Our paper on time-domain hydrodynamic modelling of the M4 wave energy converter using a new method in dynamics, The Moving Frame Method, is now published in Marine Structures:
https://www.sciencedirect.com/science/article/pii/S095183392200168X
This paper demonstrates use of the Moving Frame Method applied to time-domain linear hydrodynamic modelling of a multibody wave energy converter. We show excellent agreement to traditional vectorial models and experimental data. The method has a general notation, which allows it to be rapidly scaled to multiple links and chains.
We hope to employ this method further in the HYDROMORE project, for investigating mooring line loads.