Wave Energy Conversion for Persistent AUV Capability: A Case Study of the Field Deployed TigerRAY WEC-AUV System

Autonomous Underwater Vehicles (AUV) are vital tools for ocean data collection, monitoring, and military applications, but their endurance remains constrained by limited onboard energy. Underwater docking and charging (UDC) systems offer a promising solution, yet key challenges such as reliable power supply and docking feasibility remain unresolved. Wave energy converters (WECs) offer a unique opportunity to address both challenges by serving as platforms for energy harvesting and AUV docking (WEC-AUV). However, research on WEC-AUV systems is still in its early stages. This study demonstrates and validates the potential of WEC-AUV integration using TigerRAY, a field-deployed WEC-AUV system. TigerRAY underwent series of successful field deployments in Lake Washington, WA, and achieved 100 % remote docking and power output of 55 W in a <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\mathbf{0. 5 5 m}$</tex> storm event. A validated numerical model is used to extend the applicability assessment in other low-energy sites along the US coast. The Simulations estimated electrical power output of up to 113 W at the Atlantic East Coast (with 1.18 m significant wave height and 5.25 s wave period), and predicted maximum dock motions in heave, pitch, and roll. These motions should be compared to the motion limits of target AUVs to ensure docking feasibility. The power estimates are used to evaluate the possible recharging frequency for two AUVs: BlueROV2 and REMUS 100. Findings show multiple daily recharge cycles for BlueROV2 and one per day for REMUS 100 across all sites. The insight from the work proves the viability of real-world WEC-AUV systems and are expected to serve as a catalyst for increased research and development on WEC-AUV systems.