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Power Take-off System Design for Wing-Wave WEC

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1. If ct ae 72 Figure 7 2 Wing Wave and wave eene 76 xiv List of Tables Table 2 1 Ocean Wave T y pes iid agde eed doe etaed etre tenes 11 Table 4 1 Specifications for Raspberry Pi Model B sse 35 Table 4 2 Specifications for Arduino AT Mega2560 oconocococcconnconcnonaconcconaconaconanonanonanonaconannns 36 Table 4 8 Input Map rre treten eee iii 38 1 45 Output Map ete e te t et e et p n ER C te Res 38 Table 4 5 Current Consumption 2 dtc eite tides 44 Table 7 1 Datasets for deployment 1 eese nennen 59 List of Equations A 9 Di iia 9 QE 10 DU en re a EE rin lei 10 DE NEE T 13 DEGLI NN 13 2 ad 14 2 U H 14 M 72 MERA E E EI E A E A SA 72 E ON STR 72 A i ee EN E nantes 73 A tas 73 O NA 73 TE eile A a EL INNEN 74 eB iet tiit i idt t ta dtd ata ipte pt do et etie tite 74 MIR LU 77 lE 77 UM NA RM 77 A eid a i ae ai 77 iiie EN 77 TA iS NN 78 78 A Seats 78 AA E AN 78 AA REN 78 WO nn da da 79 SA B
2. 110 23 Basler 2 RERO RR ERR 117 xi Appendix 3 Patents for Flap type WEC xii List of Figures Figure 1 1 Annual average estimated global wave power in kW m Barstow and Kabuth WO ns ans een A 4 Figure 1 2 Left Wing Wave WEC Right GECCO 2 5 Figure 1 3 Thesis Scope Wing Wave and PTO System 9 6 Figure 1 4 Basic Energy Flow Diagram for Wing Wave WEC Khan et al 2008 7 Figure 2 1 Wave Characteristics Bostrom 2011 esesessnneneeneesennennennenennennennnennenn 11 Figure 2 2 Wave formation in ocean oocononcoconenonnonanonnnnanennonanenno nennen nemen ennt nter nne 12 Figure 2 3 Wave Orbitals en re ann nam 14 Ligure 2 4 UR e e e a eR e ee 15 Figure 3 1 Patent by Girad in 1799 Polinder and Scuotto 2005 sss 17 Figure 3 2 Different types of Wave Energy Technologies Falc o 2010 20 Figure 3 3 Illustrations for types of wave energy technologies Pecher 2012 20 Figure 3 4 Photographs of commercial WEC in order of Table 3 0 21 Figure 3 5 Average gross and exploitable wave power at three water depths Cameron et al 777277 22 Figure 3 6 Top Left Clockwise Wing Wave Prototypes for year 2008 model 2010 2011 RNE 24 Figure 4 1
3. Voltage Voltage V 50 40 30 20 10 40 30 20 10 60 100 500 1000 1500 2000 1500 2500 0 3000 Pressure1 P2 Flow 500 1000 1500 2000 Time seconds Figure 5 5 Dataset for PTO testing 1 2500 3000 50 600 800 647 1000 1200 0 1400 Pressure PSI Flow lpm 40 20 Pressure2 Flow Pressure 1 200 400 600 800 Time seconds 1000 Figure 5 6 Dataset PTO testing 2 1200 1400 Control Valve Position Control Valve Position 96 Chapter 6 Deployment Deploying a full scale system at sea is always a challenge Ocean forces are often beyond what one expects from lab testing Ship motion unexpected current rogue waves and other factors can take a simple and trivial engineering issue to cause a complete system failure Ocean deployment for both prototypes was planned to find their performance against real ocean forces Many interesting lessons were learnt during this experience This section presents the plan and findings of the deployments in 2012 and 2013 6 1 Deployment 1 Summer 2012 6 1 1 Summary In the first deployment both Wing Wave and GECCO were planned for the testing with PTO The test site
4. 13 14 2006 01 G2 US CL cms sarna 114 333 290 53 57 ABSTRACT The object of the invention is a method for installing and servicing an apparatus module 1 recovering the kinetic energy of water and the apparatus module 1 itself The apparatus module 1 with wave energy recovering units 3 is descended into the sea bottom 12 and is kept steady at the sea bottom 12 by the help of its own mass and the mass of the water filled into the compartments 2a and 2c in the body 2 of the apparatus module 1 Correspondingly the appa ratus module 1 is lifted into the surface of the water and made floating by the help of air that is blown to the compart ments 2a and 2c in order to replace the water Appendix 3 Patents for Flap type WEC 137 138 Appendix 3 Patents for Flap type WEC 12 INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY PCT 10 International Publication Number WO 2010 049708 A2 19 World Intellectual Property Organization International Bureau 43 International Publication Date 6 May 2010 06 05 2010 51 International Patent Classification 81 Designated States unless otherwise indicated for every FO3B 13 18 2006 01 kind of national protection available AE AG AL AM 21 International Application Number EN a ord am nr mE E PCT GB2009 002594 DZ EC EE EG ES FL GB GD GE GH GM GT 22 International Filing Date HN HR H
5. 84 Designated States regional ARIPO patent GH GM LS MW MZ SD SL SZ TZ UG ZM ZW Eurasian patent AM AZ BY KG KZ MD RU TJ TM European patent AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LU MC NL PT SE SK TR OAPI patent BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG Published with intemational search report For two letter codes and other abbreviations refer to the Guid ance Notes on Codes and Abbreviations appearing at the begin ning of each regular issue of the PCT Gazette 54 Title A PROCESS AND AN APPARATUS FOR UTILISING WAVE ENERGY 57 Abstract The invention relates to a method for utilising wave energy In the method the reciprocating movement of a water mass 5 in the vicinity of the bottom 6 of a water basin is adapted to actuate a body 2 or its part attached to the bottom of the water basin the kinetic energy of the body 2 or its part being recovered into an energy reserve 3 and the energy being transferred from the energy reserve to the object of application The invention also relates to the apparatus 1 used in the method Appendix 3 Patents for Flap type WEC 129 130 Appendix 3 Patents for Flap type WEC 4 097212 1 UMONDU INN NIMM NN 2 12 INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY PCT 19 World Intellectual Property Organization International Bureau 43
6. Figure 6 10 Upper half Wave and Period Rose for June 2013 Lower half Time series plot for Wave Height and period 2 http cdip ucsd edu nav historic amp stn 134 amp http www ndbc noaa gov station realtime php station 41114 6 2 Deployment 2 Summer 2013 65 6 2 4 Data Recorded PTO More than 6 hours of PTO data was recorded during deployment Only selected datasets are shown with commentary in this section Process variables are shown in two subplots for each dataset The first subplot includes control valve position closure and Voltage output from generator Second subplot shows pressure from piston 1 pressure from piston 2 and flow recorded from piston 1 Each dataset is identified by its timestamp 1 Dataset 3 500 With two piston 2 Dataset 4 1400 With two piston 3 Dataset 6 1400 With two piston 4 Dataset 7b 5000 Transition from two to one piston 5 Dataset 8 1400 With piston 6 Dataset 11a 2500 With one piston Dataset 3 4 and 6 were recorded with the both pistons connected to Wing Wave As can be seen in the plots the pressure in both hydraulics lines didn t exceed 30 PSI even when it was held for more than 1000 seconds This 30 PSI was not sufficient to trigger the generator because of the low flow from hydraulic piston Dataset 7b shows the transition from two pistons to one piston As soon as one piston is detached pressure starts to build up and f
7. Vr The total tank volume 0 136 m 36 Gal Pip The pre charge pressure 2 07E 05 Pa 30 PSI The cut in pressure 138E 05 Pa 20 PSI The cut out pressure 3 45E 05 Pa 50 PSI Atmospheric Pressure 1 01E 05 Pa 14 7 PSI Table 7 4 Hydraulic Accumulator Data The drawdown calculation which determines the pressure and volume required is done in accordance with the Boyle s Law Wellcare R 2007 For the desired set points drawdown factor Dr is Pap Pa or ash Poo Pa Py DF 0 73 7 52 88 Chapter 7 Mathematical formulation and Validation The total required drawdown Dr provided by the accumulator is Dr V x DF 7 53 Dr 36 Gal x 0 73 26 28 Gal The total required drawdown is sum of minimal and supplemental drawdown Dr Dyin Dsup 7 54 On the basis of the volume of the hydraulic system we take Dmin 6 Gal Dsup PeakDemand PumpCapacity X Tpp 7 55 Where Peak Demand and Pump Capacity are in GPM and Treakpemana is time for peak demand in minutes From datasheet of Harris Generator we take peak demand as 20 GPM for 200W Pump capacity is taken as 2 5 gal from previous section 26 28 6 20 2 5 Tpp 7 56 Tpp 2 87min 162s At the pumping rate of 2 5 GPM and peak demand of 20 GPM the selected accumulators will provide the flow for 162 seconds 7 7 Deployment Result Validation 89 7 7 Deployment Result Validati
8. eene 43 4 4 Power Take off System Hydraulic Design eee 45 4 5 PTO Rath Rida Bila iae AT Part Testing and Deployment sss 49 Chapter Laboratory Testing ihrer ng ar aa Ban 51 5 1 Generator Testing ale t p ir e dite teda 51 5 2 Wing Wave and Piston Testing eese eene nenne 52 5 8 PTO Testing deret aan een CU Eli 53 Chapter 6 Deployment dece o eet eode eie eate e 55 6 1 Depl yment 1 Summer 2012 catre or tr er Rh er RR 55 Ge LM SUMMA Y aodio idunt ben lette tete ettet nte dete 55 61 20 Results uta d 56 6 1 3 Weather and Wave data cooocniocononcnnonencnnenennnncnanccnananonnanennnnaranannnnanennanenan na ran cacon 58 6 1 4 Data recorded 34 SR de dede eni loi o IR 59 6 2 Deployment 2 Summer 2013 esent eren 61 6 21 SUMMA c tet eer vedere e Ioue dea ee Y Ie dee b e been 61 A NN 62 6 2 3 Weather and Wave dat arte ae eria e er ee eo 64 6 24 Data Recorded P TO sid did 65 6 2 5 Data recorded Accelerometer sese 68 Part IV Mathematical Modeling uu rt er era eh eio o ti isn 69 Chapter 7 Mathematical formulation and Validation 2 71 74 Governing equations for the Flap type 71 7 2 Wave Force Calculations on 74 TAL Equation ot Moll
9. Figure 2 1 Wave Characteristics Bostrom 2011 2 2 Wave Basics 2 2 1 Wave characteristics Waves are generally characterized by the following properties as shown in Figure 2 1 Hoen 2009 1 Wave height H from trough to crest 2 Wavelength A or L from crest to crest 3 Wave period T time interval between arrival of consecutive crests at a stationary point 4 Wave propagation direction 5 Depthh All other properties like velocity and acceleration are derived from these above Capillary 0 1 sec Wind Surface tension Ultra gravity 0 1 1 sec Wind Gravity Gravity 1 30 sec Wind Gravity Infra gravity 0 5 5 min Wind Gravity Long Period 0 1 12 hr Storms Earthquakes Gravity Coriollis Tidal 12 25 hr Gravitation Gravity Coriolis Trans tidal gt 1 day Land air sea coupling Gravity Coriolis Table 2 1 Ocean Wave Types Knauss 2005 12 Chapter 2 Theory Celerity or the speed of wave C is defined as L T 2 2 2 Creation of waves The formation of ocean waves is the result of a meteorological interaction of ocean wind and solar incident energy on earth Knauss 2005 The uneven solar heating of the earth s surface drives the large scale wind systems In turn this wind system initiates the wave formation in the ocean The parameters that determine the magnitude of the waves formed are Wind speed Wind Fetch Distance on which the wind has blown over Width of area affected by f
10. Veritas 2012 Morison force is based on two components Inertia and drag experienced in the flowing fluid In this section we will use Morison equation to evaluate the wave forces on the Wing Wave We will use the horizontal velocity eq 7 11 to determine these forces The total Morrison force is represented as Fr Fp Fi 7 30 Where is the drag force and F is the inertia force acting on the body The Morrison forces are function of Keulegan Carpenter number and Reynold Number R Keulegan Carpenter number K for the WingWave is as following u as the amplitude of the flow velocity oscillation and D as a characteristic length K 0 37 Reynold Number Rois Re 2 63E 05 7 32 Slenderness Ratio shows that the Morison Equation is applicable 7 33 slenderness Ratio T 0 074 lt 0 5 From Figure 7 3 the drag coefficient Cp and inertial coefficient Cy is found as 0 6 and 1 8 respectively using K and R values Figure 7 3 Left Cp vs Re for various K Right Cy vs Re for various K 82 Chapter 7 Mathematical formulation and Validation The horizontal drag force is calculated as 1 Fp 2 u 1 h1 Fp 20 Au u dz 2616 20N h The horizontal inertia force is calculated as 7 35 Du 1 V dz 60 92N i m q Dt 7 4 Force Calculations on Piston 83 7 4 Force Calculations on Piston Hydraulic cylinder specifications are as
11. double Battery24V Mapped 0 double ControlValveFB1_Mapped 0 double ControlValveFB2_Mapped 0 7 double ControlValve1_Cmd_Map double ControlValve2_Cmd_Map o 5 n a Command For reference only Command For reference only Ss x a Setup Initialization void setupO t set up the hardware Serial begin 9600 set baud rate for the hardware serial port 0 to 38400 Serial2 begin 38400 set baud rate for software serial port 3 to 38400 Flow Sensor Setup inputstring reserve 10 set aside some bytes for receiving data from the PC sensorstring reserve 30 set aside some bytes for receiving data from Atlas product sensorstringFinal reserve 30 PWM Output for Control Valves pinMode ControlValvei PWM OUTPUT sets the pin as output pinMode ControlValve2 OUTPUT sets the pin as output set the digital pin as output pinMode Relay_CloseCV1 OUTPUT pinMode Relay CloseCV2 OUTPUT digitalWrite Relay CloseCVi CVState Analog peration LOW NC digitalWrite Relay_CloseCV2 CVState_AnalogOperation LOW analogWrite ControlValvei PWM ControlValvei Command We will start from full closure of Valves analogWrite ControlValve2 ControlValve2 Command Serial Port 1 From Raspberry Pi The
12. translated it to angular displacement in degrees Figure 4 8 Accelerometer 1 Masters student in Ocean Engineering at FIT mjorda01Gmy fitt edu Y http www pjre com store teensy3 html 4 2 Power Take off System Control Design 41 4 2 3 Communication In the control system there are three levels of communication interfaces At the first level Arduino and Raspberry Pi are interfaced to communicate through standard serial port At second level an RF modem Xbee PRO is used between Raspberry Pi and user station Further at third level Raspberry Pi uses GPRS for internet connectivity via cellular phone to send data for live web feed already described in earlier section At first and second level same format for data packets are used as shown following Instrument Data packet P1 20 19 P2 23 42 QV 20 90 Cur 0 00 T 0 00 B12V 12 56 B24V 24 59 CVFB1 45 00 CVFB2 47 00 CV CMD1 20 CV CMD2 20 FT 0 057 FLPM 0 000 FLPH 0 000 OPMode 1 lt r gt lt n gt Control Data Packet ControlValveiSetpoint ControlValve2Setpoint PressureSetpointi PressureSetpoint2 OperationMode lt r gt lt n gt lt r gt lt n gt represents carriage return and new line characters An example for control packet to send command for both valves 100 closed 50 PSI for both pressure setpoints and Auto mode packet would be 100 100 50 50 0 lt r gt lt n gt AlphaNumeric format for instrument data packet are selected for easy troubleshootin
13. 79 Tlosa tia 79 2 a liinda 79 E T 79 TEP EEEE EE E ON 79 TD A MuR 79 A NS 80 Cl A nime eb 80 rU 80 Ip M eA 80 oc TIA x E A 81 ed ss escis a et oos De an ta E Na Dn sr eG OS Pa el a 81 A A A 81 AS 82 EVA O A E 82 8 aia LED 83 TEST A A 84 A 84 SR NA 84 AN 84 E Em 84 y 84 MEAS iod Lo e ee a ce et 84 AA er TO RO OS 85 A AN 85 HAG iet tinta eiie t a t ite t e etie te e 86 FRAT 86 EAS A sd ea de Ap ede c ed cel ede dh 86 dedit oot telo Mower Met uen ate atte VON 86 So cases tede ERE la E 87 Ol tt it lap 87 OZ ti ai 87 A EN 88 Tdi ni lili ici adda di aa a ea oa eS aia 88 yr EN 88 yes 88 xvii List of Symbols Constants T 3 141 592 654 e 2 718 281 828 g 9 81 m s Variables a Amplitude OF wave 1 e docte te er DU b te od m Bs Width of Flap dp dete bets dee ihe tte a m
14. Cp Drag eo8tffiClerit tirita in cet n ted ta ER os H Inertia coefficient nt dad iii H f frequencysi inco ST a etu M E A S E Hz 2 g O m s h TD prt estes essa men ea m hy Distance between top of flap and 2 2 2 lt lt m hy Height oEEl p Zu 2a We E m hy Height of Piston 2222 20420000 m H Wave Height edd e e deed dde m k WaveNumber ua t t det m L Miri m Ls Stroke length e bed i oed lee ttd boca aiid m Mass of sell ke Flap Volume eie aaa m ty Flap Ehickriessz ask Ad m T TimeP6tiod a aid il cd do 5 pf Flap density iita intet etae tu e ede e kg m p cdo ada alto cec kg m w Angular Frequency edet ai Ei rad v Kinematic Viscosity Saso saasa ederi ne nendro adea eene m2 s xviii Acronyms ADC ARM FIT WEC RTC LPM 1 0 Analog digital converter ARM formerly Advanced RISC Machine Florida Institute of Technology Wave Energy Convertor Real Time Clock Liter per Minute Flow Input and Output xix Dedication To my Ammi and Abbu All that I have achieved yet in my life and will ever achieve in coming days I owe to them xxi xxii Preface You can put a teddy b
15. International Publication Date 11 November 2004 11 11 2004 51 International Patent Classification F03B 13 18 PCT 10 International Publication Number WO 2004 097212 A1 FIN 01230 Vantaa FD LILJELUND John FI FI Sam 13 14 21 International Application Number PCT FI2004 000240 22 International Filing Date 20 April 2004 20 04 2004 25 Filing Language English 26 Publication Language English 30 Priority Data 20030635 25 April 2003 25 04 2003 FI 71 Applicant for all designated States except US AW EN ERGY OY FIFI Sotarovastintie 2 FIN 00370 Helsinki FD 72 Inventors and 75 Inventors Applicants for US only KOIVUSAARI Bruno FI FI Kumminhovi B 10 FIN 02460 Kantvik FD TUOKKOLA Yrj FI FI Viikintie 3 38 FIN 00560 Helsinki FD JARVINEN Arvo heiress of the deceased inventor FI FI Koivum entie 13 F 2 54 Title PRODUCTION INSTALLATION 74 81 84 malkalliontie 6 F 128 FIN 02210 Espoo FI H YDEN Antti FI FI Korkeavuorenkatu 2 19 FIN 00140 Helsinki FD LAINEMA Matti FI FI Sotarovastintie 2 FIN 00370 Helsinki FI Common Representative J RVINEN Arvo Koivum entie 13 F 2 FIN 01230 Vantaa FT Designated States unless otherwise indicated for every kind of national protection available AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI
16. and peace there is no other ruler besides the sea Bernard Moitessier vii viii Table of Contents ASIA A AA A A ATA Table of Contents ireccio ee MASH OR PIG resa sn en d e m tu xiii List ol Tables ito ut E xv 5 99 add med eed e tede pr rete ded a as xvi Constants A a See ihe xviii Vara les nennen teen o ba t xviii List ot Equations 2 ette iles i estos eade ie an Lodo bag xvi ACTO YM Cd e e s etse M xix Bueno xxi Preta coincida xxiii Part I Problem Introduction and Background sse 1 Chapter l Introduction oae eee es aaa an am 3 1 1 o de e rn da Lees 3 1 2 ProblemoStatetnent un Hera as 5 1 3 Scope and Objectives aeren ada ed GA ed SAA BAGS a 6 1 4 Outline of the Thesis ei des ar etu eel ae ee ee es 7 Chapter E A aaa RL EIN eh eoo ep raa 9 2 1 Pid Mechanics eiii e e eei ee eee 9 ZLI Bernoullis eie m ee M o e eet mee e 9 2 1 2 BOOyanGy zat odes Hed be pee de P ug od al ag cada aes 9 2 1 3 delle 10 2 14 Reynolds Num ber vs oni one orar Cr C d la ren 10 PUNCTI cT 10 2 2 WavesBasicstec 22 e t LL i p S oL e
17. cycle to the Raspberry Pi which in turn is sent to the main user station via Xbee RF module and to the web feed using hotspot through a cell phone User can send values for operational mode Auto or manual pressure setpoints Auto mode only and control valve positions Manual mode only 38 Chapter 4 Methodology 4 2 2 Instrumentation This controller is interfaced with the instrumentation for WEC including pressure generator output voltage current and the panel s internal battery voltage A flow meter temperature and RPM sensors were added in prototype 2 Solenoid valves and proportional control valves along with instrumentation were used as actuators in first and second prototype respectively Table 4 3 and Table 4 4 summarize the instrumentation and actuators used with the PTO prototype 2 Table 4 4 Output Map see Instrument Description Range Unit Type 1 Pressure 1 0 200 PSI 4 20 mA 2 Pressure 2 0 200 PSI 4 20 mA 3 Generator Output Voltage 0 60 V 0 60 V 4 Current Load 0 5 0 A 0 5 0 V 5 RTD Temperature 0 100 C 0 2 5 V 6 12V Battery Voltage 0 13 V 0 13 V i 24V Battery Voltage 0 25 V 0 25V 8 Control Valve 1 Position 0 100 0 10V 9 Control Valve 2 Position 0 100 0 10V 10 Flow meter 1 114 LPM Pulse 11 Proximity Sensor for RPM 0 3000 Pulse Pulse Table 4 3 Input Map S Instrument Description Range Unit Type No 1 Cont
18. problem to be addressed 1 1 Motivation Depletion of fossil fuel reserves and environmental disasters have changed the global attitude toward energy issues major future energy crisis is seen only as a matter of time if the dependency on fossil fuels as main source of energy doesn t change soon The exponential growth in human population and resulting high energy demands may deplete the currently known fossil fuel reserves in 40 years Shafiee and Topal 2009 The awareness of this danger has resulted in a significant shift of energy research towards renewable energy resources 4 Chapter 1 Introduction One of the major renewable energy resources in addition to wind and solar is ocean energy The oceans cover almost 360 million square kilometers i e approximately 72 of the Earth Nybakken and Webster 1998 They represent an enormous untapped energy resource containing potentially more energy than the aggregated output of all other resources on the earth It is estimated that the theoretical potential of the ocean related energies is up to 2 Million Terawatt hours UNDP 2000 Ocean energy is actually a derived form of solar energy and result of complex wind wave interactions Knauss 2005 Ocean Energy is stored partly in the form of kinetic energy from the motion of waves and currents and partly as thermal energy from the sun Different forms of Ocean energy are thermal salinity currents tidal and wave Out of these forms wave and
19. www citeulike org group 3462 article 1951157 July 14 2013 Driscoll F R S H Skemp G M Alsenas C J Coley and a Leland 2008 Florida s Center for Ocean Energy Technology Oceans 2008 1 8 http ieeexplore ieee org Ipdocs epic03 wrapper htm arnumber 5152102 E Renzi A Abdolali G Bellotti F Dias 2012 Mathematical Modelling of the Oscillating Wave Surge Converter In Proceedings of the 33rd Conference of Hydraulics and Hydraulic Engineering Brescia Italy Falc o Ant nio F De O 2010 Wave Energy Utilization A Review of the Technologies Renewable and Sustainable Energy Reviews 14 3 899 918 http linkinghub elsevier com retrieve pii S1364032109002652 February 10 2013 Folley M 2004 The Oscillating Wave Surge Converter Offshore and Polar 1 5 http www aquamarinepower com sites resources Conference papers 2477 The oscillating wave surge converter pdf March 17 2013 Folley M and T J T Whittaker 2009 Analysis of the Nearshore Wave Energy Resource Renewable Energy 34 7 1709 15 http linkinghub elsevier com retrieve pii S0960148109000160 March 5 2013 Folley S Matt T J T Whittaker and Alan Henry 2007 The Effect of Water Depth on the Performance of a Small Surging Wave Energy Converter Ocean Engineering 34 8 9 1265 74 http linkinghub elsevier com retrieve pii S0029801806001892 February 1 2013 Gomes RPF MFP Lopes
20. 290 42 43 53 54 in farms to furnish megawatts of power 60 398 499 502 507 415 2 8 66 417 100 330 332 333 337 29 Claims 23 Drawing Figures POWER SAIL REFLECTOR SAIL 206 o coo TRAVELING WAVE HYDROSTATIC FORCES 126 Appendix 3 Patents for Flap type WEC Patent Lens enabling INNOVATION http www patentlens net PCT WORLD INTELLECTUAL PROPERTY ORGANIZATION International Bureau INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY PCT 51 International Patent Classification 6 F03B 13 18 F04B 17 00 11 International Publication Number WO 98 17911 43 International Publication Date 30 April 1998 30 04 98 PCT IT97 00258 81 Designated States JP US European patent AT BE CH DE 21 International Application Number DK ES FI FR GB GR IE IT LU MC NL PT SE 22 International Filing Date 21 October 1997 21 10 97 Published With international search report Before the expiration of the time limit for amending the claims and to be republished in the event of the receipt of amendments 30 Priority Data RM96A000708 21 October 1996 21 10 96 IT 71 72 Applicant and Inventor LOMBARDO Mario IT IT Via Plebiscito 91 I 95100 Misterbianco IT 74 Agent MASCIOLI Alessandro Via Urbana 20 I 00184 Roma IT 54 Title WAVE ENERGY GENERATOR INCLUDING AN OSCILLATIN
21. 4 Outline of the Thesis T Fluid Power Mechanical Power Electric Power Hose Pump Storage Impulse PM Power Electronic Accumulator Turbine Generator System Grid Figure 1 4 Basic Energy Flow Diagram for Wing Wave WEC Khan et al 2008 from wave to wire Note The work in this thesis doesn t include any grid connectivity related issue due to limited time and resources 1 4 Outline of the Thesis This thesis is divided into 9 chapters Chapter 1 gives an introduction of the problem and the goals set for this thesis In Chapter 2 an overview of important concept regarding the subject is presented which includes the ocean waves control embedded systems hydraulics and power Chapter 3 presents the project background It covers the literature reviewed and an overview of the work that has been done at Florida Institute of Technology on ocean energy Chapter 4 presents the hardware design for the system Chapter 5 and 6 present the laboratory testing and deployment of the system Discussion on the results and observations regarding deployment is included Chapter 7 presents the mathematical equations and framework needed to model a flap type WEC The forces acting on the flap and PTO are calculated using different approaches The last section of this document is on the further work required for the Wing Wave and the conclusion of the work done in this document Chapter 1 Introduction Chapter
22. 42 290 53 417 330 7 334 60 398 416 6 416 9 58 Field of Classification Search 290 42 290 53 417 330 334 60 398 416 6 9 See application file for complete search history 56 References Cited U S PATENT DOCUMENTS 523 963 A 7 1894 Gerlach 4166 574 177 A 12 1896 Stahl 4166 616 468 A 12 1898 Jones 417 330 647 638 A 4 1900 Todd 60 605 692 396 A 2 1902 Wilcox 417 330 694 242 A 2 1902 Borchert 60 499 45 Date of Patent Apr 4 2006 850492 A 4 1907 Reynolds et al 908316 A 12 1908 Nutt 916 860 A 31909 Hale 918 870 A 4 1909 Lawrence 956 796 A 5 1910 Butler 967 437 A 8 1910 Reynolds 970 048 A 9 1910 Harmon 988 508 A 4 1911 Reynolds 1 032 337 A 7 1912 Kindleberger 1 061 091 A 5 913 Lewis 1 072272 A 9 1913 Thomas Continued FOREIGN PATENT DOCUMENTS DE 19610922 Al 1 1998 Primary Examiner Darren Schuberg Assistant Examiner Pedro J Cuevas 74 Attorney Agent or Firm Leighton K Chong 57 ABSTRACT An impulse type wave motor employs a seabed mounted or supported structure mounting a wave energy absorbing panel on a hinged lever arm for reciprocation motion to obtain optimal absorption of wave energy from wave motion in the sea For deepwater wavelengths of L the panel is optimally positioned in a region within L 2 depth from the sea surface The panel motion is coupled by a connecting rod to a fluid pump which generate
23. Calculations on Wing Wave 79 4 1 4 a Es F lpcos wt dt 519 0 ARTE 4 1 4 __ 1 Eg 1 2 cos ot dt lgz F gt LZE _ _ ds 909 19 Power provided to piston over one cycle would be E P P T 114 80 Lor w 40 For an ideal case the power that be extracted from this device in 1 year would be P 1005 62 kWh 7 21 For the sake of comparison we will do the power calculations for a small wind turbine Rosa 2005 The blade diameter D is taken as 2 4 m same as the Wing Wave s flap width The rotor swept area for the wind turbine is 2 D Ay 452m T At the air speed of 6 the available power in the wind a 7 23 v 6 Dus p X Ay X gt 12 x 4 52 585 7 W The theoretical limit of wind energy that can be transferred to the shaft is 59 26 known as Betz Limit Prurbine max Pwina X 0 592 347 1 W 7 24 The typical efficiency of commercially manufactured rotors for residential use is typically 25 to 45 Considering the efficiency of 30 extracted power would be Prurbine Typ wind x0 3 175 7 W 7 25 2 http windpower generatorguide net wind energy html 80 Chapter 7 Mathematical formulation and Validation So a typical wind turbine of same diameter as Wing Wave flap would generate a theoretical max of 585 7 W and with the efficiency of 3096 approximately 175W 7 2 5 Capture Width Calculation Capture width is the
24. GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW Designated States unless otherwise indicated for every kind of regional protection available ARIPO BW GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW Eurasian AM AZ BY KG KZ MD RU TJ TM Euro pean AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK Continued on next page 57 Abstract A production installation 1 for utilizing wave energy in which production installation there are two or more produc tion units 4 and the water mass V of the water basin is adapted to actuate production units 4 or their parts located at the bottom of the water basin or in close vicinity and the production units 4 can be used to transform the kinetic energy of the water mass into some other form of energy like electric energy and or kinetic energy and or pressure of the intermediate agent The production units 4 are attached directly or indirectly to the bottom of the water basin at intermediate water region B The production units 4 are totally submerged under water surface The transfer equipment of the energy of the production units 4 or of the intermediate substance is connected in series or parall
25. Tolu Abbie Jacob Hallana Kevin and Marine Also I am greatly indebted to my grad lab fellows Matthew Jordan and Anthony Jones for their time assistance and help In end a very special thanks goes to the person without whose support and sacrifices it would not have been possible for me to get this done my better half Madiha She was not present physcially with me during this time but it was her support that kept me going through some real tense parts of my study Ismail Sultan July 28 2013 xxiii Part I Problem Introduction and Background Chapter 1 Introduction Throughout the history the oceans have greatly influenced the way mankind has survived and evolved The climate and the weather system on which the human race depends for its survival is a result of the interaction between the ocean and the atmosphere The ocean cover more than three quarters of Earth Nybakken and Webster 1998 As of today over half of the world population lives less than 200 kilometers away from the oceans Hinrichsen 1999 The enormous size of the oceanic bodies and processes may have the hidden answer to the energy appetite of the world Maybe the blue solution is the sustainable environment friendly and reliable solution our future generations would need This is the domain in which this work attempts to contribute The following parts of this chapter will present the motives for the present study as well as a statement of the
26. and JCC Henriques 2011 A Study on the Wave Energy Conversion by Submerged Bottom hinged Plates In European Wave and Tidal Energy Conference http scholar google com scholar hl en amp btnG Search amp q intitle A Study on th e Wave Energy Conversion by Submerged Bottom hinged Plates 1 February 10 2013 References 99 Havn 2011 Wave Loads on Underwater Protection Covers http ntnu diva portal org smash record jsf pid diva2 515328 July 13 2013 Hinrichsen Don 1999 The Coastal Population Explosion Challenges for US National Ocean and Coastal 99 101 http books google com books hl en amp lr amp id YloNWa8mRP YC amp oi fnd amp pg PA 27 amp dq THE COASTAL POPULATION EXPLOSION amp ots q4c7l4XNew amp sig y SDIDr20ZuNTwwDMiLwtW2p_pQ8 July 14 2013 Hoen MKT 2009 Modeling and Control of Wave Energy Converters Norwegian University of Science and Technology ntnu diva portal org smash get diva2 347732 COVERO1 February 10 2013 Kamizuru Yukio 2010 Simulation of an Ocean Wave Energy Converter Using Hydraulic Transmission 7th international fluid 1 12 http staff aub edu Ib ml14 Homepage pdf files Liermann Kamizuru Simulation of an ocean wave energy converter pdf July 21 2013 Khan Mohammad Jahangir Alam Gouri Bhuyan Ali Moshref Kip Morison John H Pease Jr and Jim Gurney 2008 Ocean Wave and Tidal Current Conversion Technologies and Their I
27. array finalfloat atof carray return finalfloat As UA AA AAA SES ANA AAA OR E ee float mapfloat float x float in_min float in_max float out_min float out_max 1 return x in min out max out min in max in min out min Lip ree O eg ee ee a Es void loopO ya STEP 1 Read the analog values PressureSensori Raw analogRead PressureSensor1 PressureSensori_Mapped mapfloat PressureSensori Raw 190 1023 0 200 delay 1 Pressure error handling PressureSensor2_Raw analogRead PressureSensor2 PressureSensor2 Mapped mapfloat PressureSensor2 Raw 190 1023 0 200 delay 1 GenVoltage Raw analogRead GenVoltage GenVoltage Mapped mapfloat GenVoltage Raw 0 1023 0 65 97560 8 2k 100k 8 2k delay 1 Load_Current_Raw analogRead Load_Current Load Current Mapped mapfloat Load Current Raw 0 1023 0 5 5 Amperes delay 1 Temperature Raw analogRead Temperature Temperature_Mapped map Temperature_Raw 0 1023 0 100 delay 1 Batteryi2V Raw analogRead Battery12V Battery12V_Mapped mapfloat Battery12V_Raw 0 1023 0 13 484 33k 56 33 k delay 1 Battery24V_Raw analogRead Battery24V Battery24V Mapped mapfloat Battery24V Raw 0 1023 0 27 727272 22k 22 100 k delay 1 114 Appendix 2 Code ControlValveFB1_Raw analogRead ControlValveFB1 Mapped to
28. const int Relay_Load int ControlValvei Commandi100 100 int ControlValve2_Command100 100 8 Output PWM 9 Output PWM 22 Output Digital 23 Output Digital 24 Output Digital CLOSED VALVES Default Value for the Control Valves 0 Zero Closed 100 Full Closed gt gt Closure of Valve Closure int ControlValvei Command 255 Default Value for the Control Valves 0 Zero Closed 255 Full Closed gt gt Closure of Valve int ControlValve2 Command 255 Closure int CVState_ForceOpen HIGH This would be activated for 1 Emergyency 2 Generator Start int CVState Analog peration LOW 50 50 int PressureSetpointi int PressureSetpoint2 int perationMode 1 NC Operations Default Mode Manual int OpModeVal Auto 0 0 aUTO Operation int OpModeVal Manual 1 1 Manual Appendix 2 Code 111 boolean stepi true boolean step2 false boolean step3 false int PressureSensor1_Raw 0 ea int PressureSensor2_Raw 0 ue int GenVoltage_Raw 0 int Load Current Raw 0 int Temperature_Raw 0 int Battery12V_Raw 0 int Battery24V_Raw 0 int ControlValveFB1_Raw 0 int ControlValveFB2_Raw 0 double PressureSensor1_Mapped 05 double PressureSensor2_Mapped 0 double GenVoltage_Mapped 0 double Load_Current_Mapped 0 24 double Temperature_Mapped 0 float Batteryi2V Mapped 0
29. for Flap type WEC are presented as following 123 124 Appendix 3 Patents for Flap type WEC United States Patent n 4 170 738 Smith 45 Oct 9 1979 54 ENERGY DEVICE POWERED BY THE 4 002 416 1 1977 Axford sss 60 398 MOTION WATER BENEATH WAVES FOREIGN PATENT DOCUMENTS 75 Inventor Quimby Smith Camarillo Calif 943960 10 1948 France 417 100 73 Assignee Q Corporation Camarillo Calif 1482085 8 1977 United K 60 398 21 Appl No 861 967 Primary Examiner Edgar W Geoghegan 22 Filed Dec 19 1977 Attorney Agent or Firm Whittemore Hulbert amp Belknap 51 Int au FO3B 13 12 52 U S Cl 290 42 290 53 57 ABSTRACT 60 398 185 30 417 330 405 195 device for extracting both kinetic and potential en 58 CUR 6 b C Ao Y ergy from the motion of the water beneath waves over 54 415 2 8 417 100 330 332 333 334 Considerable depth comprising a member or sail 405 195 guided to reciprocate with the movement of the water The sail is connected to and operates a power device 56 References Cited such for example as an electric generator or a pump U S PATENT DOCUMENTS Muitiple units can be arranged in farms to furnish me of 2 850 492 4 1907 Reynolds et al of power 970 048 9 1910 Harmon 3 928 967 12 1975 Salter 19 Claims 15 Drawing Figures Appendix 3 Patents for Flap type WEC 125 United States Patent 11
30. is shown in the following figure 19 WING WAVE Figure 4 9 Hydraulic Diagram 2012 Deployment The design is based on a hydroelectric PM brushless alternator with Pelton turbine and hydraulics system to harness energy from the wave energy converters This system resides in the PTO raft floating on the sea surface Two double acting hydraulic cylinders coupled mechanically with the flap of the Wing Wave act as the primary elements of WEC The hydraulic fluid fresh water is pumped up to the PTO raft through a submersible set of check valves installed at the Wing Wave An oil filled pressure gauge is also added in the design so the divers can verify the pumping operation of the cylinders and identify any potential issue for example leakage In the PTO raft low pressure diaphragm type air charged accumulators act as temporary energy storage sources and suppress minor fluctuations in the pressure These accumulators are charged up to 30 psi of air and have capacity of 36 gallons Fluid flow is regulated using proportional control valves to the electrical generator Pressure safety valves rated 75 psi are also installed in the system as 46 Chapter 4 Methodology over pressure protection in case of any component failure Manual ball valves are installed in the system for the provision of isolation and by pass operation via manual valve lineup After the generator all hydraulic fluid is collec
31. most waves in deep water where H is much smaller than L the linear wave theory or Airy theory can be used Dean and Dalrymple 1991 For steep waves where the H L is significant Stokes second order theory is used For the discussion and mathematical calculations in this thesis we will use linear theory of ocean waves Linear wave theory assumes that the amplitude of waves on the water surface is infinitely small as compared to surface dimensions The flow is 2 dimensional and waves travel in the direction The effect of Coriolis force and viscosity is negligible Waters 2008 The sea surface elevation Y of a wave traveling in the xdirection can be represented as sinusoidal Dean and Dalrymple 1991 n x t asin kx wt 2 5 where 2 2 w T k TI 2 6 Here w is wave frequency in radians per second and k is wave number The detailed formulation of the problem would be done in the Chapter 7 For now we will show the solution for a progressive monochromatic wave for linear theory which is w g k tanh kh 21 The equation above is also known as the dispersion relation 14 Chapter 2 Theory 2 2 4 Wave Shoaling When waves propagate through the ocean the energy is transferred in the direction of propagation However the water particle displacement is in circular orbits about their mean position These movements are referred as wave orbitals In the deep water where h lt 5 these orbitals are circular with
32. of work in 2012 and 2013 on the Wing Wave was to design and develop a basic setup for the evaluation of the electrical generating of the device Concept verification for Wing Wave design had already been done in 2010 and 2011 The Power Take off system designed as a part of this thesis work successfully demonstrated the energy harnessing capabilities of Wing Wave The designed PTO system has all the components required for an effective evaluation of the ocean energy conversion technologies The hydraulic system gives the flexibility to test the PTO with a wide range of WEC concepts which converts marine power to linear mechanical excitation The selection of open architecture based control components facilitates any future work regarding the control system design The selected controllers Raspberry Pi and Arduino have support in Matlab and Simulink which can greatly assist in the efforts for modeling and simulation The proportional control valves support any implementation of linear control system algorithims Off the shelf instrumentation helps in reliable operation and maintenance Remote connectivity and Human Machine Interface software ensures easy monitoring and fast troubleshooting of operational issues The mathematical work shows that the Wind Wave design has power potential comparable to a similarly sized typical wind turbine The hydraulic PTO calculations showed that the power output of approximatley 60W can be achieved with the moderate
33. only from Wing Wave in deployment Electricity could not be generated despite strong wave action and ample movement of Wing Wave flap Luckily the data acquired was sufficient enough to demonstrate the basic working of the Wing Wave as per design A total of 25 minute worth of healthy data was acquired Datasets are numbered in the order of their timestamp Key findings in the datasets are listed below 1 Dataset 1 575 0 3T Dataset 2 875 5 32 3 Dataset 3 50 0 32 Table 6 1 Datasets for deployment 1 Figure 6 6 shows the time series plot for the Wing Wave pressure recorded Data set 1 represents the value when the system was just connected and was starting up Pressure buildup can be seen in the plot Dataset 2 and 3 are the samples from the continuous operation of the system It shows a moving avaerge of 20 25 PSI The data frequecny is around 6 9 cycles per minute which could be vefied from the video recorded Since the PTO was deployed before the hydraulic connections to the Wing Wave it was little difficult to exactly pinpoint the root cause PTO raft didn t have much space for a person to be there during opreration Apparent reason seems to be either the malfunctioning by SOV or the wrong setpoints for SOV operation On the basis of lab testing setpooints of 30 PSI were set Considering the low flow rate from Wing Wave it was later realized that higher setpoints might have been reuired in providing the st
34. raft s sea keeping as there wasn t much time left for proper construction before deployment The PTO raft performed satisfactorily for Figure 6 2 Deployment configuration for 2012 2 Make 1980 85 foot steel hull Twin 10000 Ib stern mounted A frame crane 25 NOAA 41114 Buoy Coordinates 27 33 5 N 80 13 31 W Site elevation sea level Water depth 16 15 m 6 1 Deployment 1 Summer 2012 57 Figure 6 4 Wing Wave during deployment the deployment period However there were issues like stability due to the rectangular design and maintenance provision The housing of the PTO raft provided sea worthy protection and there were no water ingress in spite of rough sea state and rains The cellular network had good reception throughout the testing The control system successfully established remote connectivity and logged the instrument data However there was a fault in the control algorithm for solenoid valve operation and therefore electrical output could not be generated despite sufficient hydraulic pressure differences generated by the Wing Wave system An attempt was made to update the program of the control system but due to rough seas and limited maintenance access it was not possible during deployment Other than this issue the control system worked as per plan for all the deployment period Another problem was the ampere hour rating of the control supply battery The control supply died after 36 ho
35. s RTU controllers can log data through I Os and serial interface to a single expandable SD card slot up to 32 GB and provide multiple methods to remotely retrieve data logs whether through F TP e mail or OPC based software For additional analog inputs ioLogik E1240 Ethernet Remote I O is used This prot Figure 4 2 Left Control and data acquisition System Middle Moxa W5340i Controller Right ActiveOPC Server software 5 Texas based Automation company Intech Process Automation lt www intechww com gt T User s Manual for ioLogik Cellular Micro RTU Controller By Moxa R Inc lt www moxa com product gt 4 2 Power Take off System Control Design 33 unit also provides built in 2 port Ethernet switch for daisy chain topologies Figure 4 3 shows the overall control diagram The control unit RTU Controller W5340 Ethernet I O card E1240 signal conditioning card and marshaling terminals Control supply is provided by two 12 V panel batteries one for control units and one for the solenoid valves All these components are placed in an IP 67 rated weatherproof housing The control unit acquired and stored the data from instrumentation locally on a 16 GB memory card Then the data is sent to the internet using the cellular network in real time This data is sent to the main server AMD A8 1 5 GHz processor located at the Florida Institute of Technology with a fixed IP address The communication protocol used is bas
36. the diameter as exponentially decreasing function of the depth As shown in Figure 2 3 when waves from deep water A enter into the shallow water B these wave orbitals become from Figure 2 3 Wave Orbitals Wikipedia circular to elliptical In near to shore 2013 regions these orbitals flattens due to seabed friction and turn into almost a back and forth horizontal displacement which amplifies the horizontal movement of the water particles This horizontal movement is called the wave surge This phenomenon of depth dependency of the wave orbital movement is Wave Shoaling Wave Shoaling is the key principle on which surge type wave energy convertors are designed 2 2 5 Wave energy The energy transported by the wave is mainly the function of the wave height only It is given as Dean and Dalrymple 1991 E H T g pg The total energy per wave per width is given as 2 8 1 Er pgH L For deep water 95 of the energy in the waves is available between the surface and a depth h L 4 Bostrom 2011 2 3 Power Take off 15 2 3 Power Take off The conversion of captured hydro mechanical energy to electrical energy or Power Take off PTO mechanisms depends on the working principle of the energy device and typically could be mechanical hydraulic or a direct driven system Mueller and Baker 2005 Figure 2 4 compares different P TO schemes generally applied for ocean energy devices Hydrodynamic
37. the file FilenameInit str datetime datetime now FilenameInit Filenamelnit Filenamelnit find FilenameInit FilenameInit replace FilenameInit FilenameInit replace FilenameInit FilenameInit replace filename FilenameInit txt DataLogFile open filename w DataLogFile write Date amp Time t Pi t P2 t GV t Current t Temp t B12V t B24V t CVFB1 t CVFB2 t CV_CMD1 t CV_CMD2 t FlowVol t FlowLPM t FlowLPH t Mode r n 108 Appendix 2 Code MAIN LOOP Serial Data log from Arduino while True readingsRAW serialFromArduino readline print readingsRAW print readingsRAW find P1 if readingsRAW 1 2 P Check if data is healthy if readingsRAW find P1 0 readings readingsRAW strip split the readings are separated by spaces if len readings 17 No missing packets Store in Variables Remove Text characters Convert ToSingle TestArray1 0 Substring TestArray1 0 Index0f 1 Pressurei readings 0 readings 0 find 1 len readings 0 readings 1 readings 1 find 1 len readings 1 readings 2 readings 2 find 1 len readings 2 readings 3 readings 3 find 1 len readings 3 Voltage readings 4 readings 4 find 1 len readings 4 Current readings 5 readings 5 find 1 len rea
38. tidal have been in the limelight of R amp D efforts because of the abundance and broad access Bard and Schmid 2005 Compared to other renewables resources wave energy has a higher energy density a higher availability and better predictability Brekken and Han 2009 Figure 1 1 shows world map with the potential wave power as kW m of the wave front Despite the enormous potential of ocean energy there are some major obstacles due to which the development of ocean energy technology lags when compared to those for solar and wind The challenges include the inherent unstable and uncertain nature of ocean energies accessibility and extreme weathers These result in stringent engineering design requirements and eventually relatively higher costs for ocean energy research Increasing Figure 1 1 Annual average estimated global wave power in kW m Barstow and Kabuth 2010 1 2 Problem Statement 5 power quality demands for the power grid integration adds to the complexity of the problem These issues also lengthen the design cycle time required for new technology development For the researchers working in the field of ocean energy reliable low cost and effective evaluation of the ocean energy conversion technologies is critical for their successful and smooth integration into the large power systems These tools are indispensable for concept verifications on a small scale e g research and development and can assist in the ra
39. wave action provided the Wing Wave is able to pump the piston smoothly The calculated maximum hydraulic pressure and velocity were found in accordance with the deployment results However this should be kept in mind that the calculations were done with many assumptions regarding the design and input wave conditions To make the numbers more realistic numerical modeling and simulations are essential Deployment results have greatly helped in building the confidence of the system Though there were some disappointments the overall the results were very promising The operational data acquired helped understand the operation and identify areas for further design improvements Many of the lessons learned in the 2012 deployment were incorporated in the design and construction for a second prototype which resulted in overall improved performance especially for the PTO One interesting improvisation worthy of mentioning 95 96 Chapter 9 Conclusion here was the underwater use of oil filled gauges on Wing Wave frame This gave divers ability to verify the Wing Wave operation underwater and saved time and efforts on troubleshooting Through a proper design process including wave tank testing and simulations the reliability and system performance can be much improved Some potential areas of interest for future researchers working on the Wing Wave are suggested as following 1 Simulation and modeling of the complete system including real sta
40. were used There were no accumulators in the system 5 2 Wing Wave and Piston Testing It was important to understand and verify the practical performance of the Wing Wave after the construction For the integrated testing of the complete system it was decided to move the flap manually which was connected with the both pistons and the PTO system and simulate the movement of Wing Wave underwater Two teams of three persons were on each side of the flap to push it Wing Wave was able to pressurize the PTO system up to 42 PSI in about 15 turns Initial movement of flap was easy but as the pressure approached 40 PSI it got difficult to move with the existing man power because of the hydraulic load on the pistons 5 3 PTO Testing 53 JU Figure 5 3 Land testing of Wing Wave 5 3 PTO Testing The PTO system was also tested separately for the performance evaluation A utility water supply 50 PST was used to pressure the hydraulic system Proportional control valves were used to control the flow T he PTO system successfully started the generator and was able to run it for approximately 100 seconds Since the utility water is a high pressure and low flow system so these results were understandable The data set obtained is shown on the next page Generator output voltage levels up to 50V were recorded Figure 5 4 PTO system being tested with utility water 54 Chapter 5 Laboratory Testing
41. 2 Theory Before moving to the sections related to design and mathematical modeling of the system some basic concepts and terminologies will be introduced in this section The first section focuses on the concepts that are fundamental in understanding the mechanics behind the Wave Energy Convertor This includes the fluid mechanics waves and marine hydrodynamics The second part describes the technicalities of the Power Take off system An overview of the electrical control and hydraulic systems is presented 2 1 Fluid Mechanics 2 1 1 Bernoulli s Equation Bernoulli s principle is actually a derived form of conservation of energy for fluid dynamics It relates the potential and kinetic energy for an inviscid steady flow It is given as Munson Young and Okiishi 2002 p Vi P3 3 v3 h h Bag Oo Where and h represent the head shaft and head loss respectively The Bernoulli s equation will be used for hydraulic system calculations 2 1 2 Buoyancy Buoyancy force is the upward force exerted by the fluid on a body immersed in it Munson Young and Okiishi 2002 B pg Vpoay 2 2 If the buoyancy force and the weight of the immersed body are equal then the body would float in equilibrium The body will sink if buoyancy is less and will rise if buoyancy is greater as compared to its weight 10 Chapter 2 Theory 2 1 3 Viscosity Viscosity represents the resistance to flow offered by the fluid Visco
42. 5 m 4 371 788 Smith Jr 45 Feb 1 1983 54 ENERGY DEVICE POWERED BY THE 56 References Cited MOTION OF WATER BENEATH WAVES U S PATENT DOCUMENTS 75 Inventor E Quimby Smith Jr Graeagle 988 508 4 1911 Reynolds Calif 3 965 365 6 1976 Parr 4 036 563 7 1977 Tornkvist 73 Assignee Q Corporation Troy Mich 4 048 801 9 1977 Tornabene Notice The portion of the term of this patent Primary Examiner Ulysses Weldon subsequent to Oct 9 1996 has been Assistant Examiner Shelley Wade disclaimed Attorney Agent or Firm Barnes Kisselle Raisch Choate Whittemore amp Hulbert 21 Appl No 163 033 5 ABSTRACT 22 Filed Jun 26 1980 A device for extracting both kinetic and potential en ergy from the motion beneath waves over a consider Related U S Application Data able depth comprising a power member or sail guided to o E reciprocate with the movement of the water The 63 beer aap 56185 er power sail is connected to and operates a power device Dec 19 1977 Pat No 4 170 738 gt gt 7 such as an electric generator or pump A second mem YAT ber or sail is located in geometric position relative to 51 Int Cl power sail to reflect energy back to the power sail 51 the po fl k to the po il 52 U S Sensors servo systems and computers may be used to optimize power output Multiple units can be arranged 58 Field of Search
43. 80 AH battery and a secondary diversion load a fixed power resistor It dissipates the electrical power produced by the generator The electrical energy is directed first to the primary load battery and then after the battery is charged to a secondary load resistor The charge controller is selected due to weather proof enclosure and suitability for the marine and alternative energy systems It can handle up to 25A of load current and can protect the load from voltage surge up to 140 Vde 4 3 1 Control Supply and solar panel One major issue faced in the 2012 deployment was the draining of control supply battery during the deployment For this reason a 15W 1A solar panel is included in the design for the main control supply Control supply is provided by a 70AH 12V and two cascaded 35AH 12V lead acid batteries The 70AH is for the main control panel and the two 35AH are for the 24V supply of control Valves only Approximate current consumption for typical usage of the control components is presented in Table 4 5 M50 Diode Series by Crydom lt http www crydom com en products catalog m 50d pdf gt FlexCharge USA lt www flexcharge com flexcharge_usa products nc25a nc25a htm gt Web Accessed 12 May 2012 Motomaster Eliminator lt http www toolfetch com media documents 38318 pdf gt 44 Chapter 4 Methodology 1 Raspberry Pi 700 2 Arduino 200 3 Pressure Instr
44. API_KEY Data pac update eeml Data Pressurei Pressurei unit eeml Unit PSI derivedSI PSI pac update eeml Data Pressure2 Pressure2 unit eeml Unit PSI derivedSI PSI pac update eeml Data Voltage Voltage unit eeml Unit Volt derivedSI V Appendix 2 Code 109 pac pac pac pac pac update eeml Data Current Current unit eeml Unit Ampere basicSI A update eeml Data Bat12V Bat12V unit eeml Unit Volt derivedSI V update eem1 Data CVFB1 CVFB1 unit eeml Unit Percentage derivedSI 9000 update eeml Data CVFB2 CVFB2 unit eeml Unit Percentage derivedSI update eeml Data Flow_Total Flow_Total unit eeml Unit Liters derivedSI 1 pac update eeml Data Flow_LPM Flow_LPM unit eeml Unit Literspermin derivedSI lpm pac update eeml Data Opmode Opmode unit eeml Unit Mode derivedSI Mode send data to cosm pac put hang out and do nothing for 10 seconds avoid flooding cosm time sleep 1 This portins takes serial command from Xbee and transfer those to the Arduino readingsXbee len readingsXbee gt 0 if serialPortXbee readline readingsXbeePackets readingsXbee strip split Split Xbee packets to check them serialPortXbee write AAAAAA serialPortXbee write len readingsXbee if len readingsXbeePackets 5 Write Xbee commands to the Arduino serialFromArduino wri
45. E Appendix 3 Patents for Flap type WEC 127 128 Appendix 3 Patents for Flap type WEC O 03 036081 A1 12 INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY PCT 19 World Intellectual Property Organization International Bureau 43 International Publication Date 1 May 2003 01 05 2003 F03B 13 18 51 International Patent Classification 21 International Application Number PCT FIO2 00834 22 International Filing Date 25 October 2002 25 10 2002 25 Filing Language Finnish 26 Publication Language English 30 Priority Data 20012086 26 October 2001 26 10 2001 FI 71 Applicant for all designated States except US AW POWER OY FI FI Virtauslaboratorio FLS Viikintie 3 FIN 00560 Helsinki FT 72 Inventor and 75 Inventor Applicant for US only KOIVUSAARI Rauno FI FI Kummihovi B 10 02400 KANTVIK FD 74 Agent BERGGREN OY O Box 16 FIN 00101 HELSINKI FI 10 International Publication Number WO 03 036081 Al 81 Designated States national AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FL GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ OM PIT PL PT RO RU SD SE SG SL SK SL TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW
46. F 2 FI 01230 Vantaa FT TUOKKOLA Yrj FI FI Myllypellonpolku 3 A 4 FI 00650 Helsinki FD KAHONEN Raimo FI FI Hyppyritie 11 FI 11120 Riihim ki FI 72 75 54 Title APPARATUS FOR RECOVERING WAVE ENERGY wo 2007 125156 1 74 81 84 10 International Publication Number WO 2007 125156 A1 Agent BERGGREN OY AB P O Box 16 Annankatu 42 C FI 00101 Helsinki FD Designated States unless otherwise indicated for every kind of national protection available AE AG AL AM AT AU AZ BA BB BG BH BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EG ES E FI GB GD GE GH GM GT HN HR HU ID IL IN IS JP KE KG KM KN KP KR KZ LA LC LK LR LS LT LU LY MA MD MG MK MN MW MX MY MZ NA NG NI NO NZ OM PG PH PL PT RO RS RU SC SD SE SG SK SL SM SV SY TJ TM TN TR TT TZ UA UG US UZ VC VN ZA ZM ZW Designated States unless otherwise indicated for every kind of regional protection available ARIPO BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW Eurasian AM AZ BY KG KZ MD RU TJ T European AT BE BG CH CY CZ DE DK I E FR GB GR HU IE IS IT LT LU LV MC MT NL PL PT RO SE SI SK TR OAPI BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG Continued on next page 57 Abstract The invention relates to an apparatus for the r
47. Functional block diagram of the 30 Figure 4 2 Left Control and data acquisition System Middle Moxa R W5340i Controller Right ActiveOPC Server software eese 32 Figure 4 3 Control Diagram for the first deployment eee 33 Figure 4 4 Control Diagram for the second deployment eee 34 Figure 4 5 Right Control panel for the second deployment Left Close up shot of cards 35 Figure 4 6 Visual Basic based eese un nennt nennen 37 Figure 4 7 Left Pressure Sensor Middle Exploded view of Flowmeter Right Proportional Control Valve fh reete cec o xen 39 Figure 4 8 Accelerometer 40 Figure 4 9 Hydraulic Diagram 2012 Deployment see 45 Figure 4 10 Output power for Harris generator emen nemen 46 Figure 4 11 Hydraulic system in PTO raft 2013 sse 47 Eigure 4 12 Layout tor the PTO Balb er eb es deer tiet seh 47 Figure 4 13 PTO Raft Design Deployment 2012 sss 48 Figure 4 14 PTO Raft Design Deployment 2013 1 1204401020000000000 48 Figure 5 1 Results for the mechanical testing of Harris Hydroelectric Generator 51 Figure 5 2 Results for the process testing of Harris Hydroelectric Generator 52 Figure 5 3 Land testing of Wing Wave coooocc
48. G GATE AND A PISTON PUMP Lo LOK SS LA SREY k 550655505556 555555525225 57 Abstract The electric marine generator with an oscillating sluice valve and a piston pump allows to exploit the waves energy for the production of electric energy the pumping of the water the compression of refrigerating gases and comprises an oscillating sluice valve 1 with a plane rectangular surface vertically arranged in front of the waves provided at its base with a hinge 3 fastened to a reinforced concrete block 21 and with a helical spring 2 that allows the return of the sluice valve when waiting for the wave a pump 12 consisting of a cylinder 13 and of a piston 11 with a rod 10 having at one end a sliding hinge 5 inserted inside a guide 4 on the sluice valve 1 provided with two springs 8 9 for preventing the blows in the bottom of the cylinder the sending pipes 16 and the suction pipes 17 are connected intercepted by the respective one way safety valves 14 15 two collectors a sending collector 18 and a suction collector 19 which when connected with pipes 16 17 allow the formation of pumping systems consisting of a plurality of pumps and respective sluice valves and arranged in parallel for multiplying the effects an airlock CA is connected to the sending collector for adjusting the motion of the water in the pipes SERER
49. IDE in C or C Arduino comes with a pre programmed on chip flash memory with a boot loader Due to this in system programmability no external hardware is required for programming Since a timestamp is required for the recorded data for later viewing and Raspberry Pi has no real time clock a dedicated RTC shield ChronoDot is used This is based on the DS3231 temperature compensated RTC TCXO It uses a 3 3V CR2016 battery as backup that can last up to 8 years The device interface is bus The device default address is x68 Due to built in temperature compensation the drift rate is less than a minute year A custom analog interface card was built to interface Arduino and Analog inpauts for them instruments A PWM Relay card is used for the control signals An RC filter is used to convert PWM signals frequency approximately 500 Hz to analog volatges that is scaled to 0 10V using TLO72CN Opamp Details of instrumentation are in next section The Raspberry Pi is connected to the Xively com a cloud platform service via internet using cellphone Xively com is a public on line database alloiwng users and developers to connect and upload all the data from their devices and instruments to the web and to use in their applications 7 The link for the live web feed for this project is https xively com teeds 1480855249 This webpage can be viewed by any user on internet 11 Web lt http arduino cc en Main arduinoBoardMega2560 12
50. Interaction with Primary Element Mechanical Direct Drive Conventional Special Electrical Electrical Machine Machine Figure 2 4 PTO types In WEC incoming power is generally oscillating at low frequency with high torque The PTO converts this to a continuous and relatively high frequency output signal usable by alternators 16 Chapter 2 Theory Chapter 3 Project Background This section presents an overview of the ocean energy technologies their classification and some current commercial scale convertors Discussion on the near to shore location and flap type WEC is separately included due to Wing Wave In the last part of this chapter the research done at Florida Tech on ocean energy is described 3 1 History The first recorded patent for harnessing ocean 540 12 juillet 1799 energy was filed in Paris by P H de Girard and his son in 1799 French patent no 349 Polinder and Scuotto 2005 BREVET D INVENTION DE QUINZE ANS Pour divers moyens d employer les vagues de la mer comme moteurs Pioneering work for the modern wave energy Aux sieurs GrmAnD p re et fils de Paris technology was by Japanese naval commander Yoshio Masuda in 1940 s and 50 s La mobilit et l in galit successive des vagues apr s s tre le v es comme des montagnes s affaissent l instant apr s entrainant dans leurs mouvemens tous les corps qui surnagent quels que so
51. NERATING POWER FROM WAVE ENERGY 57 Abstract A wave energy conversion device 1 tor use in relatively shallow water includes a base portion 2 for anchoring to the bed ofa body of water A flap portion 6 is pivotally connected to the base portion 2 and is biased to the vertical The flap portion 6 oscillates backwards and forwards about the vertical in response to wave motion The flap portion 6 includes an up per portion 8 upstanding above the pivot axis 7 for extracting energy from the wave motion and a lower portion 10 that has a biasing mass located below the pivot axis The biasing mass provides a restoring force acting to bias the flap to the vertical when the flap portion 6 oscillates Power extraction means is provided for extracting energy from the movement of the flap portion wo 2010 049708 A2 Appendix 3 Patents for Flap type WEC 139
52. NIRE 0 o 0 500 1000 1500 2000 2500 a Control Valve Position Control Valve Position Control Valve Position 68 Chapter 6 Deployment 6 2 5 Data recorded Accelerometer The data recorded by the accelerometer mounted on the flap of the Wing Wave confirms the visual observation regarding the flap movement The plotted data shows that the net pitching movement was around 4 degrees WingWave Accelerometer Data T T T T T dia m o Angle in degrees n d IW n _ 3 Te T Angle Raw Angle Filtered 40 I I 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 Time seconds WingWave Accelerometer Data 2 I I Angle Raw d i m Angle Filtered dew Angle in degrees N 0 50 100 150 200 250 300 350 400 Time seconds Figure 6 13 Dataset recorded in the deployment 2013 Part IV Mathematical Modeling Chapter 7 Mathematical formulation and Validation This section describes briefly the framework for the mathematical model for flap type WEC Modeling marine hydrodynamic problems is not easy due to the real world limitations complexities and uncertainties The main focus of this thesis was focused on the actual construction of the power takeoff system There are numeric
53. Ocean Energy Converters Wave and Tidal Energy http www iset uni kassel de oceanenergy Docs_PDFs 26Co 6EWTEC_ JBard pdf February 10 2013 Barstow Stephen and Alina Kabuth 2010 Assessing the Global Wave Energy Potential 2008 Bostrom Cecilia 2011 Electrical Systems for Wave Energy Converter Uppsala University Brekken Ted K A and Hai Yue Han 2009 Ocean Wave Energy Overview and Research at Oregon State University Cameron L R Doherty A Henry K Doherty J Van t Hoff D Kaye D Naylor 5 Bourdier and T Whittaker 2010 Design of the Next Generation of the Oyster Wave Energy Converter on Ocean Energy 1 12 http aquamarinepower com sites resources Conference papers 2653 Design of the Next Generation of Oyster Wave Energy Converter C5 pdf February 1 2013 Christian Mark Billy Wells Sitara Baboolal Patrick Maloney and Stephen Wood 2012 Wing Wave Feasible Alternative Renewable Electrical Energy Producing Ocean Floor System In OCEANS MTS IEEE Conference IEEE http ieeexplore ieee org xpls abs all jsp arnumber 6404785 February 1 2013 97 98 References Crowley Michael David 2012 POWER CAPTURE SYSTEM AND METHOD Cruz Joao 2008 Green Energy and Technology Series ISBN Ocean Wave Energy Current Status and Future Perspectives Dean RG and RA Dalrymple 1991 Water Wave Mechanics for Engineers and Scientists http
54. Power Take off System Design for Wing Wave WEC by Ismail Sultan Bachelor of Engineering Industrial Electronics NED University of Engineering and Technology Karachi Pakistan 2004 A thesis submitted to the Department of Marine and Environmental Systems at Florida Institute of Technology in partial fulfillment of the requirements for the degree of Master of Science In Ocean Engineering Melbourne Florida July 2013 Copyright 2013 Ismail Sultan All Rights Reserved The author grants permission to make single copies ii We the undersigned committee hereby recommends that the attached document be accepted as fulfilling in part the requirements for the degree of Master of Science in Ocean Engineering Power Take off System Design for Wing Wave WEC by Ismail Sultan Stephen Wood Ph D P E Associate Professor Ocean Engineering Program Chair Marine and Environmental Systems Major Advisor Committee Chair George A Maul Ph D Professor and Department Chair Marine and Environmental Systems Committee Member Hector Guti rrez Ph D P E Associate Professor Mechanical and Aerospace Engineering Committee Member 111 lv Abstract Power Take off System Design for Wing Wave WEC by Ismail Sultan Major Advisor Stephen Wood Ph D P E The oceans represent a massive untapped energy resource with potentially more energy than the aggregated output of all other resources on the earth I
55. U ID IL IN IS JP KE KG KM KN KP 30 October 2009 30 10 2009 KR KZ LA LC LK LR LS LT LU LY MA MD p MF MG MK MN MW MX MY MZ NA NG NI 25 Filing Language English NO NZ OM PE PG PH PL PT RO RS RU SC SD 26 Publication Language English SE SG SK SL SM ST SV SY TJ TM TN TR TT TZ UA UG US UZ VC VN ZA ZM ZW 30 Priority Data 3 3 0820021 4 31 October 2008 31 10 2008 84 Designated States unless otherwise indicated for every kind of regional protection available ARIPO BW GH 71 Applicant for all designated States except US AQUA GM KE LS MW MZ NA SD SL SZ TZ UG ZM MARINE POWER LIMITED GB GB 10 St Andrew ZW Eurasian AM AZ BY KG KZ MD RU TJ Square Edinburgh 2 2AF GB TM European AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LT LU LV 72 Inventor and 75 Inventor Applicant for US only WHITTAKER Trevor John GB GB 8 Cuttles Ridge Comber North em Ireland BT23 SYT GB MC MK MT NL NO PL PT RO SE SI SK SM TR OAPI BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG Published 74 Agents NAISMITH Robert Stewart et al MARKS amp Published CLERK Aurora 120 Bothwell Street Glasgow G2 7JSs without international search report and to be republished GB upon receipt of that report Rule 48 2 2 54 Title IMPROVED APPARATUS FOR GE
56. U LV 11 2 2 0 Waweicharacteristics ot eH ere Gre HO er Ae eee RU FR CHR P RS 11 2 2 2 Creation of WAVES 25 23 dea Eq aedes 12 2 2 3 Linear theory of ocean waves ene 13 2 2 4 Wave Shoaling n een ee reo anna nun 14 225 Wave energy aiiis ciae iiti ied beide letra 14 ix 2 3 A A E 15 Chapter 3 Project Background ann sense eere eo a eret ett 17 3 1 liie d 17 3 2 Classification een cto ete eiat vet ee in o osse ced 19 3 3 Current Commercial scaleW EQ 2 tn nite i rar a S Rd ea 21 3 4 Interest in Near to shore and Flap type 22 3 5 Wave energy research at 23 3 54 A S NM A ENIM A AS 23 Part II Hardware Design and nnne 27 Chapter 4 Methodology e 2 222222 taie et eet er tee iieri eee 29 4 1 Design Requirements u e ede aan 29 4 2 Power Take off System Control Design eee 32 4 2 1 Control and Data Acquisition Module seen 32 4 2 2 Instrumentation a adc deese me Ce aene dea b Wedd ad 38 4 2 8 Communications ie rct Ee ees at e Ra e Nees eter tr Sate 8 41 424 Control Ale Orit eae oe ty vt lt a a 41 4 3 Power Take off System Electrical Design eee 43 4 39 1 Control Supply and solar panel
57. Web lt http www atmel com dyn resources prod_ documents doc2549 pdf gt 13 Web lt https xively com whats_xively gt Accessed 20 July 2013 gt 4 2 Power Take off System Control Design 37 Wing Wave System Close Command Control Valve 1 40 Pressure 15 47 Control Valve 1 gp Premus2SP 47 OpMode 1 1 Man x J 4 lt gt 44 54 4 gt gt 4 CAES ro 4 5 vns weno 3 E mi we tva pex TVo 87273 LPM 0 40 Av gt gt 44 gt 4 gt gt 4 gt gt Max Pressure P1 51 86 Max P2 55 46 GnVoltage 47 5953 Max LPM Row 44 872 Figure 4 6 Visual Basic based HMI An Human Machine Interface HMT system was developed in Microsoft Visual Basic to view the results from the control system in real time Figure 4 6 shows the user interface This HMI is run on the user station in the research vessel and is connected to the main control system using Xbee RF module details in communication section later This software has both a graphical interface using system piping and instrumentation diagram and a simple textual interface The summary of the control system design is as follows The Raspberry Pi acts as the main controller and performs all the communication and logging functions The Arduino handles the analog inputs and control signals The Arduino sends the updated the I O map in every
58. al tools available for more realistic simulation and modeling of wave forces and behavior of bodies under these forces however it was not possible to cover them within the time and resources for this thesis So in this section a simple approach is used to estimate the forces and hydraulics of the system to understand the deployment results better For future teams working on Wing Wave this should be a next step to build a more accurate and detailed model since the concept verification has been done for this basic design of WEC and PTO The main references used for the formulation of problem are the text from Renzi and Dias 2012a 2012b work done on Wing Wave in Florida Institute of Technology Christian et al 2012 and the book Ocean Wave Energy Conversion Michael E McCormick 1981 7 1 Governing equations for the Flap type WEC Figure 7 1 presents the flap geometry used by Renzi and Dias Renzi and Dias 2012a 2012b They present a converter having a rectangular flap of width w and thickness 2a hinged along a straight axis upon a rigid platform at a distance c from the bottom of the ocean is placed in water density p of depth h in the middle of a straight channel The channel has impermeable walls placed at a mutual distance b and extends to infinity to either side A plane reference system of coordinates x y is defined as following e X axis is on the center line of the channel e Y axis is along the axis of
59. and Biggs 2012 Commercial prototypes of the flap type bottom hinged wave energy converters have been developed and are under testing by Aquamarine Power Ltd Oyster and AW Energy Oy Ltd WaveRoller Patents for these designs include the key design aspects for these WECs _ 50 m Gross Exploitable 40 p 5 30 v E 20 10 Ey L E 5 1 Offshore 50m 10m Figure 3 5 Average gross and exploitable wave power at three water depths Cameron et al 2010 3 5 Wave energy research at FIT 23 Crowley 2012 Koivusaari 2007 A list of flap type based WEC patents is presented in appendix 4 3 5 Wave energy research at FIT Before describing the wave energy research at Florida Institute of Technology FIT a brief note on marine resources for the state of Florida is presented The state of Florida has a coastline of 1 350 miles 2 170 km which is the longest coastline in the continental United States Potential generating capacity from ocean energy resources is estimated up to 10 GW Driscoll et al 2008 which is approximately one third of Florida s average electricity consumption Florida also sits next to the one of the strongest ocean currents in the world the Gulf Stream with a mass transport greater than 30 times the total freshwater river flows of the world With all this potential the 2013 energy profile of Florida depends more than 90 on the fossil fuels However recently ther
60. and long term storage It also supports video and audio outputs for user interface The Raspberry Pi uses Linux kernel based operating systems Raspbian a Debian based free operating system was used for this prototype Table 4 1 shows specifications for Raspberry Pi Model B One more feature is that there is support for Matlab Simulink target tool box which means that Matlab code can be downloaded in Raspberry Pi and executed in real time For programming and debugging INSTRUMENTATION WORKSTATION WEB FEED Xively com Ethernet 1 Storage Storage l 1 CONTROL UNIT ta Antenna il in ID i Solar Panel 2A Analog Input Card Arduino POWER UNIT Control Signal Figure 4 4 Control Diagram for the second deployment http www raspberrypi org 10 http www raspberrypi org downloads 4 2 Power Take off System Control Design 35 Figure 4 5 Right Control panel for the second deployment Left Close up shot of cards 1 Raspberry Pi 2 Arduino 3 Analog Input Card 4 PWM Relay Card 5 RTC and Xbee Card Adafruit s Web IDE 2 0 was used All the code was written in Python Though Raspberry Pi has support for peripherals like general purpose IO s I C bus and SPI bus but lacked some important provisions required for this project e g pulse width modulation PWM analog digital converter ADC and Real Time Clock RTC For this reason the Arduino as support or slave
61. arting torque to the generator Additional instrument like flowmeter could have helped to understand the problem during the operation However there was not much which could be done at that time 60 Chapter 6 Deployment Pressure PSI Pressure PSI Pressure PSI 40 20 40 20 DataSet1 20120609 160442 csv DP 52 I I Pressure Raw Pressure Filtered i el u 100 200 300 400 500 600 Time seconds DataSet2 20120609 162202 csv DP 274 100 200 300 400 500 600 700 800 900 Time seconds DataSet3 20120610 125613 csv DP 52 Pressure Raw Pressure Filtered 10 20 30 40 50 Time seconds Figure 6 6 Datasets recorded in Deployment 2012 60 6 2 Deployment 2 Summer 2013 61 6 2 Deployment 2 Summer 2013 6 2 1 Summary In the first deployment Wing Wave and new PTO system were planned for the testing The test site was near the site for deployment in 2012 GPS Coordinates for the location were 27 26 40 39 N 80 14 21 70 W The deployment period was June 19 21 2013 The services of research vessel M V Richard L Becker owned by TowBoatU S were acquired Wing Wave was deployed on the first day Keeping in view the experience of last year it was decided to keep the PTO raft initially on the ship deck and monitor the operation of the control components On the third da
62. cillates backwards and forwards about the vertical in response to wave motion acting on its faces Power extraction means extract energy from the movement of the flap portion When the base portion 2 is anchored to the bed of a body of water 6 with the flap portion 8 facing the wave motion the base portion 2 and the flap 2 portion 8 extend vertically through at least the entire depth of the water to present a substantially continuous surface to the wave motion throughout the full depth of water from the wave crest to the sea bed A plurality of devices can be interconnected to form one system The distance between the plurality of flaps is dependent on the wavelenght Appendix 3 Patents for Flap type WEC 133 a2 United States Patent Kobashikawa et al US007023104B2 10 Patent No US 7 023 104 B2 54 WAVE ENERGY CONVERSION DEVICE FOR DESALINATION ETC 76 Inventors Alvin Kobashikawa 99 421 Poaha Pl Aica HI US 96701 Yu Si Fok 3185 Oahu Ave Honolulu HI US 96822 Notice Subject to any disclaimer the term of this patent is extended or adjusted under 35 U S C 154 b by 32 days 21 Appl No 10 618 539 22 Filed Jul 9 2003 65 Prior Publication Data US 2004 0007881 Al Jan 15 2004 Related U S Application Data 60 Provisional application No 60 395 359 filed on Jul 11 2002 51 Int CI F03B 13 12 2006 01 F04B 35 00 2006 01 BOID 61 00 2006 01 52 US Cl 290
63. close ControlValveFB1_Mapped mapfloat ControlValveFBi Raw 0 1023 0 107 47 47 47 delay 1 ControlValveFB2 Raw analogRead ControlValveFB2 ControlValveFB2 Mapped mapfloat ControlValveFB2 Raw 0 1023 0 107 47 47 47 delay 1 PAs DU EIN STEP 2 7 If pressure is greater than 50 PSI or PressureSetpoint1 then Open the Valves relays activated if OperationMode 0 Auto if PressureSensori_Mapped gt PressureSetpoint1 amp amp stepi true amp amp step2 false amp amp step3 false digitalWrite Relay_CloseCV1 CVState ControlValvei Command 90 0 close of full open 26 should be good to start this again analogWrite ControlValvei_PWM ControlValvei Command ControlValve2 Command 90 analogWrite ControlValve1_PWM ControlValvei Command stepi false step2 true step3 false else if GenVoltage_Mapped gt 15 amp amp stepi false amp amp step2 true amp amp step3 false de ControlValveFB1_Mapped lt 40 ControlValvei Command 179 back to 70 to save energy 179 7 ControlValve2_Command stepi false step2 false step3 true else if GenVoltage_Mapped lt 13 amp amp stepi false amp amp step2 false amp amp step3 true ControlValvei Command 255 full close since voltage dropped 255 BACK to stepi ControlValve2_Command stepi true step2 false step3
64. controller and a dedicated RTC shield are used with the Raspberry Pi SoC System on chip Broadcom BCM2835 CPU 700 MHz ARM1176JZF S core ARM11 family GPU Broadcom VideoCore IV 250 MHz Memory SDRAM 512 MB USB 2 0 port 2 Onboard storage SD MMC SDIO card slot Onboard network 10 100 Ethernet Low level peripherals 8 x GPIO UART bus SPI bus Power 700 mA 3 5 W Power source 5 volt Size 85 60 mm x 53 98 mm 3 370 in x 2 125 in Operating systems Arch Linux ARM Debian Linux Raspbian OS RISC OS Table 4 1 Specifications for Raspberry Pi Model B Richardson and Wallace 2012 36 Chapter 4 Methodology Core ATmega2560 Operating Voltage 5V Input Voltage recommended 7 12V Input Voltage limits 6 20V Digital I O Pins 54 15 PWM output Analog Input Pins 16 DC Current per I O Pin 40 mA DC Current for 3 3V Pin 50 mA Flash Memory 256 KB 8 KB used by boot loader SRAM 8 KB EEPROM 4 Clock Speed 16 MHz Table 4 2 Specifications for Arduino AT Mega2560 Arduino 2013 The Arduino Mega 2560 is a derivative of Arduino family The Arduino is an open source electronic hardware prototyping platform The core of this board is ATmega2560 This board supports a large number of IO s both analog and digital making it an ideal choice for hardware interfacing It also has 4 hardware serial ports UARTs Arduino programs are written in the dedicated
65. corresponds to the variables at PTO raft end We will calculate for the PTO end as disconnedted from the circuit to simplify it 2 2 p vi ps V3 7 46 h h op go uc Rr des gt h a 71 h major vi 1 26 7 47 R minor Y Ki 2g 0 2 x 2 0 05 x 4 2 0 049m For hi Major we will determine friction factor f using Reynolds Number vD Re 9020 7 48 Since is greater than 1500 threshold so we will use Darcy Weisbach equation for For the rubber hoses equivalent roughness e is 0 3mm So gt ratio is 0 0236 With calculated values of R and we determine f as 0 05 from Munson Young and Okiishi 2002 Darcy Weisbach equation yields lv 30 3 1 267 7 49 himajor f 0 05 208 major 0 0127 2 x 9 8 m Shaft work head is calculated as 7 6 Hydraulics Accumulators 87 D hs p 71 hrmajor himinor 7 90 E nia 10 9 8 0 049 40 46 7 1000 x 9 81 So the work done by the hydraulic piston Wonaft is Wonaft gpQh 9 8 x 1000 x 1 61 x 107 x 40 46 7 51 Wonaft 65 53W So for the given wave conditions the hydraulic PTO with Wing Wave can provide up to approx 65W 7 6 Hydraulics Accumulators Accumulators are used in the circuit to dampen the fluctuations and intermittently store the energy in hydraulic form The data and set points for the accumulators selected is shown in following table 3
66. d2 Convert ToSingle TestArray1 12 Substring TestArray1 12 Index0f 1 Datal Flow_Total Convert ToSingle TestArray1 13 Substring TestArray1 13 Index0f 1 Datal Flow_LPM Convert ToSingle TestArray1 14 Substring TestArray1 14 Index0f 1 Datal Flow_LPH Convert ToSingle TestArray1 15 Substring TestArray1 15 Index0f 1 Datal OpMode Convert ToSingle TestArray1 16 Substring TestArray1 16 IndexOf 1 Write Text to the given file Dim TextForFile String Join vbTab New String Datai Pressurei Datal Pressure2 _ Datal PressureiSP Datal Pressure25P Datal Voltage Datai Current Datai Temperature _ Datai Bati2V Datai Bat24V Datal CVFB1 Datal CVFB2 Datal CVCmd1 Datal CVCmd2 _ Datai Flow Total Datal Flow_LPM Datal Flow_LPH Datal OpMode objWriter WriteLine tDate ToString yyyy MM dd amp vbTab amp Format TimeOfDay HH mm ss _ vbTab amp TextForFile blDate Text Format Time0fDay HH mm ss update numbers on the screen blPressurel Text Datal Pressurel Datai Pressure2 Datai Pressure1SP Datai Pressure2SP blPressure2 Text blPresiSP Text blPres2SP Text Me Text Datal PressureiSP blVoltage Text Datal Voltage blCurrent Text Datai Current blTemperature Text Datai Temperature b1B12V Text Datai Bat12V b124V Text Datal Bat24V bICVFB1 Text Datal CVFB1 bICVFB2 Text Datal CVFB2 blCVCmdi Text Datai CVCmdi blCVCmd2 Text Datai CVCmd2 blF
67. dings 5 Temperature readings 6 readings 6 find 1 len readings 6 Bati2V readings 7 readings 7 find 1 len readings 7 Bat24V readings 8 readings 8 find 1 len readings 8 CVFB1 readings 9 readings 9 find 1 len readings 9 CVFB2 readings 10 readings 10 find 1 len readings 10 CVCmdi readings 11 readings 11 find 1 len readings 11 CVCmd2 readings 12 readings 12 find 1 len readings 12 Flow Total readings 13 readings 13 find 1 len readings 13 101 Flow LPM readings 14 readings 14 find 1 len readings 14 Flow_LPH readings 15 readings 15 find 1 len readings 15 Opmode readings 16 readings 16 find 1 len readings 16 Pressure2 Pressure1SP Pressure1SP Send Data to Xbee serialPortXbee write readingsRAW FILE OPERATION DataLogFile write str datetime datetime now t Pressurei t Pressure2 t Pressure1SP t Pressurel SP t Voltage t Current t Temperaturet t Bat12V t Bat24V t CVFB1 t CVFB2 t CVCmd1 t CVCmd2 t Flow_Total t Flow_LPM t Flow_LPH t Opmode r n Send it to COSM on internet API KEY P5cAFABVX1V7g5LARDqXMQqbJXeq8oTuUwN9ikzs8dqVNEs 1 FEED 1480855249 URL v2 feeds feednum xml format feednum FEED if LOGGER open up your cosm feed pac eeml Pachube API_URL
68. e 3 4 proportional control valves n by Winner valves The valves are 34 ball type equal percentage flow Actuator is motorized 24Vdc operated Torque up to 6 N m It supports control signal of 0 10V and 4 20mA Position feedback is given by a potentiometer Full closure and opening time is between 55 60 seconds Power rating for these valves is 12V A To measure the speed of generator an RPM Sensor was built using inductive proximity switch Model PR12 2DN Range 2mm Speed 1 5kHz by Autonics However due to Bung N Viton EPOM RF 2500 Sensors Silicon or Other Material O Rings Polysullone Stainless Steel Polypropylene Lens Long Lite Hydrolytically Stable Ceramic Polypropylene Stainless Rotor Pin Steel or Brass Figure 4 7 Left Pressure Sensor Middle Exploded view of Flowmeter Right Proportional Control Valve Datasheet for Wika Pressure Transmitters Model 50398083 15 Atlas Scientific 16 Model WVA4 306 k WCBS220 by Winner Ball Valves China 40 Chapter 4 Methodology mechanical mounting issues it was not used in the deployment In addition to the above a standalone Accelerometer is used to record the movements of the Wing Wave during deployment This unit is designed by Mathew Jordan It uses a triple axis accelerometer ADXL345 by Analog devices interfaced a micro Arduino Teensay and OpenLog data logger by SparkFun It recordes the accelerations of Wing Wave and
69. e 2013 Imports System Imports System ComponentModel Imports System Threading Imports System IO Ports Public Class frmMain Dim myPort As Array COM Ports detected on the system will be stored here Dim returnStr As String Delegate Sub SetTextCallback ByVal text As String Added to prevent threading errors during receiveing of data Dim GoodPacket As Long 0 Dim BadPacket As Long 0 0 Dim a As String Dim InputDataSet As String Dim tDate As New DateTime Date Today Year Date Today Month Date Today Day Date Now Hour Date Now Minute Date Now Second Dim csvFile As String C TestData amp tDate ToString yyyyMMdd HHmmss txt Dim FILE NAME As String C TestData test txt Public objWriter As New System IO StreamWriter csvFile True Structure DataSetWingWave Create a structure Public Pressurei As Single Public Pressure2 As Single Public PressureiSP As Single Public Pressure2SP As Single Public Voltage As Single Public Current As Single Public Temperature As Single Public Bati2V As Single Public Bat24V As Single Public CVFB1 As Single Public CVFB2 As Single Public CVCmdi As Integer Public CVCmd2 As Integer Public Flow Total As Single Public Flow LPM As Single Public Flow LPH As Single Public OpMode As Single End Structure Dim Datai As DataSetWingWave Appendix 2 Code Private Sub frmMain_FormClosing ByVal sender As Object _ ByVal e As System Windows Forms FormClosingEventA
70. e has been legislation in process for increased share of renewable energies in the energy profile of state of Florida Hopefully this will open up great opportunities for expansion in renewable energies in Florida in near future Florida Institute of Technology FIT is one of the prominent academic institutions actively working in the field of Ocean Energy in Florida since 2007 The Ocean Engineering Department at FIT is currently working on two prototypes Wave Energy Convertors WEC Wing Wave a sea bed mounted bottom hinged type WEC that captures energy from the horizontal component of wave orbitals at varying depths and GECCO a surface floating attenuation WEC for harnessing surface waves In the next section an overview of Wing Wave s design and development since 2008 would be presented 3 5 1 Wing Wave The main inspiration for Wing Wave design is based on two commercial designs Wave Roller by AW Energy Oy and Oyster Wave Energy Converter by Aquamarine Power Wave Roller s first prototype was launched in 1999 The Wave Roller is design for the installation underwater at the depths of approximately 8 20 meters Oyster WEC works in the same fashion as the Wave Roller The main difference is that the fluid in the hydraulic system is transferred onshore to a hydroelectric power plant The second generation design of Oyster is rated up to 800kW Power 2012 Source U S Energy Information Administration EIA Web http w
71. ear out in waves and it will absorb energy Brian Count Scher 1985 This thesis is part of my effort to understand the energy behind the bobbing teddy bear in the waves The time period was short but the experience and the learning are going to stay with me for much longer time I humbly consider myself very fortunate to have support of so many people in my personal and academic life for the completion of my Masters First of all I would like to express my gratitude to Fulbright Program and U S Department of State for giving me an opportunity to come to US and complete my Masters Then I am extremely thankful to my advisor Dr Stephen Wood for all his support patience and and supervision during my study I am also grateful to my thesis committee members Dr George Maul and Dr Hector Gutierrez for their guidance and valueable suggestions I would like to thank Dr Robert Weaver and Dr Prasanta K Sahoo for their great support during this project I would also like to acknowledge the generous help by Mr Lee Marcum SebaiCMET Inc Clean and Green Enterprises Inc and Mr S Ibne Hasan Intech Automation I am also thankful to Mr Bill Battin for his help on very short notices I had honor of working with two undergraduate student teams during this thesis and I am very grateful for their tremendous effort throughout the construction and deployment of the Wing Wave For 2012 Billy Patrick Sitara Mario Chad and Alexej For 2013
72. ecovery of wave enemy 1 fastened at the bottom of a water basin comprising a primary wave energy recovery unit 3 a part moving by the action of the water mass motion caused by waves and a lever system 5 transmitting kinetic energy from the said moving part to the primary energy recovery unit 3 The plate like element 2 moving by the action of the water mass motion is arranged to move so that the main kinetic component is always approximately at the same angle in relation to the surface plane e of the plateline element 2 136 Appendix 3 Patents for Flap type WEC 0 as United States a2 Patent Application Publication KOIVUSAARI et al 54 73 21 METHOD FOR INSTALLING AND SERVICING AN APPARATUS RECOVERING THE KINETIC ENERGY OF WATER AND AN APPARATUS RECOVERING THE KINETIC ENERGY OF WATER Rauno KOIVUSAARI Fl Yrjo Tuokkola Helsinki FI Arvo Jarvinen Vantaa FI John Liljelund Helsinki FI Matti Vuorinen Espoo FI Erkki Kasanen Helsinki Fl Jorma Savolainen Inkoo FI Pekka Miettinen Espoo FI Inventors Correspondence Address BIRCH STEWART KOLASCH amp BIRCH PO BON 747 FALLS CHURCH VA 22040 0747 US Assignee AW ENERGY Oy Vantaa FI Appl No 12 411 785 US 20100242826A1 10 Pub No US 2010 0242826 43 Pub Date Sep 30 2010 22 Filed Mar 26 2009 Publication Classification 51 Int CI B63G 8 22 2006 01
73. ed Serial print T Serial print Temperature Mapped Serial print Vcc Serial print Vcc DEC Serial print B12V Serial print Battery12V Mapped 4 Serial print B24V Serial print Battery24V Mapped 4 Serial print CVFBi Serial print ControlValveFB1 Mapped Serial print CVFB2 Serial print ControlValveFB2 Mapped Serial print CV CMDi Serial print ControlValve1_Command100 Serial print ControlValvei Command Serial print CV CMD2 Serial print ControlValve2_Command100 Serial print ControlValve2_Command Serial print FT Serial print Flow Total 4 Serial print FLPM Serial print Flow LPM 4 Serial print FLPH Serial print Flow LPH 3 Serial print Mode Serial print perationMode Serial write Wr Carriage Return Character ASCII 13 Serial write n Line Feed Char ASCII 10 stringcomplete if a string from the Atlas Scientific product 116 Appendix 2 Code sensor_stringcomplete false reset the flage used to tell if we have recived a completed string from the Atlas Scientific product Y wait 2 milliseconds before the next loop for the analog to digital converter to settle after the last reading delay 2 Appendix 2 Code 117 A2 3 Visual Basic Note Code for Human Machine Interface Author Ismail Sultan Filename FormWingWave_v1_5 vb Date 15 Jun
74. ed on an open standard OPC The software hierarchy is as follows 1 JOAdmin configuration and diagnostic software 2 ActiveOPC server software for connectivity 3 DA Center OPC client software for data logging 4 FTP server OPC Server Florida Tech WORKSTATION Que Qu ua A Storage CONTROL UNIT GPRS Modem INSTRUMENTATION ioLogik ioLogik W5340 E1240 Analog Input Card Control Signal On off Figure 4 3 Control Diagram for the first deployment TOAdmin and DA Center are proprietary software for Moxa 34 Chapter 4 Methodology 5 Web server The main server stores all the data received and then updates all values on a webpage This was accessible to the user via internet updated every 1 second in real time This way the end user is able to monitor the operational status using this live feed from PTO raft For the second prototype a microcontroller based two layered control system was selected Raspberry Pi Model B was finalized as the master controller and Arduino ATmega2560 as the slave controller Both of these controllers are based on open source hardware The overall control diagram is presented in Figure 4 4 Raspberry Pi is an ARM Advanced RISC Machine based single board computer developed by the Raspberry Pi Foundation9 Model B version comes with 512 megabytes of RAM and supports an SD card up to 32GB for booting
75. el in relation to each other Appendix 3 Patents for Flap type WEC 131 132 Appendix 3 Patents for Flap type WEC 36 1 WO 200 12 INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY 19 World Intellectual Property Organization 5 International Bureau 43 International Publication Date 28 September 2006 28 09 2006 51 International Patent Classification F03B 13 18 2006 01 21 International Application Number PCT GB2006 000906 22 International Filing Date 15 March 2006 15 03 2006 25 Filing Language English 26 Publication Language English 30 Priority Data 0505906 8 23 March 2005 23 03 2005 GB 71 Applicant for all designated States except US AQUA MARINE POWER LIMITED GB GB Barony House Stoney field Business Park Inverness 2 7PA GB 72 Inventors and 75 Inventors Applicants for US only THOMSON Al lan Robert GB GB Wester Aultlugie Daviot Muir Invemess IV1 2ER GB WHITTAKER Trevor John GB GB 8 Cuttles Ridge Comber Northern Ireland BT23 SYT GB CROWLEY Michael David GB GB 11 Glebe Close Frampton on Severn Gloucestershire GL2 712 GB 10 International Publication Number WO 2006 100436 A1 74 Agents NAISMITH Robert Stewart ct al Marks dz Clerk 19 Royal Exchange Square Glasgow Gl 3AE GB 81 Designated States unless otherwise indicated for every kind of national protect
76. el lateral walls _ b 7 4 0 T 2 And on the bottom 0 z h 7 5 OZ A no flux boundary condition must also be applied on the flap yielding WwW 7 6 0 x lt 2 74 Chapter 7 Mathematical formulation and Validation 7 2 Wave Force Calculations on Wing Wave 7 2 1 Equation of Motion Eqaution of motion is based on Netwton s second law of motion and represents the forces acting on the body The equation of motion for wave energy convertor can be shown as Kamizuru 2010 Fwec Fwave F Faamping Ar Espring Fradiation Fioss 7 7 Fwec mwgc a Where is the excitation wave force absorbed by the model Faamping 1 the mechanical force applied by the hydraulic PTO F spring is hydrostatic restoring force due to the buoyancy Fradiation 18 associated with the radiation forces caused by the movement Figss is the energy loss due to of mechanical and bottom friction drag breaking waves etc Mwyec is mass of and a is the acceleration experienced by the WEC For a bottom hinged plate with 1 degree of freedom pitching the equation of motion can be re written as Gomes Lopes and Henriques 2011 16 t M wave Maamping Mspring M adiation Moss 7 8 Where 1 is the moment of inertia about the pitching axis 6 is the instantaneous angular acceleration of the WEC plate and M represents the corrsponding moment shown in subscri
77. erator The generator was mainly designed for low flow land based applications So it was necessary to verify the operation of the generator For this purpose mechanical and process testing of the Harris generator was done The generator was coupled with a mechanical rotational source max speed 1500 revolutions per minute or rpm using tachometer and voltmeter to determine rpm and voltage relationship Figure 5 1 shows the relationship between speed and output voltage P M Alternator Output 2500 2000 1500 1000 Voltage V 500 Angular Velocity RPM Figure 5 1 Results for the mechanical testing of Harris Hydroelectric Generator 51 52 Chapter 5 Laboratory Testing For the process related parameters the generator was setup in a wave tank and a centrifugal pump 1 12kW 1 5 hp 3450 rpm 115 230 FLA 15 6 738A 60 Hz was used as input source Figure 5 2 shows the recorded results that with approximately 90 kPa 13 psi inlet pressure the generator started to operate with output of approximately 22 V no load DataSet5 20120529 140023 Test1 csv DP 435 20 T T T T 40 Pressure PSI Volt Pressure PSI E N cC Voltage V 0 50 100 150 200 250 Time seconds Figure 5 2 Results for the process testing of Harris Hydroelectric Generator This hydraulic setup used a direct connection between the pump and the generator Solenoid on off valve
78. etch Time duration the wind has blown over a given area Boo Wind blowing across the surface of the ocean over the fetch zone creates a tangential stress on the water surface resulting in the initial formation of a wave The pressure and shear stress variations at the surface of the water helps to build and propagate the wave When these fluctuations are in phase with the existing wave oscillations further wave propagation occurs Once the waves are initiated due to wind interaction waves do not require winds for further propagation These wind generated waves are called free waves or swells Depending on their wavelengths and travel distance these waves eventually either dissipate during their travel or interact with a coastline hanging to Ripples to chop Fully CEN OUS 10 to wind waves ee Direction of wave advance m Length of fetch 2005 Brooks Cole Thomson 2 1 Figure 2 2 Wave formation in ocean Web lt http science kennesaw edu jdirnber oceanography LecuturesOceanogr LecWaves LecWaves html gt 2 2 Wave Basics 13 The research in this thesis uses the wind waves with longer time periods or swells Table 2 1 shows typical wave types characterized by their period disturbing and restoring forces 2 2 3 Linear theory of ocean waves Depending on the depth and height to length H L ratio of the waves two theories can be used for understanding wave behavior For
79. ethodology 4 2 Power Take off System Control Design 4 2 1 Control and Data Acquisition Module The key functions of the control unit in the PTO were 1 Interfacing of all sensors 2 Implementation of control algorithm through actuators 3 Local data logging of sensor data 4 Provision of an communications interface 5 Display of operational parameters on user workstation HMI In addition to the above there were other factors that were considered reliability flexibility and cost Different design approaches were opted for the first and second prototype design For the first one off the shelf indusrtrial controller or PLC was used Although custom designed microcontroller based single board computers offer great benefits in terms of cost and customization the time required for design maturation and testing is long Time was one of the major concerns for the first prototype With off the shelf available industrial grade control unit or Programmable Logic Controller PLC which includes the general purpose I O interface and easy to use programming environment the development time is reduced But PLC s are expensive In the end the PLC was used thanks to a donation of the control units by Intech Automation The PLC selected is a Cellular Micro RTU Controller ioLogik W5340 by Moxa Corp This unit in addition to analog and digital interfaces supports GPRS technology for cellular remote monitoring and alarm systems Moxa
80. false F else if OperationMode 1 Manual Nothing Stepi true so if auto loop is broke step2 false Update PWM Values analogWrite ControlValvei ControlValvei Command analogRead values go from 0 to 1023 analogWrite values from 0 to 255 analogWrite ControlValve2 ControlValve2 Command ControlValvei Cmd Map ControlValve2 Cmd Map map ControlValvei Command 0 255 0 100 map ControlValve2 Command 0 255 0 100 Appendix 2 Code 115 Update Relay Status if ControlValvei_Command lt 40 digitalWrite Relay CloseCV1 CVState Force pen else digitalWrite Relay CloseCV1 CVState Analog peration if ControlValve2 Command lt 40 gt 214 digitalWrite Relay CloseCV2 CVState_ForceOpen else digitalWrite Relay_CloseCV2 CVState Analog peration Serial Print This will be done with the flowmeter reading Send all values on the Serial to Raspberry Pi if sensor has been recived in its entierty Serial print Pi pL ES CU Serial print PressureSensori Mapped Serial print P2 Serial print PressureSensor2 Mapped Serial print P S12 Ne Serial print PressureSetpoint1 Serial print P_S2 Serial print PressureSetpoint2 Serial print GV Serial print GenVoltage_Mapped 4 Serial print GenVoltage_Mapped 4 Serial print Cur Serial print Load Current Mapp
81. following d rod diameter 0 0381 m 1 5 Ay rod Area 0 0011 m d piston diameter 0 0762 m 3 As piston Area 0 0046 m l Stroke 0 6096 m 24 dn Nozzle Dia 0 0127 m Port Size 1 2 An Nozzle Area 0 0001 m Table 7 3 Hydraulic Cylinder Data Figure 7 4 Forces acting on the hydraulic cylinder We have calculated theoretical force on the pistons from Wing Wave as 6500N To account for the losses due to real seas issues like different wave incidence angle and mechanical loss for example we will assume that 20 for the force is actually transferred to the pistons Also since the practical data suggests that the most of the WEC have conversion efficiency in this range Babarit and Hals 2011 So the forces acting on the rod chamber and annular chamber of the piston will be 0 2 6524 30 N 1360 92N 7 36 For the given time period we have following no of cycles per minute 30TH24 150 by LION Hydraulics http www monarchindustries com lion hydraulics tie rod cylinders lion th 84 Chapter 7 Mathematical formulation and Validation Cycles min 7 5949 7 37 We assume that the Wing Wave oscillates 10 degrees i e 20 degree or 0 35 rad about the center position x 0 So the net distance d travelled by the piston in one cycle and corresponding average velocity would be d h 0 0 46 0 35 0 16m 7 38 24 Vp T 0 0403 T
82. g Wave Surge Converter maths bris ac uk http www maths bris ac uk marp abstracts single flap 110912 pdf February 5 2013 Power Aquamarine 2012 Oyster 800 Project Orkney http www aquamarinepower com projects oyster 800 project orkney July 20 2013 Price Alexandra Anne Elizabeth 2009 New Perspectives on Wave Energy Converter Control The University of Edinburgh Qureshi Shafiq R Syed Noman Danish and Muhammad Saeed Khalid 2010 A New Method for Extracting Ocean Wave Energy Utilizing the Wave Shoaling Phenomenon 792 98 Renzi Emiliano and Frederic Dias 2012a Hydrodynamics of the Oscillating Wave Surge Converter in the Open Ocean arXiv preprint arXiv 1210 1149 1 25 http arxiv org abs 1210 1149 February 5 2013 2012b Resonant Behaviour of an Oscillating Wave Energy Converter a Channel Journal of Fluid Mechanics 482 510 Richardson Matt and Shawn Wallace 2012 Getting Started with Raspberry Pi http books google com books hl en amp lr amp id xYhMlilTwC4C amp oi fnd amp pg PR2 amp dq Getting4 Started 4 with Raspberry Pi zots W2aggxjbuY amp sig wlZqJefv7LniLU eviCm1qD11P1M July 7 2013 References 101 Rosa AV Da 2005 Fundamentals of Renewable Energy Processes http books google com books hl en amp lr amp id iRRRGiN9vDcC amp oi ind amp pg PP2 amp dq Fundamentals of Renewable Energy Processes amp ots MmpJ3vHCL4 amp si
83. g in the field and to allow use of textual terminal emulators The component used for field level wireless connectivity is a XBee PRO 9 by Digi International XBee modules use the IEEE 802 15 4 networking protocol at 2 4GHz for fast point to multipoint or peer to peer networking The unit selected is rated up to 60mW and could support connectivity up to 1 mile Baudrate for communication is 9600 bps An external antenna was used with P T O raft for better reception 4 2 4 Control Algorithm This section presents the pseudo code for the Arduino and the Raspberry Pi controller Pseudo code for Arduino Controller SETUP Ot Initialize Onboard Hardware Initialize Serial Ports Initialize Control Valves in CLOSE POSITION 19 Web lt http www digi com products wireless wired embedded solutions zigbee r modules point multipoint rfmodules xbee series1 module overview gt Accessed 20 July 2013 42 Chapter 4 Methodology LOOP Ot Check SerialPorti for Input from RASPBERRYPI DataPacket is legit Then Update Command_Signal_Variables Check SerialPort2 for Input from FLOWMETER IF DataPacket is legit Then Update Flow_Variables Read all Analog_Input_Varaibles If Mode is AUTO Then STEP1 If Pressure gt Pressure SetPoint Then Open ControlValve 807 STEP2 Elseif GeneratorVoltage gt 15V Then Open ControlValve 407 STEP3 Elseif GeneratorVoltage gt 15V Then Close ControlValve ElseIf Mode is Manual Then ControlVal
84. g w 4xWYLyHtMCACdYC47yKLsp7__z8 July 16 2013 Shafiee Shahriar and Erkan Topal 2009 When Will Fossil Fuel Reserves Be Diminished Energy Policy http www sciencedirect com science article pii S0301421508004126 July 20 2013 UNDP 2000 Energy and the Challenge of Sustainbility World Energy Assesment Report United Nations Development Programme http www undp org Veritas Det Norske 2012 DN V RP H103 Modelling and Analysis of Marine Operations APRIL 2011 Waters Rafael 2008 Energy from Ocean Waves Uppsala University Wellcare R 2007 Sizing a Pressure Tank http www watersystemscouncil org V AiWebDocs WSCDocs 9884303Sizing a Pr essure Tank FINAL pdf Wikipedia 2013 File Wave Motion il8n mod svg http en wikipedia org wiki File Wave motion il8n mod svg July 20 2013 Zhao 7 Sun Hao and J Shen 2013 Numerical Modeling on Hydrodynamic Performance of a Bottom hinged Flap Wave Energy Converter China Ocean Engineering http link springer com article 10 1007 s13344 013 0007 y April 1 2013 Appendix 1 Publications Paper presented in IEEE Oceans 2012 Conference Note Title page only Complete article can be accessed at http 03 wrapper htm arnumber 6404951 103 104 Appendix 1 Publications Appendix 1 Publications Development of a Wireless Control and Monitoring S
85. he force on rod side of the cylinder piston is given as E 7 39 pa z 2 41 p So the pressure in the cylinder rod side would be N lb 3 97bar 57 71 7 40 in 5 The force on annular side of the cylinder piston and corresponding pressures are TU F 10 7 41 N lb 5 Volume V of the hydraulic fluid pumped out of cylinder chambers is calculated using Y Area stroke 7 42 V rod 0 0005 m3 0 54 liter 0 14 Gal V annular 0 0007 m3 0 72 liter 0 19 Gal So the discharge from both chambers is connected to one common discharge nozzle through a set of check valves So total fluid flow per minute from the cylinder in one minute is given as Cycle 7 43 V 0 7 4 Force Calculations on Piston 85 3 m Q 9 67 LPM 2 55 GPM 0 16 LPS 1 61 x From conservation of mass for incompressible fluid we know Q Ann 7 44 So the fluid velocity from discharge nozzle would be m v 1 26 7 45 86 Chapter 7 Mathematical formulation and Validation 7 5 Hydraulic Work done by the Piston We will use Bernoulli s Equation in this section to find the hydraulic work Munson Young and Okiishi 2002 Length of rubber hose going from Wing Wave to PTO raft is 30 3m Density of the hydraulic fluid fresh water is 1000 kg m The shaft work head h is calculated as following using Bernoulli s Equation The subscript 3
86. hydraulic components should be done keeping in view the system constrains Simulations can greatly assist in this task Integration of additional instrumentation for the wave and power measurement can give valuable information regarding the performance Standalone wave current meters force gauges torque sensor and barometer can be very help in the later analysis An array of pressure gages can be used to map the dynamic pressure profile on the Wing Wave which can be used to find forces acting on the Wing Wave 93 94 Chapter 8 Future Research 8 3 Wave Tank Testing If possible testing of Wing Wave in a controlled environment will provide a much better opportunity to understand the behaviour of the forces acting on the Wing Wave Ocean testing is very tough and often involves many installation and logistic challenges making the full utiliation of the time window hard 8 4 Power System In the next phase of work on the Wing Wave power system should be upgraded to include more efficient hydraulic generator and single three phase convertors The power system should be capable of working at a range of voltage levels from the wave energy convertor For the stability and control a rectifier should be used in first stage for the DC conversion of the electrical output of the WEC and then an IGBT or thyristor based inverter for the regeneration of AC power with the stable frequency and voltage Chapter 9 Conclusion One of the main goals
87. ient leur poids et leur volume La masse norme d un vaisseau de ligne qu aucune puissance connue ne serait capable de soulever ob it cependant au moindre mouvement de l onde Qu on suppose un instant par la pens e ce vaisseau suspendu l extr mit d un levier et l on concevra l id e de la plus puissante machine qui ait jamais exist C est principalement sur ce mouvement d ascension et d abais sement des vagues qu est fond e la th orie des nouvelles machines que nous proposons His work includes the early design of Oscillating Water Column and self powered navigation buoys Polinder and Scuotto 2005 First wave of interest in ocean wave energy was triggered by the oil crisis in 1973 Severe oil shortage forced governments in Northern Figure 3 1 Patent by Girad in 1799 European countries to initiate big scale Polinder and Scuotto 2005 research projects for alternate energy resources including wave energy In 1974 Salter s duck or nodding duck invented by Stephen Salter at University of Edinburgh was able to show up to 81 efficiency Cruz 2008 Among other prominent researchers of that time were Johannes Falnes from Norwegian Institute of Technology and Michael E McCormick from the U S Naval Academy In 1981 McCormick authored the book Ocean Wave Energy Conversion Michael E McCormick 1981 which is considered as the leading work in this field 17 18 Chapter 3 Project Background I
88. inally reaches to 50 PSI Dataset 8 and 11 also show results with one piston Maximum generator output was recorded up to 50 V whereas maximum flow was recorded up to 60 liter per min The very low flow rate of hydraulic piston was the reason for the long time taken for the pressure buildup and the small time for generator operation Chapter 6 Deployment 66 Dataset03 20130619 182405 csv DP 241 ES wg E Voltage 4 o CV Position a 0 50 o 5 p E 5 gt o 3 _ 0 50 100 150 200 250 300 350 400 450 500 5 8 4 3 P 1 8 ressure 20 Pressure2 2 Flow 9 7 200 o 0 50 100 150 200 250 300 350 400 450 500 a Time seconds Dataset04 20130619 195516 ts csv DP 735 ES T 100 5 Voltage 5 CV Position 80 50 o 2 5 o 8 _ 0 200 400 600 800 1000 1200 1400 5 So E AA A ERE era 20 NE Pressure 1 a Pressure2 5 Flow 0 o 0 200 400 600 800 1000 1200 1400 a Time seconds Dataset06 20130619 210655 csv DP 477 x y as 100 5 Voltage E o CV Position ze V V V V 80 g 9 5 o 8 _ 0 200 400 600 800 1000 1200 1400 8 5 3 I 2 Pressure 1 20 Pressure2 2 Fl
89. indicator of the energy conversion ability of the WEC It is the ratio of the power absorbed by WEC output and the power per meter of incident wave crest Price 2009 The incident power over a unit width of wave front or energy flux is given as Qureshi Danish and Khalid 2010 pgHiT kW 7 26 0 5H2T 641 5 m P Where 1 4 Hayg and H is the significant wave height kW W P 0 717 717 29 m m Capture width ratio for the device in the given conditions would be Price 2009 114 80 i e 717 29 Relative Capture Width mis 507 elative Capture Wi Width For the sake of comparison relative capture width of the commercial flap type devices Oyster and Langlee is between 15 35 Babarit and Hals 2011 7 2 6 Surge Wave Force Calculation The surge force on the body can be estimated as function of body s displaced mass and added mass and water particle acceleration S M Folley Whittaker and Henry 2007 So the added mass for the Wing Wave is Veritas 2012 Maaa 1 51 9606 20kg 7 28 a is the half of the characteristic length of rectangular body flap width in this case So the wave surge force can be shown as F M Mj o 296 23N 7 29 7 3 Morrison Equation and Force Coefficients 81 7 3 Morrison Equation and Force Coefficients Morison equation is used to evaluate foces acting on body in an oscillatory flow Havn 2011
90. ion available AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN U CZ DE DK DM DZ EC iG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KM KN KP KR KZ LC LK LR LS LT LU LV LY MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW 84 Designated States unless otherwise indicated for every kind of regional protection available ARIPO BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW Eurasian AM AZ BY KG KZ MD RU TJ TM European AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU LV MC NL PL PT RO SE SI SK TR OAPI BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG Published with international search report For two letter codes and other abbreviations refer to the Guid ance Notes on Codes and Abbreviations appearing at the begin ning of each regular issue of the PCT Gazette 54 Title APPARATUS AND CONTROL SYSTEM FOR GENERATING POWER FROM WAVE ENERGY 57 Abstract The present invention relates to a wave energy conversion device 1 for use in relatively shallow water which has a base portion 2 for anchoring to the bed of a body of water 6 and an upstanding flap portion 8 pivotally connected 12 to the base portion The flap portion is biased to the vertical and os
91. l ocean energy is still an emerging field that is lagging behind the renewable agenda of most countries Ocean energy technology being in the experimental and demonstrational phase of development currently has a high cost for power generation especially with extreme ocean weather conditions and growing power quality requirements These and other inherent factors in designing for the ocean create tough engineering problems when balancing efficiency reliability and economics with respect to ocean energy systems The challenges including the inherent unstable and uncertain nature of ocean energies management of marine electric grids and stable integration of large amount of renewable energy have imposed issues in the form of additional system requirements and corresponding costs To ensure successful and smooth integration of the oceanic renewable energy generation into large power systems it is necessary to develop methods and tools for faster reliable low cost and effective evaluation of the ocean energy conversion technologies Such tools can be indispensable for concept verifications on a small scale e g research and development and aid in the rapid and successful transformation of ocean renewable energy technologies from prototype to full scale matured systems One aspect of any ocean energy system is to have a reliable sophisticated and robust controlling mechanism to integrate offshore and onshore power systems 2 This pape
92. lPort1 StopBits I0 Ports StopBits One SerialPorti DataBits 8 Open our serial port SerialPort1 Open btnConnect Enabled False Disable Connect button btnDisconnect Enabled True and Enable Disconnect button End Sub Private Sub btnConnect_Click_1 ByVal sender As System Object _ ByVal e As System EventArgs Handles btnConnect Click SerialPorti PortName cmbPort Text Set SerialPorti to the selected COM port at startup SerialPort1 BaudRate cmbBaud Text Set Baud rate to the selected value on Other Serial Port Property SerialPorti Parity IO Ports Parity None SerialPorti StopBits I0 Ports StopBits One Appendix 2 Code 119 SerialPorti DataBits 8 Open our serial port SerialPort1 Open btnConnect Enabled False Disable Connect button btnDisconnect Enabled True and Enable Disconnect button End Sub Private Sub btnDisconnect_Click ByVal sender As System Object ByVal e As System EventArgs SerialPort1 Close Close our Serial Port btnConnect Enabled True btnDisconnect Enabled False End Sub Private Sub btnSend_Click ByVal sender As System Object ByVal e As System EventArgs SerialPort1 Write txtTransmit Text amp vbCr The text contained in the txtText will be sent to the serial port as ascii plus the carriage return Enter Key the carriage return can be ommitted if the other end does not need it End Sub Private Sub cmbPort SelectedIndexChanged ByVal sender As System Object ByVal e As S
93. lowT Text Datal Flow_Total blFlowLPM Text Datai Flow LPM Appendix 2 Code 121 End lblPressureiMax Text lblPressure2Max Text lblFlowLPH Text Datal Flow_LPH lblOpMode Text Datai OpMode txtPressure1SP Text Datai PressureiSP txtPressure2SP Text Datai Pressure28P txtCV1 Cmd Text Datal CVCmdi txtCV2 cmd Text Datal CVCmd2 txtOpmode Text Datai OpMode lblGoodPackets Text GoodPacket lblBadPackets Text BadPacket If Datal Pressurel gt 1blPressureiMax Text Then lblPressureiMax Text Datai Pressurei End If f Datal Pressure2 gt 1blPressure2Max Text Then lblPressure2Max Text Datal Pressure2 End If f Datai Voltage gt 1blGeneratorVMax Text Then lblGeneratorVMax Text Datal Voltage End If f Datal Flow_LPM gt 1b1FlowlpmMax Text Then lblFlowlpmMax Text Datai Flow LPM End If 0 0 lblGeneratorVMax Text 0 lblFlowlpmMax Text 0 End Sub Private Sub BtnContrlCommand Click 1 ByVal sender As System Object ByVal e As System EventArgs _ Handles BtnContrlCommand Click SerialPorti Write txtPressurelSP Text amp amp txtPressure2SP Text amp amp txtCV1 Cmd Text amp txtCV2 cmd Text amp txtOpmode Text amp vbCr End Sub Private Sub Buttoni Click ByVal sender As System Object ByVal e As System EventArgs _ Handles Buttoni Click objWriter Close End Sub End Class Appendix 3 Patents for Flap type WEC Titles for the patents
94. lter Duck is a teardrop shaped wave terminator system oriented perpendicular to the direction of the wave with the nose of the teardrop facing the oncoming wave The device was designed to rotate and bob up and down as a wave passes 3 The bobbing and rotating motion is used to pump hydraulics which drives an electrical generator So the GECCO is a floating heave surge attenuator that works with a combination of a mechanical and a hydraulic system in unison The GECCO harvests not only the energy of the big swells of the ocean but the small capillary waves by the addition of Stephen Salters Salters Ducks Different configurations of 105 Appendix 2 Code A2 1 Raspberry Pi Python usr bin env python Author Ismail Sultan Filename FinalCodev2 py Date 15 June 2013 Constants Definition import datetime import time import os import RPi GPIO as GPIO import eeml import eeml datastream import eeml unit import serial EA Constants Definition DEBUG 1 LOGGER 1 A ucc EE EE RUD EIE EM ILS Serial Data log from Arduino Initilaize Arduino Serial port dev ttyACMO serialFromArduino serial Serial port 9600 serialFromArduino flushInput Initialize Xbee Serial serialPortXbee serial Serial dev ttyAMAO 9600 timeout 0 01 if serialPortXbee isOpen False serialPortXbee open serialPortXbee flushInput serialPortXbee flush0utput Initiliaze
95. m hinged WaveRoller Oyster Shoreline with concentration TAPCHAN Overtopping In breakwater without concentration SSG with low head hydraulic turbine F Figure 3 2 Different types of Wave Energy Technologies Falc o 2010 Overtopping Device Oscillating Water Column OWC Wave Activated Bodies Pitch Surge Figure 3 3 Illustrations for types of wave energy technologies Pecher 2012 3 3 Current Commercial scale WEC 21 3 3 Current Commercial scale WEC Table 3 1 presents some WEC that have been already launched or are being launched commercially in the last decade SSE Renewables Treland Canada surge converter AquaBuO Y B Offsh 2003 guapa Ltd Scotland nd uiros A face followi AWS iii UK g Offshore 2010 Energy attenuator A i illati Oyster men UK er Near shore 2005 Power surge converter Pelami Surface followi Pelamis 222 Offshore 1998 Power attenuator Wave D nn D k Overtopping devi Offsh 2003 ave Dragon Priis Madsen enmar vertopping device shore Oscillating wave WaveRoller AW Energy Oy Finland Near shore 1999 Table 3 1 Some Prominent Commercial WEC Figure 3 4 Photographs of commercial WEC in order of Table 3 1 22 Chapter 3 Project Background 3 4 Interest in Near to shore and Flap type Convertors Since Wing Wave is a bottom hinged flap type convertor design for installation i
96. mote connectivity to view real time operational status 5 Data backup plans both local and remote One additional aspect of this project was the fact that the primary element was underwater This made problem identification relatively hard and tedious because of access limitations Carrying cables from sea floor to surface is not easy due to unpredictable sea states Attempts were made to consider all the above points in the final design Figure 4 1 presents a modular overview of the project Figure 4 1 shows the energy flow through the overall project Wave energy from the WEC Wing Wave is converted to hydro mechanical energy by hydraulic part of the Power Take off system Then it is converted to electrical energy through the Pelton turbine and coupling alternator The power module of the main control unit regulates and conditions it for the system test load The control and data acquisition module system controls the hardware logs all instrumentation data locally and transmits it wirelessly to the remote user workstation The power take off system and control unit are housed on the PTO raft 4 1 Design Requirements 31 anchored near the WEC during the deployment The PTO raft is designed so as to protect the sensitive electrical and hydraulic components from the harsh marine environment In following sub sections methods for each block are explained with the details of both first and second prototype of PTO system 32 Chapter 4 M
97. n near to shore it is relevant to present the background of the recent developments for this type of WEC Historically most research efforts and investment in the ocean energy technologies focuses on shoreline oscillating water column devices and offshore floating devices Zhao et al 2013 The main factors contributing to fewer near shore devices are complications in design and maintenance issues Also in terms of potential wave energy the near shore locations are considered inferior to offshore regions However recent studies show a promising future in near shore devices Folley and Whittaker demonstrate that although the total near shore wave energy power is notably reduced as compared to off shore the exploitable power is still significant M Folley and Whittaker 2009 Figure 3 5 presents a comparison of gross or total energy with the exploitable energy In addition to this near shore area also offers comparative advantage of easy deployment maintenance and repair Flap type bottom hinged wave energy converters have been identified as an effective design for harvesting energy in near shore locations This design is categorized as oscillating wave surge converter or OSWC by European Marine Energy Centre EMEC In last decade many research publications have covered the theoretical aspects of mathematical model for Seabed Mounted Bottom Hinged Wave Energy Converters E Renzi A Abdolali G Bellotti 2012 M Folley 2004 Porter
98. n recent years there has been a growing focus globally on the development of economical and efficient conversion technologies for the ocean energy The work in this thesis presents a system for power conversion and extraction truning the ocean s waves energy into electrical energy The main goal of the study was to design and develop a Power Take off system for the Wing Wave a flap type sea bed mounted wave energy converter WEC The power take off system consisted of hydraulic electrical and control subsystems to evaluate the performance of Wing Wave The wave energy was captured in form of hydro mechanical energy by the pistons coupled with the flap of Wing Wave This hydraulic energy was then converted to electrical energy by an impulse type turbine The control system was designed with wireless data acquisition capability for the remote viewing and control Full scale prototypes of the power take off system were deployed and tested using the Wing Wave in the summer of 2012 and 2013 The prototypes successfully demonstrate the wave energy capture in the deployment Index Terms Ocean Energy Wave Energy Wave Energy Convertors Wireless Power take off Renewable energy vi I am a citizen of the most beautiful nation on earth a nation whose laws are harsh yet simple a nation that never cheats which is immense and without borders where life is lived in the present In this limitless nation this nation of wind light
99. n the 1980s as the oil price industry regained stability both the immediate need and the funding for wave energy research was drastically reduced Between 1980 s and 2000 though the research work was being carried on by the individual researchers and academic institutions there was no major drive from the governments This situation changed in the 2000 s for the ocean energy when global warming and depleting oil resources generated a global interest for renewable energy including ocean energy In 2011 for the first time the investment in renewable energy surpassed that in the fossil fuels for the new power plants in USA 2 lt http www bloomberg com news 2011 11 25 fossil fuels beaten by renewables for first time as climate talks founder html gt Web accessed 20 July 2013 3 2 Classification 19 3 2 Classification There is a wide range of concepts and applications that can be used for the energy extraction from ocean waves This is the reason wave energy can be classified into many types Major classifications used generally are as following Pecher 2012 1 Fundamental physics a Terminator These gather a wave s energy and stop the forward propagation of the wave Attenuator These attenuate the wave These are generally surface float type hinge connected units Point Absorbers These are stationary devices and work on the differences in pressure and or elevation in the surface of the ocean Overtop
100. nooncnnonncnoncnnonncnnanonnnnnnnononnnnnonn 53 Figure 5 4 PTO system being tested with utility 53 Figure 5 5 Dataset for PTO testing 1 esee eene 54 Figure 5 6 Dataset PTO testing 2 eese enne n 54 Figure 6 1 Deployment Location eese nennen ener nennen 55 Figure 6 2 Deployment configuration for 2012 sse eene eene 56 Figure 6 3 PTO raft during deployment esses enne 57 Figure 6 4 Wing Wave during deployment 000000010 57 Figure 6 5 Wave and Period rose for the deployment summer 2012 sess 58 Figure 6 6 Datasets recorded in Deployment 2012 sees 60 Figure 6 7 Deployment Configuration for 2013 eene 61 Figure 6 8 PTO raft during 63 Figure 6 9 Wing Wave during deployment 63 Figure 6 10 Upper half Wave and Period Rose for June 2013 Lower half Time series plot for Waive Height and period 64 Figure 6 11 Dataset recorded for deployment 2013 sss 66 Figure 6 12 Dataset recorded for deployment 2013 see 67 Figure 6 13 Dataset recorded in the deployment 2013 esee 68 Figure 7 1 Geometry of the Flap type converter a section b plan Renzi and Dias DOV DE
101. nteraction with Electrical Networks c Knauss John 2005 Introduction to Physical Oceanography Koivusaari Rauno 2007 A PROCESS FOR UTILISING WAVE ENERGY EP 1 444 435 B1 1 19 1 10 http www freepatentsonline com EP1444435 html February 11 2013 Michael E McCormick 1981 Ocean Wave Energy Conversion 2007th ed Dover Publications Inc MuellerI M A and N J Baker 2005 Direct Drive Electrical Power Take off for Offshore Marine Energy Converters May 223 34 Munson B R D F Young and T H Okiishi 2002 3 Interface Fundamentals of Fluid Mechanics Nybakken JW and SK Webster 1998 Life in the Ocean Scientific American Presents The Oceans http www sciamdigital com gsp qpdf cfm ISSUEID_CHAR CCDFDD34 5FEF 100 References 40EF 92AC 871561B2F37 amp ARTICLEID_ CHAR FFA757E9 9492 47EA 9CDA 440B54B4111 July 20 2013 Pecher Arthur 2012 forskningsbasen deff dk Performance Evaluation of Wave Energy Converters Aalborg University Aalborg Denmark http forskningsbasen deff dk Share external sp S35f667a4 fb2a 417a 8be4 2 7250723e65 amp sp Saau February 10 2013 Polinder Henk and Mattia Scuotto 2005 Wave Energy Converters and Their Impact on Power Systems Future Power Systems 2005 1 9 http ieeexplore ieee org xpls abs all jsp arnumber 1600483 July 17 2013 Porter R and N R T Biggs 2012 Wave Energy Absorption by a Flap type Oscillatin
102. on In this section a comparison is presented between the measured values in deployment and predicted in this section It can be seen that for the given conditions and assumptions the predicted and measured values for the hydraulic PTO system show close match However this should be kept in mind that this comparison is only for a reference to understand the deployment results The predicted values are calculated on the basis of assumptions The deployment values are the maximum values recorded whereas the predicted values are calculated for flap at x 0 position where forces acting on piston are maximum and 20 efficiency For the realistic comparison more instrumentation and detailed model are required Hydraulic pressure at cylinder discharge nozzle P4 Measured Value 3 30 x 105 N m 49 PSI Figure 6 12 Predicted Value 3 79 x 10 N m 55 PSI Eq 7 40 Hydraulic Flow Q Measured Value 38 LPM Figure 6 12 Predicted Value 9 67 LPM Eq 7 43 Hydraulic Velocity 71 Observed Value 1 53 m s Predicted Value 1 26 m s Eq 7 45 Comment Observed value is based on 12cm vertical height achieved by the hydraulic fluid when PTO hose was disconnected using Newton s equation of motion 205 vf vj Backup Time by Accumulator Tpp Measured Value 75s Figure 6 12 Predicted Value 162 s Eq 7 56 Comment The observed time backup as seen in deployment results is less because the actual flow rate from piston was lower
103. on ista cdi cado ire ia ia ida 74 7 2 2 Wing Wave Design and 75 7 2 3 Wave Orbital calculation nic eret ite eite hn e baii daria i n 77 7 24 Wave Force calculation McCormick eee 78 7 2 5 Capture Width eene 80 7 2 6 Surge Wave Force een nennen 80 7 3 Morrison Equation and Force Coefficients oooconnoncccnonocccnnnonnccnnnancnnnnnnnccnnnnnccnnnnnnos 81 7 4 Force Calculations on P18b0n tn ore tr C de or end dt De dr cae 83 7 5 Hydraulic Work done by the Piston oooncnnnnccnnocccnoancnnancnnancnnnnncnnccnna conan eene 86 7 6 Hydraulics Accumulatotrs dee Ba en 87 7 7 Deployment Result Validation nn cana eene 89 Part V Conch sion iia dsd ds dia dados 91 Chapter 8 Fut re Research A e eter ee ege ees 93 8 1 Simulation and Modeling en en een 93 8 2 Hydraulics and Instrumentation digs 22 pre irte the rd eee nl 93 8 3 Wave Tank Testing nn rrt e tr ee eR err eto Ul ree t erga 94 8 4 Power System eld eu ree eder RO CR Toe En 94 Chapter 9 n Ee eer e Bo ott e recte e teet doe 95 References ce otc rir nere Gra rco dh oca od Per a dh er ado Port i Ra 97 Appendix I Publicationgs 2 sisi hall eect let eie ob tit loeo etes ete e Rite 103 Appendix 2 Codemasters 107 A2 1 Raspberry Pi Python aiii da 107 A2 2 Arduinoa
104. on of the flap is constrained by the pistons attached to the flap The hydraulic pumping function of the pistons also make them to act like as a damper against the motion of the flap 76 Chapter 7 Mathematical formulation and Validation gt Hf gt Q2 L Figure 7 2 Wing Wave and wave variables By Width of Flap 2 42 m Two 4 ft wide wings hy Height of Flap 1 82 m 6 ft tr Flap Thickness 0 01 m V Flap Volume 0 06 m3 Mass of Flap 136 36 kg pr Flap density 2450 25 kg m3 Height of Piston hy 0 46 m 18 inches Connection Lr Stroke length 0 61 m 610 mm or 24 inches Table 7 1 Wing Wave Design Data H Wave Height 0 30 m L Wavelength 76 80 m T TimePeriod 7 92 s p Density 1025 00 kg m3 g gravity 9 80 m s2 Seawater Kinematic 1 05E 06 m2 s Viscosity f frequency 0 13 Hz Angular Frequency 0 79 rad s k Wave Number 0 08 1 m h Depth 10 00 m Distance between top of 8 18 hi m flap and surface Table 7 2 Wave Data 7 2 Wave Force Calculations on Wing Wave 77 7 2 3 Wave Orbital calculation The wave induced dynamic pressure is given as 0 pgH 7 9 Wc rr cos wt The point at which force due to dynamic pressure acts on is at depth Sa Pazdz jf e zdz ekkh h hk 7 10 f i pa dz i ekz dz ekh _ ekh k Z
105. otypes for year 2008 model 2010 2011 and 2012 13 3 5 Wave energy research at FIT 25 movement up to 30 Due to successful working of 2011 prototype Wing Wave the same design was continued in 2012 A similar sized composite wing was added in the design So the combined dimensions of the unit were 6 tall x 8 wide Resin 3 thick with alternating prism support beams 8 wide bases and 6 wide top were used The approximate weight of each panel was 150 lbs The wings were attached to an aluminum frame which was bolted directly to the sea floor via sand screws This design was again successfully deployed in summer 2012 and 2013 For these deployments Wing Wave was connected to PTO system this thesis details of which are presented in the next section Figure 3 6 shows the pictures of Wing Wave from 2008 to 2013 26 Chapter 3 Project Background Part Il Hardware Design and Construction Chapter 4 Methodology Earlier deployments of WEC by Ocean Engineering department Florida Tech were focused on the concept verification of the WECs which was demonstrated successfully One of the main goals of work in 2012 and 2013 on the Wing Wave was to develop a basic setup for the evaluation of the electrical generating potential of the device In addition to this operational data acquisition was desired to understand and identify the areas for further design improvements This section presents the details of the de
106. ow El 2 0 o 0 200 400 600 800 1000 1200 1400 Time seconds Figure 6 11 Dataset recorded for deployment 2013 6 2 Deployment 2 Summer 2013 67 Time seconds Figure 6 12 Dataset recorded for deployment 2013 Dataset07b 20130620 081016b csv DP 2268 100 T I I I 100 soll Voltage i o 60 Position S 40 350 5 20 0 0 _ 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5 gt I I 2 40 ES ressure D H Flow 5 a p 0 500 1000 1500 2000 2500 3000 3500 4000 4500 a Time seconds Dataset08 20130620 110732 ts csv DP 719 100 7 100 80 e Voltage 60 7 S 40 CV Position 450 gt 20 0 0 O 200 400 600 800 1000 1200 1400 5 40 xm Pressure 1 9 59 _ m Pressure2 i Flow 0 eS Y A 0 200 400 600 800 1000 1200 1400 Time seconds Dataset11a 20130620 123534a csv DP 1012 40 100 Voltage CV Position S 20 50 5 gt 0 0 _ 0 500 1000 1500 2000 2500 5 z 60 I 2 APTA Pressure 1 ad El ad MN Pressure2 2 20 Flow a ERA NNI OEE I
107. p 9 07m This point of force on flap with respect to the seabed is at h Z 10 9 06 m 0 93m Horizontal Velocity at surface and flap is _ gHk cosh k h z 7 11 20 cosh kh inch ulz o 0 154 E Ulzoz 01141 4 47 75 Vertical Velocity at surface and flap top is _ Ho sinh k h z 7 12 2 sinh kh 0 1217 at z 0 wlz z 0 017 at z 2 Horizontal Acceleration at surface and top is Du cosh k h z 7 18 o in kx ot e A m m 0 142 at z 0 l 0105 Vertical Acceleration at surface and flap top is 78 Chapter 7 Mathematical formulation and Validation Dw H sinh k h z 7 14 eWw 2 DEC oo OEC 0 096 7 W z z 0 008 Deep water displacement at z 2 is H 2kz Sowlz 0 7e 0 152m H pwlz z qe 0 0344m Horizontal displacement for this depth is S M Folley Whittaker and Henry 2007 1 7 16 ipw E OBERE ru Ema tanh kh 1 2 0 0483m 7 2 4 Wave Force calculation McCormick The force due to this pressure on flap is E BspgH e kh _ g kh 7 17 F Pa 2 2 cos ct F 3201 85 N 719 80 lb Now for the force transmitted to the hydraulic piston we consider the moment acting on flap at point O F hp F Z 7 18 6524 30N 1466 72 lb The total wave energy transferred to the piston over one wave period is 7 2 Wave Force
108. pid and successful transformation of ocean renewable energy technologies from prototype to full scale matured systems 1 2 Problem Statement The Ocean Engineering Department at Florida Institute of Technology FIT is currently working on two prototypes of Wave Energy Convertors WEC Wing Wave a sea bed mounted bottom hinged type WEC that captures energy from the horizontal component of wave orbitals at varying depths and GECCO a surface floating attenuation WEC for harnessing surface waves Concept verification of these WEC s designs was done in 2010 and 2011 Sea test scale models were developed and successfully deployed However no Power Take Off PTO system was designed to capture the energy and convert it to electricity Furthermore there was limited instrumentation on these WECs which was not sufficient to understand the operational performance completely In 2012 and 2013 focus of the work on the Wing Wave and GECCO was broadened to develop a basic Power Take Off PTO for the evaluation of the electrical generating potential of the devices Later in 2013 it was decided to focus on Wing Wave only for Figure 1 2 Left Wing Wave WEC Right GECCO WEC 6 Chapter 1 Introduction development to save efforts and time 1 3 Scope and objectives The main goal of this thesis is to evaluate the wave energy capture potential of the Wing Wave through testing and real sea deployment To achieve this goal following objecti
109. ping Devices These collect and fill water in a chamber and use the potential energy of stored water Surge Convertor They capture the wave surge and have pitching movement about a hinge 2 Location a Shoreline These are placed on the seafloor in shallow water or integrated in breakwater like structures Near to shore These are deployed in up to 20m deep water between 1 10 kilometers away from the shore Offshore These are kept floating or submerged in deep waters and are moored to the seafloor These are exposed to the extreme harshness of the sea environment 3 Operating Principle or Force a Buoyancy force b Wave force c Pressure differential 4 PTO Type a Air Water turbine b Pressurized hydraulics c Mechanical d Linear generators Figure 3 2 and Figure 3 3 show the classification proposed by Falc o 2010 and their illustrations 20 Chapter 3 Project Background Isolated Pico LIMPET Oscillating water In breakwater Sakata Mutriku column Fixed structure with air turbine Floating Mighty Whale Ocean Energy Sperboy Oceanlinx Essentially translation heave AquaBuoy IPS Buoy FO3 Wavebob PowerBuoy Floating Oscillating bodies with hydraulic motor Essentially rotation Pelamis PS Frog SEAREV rotation Pelamis PS Frog SEAREV hydraulic turbine linear electrical generator Essentially translation heave AWS Submerged Rotation botto
110. pt To determine these forces and moments accurately we will have to find several system variables including radiation coefficient spring coefficent damping coeffcient and frictional losses which would require additional instruments and numerical analysis beyond scope of this thesis A basic analysis for the incident energy calculation is presented in the next section 7 2 Wave Force Calculations on Wing Wave 75 7 2 2 Wing Wave Design and Assumptions Basis of the wave force calculation in this section is the work on a bottom mounted flap from book Ocean Wave Energy Conversion Section 4 1 E Michael E McCormick 1981 To simplify calculations we will assume forces on a plain flap of dimensions of Wing Wave in vertical position x 0 No side or top panel will be considered Table 7 1 presents the Wing Wave variables which will be used in the follwing calculations We will assume a monochromatic sea with one single wave for the force calculation on the Wing Wave Table 7 2 presents the wave data From the discussion in Chapter 2 Theory earlier that the water particles in deep water rotate in circular orbits with radius which is exponential function of the depth In shallow water these motions become elliptical with almost constant horizontal displacement and decreasing vertical displacement The flap type WEC oscillates back and forth due to the dynamic pressures induced by the particle motions The horizontal moti
111. r proposes one such tool a small scale portable and universal Power Control and Monitoring Unit PCMU for the design and performance evaluation of wave energy converters WECs BACKGROUND The Ocean Engineering Department at Florida Institute of Technology under the direction of Stephen L Wood Ph D P E has been developing ocean energy systems both above and below the surface since 2007 Currently there are two prototypes WEC s under development at FIT Wing Wave sea bed mounted bottom hinged type WEC that captures energy from the horizontal component of wave orbitals at varying depths and GECCO a surface floating attenuation WEC tor hamessing surface waves The Wing Wave system is designed to capture energy from ocean waves at a depth of 10 to 15 meters and produce electricity This production of electricity is by hamessing the oscillatory motion of water particles Particles follow an elliptical path under a shallow water wave As depth increases the horizontal movement of the particles rotation remains the same while the vertical movement decreases in shallow water This causes the motion close to the ocean floor to oscillate in an almost exclusively horizontal direction The GECCO Green Energy Coastal Collection Operation flcats atop the ocean surface and articulates about a fixed hinge and is freely moored to the ocean floor GECCO uses the Salter Duck technology to capture the rotational motion of the waves The Sa
112. racter is a lt CR gt set the flag Serial Port 2 From Flow Sensor This will built the complete string Total_Volume LPM LPH void serialEvent2 if the hardware serial port_2 receives a char char inchar2 char Serial2 read get the char we just received sensorstring inchar2 add it to the inputString if inchar2 r sensor_stringcomplete true sensorstringFinal sensorstring sensorstringFinal replace sensorstringFinal trim Flow_Total getValue sensorstringFinal 0 loat f atof carray Flow_LPM getValue sensorstringFinal 1 Flow_LPH getValue sensorstringFinal 2 sensorstring clear the string Serial print Flow_Total 3 if the incoming character is a CR set the flag float getValue String data char separator int index int found 0 int strIndex 0 1 int maxIndex data length 1 Appendix 2 Code 113 String finalstring float finalfloat for int i 0 i lt maxIndex amp amp found lt index i if data charAt i separator i maxIndex found strIndex 0 strIndex 1 1 strIndex 1 i maxIndex i finalstring found gt index data substring strIndex 0 strIndex 1 char carray finalstring lengthO 1 determine size of the array http forum arduino cc index php topic 45357 0 html finalstring toCharArray carray sizeof carray put readStringinto an
113. rgs Handles Me FormClosing objWriter Close End Sub Private Sub frmMain Load ByVal sender As System Object ByVal e As System EventArgs Handles MyBase Load myPort IO Ports SerialPort GetPortNames Get all com ports available cmbBaud Items Add 9600 Populate the cmbBaud Combo box to common baud rates used cmbBaud Items Add 19200 cmbBaud Items Add 38400 cmbBaud Items Add 57600 cmbBaud Items Add 115200 For i 0 To UBound myPort cmbPort Items Add myPort i Next cmbPort Text cmbPort Items Item 0 Set cmbPort text to the first COM port detected cmbBaud Text cmbBaud Items Item 0 Set cmbBaud text to the first Baud rate on the list btnDisconnect Enabled False Initially Disconnect Button is Disabled Control CheckForIllegalCrossThreadCalls False objWriter WriteLine String Join vbTab New String Date Time P1 P2 PSP P2SP GV Current Temp B12V _ B24V CVFB1 CVFB2 CV CMDi CV CMD2 FlowVol _ FlowLPM FlowLPH lblPressureiMax Text lblPressure2Max Text lblGeneratorVMax Text O lblFlowlpmMax Text O End Sub Private Sub btnConnect Click ByVal sender As System Object ByVal e As System EventArgs SerialPorti PortName cmbPort Text Set SerialPorti to the selected COM port at startup SerialPorti BaudRate cmbBaud Text Set Baud rate to the selected value on Other Serial Port Property SerialPorti Parity I0 Ports Parity None Seria
114. rol Valve 1 Command 0 100 0 10V 2 Control Valve 2 Command 0 100 0 10V 3 Control Valve 1 Force Close Digital 4 Control Valve 2 Force Close Digital 4 2 Power Take off System Control Design 39 Industrial grade general purpose 4 20mA pressure transmitters by Wika are used for pressure measurement All wetted parts are made in stainless steel 316L The range is 0 to 1 379 kPa or 0 to 200 psi with 0 5 accuracy For flow measurements a paddlewheel based flowmeter RotorFlow RF 2500 Model 194761 from GEMS Sensors is used The sensor provides high speed pulses from an integrated Hall Effect sensor in the flowmeter This can measure up to 30 Gallons minute or 114 liters per minutes with 15 accuracy Housing and wetted parts are made of brass One help feature is a glass panel on the wheel side that helps visual confirmation For the interface with control system FLO 30 card from Atlas Scientific is used This card measures the incoming pulses from flowmeter and sends the calculated values for total volume flow in LPM and flow in LPH in serial format For measurement of generator output voltage battery voltage and load current a simple voltage divider based signal conditioning card is used as input for the controller In deployment 2012 solenoid valves 12Vdc Normally Closed 2 way Stainless Steel are used for controlling the flow in the hydraulic system In 2013 these are replaced with siz
115. s a high pressure fluid output that may be used to drive a reverse osmosis desalination unit or to produce other useful work Seawater or brackish water may be desalinated through reverse osmosis membranes to produce water quality for consumption agricultural or other uses The submerged operating environment of the device in a region of one half the design wavelength provides the maximum available energy flux and forced oscillations The pump may be of the positive displacement piston type plunger type or multi staging driver type or a variable volume pump 20 Claims 7 Drawing Sheets 134 Appendix 3 Patents for Flap type WEC Appendix 3 Patents for Flap type WEC 135 12 INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY PCT 19 World Intellectual Property Organization International Burcau 43 International Publication Date November 2007 08 11 2007 51 International Patent Classification F03B 13 18 2006 01 21 International Application Number PCT F12007 000108 22 International Filing Date 24 April 2007 24 04 2007 25 Filing Language Finnish 26 Publication Language English 30 Priority Data 20060408 28 April 2006 28 04 2006 71 Applicant for all designated States except US AW EN ERGY OY FI FI Lars Sonckin 16 FI 02600 Espoo FD Inventors and Inventors Applicants for US only J RVINEN Arvo FI FI Koivumiientie 13
116. se are the values for the PWM Control Valves INPUT STRING Format ASCII 100 100 50 50 O CR CV1 CV2 PressureSetpointi PressureSetpoint2 OperationMode CR Delimiter space void serialEvent if the hardware serial port 0 receives a char char inchar char Serial read get the char we just received inputstring inchar add it to the inputString if inchar r 112 Appendix 2 Code input_stringcomplete true inputstring trim inputstringFinal inputstring sensorstringFinal replace sensorstringFinal trim PressureSetpointi int getValue inputstringFinal 0 PressureSetpoint2 int getValue inputstringFinal 1 ControlValvei_Commandi00 int getValue inputstringFinal 2 ControlValve2_Command100 int getValue inputstringFinal 3 OperationMode int getValue inputstringFinal 4 ControlValvei_Command100 constrain ControlValvei_Command100 16 100 ControlValve2_Command100 constrain ControlValve2_Command100 16 100 PressureSetpointi constrain PressureSetpointi 5 200 Change from 25 100 t o5 200 PressureSetpoint2 constrain PressureSetpoint2 5 200 OperationMode constrain OperationMode 0 1 ControlValvei_Command map ControlValvei_Command100 0 100 0 255 ControlValve2_Command map ControlValve2_Command100 0 100 0 255 Serial print Done inputstring F if the incoming cha
117. sign and components selection for both first 2012 and second 2013 PTO prototype 4 1 Design Requirements The principal requirement regarding the testing and performance evaluation of prototype WEC s was to design and develop a modular system for the energy conversion from WEC safe dissipation of the generated energy and logging of the real time system parameters electrical and process for analysis There were number of issues which had to be kept in mind while designing the system 1 Time availability 2 Budget 3 Deployment Issues 4 Access for troubleshooting 5 Potential loss of device and data 6 Team Experience There is always a factor of uncertainty and tough engineering constraints when it comes to the oceanic environment With the sensitive electrical and control components where a small mechanical shock or minor moisture ingress can result in permanent loss of devices the design criterion becomes more complicated A simple failure could cost heavily in terms of time loss or functionality due to limited access 29 30 Chapter 4 Methodology Figure 4 1 Functional block diagram of the project To make things workable within the time and budget constraints the following approach was selected 1 Robustness and seaworthiness 2 Modularity to facilitate troubleshooting and further development 3 Minimum maintenance during operation a major lesson learnt from old deployments 4 Re
118. sity is due to inherent friction resulting from the shear stress between adjacent layers of the fluid that are moving at different velocities A fluid with no resistance to shear stress is known as an inviscid fluid Dynamic viscosity is determined by the shear stress effect on the two adjacent layers of the fluid Kinematic viscosity is the ratio between dynamic viscosity and fluid density 2 1 4 Reynolds Number Reynolds Number R is the measure of the ratio of inertial forces to the viscous forces in the fluid flow It is helpful to determine the relative influence of these two forces on the flow It is defined as a function of relative fluid velocity dynamic viscosity of the fluid and characteristic distance R number is used to determine the flow nature Low Reynolds numbers indicates a smooth laminar flow whereas higher values of R show that flow would be turbulent and will have chaotic eddies and vortices R number is determined as Munson Young and Okiishi 2002 D ees 2 3 U 2 1 5 Drag Drag forces are the resistive forces which act on the solid body in the direction of relative fluid velocity Drag forces depend on the velocity and the shape of the body It is given as Munson Young and Okiishi 2002 1 Fp 2 2 2 Wave Basics 11 lt gt 999 0 mean water level _ L wave direction Trough O QO Q Behaviour of particles beneath the surface deep water v Sea bed
119. system battery a solar panel was added in the system The solar panel worked without any issues There was no low battery condition observed due to this arrangement 6 2 Deployment 2 Summer 2013 63 Figure 6 8 PTO raft during deployment Figure 6 9 Wing Wave during deployment 64 Chapter 6 Deployment 6 2 3 Weather and Wave data Weather and wave data for the second deployment was very much like the 2012 deployment The sea state and wind state was mainly moderate during the three days of deployment Swells of period between 8 10 seconds were recorded Significant wave height observed was between 2 3 feet Weather was mostlu sunny and at times partially cloudy Wave rose and period rose for the deployment period are shown in Figure 6 10 Station 134 9 2013 06 18 2013 06 21 Station 134 o 2013 06 18 2013 06 21 Wave Rose 2 Records 192 Period Rose 2 Records 192 e nes ms es AT 20 x ars ove on ae oe 2075 us o 2 25 07 or Frequency frequency M v 42 gs 5 Qs Serurenee 225 575 Signficant Wave Height ft 7 Peak Period s _ zi 9 3 6 9 12 1 18 21 24 2 30 y 2 4 6 5 10 12 m 16 18 2 22 Wave Data 1 AWH Swell WW 05 gt 2 I 0 18 06 13 00 06 19 06 13 00 06 20 06 13 00 06 21 06 13 00 06 Time 15 Awg P 10 Swell P ww 3 2 a 5 0 18 06 13 00 06 19 06 13 00 06 20 06 13 00 06 21 06 13 00 06 Time
120. te readingsXbee 110 Appendix 2 Code A2 2 Arduino Note Code for Arduino Author Ismail Sultan Filename WingWaveTestv5_2 ino Date 15 June 2013 For Flowmeter String inputstring String inputstringFinal String sensorstring String sensorstringFinal boolean input_stringcomplete false a string to hold incoming data from the PC a string to hold the data from the Atlas Scientific product have we received all the data from the PC boolean sensor_stringcomplete false have we received all the data from the Atlas product For I0 Map gt Inputs const int PressureSensori 1 Analog Input const int PressureSensor2 40 Analog Input const int GenVoltage A25 Analog Input const int Load Current A3 Analog Input const int Temperature A4 Analog Input const int Battery12V A5 Analog Input const int Battery24V A6 Analog Input const int ControlValveFB1 Analog Input const int ControlValveFB2 A8 Analog Input float Flow Total 0 Serial Input float Flow LPM 0 float Flow_LPH 0 const int Relay CloseCVi 22 These are NC relays To close the valve we need to set HIGH const int Relay_CloseCV2 23 Low means they are connected to analog signal int Vcc_5V 0 For 10 Map gt Outputs const int ControlValvei const int ControlValve2 PWM const int Relay_CV1 const int Relay_CV2
121. ted in 125 Gallon reservoir in the PTO raft connected to the return lines going to the Wing Wave The hydro electric generator is a Harris R hydrokinetic Pelton wheel based impulse turbine with 1 5kW rated PM brushless alternator The alternator efficiency is between 30 70 depending on the fluid flow and pressure The turbine has provision for four nozzle inputs Following figure shows the electrical output for given pressure head and flow P M Alternator Output 1600 e 1400 Pressure Head 1200 25 ft 8m 1000 50 ft 15m 800 E m T5 ft 23m E x 100 ft 30m 400 gt yon 200 ft 61m 0 e 300 ft 91m Flow GPM LPM Figure 4 10 Output power for Harris generator All piping used is of diameter The pipe size is reduced to 4 at the nozzle inlet to increase the pressure for the Pelton turbine Hoses used to connect Wing Wave and PTO system are 3 8 and are approximately 70 feet long Figure 4 10 shows the internal hydraulic system in the PTO raft 2 Harris Hydro electric generator lt http harrishydro biz gt lt gt 4 5 PTO Raft Design 47 Figure 4 11 Hydraulic system in PTO raft 2013 4 5 PTO Raft Design In 2012 the PTO raft was designed as a floating vessel shaped like a simple box constructed of 0 64 cm 4 in plywood with all body fiberglass coated The finishing process was similar to a wood boat hull in order to prevent
122. tes Design improvements in Wing Wave for increased capture and better hydrodynamics 3 Hydraulic and mechanical system designing to accommodate a wide range of wave forces Advance power electronics circuitry for integration with power grid 5 Additional instrumentation for the wave and power measurement 6 Design improvements in PTO raft for better sea keeping and on site maintenance To conclude the power take off system was able to fulfill its design objectives Wing Wave successfully demonstrated the harnessing of the electrical energy from wave power The system also exhibited the features required for the effective evaluation of ocean energy conversion technologies T his tool can be used for the concept verifications on a small scale prototype ocean renewable energy technologies developed at Florida Institute of Technology or academic institutions and their later transformation into sea test scale models References Arduino 2013 Arduino Mega 2560 http arduino cc en Main arduinoBoardMega2560 July 20 2013 Babarit Aur lien and J rgen Hals 2011 On the Maximum and Actual Capture Width Ratio of Wave Energy Converters Proc Of the 9th European Wave and Tidal Energy http scholar google com scholar hl en btnG Search q intitle On the maximu m and actual capture width ratio of wave energy converters 6 February 10 2013 Bard Jochen and Juergen Schmid 2005 Electrical Engineering Aspects of
123. than 2 5 gal used in calculations due to Wing Wave slow motion 90 Chapter 7 Mathematical formulation and Validation Part V Conclusion Chapter 8 Future Research This work in this thesis presents the design and development for a prototype WEC The system was developed to demonstrate a basic working design There is much room for the improvement and design continuation This section presents some suggestions regarding the future work for the interested students 8 1 Simulation and Modeling The next step for the Wing Wave should be the development of a complete simulation model that contains all parts needed for optimum energy absorption For results close to the real world system this model would need to include mechanics hydraulics electrical and control system Model design approach must consider the real world criteria A good simulation model can be very helpful in efficient and fast system design A suggestion for the numerical software is Matlab and Simulink in particulr Simulink Simscape and Real Time Workshop toolbox One of the reasons for selection of Raspberry Pi as controller was its support in the realtime workshop toolbox for Matlab This means that a control system can be designed in Matlab Simulink and then can be downloaded in the Raspberry Pi for implementation 8 2 Hydraulics and Instrumentation Hydraulic system should be able to handle a wide range of real sea conditions Sizing and selection of the
124. the device at rest position e Z axis is vertical to the water surface with z 0 at undisturbed water surface and positive upwards 71 72 Chapter 7 Mathematical formulation and Validation Hinge Foundation Figure 7 1 Geometry of the Flap type converter a section b plan Renzi and Dias 2012a Incident waves with T wave period and H wave height are coming from the right with wave crests parallel to the device and set the flap into an oscillating motion This is eventually converted into useful energy by means of a generator linked to the device The flap oscillates on the vertical plane x about the horizontal axis at x 0 hr c and have one degree of freedom i e pitch Its time dependent amplitude of rotation 0 0 t is defined positive if counter clockwise t denotes time The fluid is assumed to be non viscous incompressible and irrotational The velocity potential can be defined 2 0 R D x ze 7 1 Laplace Equation where 2 is fluid domain 2 0 2 0 7 2 To set up a boundary value problem governing the behavior of the fluid the Laplace equation must be supplied with appropriate boundary conditions The kinematic dynamic boundary condition on the free surface with g the acceleration due to the gravity 0b 9 7 3 op oie 7 1 Governing equations for the Flap type WEC 73 The no flux conditions on the solid boundaries require on the chann
125. the ship deck proved to be beneficial since it helped to identify the root cause for the slow rate of pressure buildup All the hydraulics and control system worked as per design With two pistons connected to flap the maximum holding pressure stalled at 30 PSI Triggering attempts for the generator failed at this pressure since the flow rate was already too low When one cylinder was disconnected the system pressure went up to 50 PSI At this pressure the P TO system was able to provide the minimum starting torque to pelton turbine generator and to rotate it This was tested several times using the proportional control valves The generator s no load output of up to 50V was recorded Although the generator could not be run for more than 120 seconds due to low flow rate from piston it was shown that the designed system was able to harness the energy successfully All the instrumentation especially the flowmeter worked smoothly Data was logged locally and transmitted wirelessly by the control system via Xbee modem to the operator station The remotely sent control commands and set point assignment were working Th hydrodynamic design of the PTO raft seemed to perform better than last year However there were some installation issues identified regarding the structural arm connecting main frame with design hull and floatation tubes Additional straps and securing lines were installed before deployment Due to 2012 s early discharge of the control
126. ument 02 50 4 Xbee Pro 60mW 215 5 Relays 02 80 6 Flow meter 12 7 Misc board components 20 LEDs regulators etc Net Main Control Panel 1307 7 Control Valves 02 500 Assuming 50 load in an hour 500mAh at full occupancy Table 4 5 Current Consumption So for the given current consumptions batteries will last for without solar panel 70Ah 1 37A 53 5 Hours 2 2 Days And 35Ah 0 5 A 70 Hours Days So the battery sizing is enough for 2 days deployment for the typical consumption without backup power supply 4 4 Power Take off System Hydraulic Design 45 4 4 Power Take off System Hydraulic Design The hydraulic design part of the power take off system is responsible for the conversion of wave energy to the hydro mechanical energy Both mechanical and hydraulic systems were considered for PTO mechanisms Hydraulic system was opted due to cost effectiveness and ease of construction Hydraulics system also provides a simple way to interface and test different types of WECs which was a requirement for the deployment in 2012 As described earlier first prototype was planned to be tested with both Wing Wave and GECCO connected together The circuit is designed to accommodate two hydraulicsf inputs A similar approach however is used in the second deployment too as two pistons are used with the Wing Wave Further details of the deployment will be presented in Chapter 7 The overall hydraulic schematic
127. urs of operation Battery replacement was tried in PTO raft However the ocean waves became high in the afternoon making the PTO raft unstable and dangerous to work on Due to safety concerns the battery was not replaced 58 Chapter 6 Deployment 6 1 3 Weather and Wave data The sea state and wind state was mainly moderate during the three days of deployment Swells of period between 6 12 seconds were recorded Significant wave height observed was between 2 3 feet Weather was mostly sunny and at times partially cloudy Wave rose and period rose for the deployment period are shown in Figure 6 5 Station 134 o 2012 06 09 2012 06 12 Station 134 o 2012 06 09 2012 06 12 Wave Rose 25 Records 192 Period Rose 275 25 Records 192 315 45 315 45 292 5 67 5 292 5 67 5 TS 270 90 270 90 0 1 02 02 03 03 2475 04 112 5 247 5 04 112 5 05 05 Frequency Frequency of of occurence occurence 225 135 225 135 2025 1575 2025 1575 180 2 180 Signficant Wave Height ft Peak Period s 3 6 9 12 15 18 21 24 27 30 33 0 2 4 6 10 12 14 16 18 20 22 Figure 6 5 Wave and Period rose for the deployment summer 2012 2 http cdip ucsd edu nav historic amp stn 134 amp http www ndbc noaa gov station realtime php station 41114 6 1 Deployment 1 Summer 2012 59 6 1 4 Data recorded As mentioned earlier due to failure of GECCO and SOV problem with the control system we were able to record pressure data
128. ve Opening Command Signal Send DataPacket on SerialPorti to RASPBERRYPI y Pseudo code for RaspberryPi Controller SETUP LOOP Initialize Onboard_Hardware Initialize Serial_Ports Create New Data_File Check SerialPorti for Input from Xbee DataPacket is legit Then Update Command_Signal_Variables amp Send Command Signal Variables on SerialPort2 to ARDUINO Check SerialPort2 for Input from ARDUINO DataPacket is legit Then Update A11_Input_Variables amp Send All Input Variables on SerialPort2 to Xbee Save All Input Variables and Command Signal Variables in FILE Data File Add TimeStamp in FILE Data File Send All Input Variables and Command Signal Variables to WEB LIVE FEED REPEAT LOOP 4 3 Power Take off System Electrical Design 43 4 3 Power Take off System Electrical Design Due to time and resources limitations a simple power electronics design is selected to demonstrate the operation of Power module The purpose of this module is 1 to regulate the electrical output of the power take off system as per provided load requirements and 2 to protect the system load from unsafe voltage levels generator is rectified using a diode bridge and then through a charge Output from Harris controller NC25A FlexCharge it is fed to the test load The charge controller steps down the generator output voltage to 12 or 24 V depending on mode selected The test load consists of a primary load 12 V
129. ves were set 1 Design and development of a complete Power Take off system for deployment with Wing Wave This would include Hydraulics system Instrumentation and control valves Power system for the electrical load Rope Control and data acquisition system with wireless connectivity e Human Machine Interface Software for real time viewing 2 Ocean deployment of the PTO with Wing Wave and real time data acquisition 3 Development of a mathematical framework for the Wing Wave WEC and Power Take Off System including the hydraulic systems Figure 1 3 shows the scope of this thesis Work flow of the combined Wing Wave and PTO system is as following Wave energy is converted into hydro mechanical energy by the pistons connected with the flap of Wing Wave which drives a Pelton impulse turbine coupled with an alternator The energy is then fed into the power module that regulates the electrical output The control system controls the hardware records instrumentation data and sends data via the wireless connection The user is able to monitor the real time data through the Human Machine Interface HMI software and send commands remotely The power take off system is housed in a floating raft anchored at the surface near the wave energy converters during testing Figure 1 4 shows the overall energy flow of the system Power Take Off System ES iti Figure 1 3 Thesis Scope Wing Wave WEC and PTO System 1
130. was off the central east coast of Florida approximately 2 4 km 1 5 mi east of Ft Pierce Inlet GPS Coordinates 27 26 0 428 N 80 13 0 526 W The deployment period was June 8 10 2012 The services of the research vessel M V A d E Figure 6 1 Deployment Location 55 56 Chapter 6 Deployment Thunderforce owned by American Vibracore Services were acquired for the deployment The location was near Capron Shoal and NOAA Station 41114 Figure 6 1 shows the deployment location for prototype 1 and 2 Wing Wave was deployed on the first deployment day PTO system had some last minute installations to be completed So it was deployed on the second day Both Wing Wave and PTO were retrieved on the third day of deployment 6 1 2 Results Each section of the wave energy system had significant results and many lessons were learned by the design team over the course of the deployment The Wing Wave system was successfully deployed and worked as per design There was up to 30 degree pitching movement observed by the flap There were some minor mechanical fractures in the base found after retrieval GECCO didn t work due to mechanical failure and no data was recorded from the system It failed due to a water leakage which resulting in the breaking of a connecting rod The tubes started sinking and were retrieved back after 2 hours of deployment There was a high concern regarding the PTO
131. water ingress into the vessel body Angle 6061 aluminum was used along the edges of the housing to add structural strength This allowed two people to stand on or in the vessel while still maintaining a minimal draft of about 10 cm 4 in However during deployment it was found that the 2012 design had hydrodynamic issues and was not stable enough to do any maintenance activity properly In 2013 the design was totally changed An Aluminum based frame 86 long x 72 tall x 68 5 wide was used Wooden compartment for the PTO system was made separately Two 14 hulls and two 10 long 24 diameter pipes were used for the buoyancy Pipes were filled with foam The design provided good stability It was made more spacious to accommodate any maintenance activity safely during deployment FRP sheets were used outside the wooden compartment and resin costing was used in interior for water proofing Figure 4 13 and Figure 4 14 show the PTO raft constructed for 2012 and 2013 respectively 48 Chapter 4 Methodology Figure 4 14 PTO Raft Design Deployment 2013 Part III Testing and Deployment Chapter 5 Laboratory Testing This section presents the laboratory and land testing results for the Wing Wave and PTO 5 1 Generator Testing One of the major design concerns initially was the unavailability of a proper technical datasheet nameplate data and maximum current speed limitations etc for the Harris hydroelectric gen
132. ww cia gov state data cfm sid FL t Web lt http aw energy com gt Accessed 20 July 2013 5 Web lt http www aquamarinepower com gt Accessed 20 July 2013 24 Chapter 3 Project Background Wing Wave development started in 2008 as senior design project As a first step small models were built to figure out the best design for the maximum wave energy capture Four tank scale models were built and tested in a wave tank for their range of motion as following 1 Flat wing 2 Flat wing with a top panel T shaped 3 Triangular wing 4 Flat panel with top and side panels Most effective capture design was the wing with top and side panels This model design was finalized for the sea test scale prototype wing In 2010 Clean and Green Enterprise sponsored the construction of Wing Wave This large scale Wing Wave prototype was built using two 15 x 8 tall aluminum wings placed one in front the other connected to the frame via stainless steel hinges The dimensions of the base were 20 x 15 constructed of 6061 Aluminum Due to unexpected storm weather during deployment the unit was damaged and not fully tested In 2011 a single flat composite wing 6 tall x 4 wide connected to a smaller steel frame via a large stainless steel hinge Deployment was successful and showed that the Wing Wave was a viable means of producing ocean energy The onboard accelerometers recorded Figure 3 6 Top Left Clockwise Wing Wave Prot
133. xtCallback Address0f ReceivedText Me Invoke x New Object text Else Me rtbReceived Text amp text End If 1 0 P2 45 00 GV 0 00 Cur 5 00 0 00 B12V 0 00 B24V 0 00 CVFB1 0 00 CVFB2 5 00 CMD1 255 CV CMD2 100 Flow 0 057 0 000 0 000 lt r gt lt n gt Dim TestArray1 As String text Split If TestArrayi Length 17 Then Datal Pressurel Convert ToSingle TestArray1 0 Substring TestArray1 0 IndexOf 1 Datal Pressure2 Convert ToSingle TestArray1 1 Substring TestArrayl 1 IndexOf 1 Datal Pressure1SP Convert ToSingle TestArray1 2 Substring TestArray1 2 Index0f 1 Datai Pressure2SP Convert ToSingle TestArray1 3 Substring TestArray1 3 Index0f 1 Datai Voltage Convert ToSingle TestArray1 4 Substring TestArray1 4 Index0f 1 Datai Current Convert ToSingle TestArray1 5 Substring TestArray1 5 IndexOf 1 Datai Temperature Convert ToSingle TestArray1 6 Substring TestArray1 6 Index0f 1 Datai Bati2V Convert ToSingle TestArray1 7 Substring TestArray1 7 Index0f 1 Datai Bat24V Convert ToSingle TestArray1 8 Substring TestArray1 8 Index0f 1 Datal CVFB1 Convert ToSingle TestArray1 9 Substring TestArray1 9 Index0f 1 Datai CVFB2 Convert ToSingle TestArray1 10 Substring TestArray1 10 Index0f 1 Datai CVCmdi Convert ToSingle TestArray1 11 Substring TestArray1 11 Index0f 1 Datai CVCm
134. y PTO raft was deployed On the same day both units were retrieved after successful demonstration Wing Wave N i Four Sand Screws with chain 6 Tri point Mooring f O A Q O Figure 6 7 Deployment Configuration for 2013 27 http www towboatusftlauderdale com Files Richard L Becker Specs pdf 62 Chapter 6 Deployment 6 2 2 Results Many of the lessons learnt in 2012 deployment were incorporated in the design and construction for second prototype which resulted in overall improved performance especially for the PTO However one unexpected disappointment was the performance of Wing Wave One cylinder was added in the system based on the last year s impressive performance of Wing Wave The rest of the design was same as last year s The Wing Wave was not able to exhibit the pitching movement of more than 5 degrees Movement was in fact at times hardly recognizable The wave action was pretty much like the waves for 2012 Data from NOAA buoy also supported this observation Additional oil filled pressure gauges mounted on the frame of the Wing Wave helped confirm that the hydraulics were working fine Different options were tried and eventually one cylinder was removed resulting in a minor improvement to the pitching angle that was sufficient to make the PTO system work There were no observed mechanical fractures on the structure The decision to make the initial tests of PTO and control system on
135. ystem EventArgs If SerialPort1 IsOpen False Then SerialPorti PortName cmbPort Text pop a message box to user if he is changing ports Else without disconnecting first MsgBox Valid only if port is Closed vbCritical End If End Sub Private Sub cmbBaud SelectedIndexChanged ByVal sender As System Object ByVal e As System EventArgs If SerialPort1 IsOpen False Then SerialPorti BaudRate cmbBaud Text pop a message box to user if he is changing baud rate Else without disconnecting first MsgBox Valid only if port is Closed vbCritical End If End Sub Private Sub SerialPorti DataReceived ByVal sender As Object ByVal e As System I0 Ports SerialDataReceivedEventArgs _ Handles SerialPort1 DataReceived ReceivedText SerialPort1 ReadExisting Automatically called every time a data is received at the serialPort InputDataSet SerialPort1 ReadLine LF Line feed n OxOA 10 dec or CR Carriage return r OxOD 13 dec individually or CR LF r n OxODOA lt For non Unix If InputDataSet StartsWith P Then Ignore the bad packet ReceivedText SerialPort1 ReadLine GoodPacket 1 Else Nothing BadPacket 1 End If SerialPort1 ReadChar Application DoEvents 120 Appendix 2 Code End Sub Private Sub ReceivedText ByVal text As String compares the ID of the creating Thread to the ID of the calling Thread If Me rtbReceived InvokeRequired Then Dim x As New SetTe
136. ystem for Wave Energy Converters Ismail Sultan Billy Wells Stephen Wood Ph D P E Ocean Engineering Florida Institute of Technology Melbourne Florida USA swood fit edu Abstract The Ocean inherently unstable and uncertain is one of the harshest environments to test engineering designs and with the increasing interest in ocean renewable energies methods and tools must be developed for faster reliable low cost and effective evaluation of the ocean energy technologies This paper proposes ome such tool system a small scale portable wireless and universal Power Control and Monitoring Unit PCMU for the design and performance evaluation of wave energy converters WECs A prototype PCMU system was successfully deployed on June 2012 with wave energy convertor systems developed at Florida Institute of Technology Florida Tech Index Terms occan energy wave energy wave energy convertors wireless GPRS power take off green energy alternative energy renewable energy L INTRODUCTION The oceans covering more than 70 of Earth represent an enormous untapped energy resource containing potentially more energy than the combined output of all other resources on earth Energy is stored partly in the form of kinetic energy from the motion of waves and currents and partly as thermal energy from the sun It is estimated that the potential energy of the oceans is up to 2 Million Terawatt hours 1 Despite the enormous potentia

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