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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

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.

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1. A method for controlling a hydrokinetic device that includes an energy transducer, the method comprising: setting a target generator output level for the hydrokinetic device;monitoring an actual generator output level of the hydrokinetic device;comparing the target generator output level to the a

1. A method for controlling a hydrokinetic device that includes an energy transducer, the method comprising: setting a target generator output level for the hydrokinetic device;monitoring an actual generator output level of the hydrokinetic device;comparing the target generator output level to the actual generator output level to determine an error signal; andadjusting a depth of the hydrokinetic device based on the error signal to maintain the hydrokinetic device at the target generator output level. 2. The method according to claim 1, wherein said adjusting a depth of the hydrokinetic device comprises: invoking a power control protocol with depth change protocol. 3. The method according to claim 1, wherein the adjusting the depth of the hydrokinetic device comprises altering one of a weight, a lift or a drag of the hydrokinetic device based on the error signal. 4. The method according to claim 3, when the error signal is zero or near zero, the method further comprising: exchanging lift for weight in equal amounts to minimize flow disturbances. 5. The method according to claim 1, further comprising: determining a rotor size based on a single free stream current speed that occurs most frequently in a vertical water column. 6. The method according to claim 1, further comprising: adjusting a rotor swept area based on the single free stream current speed that occurs most frequently in the vertical water column. 7. The method according to claim 1, further comprising: monitoring a plurality of parameters;comparing each of the plurality of parameters to preset limits established for each of said plurality of parameters; andinvoking a fault condition when one or more of the plurality of parameters exceed the preset limits established for said one or more of the plurality of parameters. 8. The method according to claim 7, wherein the fault condition comprises: disengaging the energy transducer from a fluid flow until said one or more of the plurality of parameters are equal to or less than the respective preset limits. 9. The method according to claim 7, wherein the plurality of parameters comprise: a free stream current speed in a column of water;an actual depth of the hydrokinetic device in the column of water;a mooring cable tension;a presence of a marine creature that may create a collision hazard;a passage of a potentially catastrophic weather event;an actual, real-time generator power output level; ora power modulation factor. 10. The method according to claim 1, wherein the hydrokinetic device is deployed in an array of hydrokinetic devices, each having an energy transducer, the method further comprising: sending an actual generator power output level measurement signal to a station; andreceiving an individual power modulation factor from the station. 11. The method according to claim 10, wherein the actual generator power output level is aggregated at the station with another actual generator power output level received from another one of the hydrokinetic devices in the array of hydrokinetic devices. 12. The method according to claim 10, wherein the individual power modulation factor is generated based on a target aggregate power output level for all of the hydrokinetic devices in the array of hydrokinetic devices and an actual aggregate power output level for all of the hydrokinetic devices in the array of hydrokinetic devices. 13. The method according to claim 1, wherein the hydrokinetic device is deployed in an array of hydrokinetic devices, the method further comprising: receiving an individual power modulation factor from a station,wherein the depth of the hydrokinetic device is further adjusted based on the individual power modulation factor. 14. The method according to claim 1, wherein the energy transducer is a variable control rotor. 15. A method for operating a hydrokinetic device that includes an energy transducer, the method comprising: progressively increasing or decreasing the amount by which the energy transducer is engaged or disengaged from a fluid flow, andprogressively changing at least one of a weight, a lift or a drag of the hydrokinetic device, so that the hydrokinetic device attains or maintains a predetermined condition. 16. The method according to claim 15, wherein the predetermined condition comprises: an aggregate vertical force balance that is substantially zero. 17. The method according to claim 15, wherein the predetermined condition comprises: an aggregate drag force balance that is substantially zero. 18. The method according to claim 15, wherein the predetermined condition comprises: a depth that corresponds to a free stream current speed. 19. A method for controlling an array of hydrokinetic devices, each hydrokinetic device comprising an energy transducer, the method comprising: setting a target aggregate power level for the array of hydrokinetic devices;monitoring an actual aggregate power output level of the array of hydrokinetic devices;comparing the target aggregate power level and the actual aggregate power output level to determine an error signal;assigning a power modulation factor to one or more of the hydrokinetic devices in the array of hydrokinetic devices; andadjusting a depth of the one or more hydrokinetic devices based on the error signal to maintain the array of hydrokinetic devices at the target aggregate power level. 20. The method according to claim 17, wherein said adjusting a depth of the one or more hydrokinetic devices comprises: invoking a power control protocol with depth change protocol. 21. The method according to claim 19, further comprising: progressively changing at least one of a weight, a lift or a drag of at least one of the hydrokinetic devices in the array of hydrokinetic devices, so that the hydrokinetic device attains or maintains a specified power output level. 22. The method according to claim 21, wherein the specified power output level comprises: a product of a rated power and the power modulation factor. 23. The method according to claim 21, wherein the specified power output level is communicated in real time to a station. 24. A system for controlling a hydrokinetic device, the system comprising: an onboard controller that is configured to (i) set a target condition for the hydrokinetic device, (ii) monitor an actual condition of the hydrokinetic device, (iii) compare the target condition to the actual condition to determine an error signal, and (iv) adjust a depth of the hydrokinetic device based on the error signal;an energy transducer that is configured to harness kinetic energy from a water current; anda variable effector that is configured to maintain the hydrokinetic device at the target condition. 25. The system according to claim 24, wherein the variable effector comprises: a variable weight effector that is configured to adjust a weight of the hydrokinetic device;a variable lift effector that is configured to adjust lift of the hydrokinetic device;a variable drag effector that is configured to adjust drag of the hydrokinetic device; oran energy transducer change effector that is configured to adjust a rate at which the kinetic energy is harnessed by the energy transducer. 26. The system according to claim 24, wherein: the target condition comprises a target generator power output level; andthe actual condition comprises an actual generator power output level. 27. The system according to claim 26, wherein the hydrokinetic device is deployed in an array of hydrokinetic devices, each having an energy transducer, the system further comprising: an onboard communicator that is configured to send the actual generator power output level to a station, and to receive an individual power modulation factor from the station. 28. The system according to claim 27, wherein the actual generator power output level is aggregated at the station with another actual generator power output level received from another one of the hydrokinetic devices in the array of hydrokinetic devices. 29. The system according to claim 27, wherein the individual power modulation factor is generated based on a target aggregate power output level for all of the hydrokinetic devices in the array of hydrokinetic devices and an actual aggregate power output level for all of the hydrokinetic devices in the array of hydrokinetic devices. 30. The system according to claim 24, wherein: the target condition comprises a target free stream current speed; andthe actual condition comprises an actual free stream current speed. 31. The system according to claim 24, wherein the onboard controller is further configured to (iv) monitor a plurality of parameters, (v) compare each of the plurality of parameters to preset limits established for each of said plurality of parameters, and (vi) invoke a fault condition when one or more of the plurality of parameters exceed the preset limits established for said one or more of the plurality of parameters. 32. The system according to claim 31, wherein the fault condition comprises: disengaging the energy transducer from a fluid flow until said one or more of the plurality of parameters are equal to or less than the respective preset limits. 33. The system according to claim 31, wherein the plurality of parameters comprise: a free stream current speed in a column of water;an actual depth of the hydrokinetic device in the column of water;a mooring cable tension in a mooring cable;a presence of a marine creature that may create a collision hazard;a passage of a potentially catasrophic weather event;an actual power output level; ora power modulation factor. 34. The system according to claim 24, wherein the hydrokinetic device is deployed in an array of hydrokinetic devices, the system further comprising: an onboard communicator that is configured to receive an individual power modulation factor from a station,wherein the variable effector is controlled based on the individual power modulation factor. 35. A method for controlling a hydrokinetic device that includes a variable control rotor, the method comprising: 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; andadjusting a depth of the hydrokinetic device based on the error signal to maintain the hydrokinetic device at the target condition,wherein the target condition comprises a target generator power output level or a target free stream current speed; andwherein the actual condition comprises an actual generator power output level or an actual free stream current speed. 36. The method according to claim 35, wherein said adjusting a depth of the hydrokinetic device comprises: invoking a power control protocol with depth change protocol. 37. The method according to claim 35, further comprising: monitoring a plurality of parameters;comparing each of the plurality of parameters to preset limits established for each of said plurality of parameters; andinvoking a fault condition when one or more of the plurality of parameters exceed the preset limits established for said one or more of the plurality of parameters. 38. The method according to claim 37, wherein the fault condition comprises: disengaging the energy transducer from a fluid flow until said one or more of the plurality of parameters are equal to or less than the respective preset limits. 39. The method according to claim 37, wherein the plurality of parameters comprise: a free stream current speed in a column of water;an actual depth of the hydrokinetic device in the column of water;a mooring cable tension of a mooring cable;a presence of a marine creature that may create a collision hazard;a passage of a potentially catasrophic weather event;an actual generator power output level; ora power modulation factor. 40. The method according to claim 35, wherein the hydrokinetic device is deployed in an array of hydrokinetic devices, the method further comprising: sending an actual generator power output level measurement signal to a station; andreceiving an individual power modulation factor from the station. 41. The method according to claim 40, wherein the actual generator power output level is aggregated at the station with another actual generator power output level received from another one of the hydrokinetic devices in the array of hydrokinetic devices; orwherein the individual power modulation factor is generated based on a target aggregate power output level for all of the hydrokinetic devices in the array of hydrokinetic devices and an actual aggregate power output level for all of the hydrokinetic devices in the array of hydrokinetic devices. 42. The method according to claim 35, wherein the hydrokinetic device is deployed in an array of hydrokinetic devices, the method further comprising: receiving an individual power modulation factor from a station,wherein the adjusting the depth of the hydrokinetic device is further based on the individual power modulation factor. 43. A power generating device that harnesses kinetic energy from a water current and generates electrical energy, the device comprising: an energy transducer that is configured to harness the kinetic energy;an electrical generator that is coupled to the energy transducer;a variable effector that is configured to effect at least one of a weight, a lift or a drag of the device;a power output sensor that is configured to detect an actual generator power output level of the electrical generator; andan onboard controller that is adapted to control the variable effector to change at least one of the weight, the lift, or the drag of the device to adjust an operating depth of the device based on a difference of the actual generator power output level and a target generator power output level. 44. A method for controlling a hydrokinetic device that includes an energy transducer, the method comprising: setting a target free stream current speed for the hydrokinetic device;monitoring an actual free stream current speed;comparing the target free stream current speed to the actual free stream current speed to determine an error signal; andadjusting a depth of the hydrokinetic device based on the error signal to maintain the hydrokinetic device at the target free stream current speed. 45. The method according to claim 44, wherein said adjusting a depth of the hydrokinetic device comprises: invoking a power control protocol with depth change protocol. 46. The method according to claim 44, wherein the adjusting the depth of the hydrokinetic device comprises altering one of a weight, a lift or a drag of the hydrokinetic device based on the error signal. 47. The method according to claim 46, when the error signal is zero or near zero, the method further comprising: exchanging lift for weight in equal amounts to minimize flow disturbances. 48. The method according to claim 44, wherein the energy transducer comprises a variable control rotor. 49. The method according to claim 44, further comprising: determining a rotor size based on a single free stream current speed that occurs most frequently in a vertical water column; oradjusting a rotor swept area based on the single free stream current speed that occurs most frequently in the vertical water column. 50. The method according to claim 44, further comprising: monitoring a plurality of parameters;comparing each of the plurality of parameters to preset limits established for each of said plurality of parameters; andinvoking a fault condition when one or more of the plurality of parameters exceed the preset limits established for said one or more of the plurality of parameters. 51. The method according to claim 50, wherein the fault condition comprises: disengaging the energy transducer from a fluid flow until said one or more of the plurality of parameters are equal to or less than the respective preset limits. 52. The method according to claim 50, wherein the plurality of parameters comprise: a free stream current speed in a column of water;an actual depth of the hydrokinetic device in the column of water;a mooring cable tension;a presence of a marine creature that may create a collision hazard;a passage of a potentially catastrophic weather event;an actual, real-time generator power output level; ora power modulation factor. 53. The method according to claim 44, wherein the hydrokinetic device is deployed in an array of hydrokinetic devices, each having an energy transducer, the method further comprising: sending an actual generator power output level measurement signal to a station; andreceiving an individual power modulation factor from the station. 54. The method according to claim 53, wherein the actual generator power output level is aggregated at the station with another actual generator power output level received from another one of the hydrokinetic devices in the array of hydrokinetic devices. 55. The method according to claim 53, wherein the individual power modulation factor is generated based on a target aggregate power output level for all of the hydrokinetic devices in the array of hydrokinetic devices and an actual aggregate power output level for all of the hydrokinetic devices in the array of hydrokinetic devices. 56. The method according to claim 44, wherein the hydrokinetic device is deployed in an array of hydrokinetic devices, the method further comprising: receiving an individual power modulation factor from a station,wherein the depth of the hydrokinetic device is further adjusted based on the individual power modulation factor. 57. The method according to claim 44, wherein the energy transducer is a variable control rotor.