i An update to this article is included at the end

Surface wave interactions with systems of oscillating

bodies and pressure distributions
J. F A L N E S

Division of Experimental Physics, Norwegian Institute of Technology, University of Trondheim,

N- 7034 Trondheim-NTH, Norway

P. M c l V E R

School of Mathematics, University of Bristol, Bristol BS8 1TIC, England*

Theoretical descriptions of arrays of wave-power devices have been given previously for systems
consisting of either oscillating bodies or oscillating pressure distributions. A number of devices have
an oscillating water column placed within a floating structure, thus there is a need for a general
theory describing composite systems of both oscillating bodies and pressure distributions. Such a
theory is presented here. The states of the oscillators in the system are described by the complex
amplitudes of the air-pressure distributions within floating or submerged chambers, and of the
velocity components for oscillating bodies. By analogy with electric circuit theory, the radiation
coupling between all oscillators is represented by a partitioned matrix composed of the radiation
admittance matrix for the pressure distributions, the radiation impedance matrix for the oscillating
bodies, and a radiation coupling matrix between the bodies and the pressure distributions. Using
potential theory of an ideal fluid some reciprocity relations involving these matrices are derived.
A little-known relationship between the added mass matrix and the energy of the near-field motion
due to oscillating bodies is generalised to include pressure distributions. Previously, only the proof
of the result for a single oscillating body has been published.
By joining eigenfunction expansions on the common boundaries of rectangular domains, numerical
results are obtained for a two-dimensional system where a pressure distribution is trapped between
two rigidly connected vertical barriers which are able to oscillate in the surge mode. It is shown that
this system absorbs all of the incident wave power, provided optimum values of the complex oscillation
amplitudes can be achieved.

Key Words: wave power absorption, oscillating water columns, floating bodies

INTRODUCTION
Several proposals for conversion of the energy in ocean
waves utilise an oscillating water column which interacts
with the oscillating pressure in the air trapped in a chamber
above the water column. In theoretical studies of the
hydrodynamics of oscillating water columns it was
usual to replace the internal water surface by an imaginary
weightless piston and then to apply the theory of oscillating
rigid bodies. However, recently Evans ~ has presented a
more correct pressure-distribution theory which allows
for the spatial variation of the internal water surface. In
this theory it is assumed that all structures are immobile.
Since many proposed oscillating water column devices
are in floating structures 2-6 there is a need to extend the
theory to make it applicable to such cases. In this paper
we shall consider a system composed of oscillating bodies
and oscillating pressure distributions. It is convenient to
describe the state of this system of oscillators in terms
Accepted June 1985. Discussion closes December 1985.
* Present address: Dept. of Mathematics and Statistics, Brunel
University, Uxbridge, MiddlesexUB8 3PH, UK.
of the air pressure above each internal water surface and
of the velocity components corresponding to the (up to
six) independent modes of motion for each oscillating
body. The hydrodynamical power exchanged with an
internal water surface is given by the product of the air
pressure and the volume flux, which is obtained by inte-
grating the vertical velocity component over the internal
water surface. Corresponding power exchanged with a
body is given by the product of the velocity and the force,
which is obtained by integrating the hydrodynamical
pressure over the wetted surface of the body.
The system is analogous to an electric circuit, the state
of which is described by the voltage input to some of its
ports and by the current input to the remaining ports.7
Such a mixed description is used, for instance, in the
hybrid representation of transistors.8 In the phenomeno-
logical theory of electric circuits one can, in many cases
use parameters such as impedance and admittance, with-
out going into all the details of electromagnetic field
theory.
In analogy with electric circuit theory we shall introduce
mechanical impedances and admittances. Subsequently,

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© 1985 CML Publications Applied Ocean Research, 1985, Vol. 7, No. 4 225
Surface wave interactions with systems o f oscillating bodies and pressure distributions." J. Falnes and P. Mclver

these phenomenological parameters will be related to plane z = --h, where h is the depth, the angular repetency
hydrodynamical theory. (wave number) k is related to the angular frequency co
Since we shall assume linear theory for waves and oscilla- through the well-known dispersion relation
tions, several of the results have well-known analogous 6o2 = gk tanh (kh) (4)
counterparts in the theory of reciprocal linear electric
circuits. g being the acceleration due to gravity. We choose vertical
reference lines (xk, Yk) for the internal water surfaces and
(xi, Yi) for the bodies, taken, for instance, through the
PHENOMENOLOGICAL THEORY centres of mass, and we define the undisturbed surface
elevation of the incident wave at the reference line of the
We consider a system of N/ bodies which can oscillate oscillators,
about a mean equilibrium position and of Ark chambers
containing air with a pressure which can oscillate about A k = 170(xk,Yk) and A i = rlo(xi,Yi). (5)
a mean value (Fig. 1). If a chamber structure can oscillate, The incident wave produces a volume flux due to induced
it belongs to the set of oscillating bodies. The oscillating motion of the internal water surface Sk and a hydro-
bodies are partly or completely submerged. The equili- dynamical force on the body S i. When Pk = 0 for all k
brium level of an internal water surface may differ from and uii = 0 for all i and j, we term them the excitation
the mean level of the external water surface, provided volume flux Qk and excitation force Fij , respectively.
the equilibrium internal air pressure is adjusted corres- In linear theory they are proportional to the incident
pondingly. wave amplitude A. We write
If each body is free to oscillate in all its six modes of
motion, the system has Ok = q k A k and F / / = fi/A i. (6)
N = N k + 6N/ (1) The complex coefficients of proportionality are functions
of w and /3. We term them excitation coefficients, the
independent oscillators. We assume that all oscillations
excitation volume flux coefficient qk and the excitation
are harmonic with a common angular frequency 6o, and
force coefficient f/j.
we use complex representation of the time variation,
Consider next the case when the amplitudes of the
omitting the factor exp (i¢ot).
oscillators are not zero, p k 4 : 0 and u 0 4= 0. Then these
The states of the first N k oscillators are characterised
will contribute to the volume flux in chamber k and to
by the dynamic pressures Pk (k = 1, 2, 3 . . . . . Ark) of the
the j component of the force on body i. Because of our
air in the chambers. For the remaining oscillators the states
assumption of linearity we have proportionality between
are given by the velocity components u q ( i = 1, 2, 3 . . . . . Ni)
input and output. Below we introduce additional complex
of the oscillating bodies. The subscript ] (] = 1,2, 3, 4, 5, 6)
coefficients of proportionality. Further we can use the
denotes mode of motion (surge, sway, heave, roll, pitch
principle of superposition. Thus we write the total volume
and yaw, respectively). For a given frequency the state of
flux due to the oscillation of the internal water surface Sk
each oscillator is then given by a single complex amplitude
(Pk or uii ). Qtot, k = q k A k -- ~ Yk, k'pk' -- ~ Hk, ijUij (7)
Consider, for the moment, the case when the oscillation k' i/
amplitude is zero for each oscillator and let a plane incident
wave where the first sum runs from k ' = 1 to k ' = N k. In the
second sum i runs from 1 to N i and j from 1 to 6. (Instead
r/o(X, y) = A exp (--ikr(/3)) (2) of using a single index l = 6(i-- 1) + j we denote a body
be given, where A is the complex elevation amplitude at oscillation by an apparent double index ij to distinguish
the origin r(/3) = 0. Further it from a pressure oscillator, denoted by a single index k.)
Similarly the j component of the total force acting on
r(/3) = x cos 13+ y sin/3 (3) body i is
where (x, y) are horizontal cartesian coordinates and /3 Ftot, q = f i i A i - - ~ Z,1,
......,i u,!
..... ~Hi],kpk (8)
is the angle of incidence. If the sea bed is a horizontal iV' k
The set of complex coefficients Yk,k' is just the radiation
admittance matrix Y for the oscillating surface pressure dis-
tribution as given by Evans.~ Further, the set of coefficients
Zij, i7' is the radiation impedance 9 matrix Z for the oscil-
i .... [ lating bodies. According to well-known reciprocity rela-
i I tions both of those matrices are symmetric, which means
i that they do not change by transposition
S® IS®
I 17=Y' and ,~=Z (9)
L/// . . . . / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / bf
.... 77~
1 (where tilde above denotes transpose).
The new complex coefficients Hk, i/ and Hii,k which
Figure 1. System o f bodies and chambers for pressure have the dimension of length squared (for j = 1, 2, 3),
distributions contained within imaginary cylindrical control represent the hydrodynamical coupling between the
surface S**. Wetted surfaces o f oscillating bodies are indi- oscillating bodies and the oscillating pressure distributions.
cated by S i and S i, whereas S k and S k, denote internal From analogy with reciprocal electrical circuits 1° we
water surfaces. Fixed surfaces, including the sea bed are expect that
given as S b, and So denotes the external free water surface.
The arrows indicate unit normals Hi], k = --Hk, i/ (10)

226 Applied Ocean Research, 1985, Vol. 7, No. 4

 Surface wave interactions with systems of oscillating bodies and pressure distributions: J. Falnes and P. Mclver
a relation which we shall prove later. We define the radia-
tion coupling matrix H by
H = {Hk, ij).
The matrices Y, Z and H are of order N~ x N k, (N--Ark) x
(N-- Ark) and Ark X (N-- Ark), respectively.
Mechanical impedance has the dimension of force
divided by velocity. Contrary to the common usage in
electrical circuit theory, we have here for notational con-
venience, defined and admittance which is not dimensionally
inverse to impedance. Note that Y~,k,= Yk, k,/SkSk, is
dimensionally inverse to Zij ' iT. However, it is simpler to
write just Yk,t~' instead of SkSk, Y~, k' in equation (7).
Defining column vectors
P={Pk), U= (Uil}, Q= {ak}, F= {Fij} (12)
etc., and using equations (6) and (10) we can write
equations (7)-(8) as
(Otot'~ O Y H p
Ftot, = ( F ) - - ( - - H Z)(u)
where the first term represents the excitation quantities
and the last term the radiation problem. Note that H is
the transpose of H.
For real 60 it is convenient to decompose the complex
radiation matrices into their real and imaginary parts,
Y = G + iB
Z=R+iX
H = C + iJ
In analogy with electric-circuit usage n we may term G,
R, B and X the radiation conductance, resistance, suscep-
tance and reactance matrices, respectively. Note that in
hydrodynamical texts R is usually termed the radiation
damping matrix,~2 a term which we here, however, want
to reserve for the composite N x N (complex, but still
hermitian) matrix
A=(i G --RJ )
Note also that X/w is usually termed the added-mass
matrix, a term which may in some cases be misleading,
since it is not associated with kinetic energy only in
surface wave problems) a
ABSORBED POWER
The time-averaged power absorbed by the system from
the waves is
P -- R e ( ~ )
where we have introduced the complex power TM
= E 1 P k Qtot,
* k + ~ [1 Ftot,/1 ui]*
k t/ k il
where the asterix denotes complex conjugate. Note that
Pk = Re(~k) is the power absorbed through the oscillating
internal water surface &: and that Pij = Re(~i) is the
power absorbed by body i due to oscillation in mode/.
Using equations (6) to (8) we get
~ k = ½ (Q~Pk-- ~ v*,k,kt-'ku~'"*'" -- ~ H~*#u~lPtc) (20)
~q=~(Fliu~--.~,.,Zil, i T u i T u ~ - - ~ H i i , kPkU~)(21)
ij k
(11)
When summing over all oscillators it is convenient to use
matrix notation. We then find the total absorbed power
P = Pe -- Pr (22)
where the excitation power is
Pe = Re(~,) = ~ Re(ioQ* +/~u*) (23)
and the radiated power
Pr = Re(~r) (24)
with
2 ~ r = p(Y*p* + H ' u * ) + (ffZ--p-H)u*
= p-Y'p* + ffZu* -- 2i/~Ju* (25)
To obtain this expression we have used equations (9),
(13) and (16). Using also equations (14) and (15) we find
the radiated power
(13,
Pr = ~(~r + ~ * ) = ½/~Gp* + ½ffRu* + Im(i6Ju*) (26)
Introducing the N dimensional column vectors
n=(~) and r = ( FQ ) (27)
(14) we can write the total absorbed power as
(15)
P =Pe --Pr = 14(~ff* + ~*ff) -- ~Aff* (28)
(16)
where A is the radiation damping matrix (17). It is easily
seen that this matrix is hermitian, A* = A, which means
that the last term in (28) is real. Further, since Pr can never
be negative, the matrix A is positive semi-definite.
With a given system of oscillators and a given incident
wave the excitation vector g is determined. The oscillation
amplitude vector (n) depends on this excitation and on
the applied loading mechanism of the system which we
shall not consider in detail here. However, if rt also is
(17) known, for instance, from measurements, then the power
absorbed from the waves is given by equation (28). The
excitation power Pe is linear in the incident wave amplitude
A and linear in the oscillation amplitudes Or). The radiated
power Pr which represents a negative contribution to the
absorbed power P, is not explicitly dependent on A, and
it is quadratic in the oscillation amplitudes (rt). Thus, if
these amplitudes are relatively small, while the wave ampli-
tude A is relatively large, then Pr is negligible compared to
Pe and hence P ~. Pc. In this case only a small fraction of
the available wave power is absorbed, as opposed to the
situation considered below.
(18) Let us, for a while, investigate the problem ofmaximising
the absorbed power from a given wave when there is no
amplitude constraint on the oscillating system. By setting
equal to zero all the partial derivatives of P with respect to
each component of 7r* and n we find that the maximum
absorbed power is
(19)
Pmax = Pr, opt = ½~o A11"~= 14gTl'* = ½Pc, opt (29)
which is obtained when rto satisfies the equation
A'no = ½K (30)
If A is not singular A -~ exists, therefore there is a unique
optimum value
7to = ½(A*)-I~ (31)
Applied Ocean Research, 1985, Vol. 7, No. 4 227
Surface wave interactions with systems o f oscillating bodies and pressure distributions." J. Falnes and P. Mclver

and we can write with I70 as given by equation (2) and with
/°max = Ls/~A-lg* (32) cosh(kz + kh)
e(kz) - (40)
This result specialises to well-known results for oscillating cosh (kh)
bodies9'12 or for oscillating pressure distributions) In both Note that 00 satisfies Laplace's equation, the free-surface
those cases the radiation damping matrix is real, in contrast condition (34) and the condition O¢o/OZ = 0 on the sea
to complex in the general case. Note that the complex bed z = --h, provided the dispersion relationship (4) holds.
conjugate of this matrix appears in equation (30). The conditions for ~ are satisfied provided ~0k,~0ii and
For actual devices the oscillation amplitudes are limited (¢o + ~a) satisfy Laplace's equation in the fluid and the
by practical considerations and the values for maximum homogeneous boundary conditions (33) on Sb and (34)
power absorption given by equations (30) and (31) are not on So, and the following conditions on Sk and S i. On the
obtainable when the wave amplitude A is above a certain water surface Sk(z = zk) in chamber k (k = 1, 2 . . . . . Ark):
value. In these circumstances it may be of greater practical
interest to maximise the converted energy relative to the
amplitude limits for which the oscillating system is designed
rather than relative to the available wave energy. In an \~z g ] Ck. . . . See' =
og ( 0 (g' q:k) (41)
efficient system these maximum amplitudes would be
utilised during a substantial fraction of an average year and
be designed small enough to ensure little is lost in radiated (~z -- ~ ) ~0/1= 0 (42)
power so that the absorbed power P-~Pe. If the wave
amplitude is substantially below average the oscillation
amplitude constraints do not come into play and the Oz g / (00 + 0a) = 0 (43)
above optimal values may be adopted.
On the wetted surface S i of osculating body i (i = 1, 2,
HYDRODYNAMICAL THEORY .... N~):
We consider the system shown in Fig. 1 and assume linear- b
ised theory for the velocity potential ~ = ¢(x, y, z) omitting 0n ~°k = 0 (44)
the time factor exp (i~ot). The potential has to satisfy
Laplace's equation within the fluid and certain boundary 0 {;,/(i' =i)
conditions, some of which are homogeneous, 0-'-£~oi7 = ni]6ii' = (i'4= i) (45)

0
-- = 0 on Sb (33) 0-n (00 + ~ba) = 0 (46)
On

--w20+g--=0
00 on So (34) where n o is, as usual,9 the j component of the unit normal
0z it i o f S i directed into the fluid (Fig. 1).
The total volume flux through the mean water surface
and others which are inhomogenous,
Skis
_6020 + g ~ = - - - i6o
- Pk on Sg (35)
0z
0¢
p Qtot, k =
fl
Sk
Vz a s = fl az
Sk
aCas (47)

~n = ui'n on Si (36)
Using the decompositions (37)-(38) it is immediately seen
Here ui, n is the normal component of the velocity tI of that Qtot, t~is as given by equation (7) with
body L In general the potential can be decomposed into
three terms corresponding to the incident, the diffracted
and the radiated waves,
Qk = qkAk = ;I ~ ((~o + ~a) as (48)
Sk
0 = 0o + Ca + Cr (37)
The radiated wave is decomposed into components corres-
ponding to the individual oscillators, r ,k, = -
fl L° ck' as (49)
sk
(ar= ~., ~OkPk + ~ ~Oi/Uii = ~n" (38)
k ij
where ~ is the column vector composed of all the complex /-/k, ij = - ~ z ~,ij a s . (50)
potential coefficients ~ok and ~oq which depend on x, y, z sk
and ¢o.
The diffracted wave 0a together with ~,, ~0kand ~oii have The/" component of the total force on body i due to
to satisfy the radiation condition of outgoing waves at the hydrodynamic pressure p = - - i ~ p ¢ is obtained by
infinite distance. integration,
We assume a plane incident wave
Ftot, J] = -- f f Pni/ as = i~p f l nii C as (51)
¢o = ----g e (kz)77o (39)
109 Si Si

228 Applied Ocean Research, 1985, Vol. 7, No. 4

 Surface wave interactions with systems of oscillating bodies and pressure distributions: J. Falnes and P. Mclver

Using the decompositions (37)-(38) it is easily seen that coo

Ftot, tt is as given by equation (8) with
=r,tA, = icoo ffn,t(*o +*e)
sf
Zq, ~7' = --icoo f f no~o~T dS
st
4 , ii = Im (Hk, ii) = - ~ I(~o~, ~oit) (64)
of which the two first are extensions of known results,
(52) while the third is new. The derivation of the last result is
shown in the Appendix.
At large distance r, the potential coefficient Ck is given
asymptotically by
(53)
hk(O) e (kz) exp [--i(kr-- rr/4)] (65)

where hg(O) is the so-called Kochin function• A similar

1t, = --icop f l nittPk dS. (54) expression applies for ~oit in terms of the Kochin function
si hii(O ). Here (r, 0) are the horizontal polar coordinates
corresponding to the horizontal cartesian coordinates
Using the boundary conditions, the radiation condi-
( x , y). Note that the Kochin functions here are referred
tions and Green's theorem, the following results can be
to the origin.
shown:
Letting the radius of the control cylinder S** tend to
Yk, k' = Yk',k, Zo, iT = Z o , ij (55) infinity, we can use equation (65) in equations (61) and
(64) to obtain
in agreement with the statement (9),
2~
Hii, k = --Hk, ij (56)
in agreement with equation (10), iJk, ii = iwo ~ ~r ~'°itdS = 4rr----k h~(O)hit(O ) dO
8** 0
Qk = qkAk = --icooI(¢o, ~Ok) (57)
(66)
and
and similar results for Gk, k, and Rit ' iT. Further results
F0 = tAt = icomr( 0, (58) obtained from the equations (57)-(58) are
where the integral I($0, ~o) is defined below• As an illus-
tration of how the results are obtained, a derivation of Qk(~_____)= qk(3) exp (--i/o'k(3)) = pgDhk( ~ +-rt) (67)
equation (56) is given in the Appendix. A k
Consider two functions ~ and ~ which satisfy Laplace's and
equation and the homogeneous boundary conditions
(33)-(34) on St, and So. We then define pgD
F/t(3)A -f/t(3) exp (--ikri(3)) = --k- hit(~ +-,r) (68)

Here r~(3) and ri(3 ) are given by equation (3) with (x, y)
s replaced by (xk, Yk) and (xi, Yi), respectively. Further

where the integration region S is given by

D = D(kh) = tanh (kh) + kh/cosh 2 (kh) (69)

Nk Ni
is a depth function which equals unity on deep water•
S = Z S~ + Z Si (60) Using the results (67)-(68) to eliminate the Kochin func-
k=l i=1
tions in equation (66) we have
/r
It can be shown that k
iJk' il = -- 16rrJ Q?,(t )Yo(t3)
I(~o, 6) = I I ( 9 ~q~
~r -- ¢ ~3rb )/ d S (61)
8**
if the control cylinder S** has a circular cross section and q ,(tg At9 exp [ig(rk(#) -- ri(tg)]
axis at r = O . Otherwise the integral in equation (61) 4rtpg2D
--1T
applies if ~/br is interpreted as the normal component
of the gradient on S** pointing in the outwards direction. (70)
The formula (58) for the excitation force is an extension where
of Haskind's formula to the case where there are both
oscillating bodies and oscillating surface pressure distri- l =--pg2O IAI 2 (71)
butions. Equation (57) is a similar extension of the corres- 4w
ponding result of Evans] The result (56) is new.
Using the reciprocity relations (55)-(56) further appli- is the wave-power transport per unit wave frontage. The
cations of Green's theorem lead to the results corresponding results for Gk k' and for R 0 i 7 °, are formally
'
identical to previously known results• 15 ' Note that those
a~,~,= R e ( r ~ , ~ , ) = t ~ I(~o~,9~ ,1 (62) results do not, as equation (70), have the minus sign, which
stems from the opposite signs in the right-hand sides of
the two equations (57) and (58).
Rii, i'/' = Re (Zo, i 7') = tcoO I(~* ~i ~') (63) For a concentric axisymmetric case, Q and F are inde-
2 ""q' pendent of 3 and the equation (70) for J and the corres-

Applied Ocean Research, 1985, Vol. 7, No. 4 229

Surface wave interactions with systems of oscillating bodies and pressure distributions." J. Falnes and P. Mclver

ponding equations for G and R become APPLIED POWER BY WAVE GENERATION

We shall consider the power applied through the oscil-

k k k
iJ = - - - - Q F * G=--QQ* R = --FF* (72) lators by wave generation in the absence of an incident
8J 8J 8J wave. This applied power is
Using equations (17) and (27) this gives Pa = Re ('~a) (80)

k where ~a is the complex applied power

A = -- r£* (73)
8J
A matrix of this type is of rank one. 16 Hence, the damping
~a=Z
i
ff2pvA,
si
as +Y~ ½Pk I f (--V*z)dS
k
sk
(81)
matrix A is necessarily singular if N > 1. Further G is
singular i f N k > 1 and R too i f N - N k > 1. Here the two sums represent the power applied to the
For the two-dimensional case the asymptotic expression fluid through the N i oscillating bodies, and through the
(65) has to be replaced by N k oscillating pressure distributions, respectively. At the
--g integration surface the fluid velocity has normal component
Ck ~ .--- e (kz) a~ exp (--ik(+ x)) (74) Vn = ~¢r/an and --Vz =--O~r/3 z, (82)
lco

where the upper and lower signs refer to large positive respectively• The hydrodynamic pressure is
and negative values of x, respectively. A similar expression p = --icop~ r. (83)
applies for ~0i] in terms of the amplitude a~j for the radiated
waves in the two opposite directions due to the oscillation According to the boundary condition (35), the applied
of body i in mode/with unit velocity• pressure Pk can be expressed by
For the two-dimensional case, we denote quantities by
a prime, to indicate that they refer to unit width in the y
direction• Thus the excitation volume flux per unit width
pk=--icop(1--~Z)¢prlsk (84)
is given by
Here the last term
pg2D
Q~(13) = -icopI'(¢o, ~g) = Aat~ (75) og~ Pg
co - -- -- ¢, = - . - - v~ (85)
iw 0z lw
where a k=a~ for / 5 = 0 and a k=a~ for 13=~r. Those
expressions are the two-dimensional analogue of the equa- represents the hydrostatic stiffness of the internal water
tions (57) and (67). Similarly the excitation force per surface Sk. Using these equations in equation (81) we find
unit width is that the applied power is

pg2D ea = Re (~a) = V I(¢*, Cr) (86)

Fi}(13) = icopI'(¢o, tPij ) = -- --Aai/ (76)
co
where I is given by the integral (59) or (61). Using
with aq = ai-I. for 15= 0 and aq = a[i for 15= zr. The two- equations (38) and (62)-(64) in (86) and comparing with
dimensional versions of equations (64) and (70) are equation (25) it is seen that Pa = Pr which is reasonable,
since in an ideal fluid with no energy dissipation the applied
_ two I'(tp~, ~oii) (77) power must be equal to the radiated power.
iJ~, ,! 2 Further, from equation (81) we find the applied reactive
poweP 4
t, t t, t
• t
Qk (0)Fi/(0) + Qk (rr)F//(rr) (781
lJtc, i / = - - 8J Im(~a) = cop I f 0 pg~ ff a~Or 2
- 4 ~n I¢rl~ as---2co oz dS
s 8k
The corresponding formulas for G~,k' and R~/,i'/' which
do not have the minus sign, are formally identical to (87)
previously known formulas. 17 which we shall relate to the energy stored in the near-field
Writing those equations in matrix notation, and using of the radiating oscillators.
two-dimensional versions of equations (17) and (27), The time-averaged kinetic energy of the fluid domain
we have r contained within the control cylinder So, (Fig. 1) is
A' = 1 {g , (0)k",. (0) + K'(Tr)£'*0r)}
~-~ (79)
T= 2 f f l ½Vet" V¢* dr (88)
which shows that the two-dimensional radiation damping
matrix A' has a rank of at most two. Hence it is necessarily Using the Laplace equation and the homogeneous boun-
singular i f N > 2. dary conditions (33)-(34) for Cr and the divergence
Note that the new relations (56) and (66) have been theorem, we obtain
obtained independently by Fernandes who has, however,
used different definitions and notations. TM He has also
4 Cr Z Cr dS ----4 q~r ~n q~* dS + Vo (89)
found several other new reciprocity relations. However,
he has considered the deep-water case only. So. s

230 Applied Ocean Research, 1985, Vol. 7, No. 4

 Surface wave interactions with systems of oscillating bodies and pressure distributions: J. Falnes and P. Melver
where
4g ¢,~* dS
So So
is the time-averaged potential energy due to the elevation
of the free water surface So external to bodies and
chambers.
At large distance, where asymptotic expresAons like
(65) or (74) apply, the contribution to T - - Vo is negligible
if the radius r of the control cylinder is increased, since
it can be shown that the surface density of T - F o is
0~(kr)-an) as kr-~oo. Thus, in the far-field region a
propagating wave is associated with a time-averaged energy
density of ( p g / 2 ) ~ * which is equally partitioned between
kinetic energy and potential energy. Hence, a non-vanishing
difference between kinetic energy and potential energy is
associated with reactive power in the near-field region.
Using equation (61) and the radiation condition, we find
T - - Vo -~ -
ff°
8
~ I~12 dS as r~oo.
The displacement
Pk i60
nk = ~r [z---zk
og g Y=iBo+0(60)
of the internal water surface Sk contributes with an
amount of
sk Sk
i60 * [Pk[z
+ -pg
- ( P k C r - - P k ¢ * ) + - -p2g YdS
to the potential energy. In the last integral, the first term
is due to gravity and the third term represents hydrostatic
' energy, while the second term is a coupling term.
The total time-averaged potential energy is
V = 1Io + ~ Vk
k an example. An axisymmetric system6 of a heaving ring-
Using the boundary condition (35) for Cr in the last
term of the expression (87) we find that the reactive
applied power is
Im (~a) = 260(T-- V).
An analogous expression exists for reactive electrical power
in terms of the difference between magnetic and electric
energy.19 A simpler analogue is an ordinary damped oscil-
lator. At resonance, stored energy is alternating between
kinetic energy and potential energy, both of which have
the same time-averaged value, while the reactive power is
zero, since only active power (Pa) has to be applied to the
oscillator. Off resonance, however, a non-vanishing reactive
power has to be applied, since there is no longer balance
between the time-averaged values of the two kinds of
stored energy.
Using the decomposition (38) for Cr, the boundary
conditions (41)-(45) and the expressions (49)-(50) and
(53)-(56) in equations (86)-(87) we find that ~ a = ~ r .
Taking the imaginary part of equation (25) then gives
1
T - - V = ~--~(½u"Xu* --½/~Bp* -- Re (fiJu*}) (96)
(90) This expression is an extension of a previously known 13
formula involving the added mass matrix X/60.
In a case with only pressure distributions and no
oscillating bodies, we have
~i6(B/60)p* = V-- T (97)
Since we use the term added mass even if it is not associ-
ated with kinetic energy only, we could term B/60 the
'added compliance' matrix in spite of the fact that it is
not associated with potential energy, only. Note, however,
that B~,k,/60 =SkSk, Bk, k,/60 (and not Bk, k,/60) has the
dimension of length divided by force. See also the remark
preceding equation (12).
Note that B[60 contains the effect of buoyancy of the
oscillating internal water surfaces corresponding to the
hydrostatic potential energy. This contribution
Bo/60 = diag (Sk/pg) (98)
(91) to B[60 corresponds to the last term in equation (93). It
is reasonable to assume that no wave is generated in the
limit of zero frequency, which means that Or -+ 0 with
60 ~ 0. Then there is no contribution to V-- T other than
the hydrostatic potential energy. In fact, it follows from
(92) equations (41) and (49) that
and G=o(60)~0 as 60-*0
(99)
For one single pressure distribution in a circular vertical
tube with radius a equation (98) gives Bo/60 = lra2/pg in
accordance with a previously known 2° zero-frequency
limit of B[60. Arguing similarly we find the following
zero-frequency limit for the excitation volume flux
coefficient
(93)
qk = Qk/Ak ~ i60S~ as 6o ~ 0. (1 00)
TWO-DIMENSIONAL EXAMPLE WITH TWO
OSCILLATORS
(94) We wish to illustrate the previously described theory with
shaped buoy which encloses a surface pressure distribution
has been studied in some detail by Fernandes. 18 For this
three-dimensional case with N = 2 the radiation da.t~2ing
matrix A as given by equation (73) is singular.
(95) We shall consider the two-dimensional situation sketched
in Fig. 2. The vertical barriers are assumed to be constrained
to move in the surge mode only. For this case w i t h N = 2,
the radiation damping matrix A' as given by equation (79)
is non-singular. If the barriers are equally submerged the
surge problem is antisymmetric and the applied pressure
problem symmetric, hence the two problems are uncoupled
and H = 0. So as not to exclude such coupling, it is assumed
that the barriers are submerged to unequal depths.
The method of solution for the hydrodynamical problem
is that of matched eigenfunction expansions. A brief
outline of the procedure will be given here, full details
may be found in Falnes and Mclver.21 For each of the
three regions indicated in Fig. 2 an expansion containing
unknown coefficients is assumed in terms of a complete
set of eigenfunctions. The appropriate eigensolutions of
Laplace's equation for two-dimensional problems of this
Applied Ocean Research, 1985, Vol. 7, No. 4 231
Surface wave &teractions with systems o f oscillating bodies and pressure distributions: J. Falnes and P. Mclver
I of the free surface, for example the floating torus. 26 From
: v x ing body and oscillating pressure distribution, as described
=---Th:----
Ib2
(i) (ii)
~f/~'J/F1//rS" fill s'll/II/~'FFfFI///2"
Figure l Chamber for pressure distribution between
two rigidly connected plane vertical barriers placed at
x = +a. The barriers are submerged to depths bl and b2.
The plane z = - - h is the sea bed and a plane wave is
incident from x = - ~ . The solution for the potential
is written as an eigenfunction expansion for each o f the
three indicated regions ( i), ( ii) and {iii)
type are detailed by Mei# 2 By satisfying the continuity
of pressure and velocity in the gap beneath each barrier
and the boundary conditions on the barriers themselves,
a number of relations are found. These may be reduced to
an infinite set of simultaneous equations for the coeffi-
cients in the expansion for region (ii) by using the ortho-
gonality properties of the eigenfunctions as in, for example,
Thomas.2a This system is then truncated to a finite number
of coefficients, M, and solved by standard methods. As
there is a strong singularity in the velocity field at the tip
of each barrier, convergence of the system with increasing
M is slow and it was often necessary to extrapolate from
a sequence of values.
Results are presented for a single configuration where
the barriers are of unequal length (see the figure captions
for the dimensions of the system). For the scattering
problem results are given in terms of the excitation volume
flux Q' in Fig. 3 and the excitation force F ' in Fig. 4.
The curves show maxima in Q' at a certain value of ka
and, at a neighbouring value, a sharp minimum (but not
a zero) in F ' when the shorter barrier faces the oncoming
waves. These features are a result of a resonance occurring
at the fundamental frequency of oscillation of the column
of water between the barriers. This phenomenon has been
discussed in detail by Newman ~ for two closely spaced
barriers of equal length b; in that case the condition for
resonance is w2b/g ~ 1. The resonance found in the present
work occurs at a frequency between the fundamental
frequencies for water columns of length b~ and b2. Further
resonances occur at higher frequencies corresponding to
the existence of standing waves between the barriers, but
they are outside the range of ka that is of practical interest
for the present work.
A similar example of a pressure distribution between
two fixed barriers in deep water has been analysed numeri-
cally by Masuda, Maeda and Kato 2s using a combined
finite-element/source-distribution method. For barriers
of equal length they found a zero of the exciting force
while results for the internal water surface elevations are
in qualitative agreement with our results for the volume
flux in Fig. 3.
Results for the radiation properties are presented in
Figs. 5, 6 and 7. Again the effects of the resonant behaviour
are clear. Note that in Fig. 6 the radiation reactance
X'(X'/¢o is the added-mass) is just negative over a small
232 Applied Ocean Research, 1985, 1Iol. 7, No. 4
range of ka. This phenomenon has been observed previously
for a number of bodies where there is an enclosed region
Fig. 7 it can be seen that the coupling between the oscillat-
by H', is most significant in the region of the resonant
frequency. The factor I H ' / ( Y ' Z ' ) W : h which is a relative
measure of the radiation coupling, increases from zero at
ka = 0 to a maximum just above 0.8 at ka ~- 0.23. Beyond
the maximum the factor decreases monotonically to 0.27
by ka = 0.5. It may be noted that the low frequency
results in Figs. 3 and 5 agree with the two-dimensional
equivalents of the limits (99)-(100).
The values obtained for G', R ' and J ' define the 2 × 2
radiation damping matrix A' by the two-dimensional
equivalent of equation (17). The matrix is, in general,
non-singular so that t~'(O) and ~'(n) are linearly indepen-
dent. Substituting equation (79) into the two-dimensional
equivalents of equations (29)-(30) gives Pmax = J corres-
ponding to complete absorption of the incident wave,
provided the complex amplitude vector ~ = (p, u) satisfies
the optimum condition (30). Whether this can be achieved
depends on the loading mechanisms and other practical
considerations.
20 , , , , ~ r '- i - '
oi oz o3 o~ 05
ka
Figure 3. Dimensionless excitation volume flux q = Q'/
versus dimensionless barrier spacing ka. Amplitude
(Iql) and phase (Oq) are given respectively by the left-
and right-hand vertical scales. The chosen geometrical
parameters (Fig. 2) are bl/a = 3, b2/a = 5 and h/a = 20.
For the solid curves wave incidence is from the left in
Fig. 2, and for the dashed curves from the right
10 0 i i
75 ~.. ~. ~
Ill 50 "'/"
H "--- ......... 0 ,~f
O~ 02 03 04 05
ka
Figure 4. Dimensionless surge excitation force f = F ' /
pgaA measured in the direction o f wave advance, versus
dimensionless barrier spacing ka. Amplitude ( I f l J and
phase (Of) are given respectively by the left- and right-hand
vertical scales. The chosen geometrical parameters (Fig. 2J
are bl/a = 3, b2/a = 5 and h/a = 20. For the solid curves
wave incidence is from the left in Fig. 2, and for the dashed
curves from the right
 Surface wave interactions with systems o f oscillating bodies and pressure distributions: J. Falnes and P. Mclver

, i ' i A general theory, applicable to such devices, has been

20 presented. It gives a mathematical description, based on
linear theory, for a system of oscillating bodies and oscillat-
15 ing water columns, the states of which are represented by
pressure distributions in chambers defining internal air-
10 water interfaces.
Based on analogies with the theory of reciprocal linear
5 electric circuits, a phenomenological description has been
...... /
given and subsequently related to hydrodynamical potential
0 L I"----- I theory. The radiation damping is represented by a complex
i
i
matrix (17) which is Hermitian. This is an extension of, and
-5 in contrast to, the corresponding real, symmetric damping
i //
I
matrix for a system of oscillating bodies only 9'12 or of
/ //
-10 oscillating pressure distributions only. 1 The new reciprocity
i I I I t I , I , relations (56) and (70)have also been derived independently,
01 0.2 03 04 0.5
ka though for deep water only, by Fernandes, 18 but using
Figure 5. Dimensionless radiation admittance y = g + different definitions and notations.
ib = Y'/(c, xa/pg) versus normalised barrier spacing /ca for By considering the applied reactive power and the
geometrical parameters bl/a = 3, b2/a = 5 and h/a = 20 energy stored in the near-field, a new formula (96) has
been derived which extends a previously known relation-
ship la between the added mass and the difference between
the kinetic and potential energy stored in the near-field
80 I I [ I region of the water. When this difference is negative the
added mass is negative. Similarly, for a pressure distribution
60
the 'added compliance' is negative if the associated kinetic
energy exceeds the potential energy.
7"" ~\~ The general theory has been illustrated by a system of
40 - a pressure distribution trapped between two rigidly con-
nected vertical barriers constrained to oscillate in the surge
mode only. Numerical results were obtained by using the
20 method of matched eigenfunction expansions. The results
\ / clearly show the importance of resonant motions in
such systems.
01 02 03 04 05
ka
Figure 6. Dimensionless radiation impedance z = r +
ix =Z'/ou~a 2 versus dimensionless barrier spacing ka for ACKNOWLEDGEMENTS
geometrical parameters bl/a = 3, b2/a = 5 and h/a = 20.
Note that x is an added-mass coef17cient for the surge The present work was begun in 1982, when the first author
mode (J.F.) was supported by funding from the Norwegian Royal
Ministry of Petroleum and Energy (OED), and completed
in 1984 during his visit to the School of Mathematics,
University of Bristol as a Research Fellow, supported
1o
under grant GR/C/7015.9 from the UK Science and Engi-
r,f~ neering Research Council (SERC). The second author
/A\ (P.M.) is supported under grant GR/B/7672.0 from SERC.
The authors would like to thank Dr D. V. Evans for
suggestions and much helpful discussion.

c i

REFERENCES
-1o I J I J I , { I4 i
01 0.2 03 0,5 1 Evans, D. V. Wave-powerabsorption by systems of oscillating
ko surface pressure distributions, Journal of Fluid Mechanics
Figure 7. Dimensionless radiation coupling h = c + i] = 1982, 114, 481-499
2 Moody, G. W. and Elliott, G. The development of the NEL
H'/a versus dimensionless barrier spacing/ca for geometrical breakwater wave energy converter, 2rid Int. Symp. Wave
parameters bl/a = 3, b2/a = 5 and h/a = 20 Energy Utilization, Trondheim, 1982, 421-451
3 Ishii, S., Miyazaki, T., Masuda, Y. and Kai, G. Reports and
future plans for the Kaimei project, 2nd Int. Symp. Wave
CONCLUSION Energy Utilization, Trondheim, 1982, 305-321.
4 Count, B. M. and Miyazaki, T. Study on Floating Attenuator
Oscillating-water-column devices in floating structures for Wave Energy Devices, Journal of the Society o/Naval Archi-
tects o/Japan, June 1984, 155, 164-171
the conversion of ocean wave power may be located more 5 Whittaker, T. J. T., Robinson, R. W. and Murray, M. A. Hydro-
widely than such devices in fLxed structures. Also in some dynamic study of an oseiUating water column wave energy
cases the absorption efficiency is larger if the device is in converter, Int. Conf. Future Energy Concepts 27-30 June
an oscillating structure. 4'6 1981, IEE Conf. Publ. No. 192, 143-146

Applied Ocean Research, 1985, Vol. 7, No. 4 233

Surface wave interactions with systems o f oscillating bodies and pressure distributions." J. Falnes and P. Mclver

6 Budal, K. and Falnes, J. Wave power conversion by point for ~oicin the definition (50), giving
absorbers: A Norwegian Project, The International Journal
of Ambient Energy 1982, 3, 59-67
7 See, for instance, N. Balabanian and T. A. Bickart, Electrical - ~vk dS (A.1)
Network Theory, J. Wiley & Sons, 1969, 163 and 177 HIC,q - ,6o Ic, az \ az g
8 See, for instance, W. H. Hayt and J. E. Kemmerly, Engineering Sic'
Circuit Analysis, 3rd edition, McGraw Hill Book Co., 1978,
550 Further, using the boundary conditions (42) and (44)
9 Falnes, J. Radiation impedance matrix and optimum power and noting that a / a z = - a / a n o n sic, we obtain
absorption for interacting oscillators in surface waves,Applied
Ocean Research 1980, 2, 75-80
10 See, for instance, Ref. 7, 164. See also H. J. Carlin and A. B.
Hic, i~ = iwp
~0__~kdS +
~°iJ On g
Zk' ~0~~0icdS
Giordano, Network Theory, Prentice-Hall, Inc., 1964, 220
11 See, for instance, Ref. 8, 297-300 S SIC'
12 Evans,D. V. Some analytical results for two and three dimen-
sional wave-energy absorbers, Power from Sea Waves, edited by (A.2)
B. Count, Academic Press, 1980, 213-249 The integration surface S is defined by equation (60).
13 Mclver,P. and Evans, D. V. The occurrence of negative added
mass in free-surface problems involving submerged oscillating Moreover, using the inhomogeneous boundary condi-
bodies, Journal of Engineering Mathematics 1984, 18, 7-22 tion (45) for ~Piiin the definition (54) we find
14 See,for instance, Ref. 8,350
15

16
See, for instance, equation (A27) of Ref. 1 and equation (29)
of Ref. 9
See, for instance, M. C. Pease, Methods of Matrix Algebra,
Academic Press, 1965, X, 239
Hil'ic=--i~°P ff
sf
~Ok a---n (A.3)

17 See,for instance, equation (2.28) of Ref. 1

18 Fernandes, A. C. Reciprocity relations for the analysis of In view of the boundary conditions (42) and (44) this can
floating pneumatic bodies with application to wave power be rewritten as
absorption. Proc. 4th Int. Offshore Mechanics and Arctic
Eng. Symp., Dallas, Texas 1, 1985, 725-730
19 Montgomery, C. G., Dicke, R. H. and Purcell, E. M. Principles gij, ic = - i ~ p ff a~OiJdS i°aaP ~, f f ~kcpii dS
of Microwave O'rcuits, McGraw Hill Book Co., 1948, 93-94 On --7- Ic,
and 133 S S k'
20 See Fig. 3 of Ref. 14 or 76 in Thomas, J. R. The hydro-
dynamics of certain wave energy absorbers, Ph.D. thesis, (A.4)
University of Bristol, 1981 By comparison with equation (A.2) we now find
21 Falnes, J. and Mclver, P. Surface wave interactions with
systems of oscillating bodies and pressure distributions. Hi/, k = --Ilk, q (g.5)
Report AM-84-03, School of Mathematics, University of
Bristol, 1984 in agreement with equation (56).
22 Mei, C. C. The Applied Dynamics of Ocean Surface Waves, Note that for real 6o the right-hand side of equation
New York, Wiley Interscience, 1983
(41) is purely imaginary. Hence, we may in the integrand
23 Thomas, J. R. The absorption of wave energy by a three-
dimensional duct, J. FluidMech. 1981, 104, 189-215 in equation (A.1) replace ~ok by --~0~. The same replace-
24 Newman, J. N. Interaction of water waves with two closely ment may be made in equation (A.2). Further, since the
spaced vertical obstacles, J. FluidMech. 1974, 66, 97-106 right-hand side of equation (45) is real, we may replace
25 Masuda, K., Maeda, H. and Kato, W. Fundamental study tpij by ~0~ in equation (A.3) and, hence, also in equation
of an air-turbine type wave power absorber, International
Conference on the Management of Oceanic Resources- (A.4). We have
The Way Ahead, Engineering Committee on Oceanic Resources, 1 1
London 7-9 April 1981 Jk, q = Im (Hk, q) = ~i (Hk, q -- H~ i/) = ~ (Hk, i] + H~A k)
26 Newman, J. N. The motions of a floating slender torus, J.
FluidMech. 1977, 83, 721-735
Taking the sum of equation (A.2) with ~ok replaced by
--~0~ and of the complex conjugate of equation (A.4) with
~oi/replaced by ~0~ we obtain
APPENDIX: RECIPROCITY R E L A T I O N F O R THE wp
RADIATION COUPLING MATRIX Jk, ij - 2 I(~ii' ~ )

As a first step in the derivation of equations (56) and where I is given by the integral (59). This proves equation
(64) we use the inhomogeneous boundary condition (41) (64).

234 Applied Ocean Research, 1985, Vol. 7, No. 4

 Update
Applied Ocean Research
Volume 8, Issue 2, April 1986, Page 121

DOI: https://doi.org/10.1016/S0141-1187(86)80009-8
 Cable, Riser and Mooring Dynamics, 6; Joint Analys, 5;
BOO, K Soil/Structure Interaction, 2; Pipelines, 3; Probabilistic
Mechanics, 2; Anchoring, 1; Corrosion, 1; Vibration, 2;

9 R E VIEW Floating Stability, 2;Jacket Launching, 1; Stress Analysis, 1.

The 4th International Conference o n the Behaviour of
Offshore Structures, BOSS '85, held at Delft University of
Technology. 1-5 July 1985. Vol. 2 - 'Behaviour of Off-
shore Structures'
Elsevier, 0-444-425136, US$183.25, 1012 pp., 1985
As stated by the conference chairman, Prof. J. A. Battjes,
the aim was to strive for a significant number of papers
dealing with an integrated approach to the description,
analysis and modelling of the behaviour of offshore struc-
tures. Submission of contributions in the following areas as
specially requested:
9 Predictions of overall behaviour during the design stage
9 Analysis of the behaviour of entire structures-as-built,
preferably including comparisons of observed behaviour
with that predicted mathematically or on a basis of scale
models
9 Case histories and analyses 0f failures of structures
(collapse, overturning, capsizing)
Also contributions dealing with subsystems or system
aspects were also requested, provided that their relation to
the whole was made explicit and clear.
Volume 2 presents 86 papers which were not categorized
as in the previous BOSS conferences but could be separated
approximately as follows into areas and numbers of papers:
Ice Mechanics, 6; Inservice Behaviour, 3; Reliability, 2;
Structural Damage and Collapse, 5; Concrete, 10, Soil
Mechanics, 5; Piles, 6; Dynamic Response, 6; Fatigue, 3;
Damage Stability, 2; Hydrodynamics and Wave Loading, 12,
An examination of the papers clearly shows that the
aims of the organisers in attracting high quality papers of
direct relevance to current offshore development have been
achieved. However, in view of future interests in deep water
developments the proceedings had few papers in the area of
new types of compliant or floating production facilities.
The previous BOSS conferences had respectively, 71, 92
and 102 papers in contrast to volume 2 of BOSS '85 with
86 papers. Perhaps the somewhat smaller number of papers
on structures in 1985 reflects the competition from various
other conferences rather than a lack of interest from
authors.
Only the specialist in a given field can pass judgement on
the relative quality and usefulness of the papers compared
to previous years and other conferences, but in the reviewer's
eyes there are some interesting and informative papers for
all tastes and the organisers are to be congratulated on the
success they have achieved.
C. L. Kirk
Editor, Applied Ocean Research
ERRATA
J. Falnes and P. Mclver, Surface wave interaction with
systems of oscillating bodies and pressure distributions,
Applied Ocean Research 1985, Vol. 7, No. 4, pp. 225-234.
The minus sign in equations (72) and (78) should be
omitted. Consequently, the right-hand sides of equations
(73) and (79) should be replaced by their complex conju-
gates, e.g. K/~* should be K*/~.

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Applied Ocean Research, 1986, Vol. 8, No. 2 121