Radiation impedance matrix and optimum power

absorption for interacting oscillators in surface

waves
JOHANNES FALNES
Division of Experimental Physics, Norwegian Institute of Technology, University of Trondheim,
N-7034 Trondheim-NTH, Norway
(Received 29 October 1979)

The two hydrodynamic coefficients, the damping coefficient and the added-mass coefficient are
incorporated into a single complex coefficient, the radiation impedance. These coefficients become
matrices for a system of interacting wave-generating oscillators. A derivation and an optimization
of the power absorbed by the system are obtained by using a phenomenological theory.
Subsequently the phenomenological parameters are related with hydrodynamics. Finally the
optimum absorption by two heaving point oscillators is considered. It is demonstrated that the
optimum velocity for maximum power absorption is not in all cases in phase with the excitation
force.

INTRODUCTION each body as six oscillators. Parameters pertaining to a

The mutual interaction of several floating or submerged
bodies oscillating under wave action is of interest for
instance in the subject of wave energy conversion x. The
analysis of interconnected elements subject to oscillation
is a recognized problem in electrical engineering. The
concept of electrical impedance is frequently used in
electric circuit theory, as the phenomenological theory is
usually more lucid and more elementary than the rigorous
electromagnetic field theory. In a similar manner, it is
advantageous to use the concept of mechanical imped-
ance in the study of oscillating bodies in water.
The problem of generating or absorbing ocean waves is
analogous to known problems of interaction between
electromagnetic waves and antennae and between
acoustical waves and acoustical transducers (loud-
speakers and microphones). In those subjects radiation
impedance and radiation resistance are very useful terms.
We shall consider the interaction between a surface
wave and an arbitrary number of oscillating bodies, partly
or totally submerged in water. We assume that the
amplitudes of waves and oscillations are so small that
linear theory is valid. We shall, for simplicity, assume that
waves and oscillations are harmonic with a common
angular frequency o2.
At first we use the impedance concept to give a
phenomenological analysis of the problem. Later we shall
relate the phenomenological parameters with hydrody-
namics. Finally we consider an example.
Each oscillating body has, in general, six degrees of
freedom, corresponding to three translatory modes and
three rotary modes. We chose a co-ordinate system with
the z-axis pointing upwards and with the plane z=O
coinciding with the free water surface. For a ship-like
body, pointing in the x-direction, the 3 modes of
translation in the x, y and z directions are called surge,
sway and heave, respectively. The 3 modes of rotation
about the x, y and z axes are called roll, pitch and yaw,
respectively. The six modes are numbered from q = 1 to q
= 6 in the same order as listed above. We shall consider
particular oscillator will be denoted by a subscript
i:6p+q (1)
where q = 1, 2 .... ,6 and where p is the number of the body.
With an assumed angular frequency co the state of an
oscillator is given by amplitude and phase. These two real
quantities are conveniently incorporated into a single
complex quantity, the so-called complex amplitude,
which is familiar, for instance, in the theory of alternating
current. Thus, we shall specify the state of oscillator no. i
by the complex velocity amplitude U i. This is a trans-
latory velocity for q = 1, 2, 3. For q = 4, 5, 6 it is an angular
velocity.
PHENOMENOLOGICAL FORMULATION
Radiation impedance matrix
When all oscillators are non-moving, an excitation
force, represented by its complex amplitude Fe. i acts on
oscillator no. i. The excitation force is primarily caused by
a given incoming wave, but diffraction effects due to the
fixed bodies are included in the quantity Fe, i. When
oscillator no. j oscillates with a complex velocity ampli-
tude U j, it radiates a wave which acts on oscillator no. i
with an additional force having a complex amplitude
- Z~jU2. In the linear theory the complex coefficient - Zq
is a factor of proportionality, but it depends on co and on
the geometry of the problem. Using the principle of
superposition, the total force acting on oscillator no. i
becomes:
F,i = Fe.i- Z ZijUj (2)
J
where the sum is taken over all oscillators, including also
oscillator no. i.
The set of complex amplitudes of the total force, the
excitation force, and the oscillator velocity are con-

0141-1187/80/0200754)652.00
© 1980 CML Publications Applied Ocean Research, 1980, Vol. 2, No. 2 75
Radiatimt imt,edtmcc matrix/or oscillator.s itl .~t,jacc watcs: ,l. t'ulm,,~
veniently assembled into column vectors, F,, F,. and U,
respectively. Considering equation (2) as a set of equations
for all oscillators it may be written in matrix form as:
F,=F,.-Zt! (3)
where Z is a square matrix with elements Z~j.
We call Z the radiation impedance matrix in analogy
with term usage in theories for antennae and for acoustic
transducers. The complex matrix element Z~j may be
decomposed into its real part Ri/, the radiation resistance
element, and imaginary part X~ r the radiation reactance
element. Thus.
Zi. / = R i j q- i X i j = R i j -{- ia)mij (4)
where ~o is the angular frequency and mlj is the hy-
drodynamic added-mass element. It should be noted that
the radiation resistance is commonly termed 'damping
coefficient' in hydrodynamic texts. For convenience, we
shall thus combine two hydrodynamic real parameters
into a single complex parameter, the radiation impedance.
It can be shown 2 that the radiation impedance matrix is
symmetric:
Z~i = Zji or 2 =Z (5)
where the matrix 2 is the transpose of matrix Z. This is a
reciprocity relation. The force acting on one oscillator,
due to unit motion of a second oscillator, is equal to the
force on the second oscillator due to unit motion of the
first.
Absorbed power
The time-averaged power absorbed by oscillator no. i
is:
P i -_1
~ R e ( f "t,iUi* )-4(Ft,iUi
_! * + F*iU i) (6)
where an asterix denotes complex conjugate. Using
equation (2) we find:
Pi-- ~(F,,,iUi
1 * + Fe,iUi)-a
* 1 Z (ZijU jU~ ~f-Zi~U~ Ui)
J
The power absorbed by the total systems of oscillators is:
P = ~ P , = ¼~(F,.i U* + F*~.,Ui)-½~RiiUjU*
i i,j
where
R i j = L(Zij + Z * )
From the reciprocity relation (5) it follows that:
Rij = Rji= Re(Zij ) or R =/~ = Re(Z) (10)
In matrix notation equation (8) reads
P = ~(PeU* + F ' U ) - ½ U * R U (11)
76 Applied Ocean Research, 1980, Vol. 2, No. 2
Observe from equations (7), (8) and 111) that the net
absorbed power is given by the difference between two
terms. The first term, which is linear in oscillator velocity.
represents the incident power due to the given wave. The
second term, which is bilinear in oscillator velocity,
represents power radiated into the sea. In the absence of
incident waves this is the only non-vanishing term. The
absorbed power is negative, of course, since the oscillators
then work as wave generators. Further, it should be
observed that both terms vanish if all oscillators are kept
fixed (U = 0). Hence the second term does not represent
reflected or diffracted power from fixed bodies, but only
radiated power from oscillating bodies. The effect of
diffraction on the bodies is included in the excitation force
F e.
If all Fedand all U~ are known, the total power P is given
by equation (11) if all the radiation resistance matrix
elements Rij are known. However, in order to find the
partition of the absorbed power amongst the individual
oscillators equation (7) shows that knowledge of the
imaginary part of Z~j, or of the added mass matrix, is also
required. This knowledge is also necessary in order to find
from equation (2) the total force F,.~ acting on each
oscillator.
Maximum absorbed power
With a given system of oscillators and a given incident
wave, we may consider F~ to be a known column matrix of
complex amplitudes of excitation force. If the column
matrix U of complex velocity amplitudes has an optimum
value for which the total absorbed power P is maximized,
the partial derivatives of P with respect to Re(U j) and to
lm(Uj) vanish for all j. Differentiating equation (8) we
obtain the linear relationship:
RijUj=lFe,i or RU =½F,, (12)
J
for the optimum value of U. Solving equation (12) with
respect to the optimum complex velocity amplitude we
obtain:
1
Ui = 2 Gij2Fe,j or U = C,~F e --- Uopt (13)
(7) where
G=R -1 (14)
is the inverse of the radiation resistance matrix R
Inserting equation (13) into (11) and using equation (10)
(8) give:
Pmax
,~
=gFeGFe, - g lF~e R - , w~e
, _ l --
~ , 2~op:'~opt
RIT (15)
(9) In the special case of only one oscillator, the maximum
absorbed power is3:
Pmax=]FelZ/8R for U=Uopt=F~,/2R (16)
In this case, the optimum oscillation velocity is in phase
with the excitation force due to the incident wave. This
phase condition is automatically satisfied by an oscillator
which is in resonance with the incident wave 4.
For a system of oscillators such a phase agreement
 Radiation impedance matrix.[br oscillators in smface waves: J. Falnes
between the optimum velocity and the corresponding
excitation force is valid for many configurations of
practical interest ~. However, in the general case Uop,,~is
neither in phase with the excitation force Fe,i nor with the
total force F,, ~.In such a case it is not generally possible to
obtain the optimum movement of all oscillators simply by
tuning them into resonance with the incident harmonic
wave. However, in principle, by means of a controlled
machinery for each oscillator, optimum velocities are
attainable, in agreement with equation (13).
When U=Uopt in accordance with equation (13), the
absorbed power Pmax equals the last term in equation (11).
Thus the incident power is divided equally between
radiated power and absorbed power. However, if
When the distance rp from oscillator no. i is very large
we have the asymptotic expression:
q)i ~ bi(Op)rp1/2 exp { - ikrp}e(kz) as k r p ---* Go
(22)
which satisfies the radiation condition, and which may be
derived from the Laplace equation in cylindrical co-
ordinates (to, Op, z). Here b~ is a function which depends
on 0p on ,~, and on the shape of the oscillating body. To
some extent the complex parameter b~ also depends on the
geometry of the total configuration of interacting bodies
and on the water depth. Further the angular wave number
k is given by:

U = 2Uop t then P=0 (17) (D 2 ~ - q k tanh (kh) (23)

since the radiated power equals the incident power in this and, finally,
case. Observe that, while equation (13) gives the sufficient
and necessary condition for maximum P, equation (17) cosh (kz + kh)
gives only a sufficient condition for P = 0. e(kz) = (24)
cosh (kh)

where 9 is the acceleration of gravity and h is the water

HYDRODYNAMIC FORMULATION depth, which is assumed constant.
The force on oscillator no. i due to unit velocity
We assume an incompressible ideal fluid and irrotational amplitude in oscillator no. j is:
motion. Potential theory then applies. We also assume
harmonic time variation and use linearized theory. In
general the velocity potential is composed of three
contributions. The complex amplitude is: -Z,j=-ffpjnpqdSp=i(opffq)j~*dS (25,
Sp S
O=~o+~d+~ (18)
where p is the water density and pj represents the
where ~oo represents a given incident wave, which results in hydrodynamic pressure corresponding to q~.
a diffracted wave ~0~when all bodies are fixed. If the bodies The last integral is taken over the totality of submerged
are oscillating a radiated wave: surfaces

S =USp (26)
%=~Uioi
i
(19) P

Since ?,~oj~n is real everywhere on S, according to

is set up, where the sum is taken over all oscillators. Here
~& represents the velocity potential due to unit velocity
amplitude of oscillator no. i, when all other oscillators are
non-moving.
All terms in equation (18) satisfy the Laplace equation
in the fluid domain and the usual homogeneous boundary
conditions on the free surface, z = 0 , and on the sea bed s.
The inhomogeneous boundary condition on the sub-
merged surfaces {Sp} of the oscillating bodies is satisfied,
provided6:
equation (21), we may use q~ or ~0" as we wish in the
integrand above. Note that equation (25) is valid for j = i
and f o r j ¢ i. When j4; i, oscillator j may pertain to any of
the oscillating bodies, including body no. p. By using
Green's theorem, the boundary conditions for ~o~and ~0j,
and the radiation condition at infinity, it is easy to verify
the reciprocity relation (5). Using the same conditions and
the fact that ~oj~n is real on all submerged surfaces, it can
further be shown that:

g dS
2 20j \~°J Tnn -~°*
~nn(tp° + (Pd)= 0 on all Sp (20) S'

~oi
~O i {;pq onSp = - imp q)j~-~:lS
~nn - on S'p (p' :¢:p) (21) (27)
S,,

Here 8/8n is the normal derivative in the direction of the where S' is any surface within the fluid such that all
outward unit normal h~ to the surface of the body. oscillating bodies are inside S'. If the distance from all
Remembering (1), %q is defined as the x, y or z component bodies to the surface tends to infinity we have S'~S~.
of n, when q = 1, 2 or 3, respectively. Further npq is the x, y Further, it may be shown that:
or z component of the vector rp x n when q =4, 5 or 6,
respectively. Here rp is the position vector referred to a
selected point of body no. p, for instance the centre of mij=XiJ(o = Z,j--Z*2i(o= --P f f ~n (28)
gravity or the centre of buoyancy. s

Applied Ocean Research, 1980, Vol. 2, No. 2 77

Radiatim# impedam'e matrix.,/iJr oscilhttor,s in ,suduce ware,s: ,I. I"ahw,s
Using equation (22)in equation (27) we obtain: they are oscillating in the heaving mode only. Then the
scattering of waves on the bodies is ncarl'+ negligible.
2re
Hence, we may consider the coefficient b~ in equation (22)
Rss= p<d(kh)
} - J b*lO)bs(O) exp ~ikdu cos (0-:qs)Id0 (29) to be independent on the angle 0, and t29) gives for the
radiation resistance matrix,
I)

Rii: ti R i i R j b I 1,2 Jo(kdii) (35)

where
O where J0 is the Bessel function of first kind and zero order,
and
f(kh)= 2k .[ {e(kz)}2dz=(1-t sinh2kh(2kh)j~tanh(kh)
-h R. = ~zt,~,)lb~12l(kh) (36)
(30)
A corresponding simplification for the added mass
and where d u is the horizontal distance between the matrix is not known, unless the distance d u is very large.
reference point, rp=0, for oscillator no. i and the cor- Then we can use the asymptotic expression (22) for q~j
responding point for oscillator no.j. If the oscillators i and which is approximately constant on the surface Sp of the
j pertain to the same oscillating body, then d u = 0. Further, point oscillator body, and we obtain from equation (25),
cq~is the angle between the line joining the two oscillators for kd u >>1,
and the x axis.
The total power absorbed by all oscillating bodies is~: Zu ~ i~opArbidu 1,2exp { - ikdiil (37)

where
_ 1 - ~''~','* (31) 2.

By using Green's theorem, the boundary conditions and

Ap=-
rf
Sp
e(kz)npadSr=
:~
e(kzFr da"
~t dz (38)

the radiation condition we can show [cf. eq. (18) of ref. 1]
that P may be rewritten as equation (8) with:
(32)
S the horizontal cross-section at the water line of body no. p.
and with R u as in equation (27)• The formula (32) for the
excitation force is formally equal to the Haskind formula 7.
However, according to equation (21), ~o~represents a wave
which is radiated from oscillator no. i and scattered from
all the remaining bodies of the system•
Here a = a(z) is the horizontal radius of the heaving body
at depth - z, and z = z~ corresponds to the lowest point of
the body. In a submerged body z, corresponds to the
highest point of the body, while for a floating body z~ = 0.
For a floating shallow body, where e(kz)~ 1, Ap is simply
Using the reciprocity relation (5) and the asymptotic
expression for Jo(kdu) a comparison of equation (35) with
(37) gives:
k ~1,'2 Ap e iin,4
(391

Plane incident wave for the heaving point oscillator p. Hence, from equations
Consider an incident plane wave propagating in the (36) and (23), we get:
positive x direction. The complex amplitude of the
velocity potential is: Ril P¢okA2 P{gk3 tanh(kh)}"2A P2
- (40)
2f(kh) 2f(kh)
q~<,=igrloe ikXe(kz) (33)
O)
for the heaving mode in the point-oscillator approxi-
where % is the complex amplitude of the surface elevation mation, Using equations (40)and (39)in equation (37), the
at x = 0 . Inserting for ~oo and (p~ from equations (33) and asymptotic expression for kdu>>l becomes:
(22) into equation (32) and integrating over the distant
surfaces SCj, we obtain ~ 1,'2
•2RiiRjj e x p { - i ( k d u - ~ / 4 ) I
ZU~ ~ ~kdu ~ (41)
F<,.,= pg(2x/k) 1/2b~(x)j(kh)tlo exp { - i(kX,- ~,/4)} (34)

where X~ = Xp is the x co-ordinate of the reference point rp The heaving excitation force on the body no. p is,
= 0 in the body no. p, and bi(x) is the value of b i according to equations (34) and (39) given by:
corresponding to the direction Op= ~t, that is opposite to
the propagation direction of the incoming wave. F,,i=Fe,6p+3,~pgApqoexp{-ikXpl (42)

in the point-oscillator approximation.

HEAVING POINT OSCILLATORS

We shall consider point oscillators, i.e., oscillating Two equal heaving bodies
bodies whose horizontal extension is much smaller than We consider two equal bodies (p = 1 and p = 2), oscillat-
one wavelength. To simplify, we assume that the bodies ing in the heaving mode (q=3), only. The bodies are
are circularly symmetric around a vertical axis and that placed as shown in Fig. I. According to equations (40) and

78 Applied Ocean Research, 1980, Vol. 2, No. 2

 Radiation impedance matrix for oscillators in surface waves: J. Falnes

///
The factor q2, which has a maximum value of q2. . . . ~ 1.67

Yl for kd = 3.82 and 7 = 0, is the relative magnification of the

maximum absorbed power when two isolated bodies are
placed with a finite distance d from each other. When q2
> 1, the interference between the bodies is constructive.
Graphs of q2 are shown in Fig. 2. Since Jo(kd), for large
values of kd, is an oscillating function whose amplitude is
inversely proportional to the square root of kd, the
importance of the interference factor q2 decreases slowly
with increasing kd. Even when the distance between the
/ ".g¥ s:
// /
,,~QN ,,
two oscillators is several wavelengths the interference is
not quite negligible.
From equation (48) we observe that the optimum
velocity is not in phase with the excitation force unless
Ira(w) = 0. With oblique wave incidence this happens only
/ for particular values of kd.
Let us now consider how the absorbed power P = P3
/ + P9 is partitioned between the two oscillators. Using the
Figure 1. Two heaving bodies 1 and2 placed a distance d above equations and (7) we find:
from each other. The symmetry plane through the bodies
makes an angle 7 with the incoming wave front sin (kd sin 7)Ira(-Z39/R)
P3 - P 9 = Pmax (51)
1 - Jo(kd) cos (kd sin 7)
(35) the 2 2 = 4 relevant elements of the radiation re-
sistance matrix are: For 7=0, this gives P3 = P 9 =Pmax/2 which was to be
expected from symmetry considerations. For 7:~0, the
_p(okA z absorbed power in the two oscillators is different. The
R33 = R 9 9 2f(kh) =-R (43) difference P3 - P9 depends on the added mass coefficient
m39 = Im(Z39)/¢o, which is a function of k and d.
When the distance d between the two heaving point
R39 = R93 = RJo(kd ) (44) oscillators is sufficiently large, we can use equation (41)
and the asymptotic expression for the Bessel function Jo.
where A = A I = A 2 as given by equation (38). R is the
Thus when kd > 1, equation (51) gives:
radiation resistance of one isolated heaving body. In
accordance with equation (42) we have:
sin (kd sin 7) sin (kd - 7z/4)
Fe, 9 = Fe, 3 exp { - ikd sin 7} (45) P3 - P9 x/nkd-/2 - cos (kd sin 7) cos (kd - ~/4) Pmax
(52)
and
We consider now the case when 7 = rr/2. Then
IFe,91=lFe,31=lFol

where Pmax 2(x/~kd - 1)

P3 -- P~ "~ 1 4 (53)
1 - ,,/2 cos (2kd - ~/4)
Fo ~ pgAqo (46)

is the complex amplitude of the heaving excitation force of The denominator in the last term is positive in the
intervals:
a body placed in the origin.
According to equations (15) and (13) the maximum
power absorbed by the two oscillating bodies is: (N - 3/4)rE< kd < N~z (54)

where N is any integer sufficiently large for the asymptotic

p~ax__ IFo12
8R 2q2 (47) expression to apply. Then P3 > Pg. In the comparatively

obtained under optimum motion, where

Fe 3 Fe'9 w* (48) 90' 30"

U3,op t = ~ - w and U9,opt- 2R q2 f" ~. 0"

J~ .,.,-,° 15° ,°° 90

~
Here
1 -Jo(kd) exp { - ikd sin 7}
w= 1-j2(kd) (49)
,, ; ~ ~o
kd
and
Figure 2. The interference factor q2 as a function of
q2 Re(w)- 1- Jo(kd) cos (kd sin 7) dimensionless distance kd for different values of the angle of
=
(50)
1 -J~(kd) incidence 7. Cf. equations (47) and (50)

Applied Ocean Research, 1980, Vol. 2, No. 2 79

Radiation impedance malri.\.lor oscillators in m,Jilce wace.s: J. tahlc,s
smaller inlcrvals:
N~r<kd<(N+ I '4)rr {55}
the d e n o m i n a t o r , and hence, (P3 - Pg) are negative. It can
be c o n c l u d e d that, for a r a n d o m wave frequency, it is
p r o b a b l e that the "rear' point oscillator a b s o r b s less
energy than the 'front' oscillator, when both oscillators
have their m o v e m e n t s controlled in such an o p t i m u m way
that the total a b s o r b e d power is m a x i m u m .
ADDENDUM
The preceding sections, which were issued 1978 in an
internal report, deal with wave p o w e r a b s o r p t i o n by a
system of interacting oscillators. The o p t i m u m c o n d i t i o n
{13) for m a x i m u m a b s o r b e d p o w e r (15) has been inde-
pendently derived by Evans 8. Such a general o p t i m i z a t i o n
was not u n d e r t a k e n in ref. 1, where the systems considered
are restricted to equal bodies of equal a m p l i t u d e s and to a
certain phase c o n d i t i o n 9. However, for the infinite linear
row of evenly spaced oscillators and for the case of n o r m a l
wave incidence on two heaving bodies the considered
situation c o r r e s p o n d s to m a x i m u m a b s o r b e d power.
In deriving the o p t i m u m c o n d i t i o n (13) it was tacitly
assumed that the inverse of the r a d i a t i o n resistance matrix
exists. This is p r o b a b l y true in most cases. However, one
i m p o r t a n t exception is the case of one circularly sym-
metric body, where the o p t i m u m surge and pitch m o t i o n s
are not unique 2. Nevertheless, there exists a unique value
of the m a x i m u m a b s o r b e d p o w e r Pm,x = U R U * / 2 for any
velocity matrix U which satisfies the o p t i m u m c o n d i t i o n
(12), even if this e q u a t i o n is indeterminate when R ~ does
not exist.
F o r a r b i t r a r y wave direction the m a x i m u m p o w e r
a b s o r b e d by two equal heaving b u o y s has been discussed
80 Applied Ocean Research, 1980, Vol. 2, No. 2
here, and i n d e p e n d e n t l y by Evans s. As argued above, for
the case o1"7 = ~/2, it is most p r o b a b l e that the "front" buoy
a b s o r b s more power than the "rear" buoy. This is not an
unexpected result since it is k n o w n ~° that when two
parallel infinite rows of evenly spaced heaving buoys
a b s o r b all the incident wave power, then all power is
a b s o r b e d by the front row. The rear row merely acts as a
d y n a m i c a l reflector. However, all b u o y s oscilhtte with
equal amplitudes.
It has been shown in the present work that the o p t i m u m
condition for m a x i m u m power a b s o r p t i o n does not in all
cases c o r r e s p o n d to resonant oscillators. The best con-
dition is not always to have the oscillator velocity in phase
with the excitation force.
REFERENCES
1 Budal,K. Theory for absorption of wave power by a system of
interacting bodies, J. Ship Res. 1977, 21, {4), 248
Newman, J. N The interaction of stationary vessels with regular
waves, Proc. 1lth Syrup. Naval Hydrodynamics 1976, pp. 491 501
3 Budal, K. and Falnes, J. Power generation from ocean waves
using a resonant oscillating system, Mar. Sci. Commun. 1975, I,
269
4 Budal, K. and Falnes, J. A resonant point absorber of ocean-wave
power, Nature 1975, 256. 478
5 Cf. for instance, ref. 6 or 7
6 Faltinsen, O. M. and Michelsen, F. C. Motion of large structures
in waves at zero Froude number, Det norske Veritas, Publication
No. 90 1975 (read at the Int. Syrup. Dynamics of Marine Vehicles
and Structures in Waves, London 1 5 April 19741
7 Newman, J. N. The exciting forces on fixed bodies in waves, J.
Ship Res. 1962, 6, (3), 10
8 Evans,D. V. Some theoretical aspects of three-dimensional wave-
energy absorbers, Symp. Ocean Wave Enerw) Utilization,
Gothenburg, 1979
9 Cf. equation {251 of ref. 1
I0 Budal,K., Fatnes, J., Kyllingstad, A. and Oltedal, G. Experiments
with point absorbers in regular waves. S3mp. Ocean Wave Energy
Utilization, Gothenhur,q, 1979