Numerical simulation of the full non-linear behaviour of Wave Energy Converters Alejandro J. C. Crespo, M. Brito, J.M. Domínguez, R.B. Canelas, M. Hall, C. Altomare, M. Wu, V. Stratigaki, P. Troch, L. Cappietti, R.M. Ferreira, M. Gómez-Gesteira