Dynamic model and experimental validation for the control of emersion manoeuvers of devices for marine currents harnessing

Finding solutions for fully automated performing emersion and immersion manoeuvers of submerged hydrokinetic devices with which to harness renewable energies requires the study of simple and reliable dynamic models. This paper presents a simple dynamic model for an approximately cylindrical body when it performs open loop emersion motions. It includes free surface motion with a single degree of freedom.

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