Interest in wave energy converters to provide autonomous power to various ocean-bound systems, such as autonomous underwater vehicles, sensor systems, and even aquaculture farms, has grown in recent years. The Monterey Bay Aquarium Research Institute has developed and deployed a small two-body point absorber wave energy device suitable to such needs. This paper provides a description of the system to support future open-source access to the device and further the general development of similar wave energy systems. Additionally, to support future control design and system modification efforts, a set of hydrodynamic models are presented and cross-compared. To test the viability of using a linear frequency-domain admittance model for controller tuning, the linear model is compared against four WEC-Sim models of increasing complexity. The linear frequency-domain model is found to be generally adequate for capturing system dynamics, as the model agreement is good and the degree of nonlinearity introduced in the WEC-Sim models is generally less than 2.5%.

This article describes the implementation of a new numerical model of the power take-off system installed in the Monterey Bay Aquarium Research Institute wave energy converter, a device developed to provide power to various oceanic research missions. The simultaneous presence of hydraulic, pneumatic, and electrical subsystems in the power take-off system represents a significant challenge in forging an accurate model able to replicate the main dynamic characteristics of the system. The validation of the new numerical model is addressed by comparing simulations with the measurements obtained during a series of bench tests. Data from the bench tests show good agreement with the numerical model. The validated model provides deeper insights into the complex nonlinear dynamics of the power take-off system and will support further performance improvements in the future.

Aquaculture systems require careful consideration of location, which determines water conditions, pollution impacts, and hazardous conditions. Mobility may be able to address these factors while also supporting the targeting of renewable energy sources such as wind, wave, and solar power throughout the year. In this paper, a purpose-built mobile aquaculture ship is identified and modeled with a combination of renewable energy harvesting capabilities as a case study with the objective of assessing the potential benefits of targeting high renewable energy potentials to power aquaculture operations. A route optimization algorithm is created and tuned to simulate the mobility of the aquaculture platform and cost-basis comparisons are made to a stationary system. The small spatial variability in renewable energy potential when combining multiple resources significantly limits the benefits of a mobile, renewable-targeting aquaculture system. On the other hand, the consistent energy harvest from a blend of renewable energy types (13 kW installed wind capacity, 661 m² installed solar, and 1 m characteristic width wave-energy converter) suggests that the potential benefits of a mobile platform for offshore aquaculture (mitigation of environmental and social concerns, any potential positive impact on yields, hazard avoidance, etc.) can likely be pursued without significant increases in energy harvester costs.

Although many studies have validated wave energy converter (WEC) numerical models against scaled prototype experimental data, there remains a notable lack of validation using data from full-scale deployed WECs. This paper compares two numerical models of Monterey Bay Aquarium Research Institute’s Wave Energy Converter (MBARI-WEC), a two-body point absorber with an electro-hydraulic power take-off system (PTO). The models are implemented in WEC-Sim/Simscape and Gazebo Simulator. A statistical analysis of the models was performed, and field results were obtained to compare the models’ accuracy in predicting the RMS piston velocity, RMS motor speed, and mean electric power compared to field data for 56 observations across varying sea states. The Gazebo model demonstrated a closer agreement across all three parameters for a majority of the observations. When compared to the field data, the Gazebo and WEC-Sim models exhibited average mean electric power overestimations of 13% and 22%, respectively.