Abstract: A method is disclosed for controlling a hydrokinetic device that includes an energy transducer. The method comprises setting a target condition for the hydrokinetic device, monitoring an actual condition of the hydrokinetic device, comparing the target condition to the actual condition to determine an error signal, and invoking a power control protocol with depth change protocol based on the error signal to maintain the hydrokinetic device at the target condition.

Abstract: A mooring system is disclosed for retaining one or more hydrokinetic devices. The system comprises: a hydrokinetic device that is configured to harness energy from a water current and generate electrical power; at least two anchors; and at least two mooring cables having upstream ends attached to the at least two anchors and downstream ends attached to the hydrokinetic device. A centerline of a mooring angle is substantially aligned with a most frequently occurring water current flow direction.

Abstract: A method is disclosed for controlling a hydrokinetic device that includes an energy transducer. The method comprises setting a target condition for the hydrokinetic device, monitoring an actual condition of the hydrokinetic device, comparing the target condition to the actual condition to determine an error signal, and invoking a power control protocol with depth change protocol based on the error signal to maintain the hydrokinetic device at the target condition.

Abstract: A hydrokinetic device is provided that extracts power from a water current. The device comprises a buoyant body and a rotor coupled to the buoyant body configured to drive a power generator. The buoyant body and the rotor jointly define a center of buoyancy and a center of gravity, the center of buoyancy being located above and upstream of the center of gravity.

Abstract: A variable control rotor hub is provided for harnessing kinetic energy of a water current flow. The hub comprises a hub body that is configured to rotate about a rotational axis, an energy storage reservoir entirely contained in the hub body, and a blade driver that is configured to effectuate rotor blade movement using energy received from the energy storage reservoir.

Abstract: A boomerang comprising a central hub having a generally central aperture therein, a plurality of equally spaced, cambered blades extending generally radially outwardly from the hub, a tip depending generally downwardly from each of the blades but one, the included angle between each blade and its respective tip being greater than 90.degree., and a weight on the blade without a tip so that the boomerang is mass balanced about an axis through the center of the hub. The included angle between each successive tip and its respective blade may increase in either the clockwise or counterclockwise direction around the boomerang.