Pelamis: experience from concept to connection by Richard Yemm, David Pizer, Chris Retzler, and Ross Henderson Philosophical Transactions A Volume 370(1959): January 28, 2012 ©2012 by The Royal Society

P1A-002 on site in Portugal. Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society

Pelamis survivability: inherent limiting of loads and motions in extreme seas. Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society

Hydrodynamic power limiting. Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society

(a,c) Far-field radiation and (b) absorption patterns for a heaving point absorber and a phased heaving line absorber of length=2λ. Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society

Schematic of Pelamis selectable–tunable joint response. Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society

Prototype P1 Pelamis generating to the UK grid in Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society

Modular construction in Leith, Edinburgh, UK, of P2 for ScottishPower Renewables, Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society

P2 skids in production. Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society

Snap-shot comparison between the video of the 21st scale model test in Nantes, France (b) and the corresponding animation of the nonlinear numerical simulation (a). Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society

Cutaways of the P2 joint and power take-off (PTO) system, allowing the four hydraulic cylinders of each joint to act about 2 d.f. simultaneously. Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society

The measured conversion efficiency of the motor-generator sets that convert the high pressure (250 bar) in the accumulators into electricity. Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society

The typical cost curve for a technology. Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society

Wave sites awarded by The Crown Estate in the UK's first wave and tidal leasing round in Richard Yemm et al. Phil. Trans. R. Soc. A 2012;370: ©2012 by The Royal Society