ballast combination with significantly less computational effort when compared with the more conven-tional means, such as using CAD software. The study suggests an algorithm with which the absorbed power and resonance frequency can be improved and adjusted by manipulating the ballasts’ mass, the position of its centre of gravity, placement and inclination of the WA. The proposed method is generic and can be applied to other WEC concepts or submerged bodies in general. The results show the feasibility of designing the absorber ballast to offer passive control for increased wave absorption. It demonstrates the effect of ballast on the WA inclination, resonance frequency and response amplitude operator (RAO). The second part focuses on the optimisation of the FPP platform geometry. The genetic algorithm optimisation technique is implemented to maximise the annual en-ergy produced by the relative pitch motion of the WA to the floating platform. The optimised variables are characteristic lengths of the floating platform, most of which are part of the immediate surrounding walls of the absorber. The objective function is a function of the WA’s annual energy production (AEP) and RAO. Results show the feasibility of improving the hydrodynamic interaction between the floating platform and its integrated wave absorbers for a given wave climate by using a heuristic search technique. The number of iterations to convergence tends towards increased values when considering more optimised variables. It is also observed that the computational time appears to be independent of the number of variables but is significantly impacted by the computational power of the machine used.