Predictions of the wave-induced response of floating structures that are moored in a harbour or coastal waters require an accurate description of the (nonlinear) evolution of waves over variable bottom topography, the interactions of the waves with the structure, and the dynamics of the mooring system. In this paper, we present a new advanced numerical model to simulate the wave-induced response of a floating structure that is moored in an arbitrary nearshore region. The model is based on the non-hydrostatic approach, and implemented in the open-source model SWASH, which provides an efficient numerical framework to simulate the nonlinear wave evolution over variable bottom topographies. The model is extended with a solution to the rigid body equations (governing the motions of the floating structure) that is tightly coupled to the hydrodynamic equations (governing the water motion). The model was validated for two test cases that consider different floating structures of increasing geometrical complexity: a cylindrical geometry that is representative of a wave-energy-converter, and a vessel with a more complex shaped hull. A range of wave conditions were considered, varying from monochromatic to short-crested sea states. Model predictions of the excitation forces, added mass, radiation damping, and the wave-induced response agreed well with benchmark solutions to the potential flow equations. Besides the response to the primary wave (sea-swell) components, the model was also able to capture the second-order difference-frequency forcing and response of the moored vessel. Importantly, the model captured the wave-induced response with a relatively coarse vertical resolution, allowing for applications at the scale of a realistic harbour or coastal region. The proposed model thereby provides a new tool to seamlessly simulate the nonlinear evolution of waves over complex bottom topography and the wave-induced response of a floating structure that is moored in coastal waters.

To be commercially viable, wave energy converters (WECs) will need to be deployed in arrays or “wave farms” to generate significant amounts of energy and to have the costs of these farms minimised. However, when designing a wave farm, there are a number of trade-offs to be made between competing objectives; for example, between the power production potential and installation costs, with the optimal design for one objective not necessarily favourable for the other. In this study, we developed a multi-objective optimisation methodology to allow rigorous evaluation of the trade-offs amongst multiple objectives. We demonstrate the methodology for four objectives: (1) maximising power production, (2) minimising the foundation loads, (3) minimising the number of foundations and (4) minimising the total export cable length required. However, the method is flexible and can be used for optimising a range of other parameters. A case study examining multi-objective optimisation of a wave farm using the developed probability-based evolutionary strategy was conducted for a proposed development site in Albany, Western Australia. The wave farms were composed of 5, 10 and 20 fully submerged cylindrical point-absorber type WECs similar to Carnegie Clean Energy's CETO-6 device. Simulations show that the optimal layouts preferring maximum power formed a single line perpendicular to the predominant wave direction; the optimal layouts preferring minimum cable length and a minimum number of foundations form multiple lines; whereas the optimal layouts preferring minimum foundation loads formed multiple lines in line with the predominant wave direction. By applying a cost model and non-dominated sorting, the methodology allowed us to quantify the trade-offs between power production and cost.