Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging - Software and Data
Software and testing data from the OH Hinsdale Wave lab for DOE-funded project on Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging. This project will perform foundational research and testing to accelerate the sector-wide development and deployment of marine energy converters to provide Power-At-Sea. Specifically, we seek to overcome known challenges and knowledge gaps for the successful co-design of coupled Wave Energy Converter (WEC)-Autonomous Underwater Vehicles (AUV) systems; systems designed and tested for WEC array system health and environmental monitoring applications. This project brings together an experienced, multi-institution, and multi-disciplinary team to focus on the co-design of marine energy (ME) technologies and AUV docking systems, including multi-body hydrodynamic modeling, active control, autonomy, and hardware interfaces necessary to enable new WEC-focused understanding, and allow for robust and ubiquitous AUV docking and recharging in real-world conditions.
Complete Metadata
| @type | dcat:Dataset |
|---|---|
| accessLevel | public |
| bureauCode |
[
"019:20"
]
|
| contactPoint |
{
"fn": "Geoffrey Hollinger",
"@type": "vcard:Contact",
"hasEmail": "mailto:geoff.hollinger@oregonstate.edu"
}
|
| dataQuality |
true
|
| description | Software and testing data from the OH Hinsdale Wave lab for DOE-funded project on Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging. This project will perform foundational research and testing to accelerate the sector-wide development and deployment of marine energy converters to provide Power-At-Sea. Specifically, we seek to overcome known challenges and knowledge gaps for the successful co-design of coupled Wave Energy Converter (WEC)-Autonomous Underwater Vehicles (AUV) systems; systems designed and tested for WEC array system health and environmental monitoring applications. This project brings together an experienced, multi-institution, and multi-disciplinary team to focus on the co-design of marine energy (ME) technologies and AUV docking systems, including multi-body hydrodynamic modeling, active control, autonomy, and hardware interfaces necessary to enable new WEC-focused understanding, and allow for robust and ubiquitous AUV docking and recharging in real-world conditions. |
| distribution |
[
{
"@type": "dcat:Distribution",
"title": "Code Repository",
"format": "HTML",
"accessURL": "https://github.com/rakeshv24/bluerov2_dock",
"mediaType": "text/html",
"description": "This GitHub repository includes information on how to install Ubuntu, the python for the BlueROV2, usage, and other supporting technologies needed. More information in the README."
},
{
"@type": "dcat:Distribution",
"title": "A Framework for Wave-to-Wire Simulation of Wave Energy.pdf",
"format": "pdf",
"accessURL": "https://mhkdr.openei.org/files/456/A%20Framework%20for%20Wave-to-Wire%20Simulation%20of%20Wave%20Energy.pdf",
"mediaType": "application/pdf",
"description": "This research aims to develop a comprehensive framework for modeling the hydrodynamics of a WEC-AUV dock system, optimizing the AUV homing and docking trajectory, and predicting the power status of a docking station and AUV."
},
{
"@type": "dcat:Distribution",
"title": "Autonomous Underwater Docking using Flow State Estimation.pdf",
"format": "pdf",
"accessURL": "https://mhkdr.openei.org/files/456/Autonomous%20Underwater%20Docking%20using%20Flow%20State%20Estimation.pdf",
"mediaType": "application/pdf",
"description": "Presented is a navigation framework to perform
autonomous underwater docking to a WEC under various ocean conditions by incorporating flow
state estimation into the design of model predictive control (MPC). The simulation results demonstrate the robustness and reliability of the proposed framework for autonomous docking under various ocean conditions."
},
{
"@type": "dcat:Distribution",
"title": "FOSWEC2 Numerical Model.zip",
"format": "zip",
"accessURL": "https://mhkdr.openei.org/files/456/FOSWEC2_Model.zip",
"mediaType": "application/zip",
"description": "ProtueusDs and WAMIT models of FOSWEC2 (Oscillating Flap wave energy converter)"
},
{
"@type": "dcat:Distribution",
"title": "Flow State Estimation and Optimal Control for Autonomous Underwater Docking.pdf",
"format": "pdf",
"accessURL": "https://mhkdr.openei.org/files/456/Flow%20State%20Estimation%20and%20Optimal%20Control%20for%20Autonomous.pdf",
"mediaType": "application/pdf",
"description": "We consider the underwater docking stations to be powered through a floating WEC, thereby enabling
on-site energy harvesting and power transfer. As a main contribution, we present a navigation framework that couples flow state estimation with model predictive control (MPC) to perform autonomous underwater docking with a WEC under
various ocean conditions."
},
{
"@type": "dcat:Distribution",
"title": "Hinsdale Videos 2023.zip",
"format": "zip",
"accessURL": "https://mhkdr.openei.org/files/456/Hinsdale%20Videos%202023.zip",
"mediaType": "application/zip",
"description": "Videos of autonomous underwater docking from year 2 testing."
},
{
"@type": "dcat:Distribution",
"title": "Autonomous Underwater Docking and Recharging.pdf",
"format": "pdf",
"accessURL": "https://mhkdr.openei.org/files/456/IROS_2023%20%281%29.pdf",
"mediaType": "application/pdf",
"description": "Achieving autonomous docking in challenging conditions, including strong ocean currents and wave forces, remains an active area of research. Therefore, we present a docking framework that incorporates flow state estimation into the design of a model predictive controller (MPC) for achieving autonomous underwater docking with a WEC in diverse ocean conditions. Furthermore, this framework adequately addresses the influence of wave forces on the AUV."
},
{
"@type": "dcat:Distribution",
"title": "LUPA Numerical Model.zip",
"format": "zip",
"accessURL": "https://mhkdr.openei.org/files/456/LUPA_Model.zip",
"mediaType": "application/zip",
"description": "ProteusDS and WAMIT models for LUPA (self reacting point absorber WEC)."
},
{
"@type": "dcat:Distribution",
"title": "Numerical Model summary.pdf",
"format": "pdf",
"accessURL": "https://mhkdr.openei.org/files/456/Model%20summary.pdf",
"mediaType": "application/pdf",
"description": "Provides a brief description of the WEC-AUV-DOCK co-design."
},
{
"@type": "dcat:Distribution",
"title": "Hinsdale Videos 2022.zip",
"format": "zip",
"accessURL": "https://mhkdr.openei.org/files/456/Videos.zip",
"mediaType": "application/zip",
"description": "Videos of autonomous underwater docking from year 1 testing. "
},
{
"@type": "dcat:Distribution",
"title": "rosbags.zip",
"format": "zip",
"accessURL": "https://mhkdr.openei.org/files/456/rosbags.zip",
"mediaType": "application/zip",
"description": "This contains the vehicle data that was recorded during the autonomous docking operations."
},
{
"@type": "dcat:Distribution",
"title": "Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging - Year 3 Software and Data",
"format": "HTML",
"accessURL": "https://mhkdr.openei.org/submissions/646",
"mediaType": "text/html",
"description": "This is a newer version of the data and software package from year 3 of the project."
},
{
"@type": "dcat:Distribution",
"title": "Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging - Year 3 Wave Flume Testing Data",
"format": "HTML",
"accessURL": "https://mhkdr.openei.org/submissions/667",
"mediaType": "text/html",
"description": "This is a link to year 3 wave flume testing data from the project."
}
]
|
| DOI | 10.15473/2217550 |
| identifier | https://data.openei.org/submissions/8040 |
| issued | 2022-10-26T06:00:00Z |
| keyword |
[
"AUV",
"Autonomous Underwater Vehicles",
"BlueROV2",
"C",
"CasADI",
"Geographlib",
"Gi Gobject",
"Hydrokinetic",
"LUPA",
"MAVROS",
"MHK",
"Marine",
"Numpy",
"OpenCV",
"Pandas",
"ROS",
"WEC",
"Wave Energy Converter",
"co-design",
"code",
"coupled",
"docking",
"energy",
"imutils",
"pyYAML",
"python",
"recharging",
"robotics",
"software",
"software package",
"technology",
"testing",
"video"
]
|
| landingPage | https://mhkdr.openei.org/submissions/456 |
| license | https://creativecommons.org/licenses/by/4.0/ |
| modified | 2025-12-01T16:38:34Z |
| programCode |
[
"019:009"
]
|
| projectLead | Carrie Schmaus |
| projectNumber | EE0009449 |
| projectTitle | Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging |
| publisher |
{
"name": "Oregon State University",
"@type": "org:Organization"
}
|
| spatial |
"{"type":"Polygon","coordinates":[[[-180,-83],[180,-83],[180,83],[-180,83],[-180,-83]]]}"
|
| title | Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging - Software and Data |
