A unified simulation framework for wave energy powered underwater vehicle docking and charging
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Energy & Fuels↗
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Extracting energy from ocean thermal and salinity gradients to power unmanned underwater vehicles: State of the art, current limitations, and future outlook
Thermal gradient energy-generation technologies for powering unmanned underwater vehicles (UUVs) or autonomous sensing systems in the ocean are mainly in the research development phase or commercially available at a limited scale, and salinity-gradient energy-generation technologies have not been adequately researched yet. The demand for self-powered UUVs suitable for long-term deployments has been growing, and further research related to small-scale ocean gradient energy systems is needed. In this study, we conducted a comprehensive review about harvesting energy from ocean thermal or salinity gradients for powering UUVs, focusing on gliders and profiling floats. Thermal gradient energy systems for UUVs based on phase change materials (PCM) cannot provide the energy required for powering autonomous sensing systems because of the systems' low energy conversion efficiency. Besides reducing energy consumption by developing more efficient electrical-mechanical systems, enhancing the thermal conductivity of the PCMs may help address this challenge by increasing the power generation rate of the UUVs. Several other emerging technologies, such as thermoelectric generators, shape memory alloys, and small-scale thermodynamic cycle systems, have shown potential for powering UUVs, but they are still only at the laboratory testing or conceptual design phase. The most advanced power generation technologies based on salinity gradients, reverse electrodialysis and pressure-retarded osmosis, are still not economically viable for large-scale deployment, mainly because of the high cost of the components required to operate in harsh saline environments. Our feasibility evaluation showed that existing salinity gradient power generation technologies are not directly feasible for powering UUVs in the open ocean.
16 TIDAL AND WAVE POWER↗
MODELING AND OPTIMIZATION OF A PCM-BASED OCEAN THERMAL ENERGY HARVESTER FOR POWERING UNMANNED UNDERWATER VEHICLES
As oceans cover over 70% of the planet’s surface, they represent a large reservoir of resources that remained vastly untapped. Uncrewed Underwater Vehicles (UUVs) are becoming key technology for ocean exploration. Ocean thermal gradient is a permanent and reliable energy source that can be used to power UUVs using phase change material (PCM)-based thermal engines. However, the main drawback of this technology is its low conversion efficiency. When using PCM-based thermal engines to power UUVs, there are different energy conversion stages, thermal-hydraulic, hydraulic-kinetic, kinetic-electrical, dependent of a wide variety of parameters. Thus, optimization of the overall energy conversion is still a challenge for powering the increasing energy demanding UUVs for long missions. The goal of this study is to propose a PCM-based ocean thermal energy harvesting system for powering the Solo II float. Using the ocean thermal energy reduces the cost for battery replacement and expands the float’s mission time. For this purpose, we developed a multiphysics model for a system consisting of thermal material, hydraulic, and electrical systems. This system is designed to provide the electrical power needed for the instruments aboard the underwater vehicle. The models of the hydraulic and the electric systems are implemented in MATLAB-Simulink/Simscape environment. The final model developed can provide 13.66 kJ of electrical energy, which is more than 1.5 times the energy requirement per cycle for the SOLO II float.
Ouro-Koura, Habilou↗
Predictive model using artificial neural network to design phase change material-based ocean thermal energy harvesting systems for powering uncrewed underwater vehicles
Uncrewed Underwater Vehicles (UUVs) are a major beneficiary of the phase change material (PCM)-based ocean thermal energy harvesting technology for their mission needs. However, this technology relies on different parameters and energy conversion steps that could be critical to the general energy generation efficiency. Sea trials showed that the design performed lower than their laboratory design specifications. This underperformance results from different factors, mainly the UUV’s trajectory, travel time, underwater ocean currents, temperature fluctuations, and biofouling on the heat exchanger due to long term underwater operations. Therefore, there exists a need to continuously monitor the ambient energy harvesting system and predict system performance, for mission planning purposes. Two major parameters influencing the energy harvesting system include the final pressure inside the hydraulic energy storage vessel or accumulator, and the electrical load value. Here, this work focuses on the hydraulic to electric energy conversion system. Therefore, a combination of numerical model and experimental testing is used to develop a predictive model using artificial neural network using MATLAB. After validation with experimental testing, 1000 data samples obtained from the numerical model are used to train the ANN. Compared to the experimental results, the developed ANN model can predict in less than a second the designed benchtop system’s total efficiency with less than 15 percent maximum error range. This predictive model development represents a cost-effective way for optimization and a computational energy efficient mode aboard UUVs for mission planning for deployed UUVs using PCM-based ocean thermal energy harvesting technology.
30 DIRECT ENERGY CONVERSION↗
Efficient Hydraulic-to-electric Energy Conversion for PCM-based Ocean Thermal Gradient Energy System to Power Uncrewed Underwater Vehicles
Since the 2000, there have been numerous investigations into electrical energy storage types that use ocean thermal-to-electricity conversion techniques. Field tests have demonstrated that this technology is feasible for UUVs with long-term missions of over 3,000 km per deployment. Nonetheless, the energy generated by this method is not sufficient to meet the energy requirements of Unscrewed Underwater Vehicles (UUVs). The objective of this study is to design a highly effective ocean thermal gradient energy system to support long-term missions of a UUV. To enhance the performance of the thermal gradient energy system, we have developed a hybrid type (buoyancy regulation and electrical storage). Phase Change Material (PCM)-based energy harvesting system to facilitate efficient UUV operations. A prototype of the hydraulic-to-electric conversion system was implemented, and experimental findings indicate that the hybrid system successfully delivers hydraulic energy for buoyancy change and improved efficiency of hydraulic-to-electric energy conversion, demonstrating its potential as a promising technology for supporting long-term UUV missions.
Deng, Zhiqun↗
A Dive into Underwater Solar Cells
Our oceans are vast, mostly unexplored and difficult to monitor. Large-scale implementation of a fully autonomous 'Internet of Underwater Things' would transform how we collect and share data from this domain; however, deployment is prohibited by the lack of persistent power sources. In principle, underwater solar-energy generation can complement the use of batteries and provide a solution, although dedicated research is needed since traditional silicon solar cells do not perform well underwater due to water's strong absorption of near-infrared light. In this Perspective we present examples of solar-powered underwater applications and discuss which types of solar-harvesting materials could be appropriate, including GaInP variants, CdTe, organic semiconductors, and perovskite semiconductors. We also discuss challenges that need to be addressed, such as the development of effective antifouling coatings and new certification standards given that underwater conditions are starkly different from those in terrestrial environments.
antifouling coatings↗
Approaches to attributing underwater noise to a wave energy converter
Radiated noise from marine energy harvesting is of environmental and engineering interest. Here, drifting hydrophones measure underwater noise in the vicinity of a relatively small wave energy converter. A statistical approach is demonstrated for attributing range-dependent, commonly occurring sounds in the frequency band from 90 to 600 Hz. Time-delay-of-arrival localization is then demonstrated for attribution of individual acoustic events likely associated with the power takeoff and wave-hull interactions. Because the radiated noise from the wave energy converter falls below ambient levels at a range of approximately 150 m, it is unlikely to substantially affect marine life at greater distance.
16 TIDAL AND WAVE POWER↗
Mooring Load Monitoring of a Wave Energy Converter Using a Self-Synchronizing Underwater Acoustic Network
A self-synchronizing underwater acoustic network, designed for remote monitoring of mooring loads in Wave Energy Converters (WEC), has been developed and tested. This network uses Time Division Multiple Access and operates self-contained with the ability for users to remotely transmit commands to the network as needed. Each node is a self-contained unit, consisting of a protocol adaptor board, an underwater acoustic modem and a battery pack. A node can be connected to a load cell, to a topside user or to the WEC. Every node is swapable. The protocol adaptor board, named Protocol Adaptor for Digital LOad Cell (PADLOC) supports a variety of digital load cell message formats (CAN, MODBUS, custom ASCII) and underwater acoustic modem serial formats. PADLOC enables topside users to connect to separate load cells through a user-specific command.
acoustic↗
The multifunctional use of an aqueous battery for a high capacity jellyfish robot
The batteries that power untethered underwater vehicles (UUVs) serve a single purpose: to provide energy to electronics and motors; the more energy required, the bigger the robot must be to accommodate space for more energy storage. By choosing batteries composed primarily of liquid media [e.g., redox flow batteries (RFBs)], the increased weight can be better distributed for improved capacity with reduced inertial moment. Here, we formed an RFB into the shape of a jellyfish, using two redox chemistries and architectures: (i) a secondary ZnBr 2 battery and (ii) a hybrid primary/secondary ZnI 2 battery. A UUV was able to be powered solely by RFBs with increased volumetric (Q~ 11 ampere-hours per liter) and areal (108 milliampere-hours per square centimeter) energy density, resulting in a long operational lifetime (T~ 1.5 hours) for UUVs composed of primarily electrochemically energy-dense liquid (~90% of the robot’s weight).
Science & Technology - Other Topics↗
Multi frame radiography of supersonic water jets interacting with a foil target
Pulsed-power-driven underwater electrical explosion of cylindrical or conical wire arrays produces supersonic water jets that emerge from a bath, propagating through the air above it. Interaction of these jets with solid targets may represent a new platform for attaining materials at high pressure (>1010 Pa) conditions in a university-scale laboratory. However, measurements of the internal structure of such jets and how they interact with targets are difficult optically due to large densities and density contrasts involved. We utilized multi-frame x-ray radiographic imaging capabilities of the ID19 beamline at the European Synchrotron Radiation Facility to explore the water jet and its interaction with a 50 μm thick copper foil placed a few mm from the surface of water. The jet was generated with a ∼130 kA-amplitude current pulse of ∼450 ns rise time applied to a conical wire array. X-ray imaging revealed a droplet-type structure of the jet with an average density of <400 kg/m3 propagating with a velocity of ∼1400 m/s. Measurements of deformation and subsequent perforation of the target by the jet suggested pressures at the jet–target interface of ∼5 × 109 Pa. The results were compared to hydrodynamic simulations for better understanding of the jet parameters and their interaction with the foil target. These results can be used in future research to optimize the platform, and extend it to larger jet velocities in the case of higher driving currents supplied to the wire array.
Physics↗
A Hydrokinetic Energy Conversion System using Underwater LLC-type Resonant Converter
The hydrokinetic energy of river and ocean currents is a valuable renewable energy resource. Conventional systems for harvesting hydrokinetic energy usually have bulky passive components, lengthy cables connecting the underwater turbine/generator with onshore power converters, and limited control over power generation. This paper presents a new hydrokinetic energy harvesting system using an LLC-type resonant converter that is placed underwater in close proximity to the generator. By using SiC devices and the soft switching characteristic of LLC resonant converter, the converter operates in 10s of kHz, significantly reducing the passive components. In addition, the LLC converter provides flexible power regulation of the system. Furthermore, the underwater placement of the power converter takes advantage of the cooling provided by the water and simplifies the system by reducing its connecting cable length.
Dai, Hang↗
An information-matching approach to optimal experimental design and active learning
The efficacy of mathematical models heavily depends on the quality of the training data, yet collecting sufficient data is often expensive and challenging. Many modeling applications require inferring parameters only as a means to predict other quantities of interest (QoI). Because models often contain many unidentifiable (sloppy) parameters, QoIs often depend on a relatively small number of parameter combinations. Therefore, we introduce an information-matching criterion based on the Fisher information matrix to select the most informative training data from a candidate pool. This method ensures that the selected data contain sufficient information to learn only those parameters that are needed to constrain downstream QoIs. It is formulated as a convex optimization problem, making it scalable to large models and datasets. Here, we demonstrate the effectiveness of this approach across various modeling problems in diverse scientific fields, including power systems and underwater acoustics. Finally, we use information-matching as a query function within an active learning (AL) loop for materials science applications. In all these applications, we find that a relatively small set of optimal training data can provide the necessary information for achieving precise predictions. These results are encouraging for diverse future applications, particularly AL in large machine-learning models.
Materials science↗
TEAMER: MADWEC Techno-Economic Analysis
The objective of this project was for the facility to conduct a techno-economic assessment (TEA) of the Maximal Asymmetric Drag Wave Energy Converter (MADWEC), developed by the University of Massachusetts Dartmouth (UMass Dartmouth). MADWEC is used for powering remote monitoring and Autonomous Underwater Vehicle (AUV) charging systems compared to other existing power supply options. The assessment estimates capital expenditures (CapEx), operational expenditures (OpEx), and power performance for 18 scenarios with the purpose of identifying key cost drivers, comparing total system cost, and comparing the power performance of the power supply options in terms of required installed capacity and estimated theoretical annual energy performance. The 18 assessed scenarios include two end-uses: 1) AUV charging and 2) offshore remote monitoring); three power sources: 1) MADWEC), 2) photovoltaic (PV) solar buoy, 3) and traditional battery swapping); and three locations; 1) nearshore, 2) far-offshore, and 3) high-latitude). In addition, other project goals included developing high level installation, operation, and maintenance plans for each scenario. The techno-economic model, created in Microsoft Excel, estimates CapEx, OpEx, and the power performance of each power supply source. The model has a dynamic format that allows custom inputs to accommodate future changes to the systems being assessed. This is a TEA for the MADWEC project, TEAMER RFTS 7 (request for technical support) program.
16 TIDAL AND WAVE POWER↗
Drifting Acoustic Measurements around C-Power's SeaRay WEC
The repository contains underwater noise measurements and associated metadata collected around C-Power's SeaRay wave energy converter on July 15, 2024 and July 16, 2024 while it was deployed at the U.S. Navy's Wave Energy Test Site (WETS) in Kaneohe, HI. Measurements were obtained using Drifting Acoustic Instrumentation SYstems (DAISYs). DAISYs consist of a surface expression connected to a hydrophone recording package by a tether. Both elements are instrumented to provide metadata (e.g., position, orientation, and depth). Information about how to build DAISYs is available at https://www.pmec.us/research-projects/daisy. The repository's primary content is a compressed archive (.zip format), containing multiple MATLAB binary data files (.mat format). The structure of each file is included in the repository as a Word document (Data Description MHK-DR.docx). Each file contains time series information for a single DAISY deployment (file naming convention: WETS_DAISY_[Drift #].mat) consisting of processed hydrophone data and associated metadata. During these measurements, C-Power's SeaRay was located at approximately 21.48112 N, 157.74451 W.
16 TIDAL AND WAVE POWER↗
Accelerated Lifetime Testing of Main Shaft Seals for Tidal Turbine Rotors
This document will briefly discuss the observations and results from an NREL conducted accelerated lifetime testing of the main shaft seal for the Verdant Power fifth generation Gen5 underwater Tidal Energy Converter (TEC) turbine, which successfully performed at the RITE project in 2020-2021. In order to evaluate a 5-year Service Interval ( SI) for this component, testing at NREL operated the main shaft seal nearly continuously for over 135 (text says 130 days on page 5 and 125 days on page 7 and 137 days on page 11) days at a rotational velocity of 160 rpm while the test stand recorded water pressure, barrier fluid pressure, temperature, and number of cycles., representing ~ 40% of the SI. An additional separate test was conducted to measure the aging behavior of the rubber drive rings. The water pressure reservoir was held constant as 29 psi. Barrier fluid pressure remained relatively constant throughout the duration of the test but was seen to sink to as low as 10.1 psi. No barrier fluid leakage was observed throughout the test. A sudden failure occurred within the seal after the power to test machine was interrupted for a scheduled building maintenance procedure. Upon restarting, the main shaft seal lost all ability to prevent water ingress. The exact cause is not known but is believed to be either a seal assembly issue or a change in the alignment of the seal components during or following the power outage. Following seal disassembly, significant wear was seen on one of the graphite sealing rings. Based on these results it is recommended that a follow-on TEAMER be conducted to rectify protocol and assembly issues to further evaluate SI of this component. The support and participation of Verdant Power Inc, Dovetail Solutions LLC and Garlock Manufacturing Inc were instrumental in understanding the results. NREL thanks them for their significant effort.
13 HYDRO ENERGY↗
Integrated path planning and control through proximal policy optimization for a marine current turbine
This paper presents an integrated path planning and tracking control framework for a marine current turbine (MCT), where the MCT is treated as an energy-harvesting autonomous underwater vehicle (AUV). Considering the ocean (space of action) is continuous, the proposed framework employs two modules to address path planning and path tracking enabled by the proximal policy optimization (PPO) algorithm, which is a policy gradient deep reinforcement learning (RL) method. Further, to enable fully autonomous operation in a stochastic oceanic environment, the proposed path planning seeks a primary objective of maximizing the harvested energy; then, the path tracking module is designed to minimize the tracking error and avoid collisions with static and dynamic obstacles. Using field-collected acoustic Doppler current profiler (ADCP) data, the performance of the proposed framework is evaluated. Comparative studies with baseline algorithms in three different scenarios of path planning, path tracking without an obstacle, and path tracking with collision avoidance verify the effectiveness of our proposed approach.
16 TIDAL AND WAVE POWER↗
2.2.5.401 - Ocean Observing Prize
The Powering the Blue Economy: Ocean Observing Prize is a $2.4M contest that challenges innovators to develop solutions that integrate marine renewable energy with ocean observation platforms to revolutionize our ability to monitor, manage, and understand the ocean. Competitors are challenged to design, build, and test novel, wave-powered, self-charging autonomous underwater vehicle (AUV) systems that could be suitable for a 6-month deployment in the Atlantic Ocean to monitor hurricane formation. Through engagement with the end user ocean observing community, the team identified challenges in a lack of data on storm intensity, endangering coastal communities. This challenge could be addressed by collecting data before, during, and after a hurricane develops and strengthens at sea. Amassing this data, however, requires an ocean observing system that can be deployed at sea for long periods, waiting for approaching storms. To help solve this problem, competitors are working to integrate wave energy capture with AUV systems to collect this data, helping to better protect coastal communities from oncoming storms. Solutions developed through this prize aim to enable long-term collection of data before, during, and after a hurricane that will help better forecast storm intensity. The prize mechanism provides an environment to accelerate technology development for innovators and helps to improve awareness of marine energy and its ability to provide power to blue economy applications.
coastal communities↗
A Self-Synchronizing Underwater Acoustic Network for Mooring Load Monitoring of a Wave Energy Converter
This paper reports on the development of a self-synchronizing underwater acoustic network developed for remote monitoring of mooring loads in Wave Energy Converters (WECs). This network uses Time Division Multiple Access and operates self-contained with the ability for users to remotely transmit commands to the network as needed. Each node is a self-contained unit, consisting of a protocol adaptor board, an FAU-DPAM underwater acoustic modem and a battery pack. A node can be connected to a load cell, to a topside user or to the WEC. Every node is swapable. The protocol adaptor board, named Protocol Adaptor for Digital LOad Cell (PADLOC) supports a variety of digital load cell message formats (CAN, MODBUS, custom ASCII) and underwater acoustic modem serial formats. PADLOC enables topside users to connect to separate load cells through a user-specific command. This is especially important if the user is monitoring multiple load cells during deployment or maintenance, when the primary data system may be offline. Each PADLOC board handles formatting, buffering and has a one-on-one serial connection with each pair (node) of a digital load cell and acoustic modem. In addition, each PADLOC board handles the timekeeping and power saving features for each node. The only limitation is the data bit rate and delay limitations associated with the underwater acoustic modem. A four node self-synchronizing network has been developed to demonstrate the load cell monitoring capability using the PADLOC technology on the CalWave WEC.
acoustic↗