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This paper describes the technology and innovation applied toward the development of a direct drive rotary wave energy converter. Extensive investigations on power take off (PTO), cost of energy, mechanism design, and survivability in a marine environment have led to the design discussed in this paper. Discussion of numerical modeling to optimize device shape and aspect ratios and preliminary experimental investigations at 1:33 scale are discussed. Highly sophisticated experimental data acquisition and precise real-time damping controls are employed and reviewed.