Methods for harnessing wave energy

A method for harnessing wave energy, the method comprising:

• submerging a vehicle to a depth in a body of water, the vehicle comprising:
• a vehicle body;
• a phase detection system comprising a plurality of pressure taps disposed around the vehicle body;
• a processor for processing information from the phase detection system to detect a phase of a wave motion;
• a rotor coupled to a motor-generator, wherein the motor-generator comprises a first quadrant for motor mode and a second quadrant for generation mode;
• and
• a rechargeable battery coupled to the motor-generator;
• operating the motor-generator of the vehicle in the first quadrant of the motor-generator;
• detecting a phase of a wave in the body of water based on information from the processor of the detected phase;
• synchronizing an inertial acceleration of the vehicle to movement of the wave;
• switching the motor-generator to the second quadrant for generation mode to convert energy from the movement of the wave to electrical energy;
• and
• storing the electrical energy derived from the wave in the rechargeable battery.