Artificial reef based ecosystem design and monitoring M. Francescangeli, D.M. Toma, V. Mendizabal, M. Carandell, E. Martinez, D. Martin, M.P. Mura, J. Aguzzi, L. Gil Espert, J. Del Rio Ecological Engineering, 2025
A digital-twin strategy using robots for marine ecosystem monitoring Jacopo Aguzzi, Elias Chatzidouros, Damianos Chatzievangelou, Morane Clavel-Henry, Sascha Flögel, Nixon Bahamon, Michael Tangerlini, Laurenz Thomsen, Giacomo Picardi, Joan Navarro, Ivan Masmitja, Nathan J. Robinson, Tim Nattkemper, Sergio Stefanni, José Quintana, Ricard Campos, Rafael García, Emanuela Fanelli, Marco Francescangeli, Luca Mirimin, Roberto Danovaro, Daniel Mihai Toma, Joaquín Del Rio-Fernandez, Enoc Martinez, Pol Baños, Oriol Prat, David Sarria, Matias Carandell, Jonathan White, Thomas Parissis, Stavroula Panagiotidou, Juliana Quevedo, Silvia Gallegati, Jordi Grinyó, Erik Simon-Lledó, Joan B. Company, Jennifer Doyle Ecological Informatics, 2025 22 pages, 11 figures, 4 tables, 1 appendix.-- Data availability: Raw and processed data and metadata presented here is public, on-line and free following FAIR principles. - Physical data from Obsea sensors is available at https://data.obsea.es/erddap/tabledap/index.html?page=1&itemsPerPage=1000 - Raw images, labelled images and AI models are available here Baños Castelló, P., Prat Bayarri, O., Martínez Padró, E., Francescangeli, M., Aguzzi, J., & del Rio, J. (2025). Labelled Images at OBSEA for Object Detection Algorithms [Data set]. Zenodo. https://doi.org/10.5281/zenodo.14888328 Martínez Padró, E., Prat i Bayarri, O., Baños Castelló, P., Francescangeli, M., Toma, D. M., Nogueras-Cervera, M., Artero-Delgado, C., Carandell Widmer, M., Cadena Muñoz, F. J., Bghiel Bensalah, I., Batet Xaus, G., Aguzzi, J., & del Rio, J. (2025). AI-based fish detections at OBSEA Underwater Observatory [Data set]. Zenodo. https://doi.org/10.5281/zenodo.14916451 Baños Castelló, P., Prat I Bayarri, O., Martínez Padró, E., Francescangeli, M., & del Rio, J. (2025). Underwater images from OBSEA fish detection training dataset (YOLO) [Data set]. Zenodo. https://doi.org/10.5281/zenodo.14888440. Pol, B., Oriol, P., Martínez Padró, E., & del Rio, J. (2025). OBSEA fish detector AI model (YOLO). Zenodo. https://doi.org/10.5281/zenodo.14910365 - Abyssal NE Pacific Seafloor Megafauna Dataset is available at: Erik Simon-Lledó, Amon, D. J., Bribiesca-Contreras, G., Daphne Cuvelier, Jennifer M. Durden, Sofia P. Ramalho, Katja Uhlenkott, Pedro Martinez Arbizu, Noëlie Benoist, Jonathan Copley, Thomas G. Dahlgren, Adrian G. Glover, Bethany Fleming, Tammy Horton, Se-Jong Ju, Alejandra Mejia-Saenz, Kirsty McQuaid, Ellen Pape, Chailinn Park, … Daniel O. B. Jones. (2023). Abyssal NE Pacific Seafloor Megafauna Dataset (Versión 1) [Data set]. Zenodo. https://doi.org/10.5281/zenodo.7982462 - Source code of the GUI visualization tool is available at https://github.com/BlueNetCat/OBSEA
Interconnected robotic platforms inform deep-sea ecological restoration trends Ivan Masmitja, Narcís Palomeras, Daniel M. Toma, Nixon Bahamon, Matias Carandell, José A. García del Arco, Damianos Chatzievangelou, Marta Real, Antoni Sánchez-Márquez, Gerard Batet, Pau Vial, Francisco Bonin-Font, Caterina Muntaner, Natàlia Hurtós, Juan M. López, Alex R. Ripoll, Guillermo de Arcas, Jordi Grinyó, Spartacus Gomariz, Kakani Katija, Jacopo Aguzzi, Marc Carreras, Joaquin del-Rio, Joan Navarro, Joan B. Company Marine Pollution Bulletin, 2025 The implementation of Marine Protected Areas (MPAs) has increased in the last few decades, creating a deep impact on ocean governance and local fishery communities. Despite their effectiveness being actively debated, initial results show that this spatial management could promote the recovery of depleted marine communities and species, and ecosystem services such as increased fishing profits, especially in nearby areas. This could potentially maintain the economic levels of local and regional under-pressure economies while improving the overall marine biodiversity. However, the lack of ecological monitoring systems for long-lasting, non-invasive, and multiparametric measurements in near-real-time is a roadblock to national-level monitoring programs in those areas. Here we present a set of technological solutions, including robotics, biologging, and machine learning approaches to monitor MPAs, developed and validated in different deep-sea field experiments. The outcomes of these trials have yielded insights into the fine-scale behavioral ecology of different deep-sea species and the recovery dynamics of overexploited seafloors. With these tools, it is possible to monitor restored areas via ecological indicators, that are key to informing and empowering policymakers, conservation biologists, and fishery ecology experts, propelling an effective approach to the conservation and governance of marine ecosystems.
Worldwide Soundscapes: A Synthesis of Passive Acoustic Monitoring Across Realms Kevin F. A. Darras, Rodney A. Rountree, Steven L. Van Wilgenburg, Anna F. Cord, Frederik Pitz, Youfang Chen, Lijun Dong, Agnès Rocquencourt, Camille Desjonquères, Patrick Mauritz Diaz, Tzu‐Hao Lin, Théophile Turco, Louise Emmerson, Tom Bradfer‐Lawrence, Amandine Gasc, Sarah Marley, Marcus Salton, Laura Schillé, Paul J. Wensveen, Shih‐Hung Wu, Adriana C. Acero‐Murcia, Orlando Acevedo‐Charry, Matyáš Adam, Jacopo Aguzzi, Irmak Akoglu, M. Clara P. Amorim, Mina Anders, Michel André, Alexandre Antonelli, Leandro Aparecido Do Nascimento, Giulliana Appel, Stephanie Archer, Christos Astaras, Andrey Atemasov, Jamieson Atkinson, Joël Attia, Emanuel Baltag, Luc Barbaro, Fritjof Basan, Carly Batist, Julio Ernesto Baumgarten, Just T. Bayle Sempere, Kristen Bellisario, Asaf Ben David, Oded Berger‐Tal, Frédéric Bertucci, Matthew G. Betts, Iqbal S. Bhalla, Thiago Bicudo, Marta Bolgan, Sara Bombaci, Gerard Bota, Martin Boullhesen, Robert A. Briers, Susannah Buchan, Michal Budka, Katie Burchard, Giuseppa Buscaino, Alice Calvente, Marconi Campos‐Cerqueira, Maria Isabel Carvalho Gonçalves, Maria Ceraulo, Maite Cerezo‐Araujo, Gunnar Cerwén, Adams A. Chaskda, Maria Chistopolova, Christopher W. Clark, Kieran D. Cox, Benjamin Cretois, Chapin Czarnecki, Luis P. da Silva, Wigna da Silva, Laurence H. De Clippele, David de la Haye, Ana Silvia de Oliveira Tissiani, Devin de Zwaan, M. Eugenia Degano, Jessica Deichmann, Joaquin del Rio, Christian Devenish, Ricardo Díaz‐Delgado, Pedro Diniz, Dorgival Diógenes Oliveira‐Júnior, Thiago Dorigo, Saskia Dröge, Marina Duarte, Adam Duarte, Kerry Dunleavy, Robert Dziak, Simon Elise, Hiroto Enari, Haruka S. Enari, Florence Erbs, Britas Klemens Eriksson, Pınar Ertör‐Akyazi, Nina C. Ferrari, Luane Ferreira, Abram B. Fleishman, Paulo J. Fonseca, Bárbara Freitas, Nicholas R. Friedman, Jérémy S. P. Froidevaux, Svetlana Gogoleva, Carolina Gonzaga, José Miguel González Correa, Eben Goodale, Benjamin Gottesman, Ingo Grass, Jack Greenhalgh, Jocelyn Gregoire, Samuel Haché, Jonas Hagge, William Halliday, Antonia Hammer, Tara Hanf‐Dressler, Sylvain Haupert, Samara Haver, Becky Heath, Daniel Hending, Jose Hernandez‐Blanco, Dennis Higgs, Thomas Hiller, Joe Chun‐Chia Huang, Katie Lois Hutchinson, Carole Hyacinthe, Christina Ieronymidou, Iniunam A. Iniunam, Janet Jackson, Alain Jacot, Olaf Jahn, Francis Juanes, K. S. Jasper Kanes, Ellen Kenchington, Sebastian Kepfer‐Rojas, Justin Kitzes, Tharaka Kusuminda, Yael Lehnardt, Jialin Lei, Paula Leitman, José León, Deng Li, Cicero Simão Lima‐Santos, Kyle John Lloyd, Audrey Looby, Adrià López‐Baucells, David López‐Bosch, Tristan Louth‐Robins, Tatiana Maeda, Franck Malige, Christos Mammides, Gabriel Marcacci, Matthias Markolf, Marinez Isaac Marques, Charles W. Martin, Dominic A. Martin, Kathy Martin, Ellen McArthur, Matthew McKown, Logan J. T. McLeod, Vincent Médoc, Oliver Metcalf, Christoph F. J. Meyer, Grzegorz Mikusinski, Brian Miller, João Monteiro, T. Aran Mooney, Sérgio Moreira, Larissa Sayuri Moreira Sugai, Dave Morris, Sandra Müller, Sebastian Muñoz‐Duque, Kelsie A. Murchy, Ivan Nagelkerken, Maria Mas, Rym Nouioua, Carolina Ocampo‐Ariza, Julian D. Olden, Steffen Oppel, Anna N. Osiecka, Elena Papale, Miles Parsons, Michael Pashkevich, Julie Patris, João Pedro Marques, Cristian Pérez‐Granados, Liliana Piatti, Mauro Pichorim, Matthew K. Pine, Thiago Pinheiro, Jean‐Nicolas Pradervand, John Quinn, Bernardo Quintella, Craig Radford, Xavier Raick, Ana Rainho, Emiliano Ramalho, Vijay Ramesh, Sylvie Rétaux, Laura K. Reynolds, Klaus Riede, Talen Rimmer, Noelia Ríos, Ricardo Rocha, Luciana Rocha, Paul Roe, Samuel R. P.‐J. Ross, Carolyn M. Rosten, John Ryan, Carlos Salustio‐Gomes, Filipa I. P. Samarra, Philip Samartzis, José Santos, Thomas Sattler, Kevin Scharffenberg, Renée P. Schoeman, Karl‐Ludwig Schuchmann, Esther Sebastián‐González, Sebastian Seibold, Sarab Sethi, Fannie W. Shabangu, Taylor Shaw, Xiaoli Shen, David Singer, Ana Širović, Matthew Slater, Brittnie Spriel, Jenni Stanley, Jérôme Sueur, Valeria da Cunha Tavares, Karolin Thomisch, Simon Thorn, Jianfeng Tong, Laura Torrent, Juan Traba, Junior A. Tremblay, Leonardo Trevelin, Sunny Tseng, Mao‐Ning Tuanmu, Marisol Valverde, Ben Vernasco, Manuel Vieira, Raiane Vital da Paz, Matthew Ward, Maryann Watson, Matthew J. Weldy, Julia Wiel, Jacob Willie, Heather Wood, Jinshan Xu, Wenyi Zhou, Songhai Li, Renata Sousa‐Lima, Thomas Cherico Wanger Global Ecology and Biogeography, 2025 AimThe urgency for remote, reliable and scalable biodiversity monitoring amidst mounting human pressures on ecosystems has sparked worldwide interest in Passive Acoustic Monitoring (PAM), which can track life underwater and on land. However, we lack a unified methodology to report this sampling effort and a comprehensive overview of PAM coverage to gauge its potential as a global research and monitoring tool. To address this gap, we created the Worldwide Soundscapes project, a collaborative network and growing database comprising metadata from 416 datasets across all realms (terrestrial, marine, freshwater and subterranean).LocationWorldwide, 12,343 sites, all ecosystem types.Time Period1991 to present.Major Taxa StudiedAll soniferous taxa.MethodsWe synthesise sampling coverage across spatial, temporal and ecological scales using metadata describing sampling locations, deployment schedules, focal taxa and audio recording parameters. We explore global trends in biological, anthropogenic and geophysical sounds based on 168 selected recordings from 12 ecosystems across all realms.ResultsTerrestrial sampling is spatially denser (46 sites per million square kilometre—Mkm2) than aquatic sampling (0.3 and 1.8 sites/Mkm2 in oceans and fresh water) with only two subterranean datasets. Although diel and lunar cycles are well sampled across realms, only marine datasets (55%) comprehensively sample all seasons. Across the 12 ecosystems selected for exploring global acoustic trends, biological sounds showed contrasting diel patterns across ecosystems, declined with distance from the Equator, and were negatively correlated with anthropogenic sounds.Main ConclusionsPAM can inform macroecological studies as well as global conservation and phenology syntheses, but representation can be improved by expanding terrestrial taxonomic scope, sampling coverage in the high seas and subterranean ecosystems, and spatio‐temporal replication in freshwater habitats. Overall, this worldwide PAM network holds promise to support cross‐realm biodiversity research and monitoring efforts.
Compression and Segmentation Methods on Argos-Based Image Transmission for Environmental Seafloor Monitoring Carlos De La Vega, Joan Armajach, Ivan Masmitja, Joaquín Del Río, Matias Carandell Oceans Conference Record IEEE, 2025 Real-time seafloor monitoring through a network of stand-alone benthic platforms is challenging due to the limitations of underwater communications. In this context, an image transmission methodology has been developed for the Pop-Up buoy technology, which has proven effective in ensuring the transfer of environmental information from the seafloor to the land. Images taken by a stand-alone seafloor observatory camera are segmented and compressed, and sent to the surface in a Pop-Up buoy periodically, which will then transmit the compressed image's hexadecimal data through an ARGOS-CLS satellite link. The methods have proven useful, as in the best of cases, given a satellite transmission rate of 4.6 kB/day, a compressed image was sent through this satellite link in approximately 96 hours for its nearly complete image reconstruction. A simulation tool has been developed to ensure that optimal parameters are used during the process. This novel approach would ensure periodic monitoring of underwater areas of interest without the cost of having to recover benthic platforms and with the least possible invasiveness.
Geolocation and Tracking of Pop-Up Buoys Using ADALM-PLUTO Software-Defined Radio on a BlueBoat Unmanned Surface Vessel Joan Armajach, Matias Carandell, Carlos De La Vega, Joaquín Del Río, Jacopo Aguzzi, Ivan Masmitja Oceans Conference Record IEEE, 2025 Pop-up buoys present a promising solution for obtaining diverse ocean data from stand-alone, seafloor oceanographic platforms without needing to extract them to the surface. Once these pop-up buoys have stored part of the data, they ascend to the surface with the purpose of sending fragments of data via satellite. Using a Software-Defined Radio (SDR) receiver installed on a surface vehicle to capture the GPS messages is a significant step towards the automatization of geolocating the pop-up buoys and tracking their trajectory as they drift. Here we have demonstrated their feasibility and performance in laboratory condition tests and field campaigns. In the future, the implementation of an unmanned vehicle will be crucial to locate and establish direct communication with the pop-up buoy and assemble all stored data without relying on the passage of satellites. Additionally, it could be used as an aid to localise and recover these devices, reducing the time spent in the sea by the researchers and therefore their cost.
Power Gain from Energy Harvesting Sources at High MPPT Sampling Rates Manel Gasulla, Matias Carandell Sensors, 2023 Energy harvesting (EH) sources require the tracking of their maximum power point (MPP) to ensure that maximum energy is captured. This tracking process, performed by an MPP tracker (MPPT), is performed by periodically measuring the EH transducer’s output at a given sampling rate. The harvested power as a function of the sampling parameters has been analyzed in a few works, but the power gain achieved with respect to the case of a much slower sampling rate than the EH source’s frequency has not been assessed so far. In this work, simple expressions are obtained that predict this gain assuming a Thévenin equivalent for the EH transducer. It is shown that the power gain depends on the relationship between the square of AC to DC open circuit voltage of the EH transducer. On the other hand, it is proven that harvested power increases, using a suitable constant signal for the MPP voltage instead of tracking the MPP at a low sampling rate. Experimental results confirmed the theoretical predictions. First, a function generator with a series resistor of 1 kΩ was used, emulating a generic Thévenin equivalent EH. Three waveform types were used (sinus, square, and triangular) with a DC voltage of 2.5 V and AC rms voltage of 0.83 V. A commercial MPPT with a fixed sampling rate of 3 Hz was used and the frequency of the waveforms was changed from 50 mHz to 50 Hz, thus effectively emulating different sampling rates. Experimental power gains of 11.1%, 20.7%, and 7.43% were, respectively, achieved for the sinus, square, and triangular waves, mainly agreeing with the theoretical predicted ones. Then, experimental tests were carried out with a wave energy converter (WEC) embedded into a drifter and attached to a linear shaker, with a sinus excitation frequency of 2 Hz and peak-to-peak amplitude of 0.4 g, in order to emulate the drifter’s movement under a sea environment. The WEC provided a sinus-like waveform. In this case, another commercial MPPT with a sampling period of 16 s was used for generating a slow sampling rate, whereas a custom MPPT with a sampling rate of 60 Hz was used for generating a high sampling rate. A power gain around 20% was achieved in this case, also agreeing with the predicted gain.
Experimental Validation of a Fast-Tracking FOCV-MPPT Circuit for a Wave Energy Converter Embedded into an Oceanic Drifter Matias Carandell, Daniel Mihai Toma, Andrew S. Holmes, Joaquín del Río, Manel Gasulla Journal of Marine Science and Engineering, 2023 Wave Energy Converters (WECs) are an ideal solution for expanding the autonomy of surface sensor platforms such as oceanic drifters. To extract the maximum amount of energy from these fast-varying sources, a fast maximum power point tracking (MPPT) technique is required. Previous studies have examined power management units (PMU) with fast MPPT circuits, but none of them have demonstrated their feasibility in a real-world scenario. In this study, the performance of a fast-tracking fractional open circuit voltage (FOCV)-MPPT circuit (sampling period TMPPT of 48 ms) is compared with a commercial slow-tracking PMU (TMPPT of 16 s) in a monitored sea area while using a small-scale, pendulum-type WEC. A specific low-power relaxation oscillator circuit is designed to control the fast MPPT circuit. The results demonstrate that by speeding up the sampling frequency of the MPPT circuit, the harvested energy can be increased by a factor of three.
A New Coastal Crawler Prototype to Expand the Ecological Monitoring Radius of OBSEA Cabled Observatory Ahmad Falahzadeh, Daniel Mihai Toma, Marco Francescangeli, Damianos Chatzievangelou, Marc Nogueras, Enoc Martínez, Matias Carandell, Michael Tangerlini, Laurenz Thomsen, Giacomo Picardi, Marie Le Bris, Luisa Dominguez, Jacopo Aguzzi, Joaquin del Río Journal of Marine Science and Engineering, 2023 The use of marine cabled video observatories with multiparametric environmental data collection capability is becoming relevant for ecological monitoring strategies. Their ecosystem surveying can be enforced in real time, remotely, and continuously, over consecutive days, seasons, and even years. Unfortunately, as most observatories perform such monitoring with fixed cameras, the ecological value of their data is limited to a narrow field of view, possibly not representative of the local habitat heterogeneity. Docked mobile robotic platforms could be used to extend data collection to larger, and hence more ecologically representative areas. Among the various state-of-the-art underwater robotic platforms available, benthic crawlers are excellent candidates to perform ecological monitoring tasks in combination with cabled observatories. Although they are normally used in the deep sea, their high positioning stability, low acoustic signature, and low energetic consumption, especially during stationary phases, make them suitable for coastal operations. In this paper, we present the integration of a benthic crawler into a coastal cabled observatory (OBSEA) to extend its monitoring radius and collect more ecologically representative data. The extension of the monitoring radius was obtained by remotely operating the crawler to enforce back-and-forth drives along specific transects while recording videos with the onboard cameras. The ecological relevance of the monitoring-radius extension was demonstrated by performing a visual census of the species observed with the crawler’s cameras in comparison to the observatory’s fixed cameras, revealing non-negligible differences. Additionally, the videos recorded from the crawler’s cameras during the transects were used to demonstrate an automated photo-mosaic of the seabed for the first time on this class of vehicles. In the present work, the crawler travelled in an area of 40 m away from the OBSEA, producing an extension of the monitoring field of view (FOV), and covering an area approximately 230 times larger than OBSEA’s camera. The analysis of the videos obtained from the crawler’s and the observatory’s cameras revealed differences in the species observed. Future implementation scenarios are also discussed in relation to mission autonomy to perform imaging across spatial heterogeneity gradients around the OBSEA.
Effect of the Sampling Parameters in FOCV-MPPT Circuits for Fast-Varying EH Sources Matias Carandell, Andrew S. Holmes, Daniel Mihai Toma, Joaquin del Rio, Manel Gasulla IEEE Transactions on Power Electronics, 2023 The fractional open-circuit voltage (FOCV) method is extensively used in low-power energy harvesting (EH) sources to extract maximum power. For fast-varying EH sources, a fast sampling rate is required. This work theoretically analyzes the influence of the sampling time and period on the harvested power of sinusoidal EH sources. In addition, the circuit limitations to achieve a fast sampling rate are presented and circuits to deal with them proposed and implemented. Furthermore, one of the circuits is based on a novel pseudoFOCV method and achieves the fastest sampling rate. Experimental tests are performed with a 2 Hz, 1 to 3 V sinusoidal source having an output resistance of 127 Ω, and the results are shown to agree with theoretical predictions. It is shown that the harvested power increases with the sampling rate when the sampling time is negligible (sampling 15 times faster than the source frequency extracts around 99% of the maximum), and for fixed sampling times, there is an optimum sampling rate where the harvested power is maximum. The first result is generic and valid for methods other than the FOCV. Tests were also performed with a small-scale wave energy converter placed in a linear shaker emulating a sea environment. Harvested power increases by 25% with respect using a commercial FOCV unit with a low sampling rate.
Multiparametric benthic landers for monitoring fishing-impacted deep-sea ecosystems Daniel Mihai Toma, Jacopo Aguzzi, Matias Carandell, Marc Nogueras, Enoc Martínez, Marco Francescangeli, Damianos Chatzievangelou, Nixon Bahamon, Joan Baptista Company, Jordi Grinyo, Marc Carreras, Sascha Flögel, Joaquín del Río Oceans 2023 Limerick Oceans Limerick 2023, 2023
Nonlinear dynamic analysis of pendulum‐type wave energy converter for low‐power marine monitoring applications Proceedings of the European Wave and Tidal Energy Conference, 2021
Obsea: A Decadal Balance for a Cabled Observatory Deployment Joaquin Del-Rio, Marc Nogueras, Daniel Mihai Toma, Enoc Martinez, Carola Artero-Delgado, Ikram Bghiel, Marc Martinez, Javier Cadena, Albert Garcia-Benadi, David Sarria, Jacopo Aguzzi, Ivan Masmitja, Matias Carandell, Joaquim Olive, Spartacus Gomariz, Pep Santamaria, Antoni Manuel Lazaro IEEE Access, 2020
OBSEA, a marine sensor testing site for metrology Imeko Tc19 Workshop on Metrology for the Sea Metrosea 2017 Learning to Measure Sea Health Parameters, 2017
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Experimental validation of a fast-tracking FOCV-MPPT circuit for a wave energy converter embedded into an oceanic drifter M Carandell, DM Toma, AS Holmes, J del Río, M Gasulla Journal of Marine Science and Engineering 11 (4), 816 , 2023 2023 Citations: 5
Tele-operated ecological monitoring at the seafloor observatory (OBSEA) A Falahzadeh, J Aguzzi, M Nogueras Cervera, D Toma, ... Instrumentation Viewpoint, 18-18 , 2021 2021 Citations: 5
An e-infrastructure for FAIR data management of underwater observatories E Martínez, A Garcia-Benadí, DM Toma, M Carandell, M Nogueras, ... OCEANS 2023-Limerick, 1-6 , 2023 2023 Citations: 4
Power gain from energy harvesting sources at high MPPT sampling rates M Gasulla, M Carandell Sensors 23 (9), 4388 , 2023 2023 Citations: 4
Nonlinear dynamic analysis of pendulum-type Wave Energy Converter for low-power marine monitoring applications M Carandell Widmer, D Toma, P Alevras, M Gasulla Forner, ... Proceedings of the European Wave and Tidal Energy Conference: 14th EWTEC … , 2021 2021 Citations: 4
