Abstract:
To access the inexhaustible energy source like seas and oceans we need to learn how to convert its wave motion to the customized power for our ships, for our existing littoral settlements and our future ocean settlements. Here is an attempt to develop method of the conversion the wave energy to power with floating means based on a gyroscope strong capability to resist against the outer force moment trying to tilt it to any side. 
     The gyroscope is used as the fulcrum torque dynamic supporting instead traditional static base used in the issued devices. Alternate force moment created by the waves and transmitted to the gyroscope (via the floating body and the wave energy converter) inducts alternative gyro precession so as the gyroscope axis hesitates about mean position. This is important because it allows the gyroscope to keep dynamic fulcrum torque in unlimited time. 
     The few gyroscope precession control devices and methods have been developed to compensate other reasons enforcing the mean gyro axis to drift from initial plumb. 
     Also here are developed the new ship architecture with the separated floating gyro section. The wagging propulsor driven by the pitching and with strokes amplified by the fulcrum gyro section, the spring moment generator for the gyroscope drift compensation, non gyroscope floating power station able to derive, convert, accumulate and transmit wave energy to consumer also have been developed here.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The U.S. Pat. No. 3,861,487 issued Jun. 21, 1975 is the nearest in the considered area. It suggests producing energy using movements between inertial parts of a vehicle. A vehicle can be any type: a car, an aircraft or water burn craft. Here we suggest utilizing rocking energy of water burn craft motion interacting with a carried gyroscope. The last one can keep its stable attitude and create reactive force moment much more effectively than the motionless inertia member of a vehicle when it is used for converting of rocking motion to power. 
    
    
     STATEMENT REGARDING FEDERAL SPONSORED R &amp; D 
     The invention has been created by the author self with his own means in duty free time. 
     REFERENCE TO A MICROFICHE APPENDIX 
     Not applicable. 
     BACKGROUND OF THE INVENTION 
     Endeavor: Any rocking process carries energy. Seas produce the most powerful natural rocking. It should be used for powering of ships, bouts, others floating means and also to energize floating power plants. Here is given the method based on gyroscope capability to keep stable its angle attitude in space providing power extraction from rocking processes produced by seas. As positive results the method allows to: 
     furnish any rocking floating mean (a ship, a raft, a boat, . . . ) by the gyroscope supported rocking energized power (GRP-)plant producing electric or/and hydra-pneumatic power; 
     propel a ship with rocking energy transmitted to a propeller or wagging propulsor directly or through electromechanical and/or hydraulic converters; 
     build seas floating power plants for power supply seashore settlements or mass charging of accumulators by use old or special vessels and other water born crafts; 
     avoid noise and pollution of environment in compare with motor driven power stations. 
     The fields of invention issues are the rocking energized floating power production and ship propulsion supported with a gyroscope. 
     The way a problem is stated. 
     Floating means produces the most powerful natural rocking. As a general representative of it we will consider a ship. Rocking process contains energy. An each ship is a gainer of seas energy. The sea power expenditure can exceed the ordinary ship engine as much as few times. The only question is how to get it for power supply our necessities. 
     A usually mechanical energy conversion process consists of three components. The first one is provisionally still component while the second one (like a rotor, an engine piston) is relatively mobile which is moved by third gap component (expanding gas, electric field, etc . . . ) generating motive force. In our case the sea waves (second component) are rocking a ship body (third component) using the still sea bottom as the first component. But the sea bottom is remote and so can not be used here and must be substituted. The problem is where to take the first component in order to handle relative rocking motion it and the third component. 
     The proper component is a gyroscope. It has a capability to keep steady angle attitude in world coordinates even though it treats force moment. In our case this force moment originates from ship pitching and it is transmitted to the gyroscope through the energy consumer such as the GRP-plant. The steady torque support produces a reactive force moment as necessary condition for any rotary movement conversion. 
     The initial ship angular rocking motion like pitching or rolling characterized by small swings and velocity amplitudes. So the first stage of its conversion is to increase scale of that motion. Then it must be converted to one way revolution, tuned down, accelerated and we have the rotating shaft as output of the rocking energy converter. It can drive the ship propeller, a pump or/and electric power generator of carried GRP-plant in order to get power for accumulation and consumption. 
     Almost in all these cases we should have the step-up gearing which converts slow and small but powerful relative rocking motion of the ship body and the gyroscope frame to the fast shaft rotation. Even though the body is the initial rocking motion source but for an observer sitting on board it seems as if the gyroscope has angular motions and the ship does not. So for the converter it does not matter which component we will consider mobile. 
     The gyroscope treats the alternate force moment causing its alternate precession (hesitation). If to image Earth as motionless and force moments against the rocking are equal in both directions then the rocking will occur about some middle position (line) and gyroscope alternate precession will also occur about some mean direction line. The best line is the plumb. The gyro axis mean (GAM)-line must stay upright perfectly. But asymmetric rocking force moments, ship movements and Earth rotation (apparent precession) drift the GAM-line from the plumb. And this drift can lead the gyroscope to ‘turn over’ and stop to interact with the ship rocking. So we need to provide for the automated turning back the GAM-line to the plumb. 
     This is not a simple plant, but industry has sufficient experience to build platforms stabilized by gyroscope systems for different mobile objects and to create gearing with high speed up ratio. So it can produce the GRP-plants right now to rig floating objects. 
     The GRP-plants can give the next benefits: 
     1. Access to ecological clean natural energy sources. 
     2. Improvement all ship performance parameters right until whole scale ship power supply. 
     3. Creating new automated self powered floating objects for continuous navigation. 
     4. Power supply for coastal settlements and also sea and ocean settlements in the future. 
     BRIEF SUMMARY OF INVENTION 
     The general idea of the claimed invention is the utilization rocking process through interacting with gyroscope support. For that the rocking driven power plant should be mounted on a ship. The heart of the GRP-plant is the gyroscope fulcrum supporting. That GRP-plant can produce electricity, power a pressure hydra-pneumatic system, propel a sip or drive any other mechanical device. 
     The considering GRP-plant can be set on any floating mean. For that it should have enough buoyancy to carry the GRP-plant and it should have enough mechanical strength to transmit wave energy through its rocking to the GRP-plant. Every floating mean can be provisionally or not provisionally considered as a ship. A ship presents the most common case of floating means. 
     Ship trim against waves is a reason of ship pitching or rolling with force moment applied to the gyroscope through the converter if it has loaded. The converter is transforming the slow rocking process to the fast one way output shaft rotation. The gyro fulcrum hinders free ship rocking through the loaded converter and causes trim increasing. The more loaded converter the gyroscope as its reaction creates the more reactive fulcrum torque. And the faster gyro precession is happening. Fortunately the rocking process is happening periodically to both side. So the gyro precession goes to both sides also and the mean gyro axis can be stable enough time. 
     And this is the basic prerequisite for successful solution the general problem ‘using gyroscope as the fulcrum support for converting the ship rocking motion to customary power’. But the fortune is not expanding in time. Many reasons are existing to drift the GAM-line from the plumb. The most significant is the Earth revolution. 
     Totally we need to solve the next basic problems in order to reach our purpose: 
     1. Developing the mechanical structures converting the ship rocking to customary power. 
     2. Creating the method for analysis a gyroscope and a rocking ship force interaction. 
     3. Searching and developing the basic schema and devices to control effectively the gyro precession in order to rush the GAM-line to the plumb. 
     4. Creating architectures for the ship using the GRP-station for powering and propulsion. 
     5. Developing the automatically controlled force moment generator. 
     6. Developing the floating power plant energized by the heaving process. 
     To get more sea energy we should weaken other reasons able to retard the rock process. These are pitch moment inertia, a joined water mass inertia and a resistance of water and air friction. If the ship body is madden light and with streamline low heavy keel as floating pendulum then the greatest part of retarding reasons disappears because it is rocking and copies seas process almost without its trim. After this we can consider the only one resistance reason. This is resistance of the GRP-plant mechanism loaded by the power consumers. 
    
    
     BRIEF SUMMARY OF SEVERAL VIEWS OF DRAWING 
     FIG.  1 . GRP-plant (general appearance: A- front view; B- top view where the right converter is substituted with a support; C- section AA from the front view). 
     FIG.  2 . Converter of rocking motion to uniform revolution (front right or rear left flank views: A-converter of the angle oscillations to uniform shaft revolution; B- speeds up gearbox). 
     FIG.  3 . Rocking energized floating power plant supported with gyroscope (there are shown two drive gear quadrants and a gravity mechanism for gyro precession control in polar coordinates). 
     FIG.  4 . Compact assembled rocking energized floating power plant having two drive gear quadrants and gravity mechanism for gyroscope precession control in rectangular coordinates (A- right side view, section AA from the top view B containing also a chart of clutch mechanisms). 
     FIG.  5 . Shaft mounted clutch mechanism providing disengagement of the gyro from the converter. 
     FIG.  6 . Gyro precession control system chart (A) and gyro attitude sensor of pendulum type (B, C). 
     FIG.  7 . Pictures explaining gyro attitude measurement (A, B) and inter relation between gyro attitude parameters measured in rectangular and polar coordinates (C, D). 
     FIG.  8 . Reducing gyro axis inclination by ship left turn (A) and increasing it by ship right turn (B). 
     FIG.  9 . Long wise assembled GRP-plant (A) with precession control system creating gyro restoring force moment in any required direction (B). 
     FIG. 10. A ship powered by GRP-plant (A, B- right and top ship views with a gyroscope on middle). 
     FIG. 11. A ship with the GRP-plant located in the stern (A, B, C- right side, bottom and rear views). 
     FIG. 12. A ship with a hydra pressure power station supplying ship services including propulsion (A- right side view and B- rear ship half-sectional view). 
     FIG.  13 . Gyro precession control systems (A- using the swerve hydra cylinder: see FIG. 10; B- using four hydra cylinders providing also pressure energy deriving: see FIG.  12 ): 
     FIG.  14 . Rocking propelled ship with an active rocking propulsor (A- chart of action, B- forces chart). 
     FIG.  15 . Signs and explanation for gyroscope behavior. 
     FIG.  16 . Retracting under the bottom wagging propulsor with stabilized foil support (A- rear view of section BB from the B; B- right view of section AA from A without the axle cover). 
     FIG.  17 . Adjusted and controlled spring force moment generator (A- front section, B- half side views). 
     FIG. 18. A floating power plant energized by the heaving and supported by submerged inertia body. 
     
       
         
               
             
               
               
             
               
               
               
               
               
             
           
               
                   
               
               
                 LIST OF NUMBER SIGNS. 
               
             
          
           
               
                 tens 
                 units 
               
               
                   
               
             
          
           
               
                  0-converter, 
                 1-generator, 
                 2-coupling, 
                 3-step-up gear, 
                 4-coupling, 
               
               
                  5-spin rectifier, 
                 6-speed-up gear, 
                 7-gyroscope, 
                 8-gyro spin axis, 
                 9-speed up drive, 
               
               
                  10-gimbal, 
                 1-foot, 
                 2-input shaft, 
                 3-output shaft, 
                 4-rocking shaft, 
               
               
                     _5-shaft nest, 
                 6-bearing, 
                 7-fore-aft axle, 
                 8-base plate, 
                 9-clearance, 
               
               
                  20-input shaft, 
                 1-output shaft, 
                 2-support, 
                 3-shaft lock, 
                 4-bearing, 
               
               
                     _5-carrier, 
                 6-satellite gear, 
                 7-satellite gear, 
                 8-bevel gear, 
                 9-cylinder, 
               
               
                  30-bevel gear, 
                 1-twist spring, 
                 2-bevel pinion, 
                 3-overrun clutch, 
                 4-main shaft, 
               
               
                     _5-one way dram, 
                 6-bevel gear, 
                 7-overrun clutch, 
                 8-bearing spider, 
                 9-internal gear, 
               
               
                  40-internal gear, 
                 1-sun gear, 
                 2-brake gear, 
                 3-bearing, 
                 4-gear quadrant, 
               
               
                     _5-driven gear, 
                 6-ring suspension, 
                 7-guide, 
                 8-gear rack, 
                 9-swivel carriage, 
               
               
                  50-weight, 
                 1-slider, 
                 2-liner drive, 
                 3-pinion, 
                 4-round drive, 
               
               
                     _5-roll, 
                 6-opening, 
                 7-support, 
                 8-pipe union, 
                 9-guide slide, 
               
               
                  60-brake, 
                 1-clutch frame, 
                 2-bush member, 
                 3-cylinder, 
                 4-splined shaft, 
               
               
                     _5-stock mount, 
                 6-stock, 
                 7-electromagnet, 
                 8-control valve, 
                 9-high pressure, 
               
               
                  70-low pressure, 
                 1-far position, 
                 2-nut, 
                 3-electromagnet, 
                 4-nut, 
               
               
                     _5-electromagnet, 
                 6-thrust washer, 
                 7-tie-rod, 
                 8-draw nut, 
                 9-gear off-position, 
               
               
                  80-spline, 
                 1-screw, 
                 2-brake, 
                 3-board, 
                 4-gyro rotor, 
               
               
                     _5-rest, 
                 6-guide groove, 
                 7-angle sensor, 
                 8-angle sensor, 
                 9-integrator, 
               
               
                  90-integrator, 
                 1-amplifier, 
                 2-amplifier, 
                 3-moment drive, 
                 4-moment drive, 
               
               
                 _5-gravity sensor, 
                 6-suspension, 
                 7-key, 
                 8-counter weight, 
                 9-pendulum, 
               
               
                 100-cylinder, 
                 1-slip rings, 
                 2-stator, 
                 3-rings assembly, 
                 4-socket, 
               
               
                     _5-synchro, 
                 6-rotor, 
                 7-angle sensor, 
                 8-null-point, 
                 9-vertical, 
               
               
                 110-spin direction, 
                 1-cross track, 
                 2-cantilever, 
                 3-bell-crank, 
                 4-stop, 
               
               
                     _5-bob, 
                 6-balance, 
                 7-rest, 
                 8-opened flap, 
                 9-opened flap, 
               
               
                 120-winch, 
                 1-frame guide, 
                 2-pinion, 
                 3-roller bearing, 
                 4-hinge, 
               
               
                     _5-stiffening rib, 
                 6-stand, 
                 7-pin, 
                 8-column, 
                 9-pin, 
               
               
                 130-mounting, 
                 1-hole, 
                 2-cylinder, 
                 3-internal gear, 
                 4-deck house, 
               
               
                     _5-engine, 
                 6-cargo hold, 
                 7-partition, 
                 8-rudder, 
                 9-propeller, 
               
               
                 140-shaft, 
                 1-gearbox, 
                 2-motor, 
                 3-deadwood, 
                 4-rudder house, 
               
               
                     _5-gyro-ball, 
                 6-keel, 
                 7-battery hold, 
                 8-slot, 
                 9-slot, 
               
               
                 150-keel guides, 
                 1-rocker guide, 
                 2-pulley, 
                 3-foil axle, 
                 4-rudder stock, 
               
               
                     _5-foil base rib, 
                 6-nozzle, 
                 7-hydraulic drive, 
                 8-cylinder, 
                 9-hinge stop, 
               
               
                 160-cylinder, 
                 1-clutch, 
                 2-cantilever, 
                 3-machine room, 
                 4-left space, 
               
               
                     _5-piston, 
                 6-right space, 
                 7-stock, 
                 8-control valve, 
                 9-control valve, 
               
               
                 170-low pressure, 
                 1-high pressure, 
                 2-extra high pre. 
                 3-control valve, 
                 4 spring-ball valve, 
               
               
                     _5-spring-ball v. 
                 6-spring-ball v. 
                 7-spring-ball v. 
                 8-rest lever, 
                 9-bearing, 
               
               
                 180-rope, 
                 1-ledge, 
                 2-shaft-pulley, 
                 3-spindle, 
                 4-propulsor arm, 
               
               
                     _5-bifoil, 
                 6-wave line, 
                 7-axle, 
                 8-corbel, 
                 9-pin, 
               
               
                 190-bob, 
                 1-vertical keel, 
                 2-opposite wave 
                 3-hull, 
                 4-pitch center; 
               
               
                     _5-pin, 
                 6-pin, 
                 7-pin, 
                 8-slide frame, 
                 9-sliding bush, 
               
               
                 200-rocker, 
                 1-spring, 
                 2-spring, 
                 3-corbel, 
                 4-corbel, 
               
               
                     _5-bottom, 
                 6-tie-tube, 
                 7-splined bush, 
                 8-gear, 
                 9-roller, 
               
               
                 210-splined bush, 
                 1-case, 
                 2-cover, 
                 3-frame, 
                 4-cog, 
               
               
                     _5-cog, 
                 6-cog, 
                 7-cog, 
                 8-spring, 
                 9-splined bush, 
               
               
                 220-inner dram, 
                 1-beacon, 
                 2-bridge, 
                 3-ladder, 
                 4-port-light, 
               
               
                     _5-floor, 
                 6-platform, 
                 7-sealing hose, 
                 8-sealing, 
                 9-anchor rope, 
               
               
                 230-lifting ring, 
                 1-hollow ball, 
                 2-hole, 
                 3-closed flap, 
                 4-closed flap, 
               
               
                     _5-closed flap, 
                 6-opened flap, 
                 7-leg, 
                 8-heavy base, 
                 9-axle. 
               
               
                   
               
             
          
         
       
     
    
    
     LIST OF SIGNS AND ABRIVATIONS 
     a—prefix of allowable parameter; {circumflex over ( )}, /, x, ( )—power, division, multiplication, square root signs; x,y,z—axis&#39;: longitudinal, transverse, vertical; X,Y—shift size for upper and lower weights; ∫—integrating function; &gt;—amplification; e—extreme highest point; ι—gyro inclination; ι′—mesured inclination; W—angular momentum vector; Ω—angular speed; O—pitch center; h—high of the extreme point; JOK—gyro disk plane; JK—highest line tangent to gyro disk; ιx, ιy—gyro inclinations to (x) and to (y) axis; α—extreme point course angle; P—precession, pitch; 
     Wxy—projection of vector W to horizontal plane; Wz—projection of W-vector to vertical axis; Mz—antiturn gyro force moment; QWL—quit WL; H—amplitude foil swing stroke; B—buoyancy; LL—support force centers line; N—normal foil drag force; R—propellant; G—ship gravity; Q—drag force vertical projection; b—vertical buoyancy projection; C—gravity center; J—moment of inertia; υ—specific material strength (maximum allowable tangent velocity for the circular loop gyroscope); PACS—precession automated control system; GAM—gyro axis mean (-drift, -line); GRP—gyroscope supported and rocking energized power (-plant). 
     DETAILED DESCRIPTION OF INVENTION 
     1. Developing the Mechanical Structures Converting the Ship Rocking to Customary Power. 
     1.1. Physical basis. 
     Each flank of the GRP-plant (FIG. 1 a,c ) consists of the generator  1 , the step up gearbox  3 , the converter ‘angle oscillations to shaft revolution’  5 - 6 . Its right flank (if presented) is the mirror reflection of the left flank with components indexed by ‘a’. Between these there is the gyroscope  7 . The GRP-station is mounted on base plate  18  transmitting pitch motion to all components except the gyroscope  7 . The gyroscope  7  is mounted with its external frame  10  on the flattened shaft ends  14 ,  14   a  of the converters  6  and  6   a . We explain working process using the left flank. 
     When the ship is rocking the converter  6  its input shaft  14  is kept immobile by the still frame  10  of the gyroscope  7  with the flattened end. Thus the shaft  14  and the converter case  6  oscillate relatively each other. The converter  5 - 6  transforms oscillations of the input shaft  14  to one way revolutions of the output shaft  21 . Then the step up gearbox  3  accelerates this revolution and drives the generator  1  producing electric current. Functions of other parts are cleared by the FIG. 1 a, c . The single flank GRP-plant is shown on FIG. 1 b.    
     Now the ship can not freely pitch following to seas. Only its raised trim can pitch the ship further. Overcoming reactive force moment from the converter case  5 - 6  the pitching ship body performs useful work (powering the GRP-plant or ship propulsion). The greater generated power the greater trim is needed to pitch the ship. The rocking angle stroke range is reduced when the trim raises. There exists the gold middle of load: the trim should not exceed half of seas slope. 
     1.2. Two Stage Conversion ‘Ship Rocking to Fast Uniform Shaft Revolution’. 
     The converter  5 - 6  function is very important because the generator  1  revolution with speed 55 rpm in every 3-5 minutes can not be redirected. Redirection will take all rocking energy owe to inertia of revolving mass. So fast parts of the converter and the generator must be revolved uniformly. For that speeding gearbox part is picked out and organized as the single gearbox  3  (FIG. 1) and its rear view is shown in detail on FIG. 2 b . The chart (FIG. 2 b ) and formula were borrowed from [1, page 216] as convenient for our usage: the small gabarits with the efficiency for speed up function. Transmission ratio for this separated speed up gearbox is defined as: 
     
       
           U =ω 41 /ω 40 =(1 +z 39 /z   41 )/(1 −z 39 ×z 26 /z 27 ×z   40 ), 
       
     
     where: ωN—angular speed of the gear wheel number N as shown on FIG. 2 b;    
     zN—number of teeth on the gear wheel number N as shown on FIG. 2 b.    
     The converter  5 - 6  consists of two aggregates (FIG.  2 A). The first one is the speed up gear stage  6  having the same chart as the last gear stage (FIG. 2 b ). It has less speed and much more gabarites to keep giant forces and moments. Nevertheless it is pictured in the same size in order to explain the basic ideas. The rotary or angle oscillations of the input shaft  14  revolves the female gear  40  which is engaged with gear  26  of planet rigid couple having the second gear  27  engaged with still female gear  39 . The different wheel diameters impacts speed up revolution of the carrier  25  and said planet wheels. As a result the sun gear  41  transmits much greater angle oscillation to the connecting shaft  34 . 
     The second aggregate is the angle oscillation rectifier  5  converting angle oscillation of the input shaft  34  to the output shaft  21  uniform revolution. For that the shaft  34  rotary oscillates the bevel gear  32  and rotates the dram  35  to single direction through the overrun clutch  33 . In own turn the bevel gear  32  oscillates the bevel gears  30  and  36  supported by the still tube bearing  38 . Both of them transmit rotation to the bevel gear  28  connected via the overrun clutch  37  to said dram  35 . When the shaft  34  revolves the dram  35  to right direction the bevel gear  28  rotates to the back direction in which the overrun clutch  37  does no impact. When the shaft  34  revolves in the back direction it revolves the dram  35  again in the right direction but through the bevel gear  28  which now impacts on the dram  35  through the overrun clutch  37 . 
     So any shaft  34  motion (right or back) swirls the spring  31  through the dram  35 . And this spring uniformly transmits one way revolution to the output shaft  21  through the outer dram  29 . This revolution is speeded up by the gearbox  3  and is transmitted to the electric generator  1 . 
     2. Method for Analysis Force Interaction of a Rocking Ship and a Gyroscope. 
     2.1. Consideration of Basic Principles. 
     According the definition [2] a gyroscope should have the very high angular speed Ω about the main gyro axis and the great moment of inertia J so that the gyroscope angular momentum should be great as possible: 
     
       
           W=J×Ω   (1) 
       
     
     The principal theorem of the gyroscope expresses the interaction between a force moment M applied to the gyroscope to tilt it and its real movement (precession). If a force moment M acts on the gyroscope (FIG. 15) about an axis perpendicular to the main gyro axis then the gyroscope with its angular momentum W rotates slowly with speed ω about the third axis. It is perpendicular to both called and its vector is directed to turn the main gyro axis (and so the angular momentum vector W and angle speed vector Ω) to the force moment vector M. The slowly rotation is called precession and calculated by formula: 
     
       
         ω= M/W   (2). 
       
     
     Everywhere signed vectors are subjected to the right screw rule. It means the rotation is directed similar swirling a right screw to drive it as the vector shows. This theorem is the basic rule to control the gyro axis mean (GAM)-drift. As shown on the FIG. 15, it enough to redirect the moment M from x-axis to y-axis in order to change the precession from y-axis to x-axis. To turn precession back it is enough to turn back the moment M. Actually the gyroscope is loaded by the load force moment M produced by the converter  5 - 6  under the ship pitching process. And we need to apply to the gyroscope the special control force moment with its vector directed from the tip of the GAM-line to its central plumb. It is the basic rule for controlling the GAM-drift through the adding the plumb directed gyro precession. 
     One of the basic gyroscope parameter is its moment of mass inertia [3] defined as follows: 
     
       
           J=m ×ρ{circumflex over ( )}2,  (3) 
       
     
     
       
         ρ{circumflex over ( )}=χ× R {circumflex over ( )}2,  (4) 
       
     
     where: ρ—gyration radius, χ—gyration coefficient (1—for circular hoop, 0.5—for disc), m—gyro mass, it calculated as follows: 
     
       
           m=d×Q,   (5) 
       
     
     d—mass density, 
     Q—gyroscope volume. 
     We need to determine size of the gyroscope with torque fulcrum able to resists against to the pitching force moment. Accomplishing of formulas substituting 5→4→3→1 and result transforming we have got the formula to calculate the gyroscope fulcrum moment capacity: 
     
       
           M={overscore (ω)}×d×Q×χ×V×R.   (6) 
       
     
     Now if we have input parameters: allowable gyroscope mass m, allowable velocities {overscore (ω)}, V and required fulcrum moment M, we can define the required gyroscope radius as follows: 
     
       
           R≧M /(χ× V×{overscore (ω)}×m ).  (7) 
       
     
     2.2. Physical Limitations for the Tangent Linear Gyro Speed. 
     In conformity with [3] the stress in the rotation gyroscope is defined as follows: 
     
       
         σ= V {circumflex over ( )}2 ×d/f,   (8) 
       
     
     where: V—tangent linear velocity, 
     f—velocity factor (1—for circular hoop, 3—for disc). 
     If aσ—allowable stress (material strength) then we can calculate the allowable tangent linear disk velocity limit as follows: 
     
       
           aV=f×υ,   (9) 
       
     
     where: 
     
       
         υ=( aσ/d ),  (10) 
       
     
     υ—the maximum tangent velocity for circular loop gyroscope expressed as the squire root of the integrated material property, i.e. specific material strength 
     
       
           ss=aσ/d.   (11). 
       
     
     The circle loop produced from the spring steel (d=7.8 mg/mm{circumflex over ( )}3 and strength aσ=1 kN/mm{circumflex over ( )}2, ss=128205 (m/sec){circumflex over ( )}2) allows the tangent velocity υ=(ss)=358 m/sec. 
     2.3. The Allowable Gyroscope Precession Speed. 
     The total gyroscope inclination (climb) relatively the ship hull I is sum of 
     D—the maximum GAM-drift, 
     Θ—the maximum roll angle (amplitude), 
     P—the maximum precession angle (amplitude). 
     So the allowable angle of precession hesitation depends of how precisely (perfectly) the gyro precession automated control system (gyro-PACS) keeps the mean gyro axis upright, i.e. it depends of the controlled GAM-drift D. And also it depends of the roll angle amplitude Θ. The better is the gyro-PACS then the GAM-drift is smaller. The allowable gyro precession angle amplitude is calculated as follows: 
     
       
           aP=I−Θ−D.   (12) 
       
     
     Now we can define the allowable precession angular speed: 
     
       
         {overscore (ω)}=4 ×aP/T,   (13) 
       
     
     where: T—pitching period of the ship pitching. 
     If aP=0.3 radian (17.2 degrees) and the pitching period T=6 sec then {overscore (ω)}=0.2/sec. 
     2.4. Transmission Sea Energy to the GRP-plant Through Pitch Motion. 
     The reason of ship rocking is the gap between the buoyancy vector and the ship gravity center (FIG.  14 B). If there is no resistance for the rocking process (pitch moment of inertia is absent or neglect small) then the ship trim induced by sea are small as well. The GRP-plant transmits the gyroscope fulcrum moment back to the ship body  193  (FIG. 6 a ) as the GRP-plant reaction. The greater load the bigger trim should be done by a sea in order to overcome the load resistance. The ship trim Δ is the difference in draught between the bow and stern. It is measured in centimeters (cm). There exists the formula to calculate the specific moment to trim Δ=1 centimeter [5]: 
     
       
         μ= G×A /(100 ×L ),  (14) 
       
     
     where: G—the ship weight, 
     A—longitudinal metacentre height (altitude), 
     L—ship length on waterline. 
     If the trim is measured with angle δ (radians) between static QWL and trimmed WL then the trim Δ can be calculated as follows [5]: 
     
       
         Δ=δ× L ×100.  (15) 
       
     
     If the trim Δ is known then the sea work force moment applied to the ship is defined as follows: 
     
       
           M=μ×Δ.   (16) 
       
     
     To make clear our reasoning we suppose the best ideal variant for transmission waves energy to the ship and thus to the GRP-plant when the only work load resists against sea action. In this ideal case the waving will pitch the ship with the constant moment and trim. So the work load level causes its corresponding trim. Let&#39;s to assume the wave period T=6 sec then the average wave height h=2.5 m and its length λ=56 m are accepted from the handbook [4]. It also helps us to calculate a mean peak wave slope α=0.14 radians (it is 8 degrees) with the formula: 
     
       
         α=3.14 ×h/λ.   (17) 
       
     
     Let&#39;s assume the load resistance of the GRP-plaint causes the trim δ=0.02 radian. Because the ship pitching motion lags behind wave sloping a with the trim δ then between each contiguous peak slopes (half wave) the size of pitch angle motion is defined as φ=2×(α−δ). And whole pitch stroke for single wave has the size: 
     
       
         φ=4×(α−δ)  (18) 
       
     
     For our example the slope of a single wave accomplishes angle motion 4·α=0.56 radians during its period but the ship pitching stroke is only φ=0.48 radians. The greater work load moment M the less work stroke φ is accepted by the GRP-plant. The derived power arises while δ&lt;α/2. 
     The power produced by the GRP-plant using seas motion can be calculated with formula: 
     
       
         =ξ× M×φ/T,   (19) 
       
     
     where: ξ—the GRP-plant efficiency coefficient. 
     If the longitudinal metacentre altitude A=41 m, the ship weight=2304 kN and the length L=35 m, then the use formula (11) gives the specific moment sought μ=27 kN·m/cm. When δ=0.02 radian then Δ=7 cm and the load moment M=189 kN·m. Now the potential power (t=1) is calculated with the formula (15) is =15.12 kW. For comparison the trims Δ: 14, 21 cm correspond the moments M: 378, 567 kN·m, the pitch strokes φ: 0.40, 0.32 radian, and the powers : 25.2, 30.24 kW. 
     2.5. Transmission of Heaving Energy to the GRP-plant by the Ship of the Pendulum Layout. 
     This effective way of energy transmission is possible if the ship has the pendulum layout (FIG. 14 a,b ) i.e. its gravity center is below the pitch center. The oscillations period of this ‘ship-pendulum’ is coincide with wave period and the heaving energy is transmitted to pitch process and it is added to the GRP-plant. Lets to evaluate it for our example. Every time when a wave raises our ‘ship-pendulum’ on own crest the ship accepts the gravity energy magnitude as: 
     
       
           E=G×h.   (20) 
       
     
     And the ship body spends it with additional powering of pitching process during wave period. So the inducted pitching enables the ‘ship-pendulum’ to overcome the bigger resistance force moment of the GRP-plant. Disregarding of the energy losses we can evaluate additional the heaving power as: 
     
       
         Ψ= G×h/T.   (21) 
       
     
     For our example Ψ=2304 kN×2.5 m/6 sec= 9 60 kW. 
     So the total power accepted by the ‘ship-pendulum’ is sum of pitching and heaving energies: 
     
       
         ∃=Ψ+.  (22) 
       
     
     The maximum evaluation of it for our example is ∃=960+30.24=990.24 kW. If to suppose the consumption coefficient ç=0.5 and efficiency coefficient ξ=0.4 then: the total energy usage η=0.5×0.4=0.2, the use power input is 495.12 kW and the use power output is 198 kW. It is enough to propel the ship fast as 10 knots in heavy sea. The force moment applied to the GRP-plant and provided by the gyroscope is defined by reversing the formula (19) and taking 4=0.5 into account: 
     
       
           M=ç×∃×T/φ.   (23) 
       
     
     For our example this moment M=495.12 kW×6/0.56=5.305×10{circumflex over ( )}6 N·m. Here we have took φ=4·α because the ‘ship-pendulum’ continues to pitch and to follow to a wave even though the trim becomes less then Δ. Heaving energy is accumulated by the ‘ship-pendulum’ as kinetic in time of wave lowering causing it to continue swing far from the wave hollow to inflection point where a wave has the peak slope as well as the ‘ship-pendulum’ has the pick pitch angle. 
     2.6. The GRP-plant Basic Geometric and Motion Parameters. 
     Now all input parameters are ready to calculate the constructive GRP-plant parameters. In our example the ship width is β=5.64 m (the narrow ship), so the gyro disk radius can not be more then 2.5 m. Let&#39;s take the gyro radius R=2.4 m. Using the formula (7) and (9) we obtain 
     
       
           m=M /({overscore (ω)}×χ× f×υ×R )−  (24) 
       
     
     the gyroscope disk mass m=5.305×10{circumflex over ( )}6/(0.2×0.5×1.732×358×2.4)=35.65 Mg; the volume Q=4.57 m{circumflex over ( )}3, and thickness H=0.2525 m, the weight 350 kN, the linear velocity V=620 m/sec, rotation speed Ω=258.3 radian/sec. The ratio circle hoop and some gyro masses is 
     
       
         γ=χ× f.   (25) 
       
     
     For hoop/disc γ=0.5×1.732=0.866. If we take the internal hoop radius 0.8×R{circumflex over ( )}2=1.92 m then we obtain mass m=30.9 Mg, volume Q=3.96 m{circumflex over ( )}3, weight 303 kN, the thickness H=0.61 m, linear speed μ=358 m/sec, rotation speed Ω=149.17 radian/sec. We see the circle hoop has not significant weight advantage. Everywhere here we did not take the safety factor into account. 
     2.7. Conclusions and Basic Layout Improvement. 
     Numerical calculations have shown that the GRP-plant mounted with the layout shown on the FIG. 1 can not accept the rocking energy fully because of the too small radius of gyro disk unable to create sufficient fulcrum moment. The second reason of it is the necessity to produce the oscillating shaft  14  (see FIG. 1) with a very great diameter. In reference to our example where the required fulcrum moment must be greater then 5.305×10{circumflex over ( )}6 N·m that requires the single shafts  14  or  14   a  diameter can not be less 0.27 m. 
     In order to come nearer to practice the more acceptable layout to transmit the fulcrum moment is developed and given on the FIG. 3,  4  and  9 . On the layout (FIG. 3) the shafts  14  and  14   a  do not transmit any moment. Instead of it the fulcrum is created by the toothed quadrant  44 ,  44   a  for gears  45 ,  45   a  of gearboxes  6  and  6   a . When pitching they are revolving around the still toothed quadrants  44 ,  44   a  owe to the baseplate  18  pitched together with the ship. Now if the gear ratio is 20 then the required diameter of the input shafts  64 ,  64   a  carrying the gear wheels  45 ,  45   a  is only 0.1 m. 
       3 . Searching and Developing the Basic Schema and Devices to Control Effectively the Gyro Precession in Order to Rush the GUM-line to Plumb. 
       3 . 1 . The Easiest Scheme to Control the Gyro Precession. 
     The other reason why we need to limit the load for GRP-plant (additionally to p.1.1) is the gyroscope precession swings range increases when the growing load transmits back the greater moment to the gyro frame  10  through the input shaft  14  (FIG.  1 ). The gyro  7  trials the growing moment and equilibrates it by the own dynamic fulcrum reaction. And this is the reason why the gyro precession hesitating range becomes greater. 
     Also the important is to see the behavior of the GAM-line that must stay upright. To control its location the converter  5 , 6  is provided by the brake  82  (FIG. 1,  2 ,  4 ,  6   a ,  11 ). The brake  82  is periodically switched on accordance rocking rhythm to add the load for only one way angle oscillations of the shaft  14  (FIG.  1 ). The asymmetrical load force moment enforces the gyroscope to precess mainly to one side than the other. This predominate side (left or right) is depending from which way of the shaft  14  angle oscillations the brake  82  acts in. If it is applied in times when the ship is fore pitching then the gyro axis will additionally precess to the right side. If we need to shift it to the left side then the brake  82  must be applied in times of aft pitching. If the GAM-line follows to the plumb we use the brake  82  correctly. We assume here the gyro angular momentum W (FIG. 1) looks to up. Otherwise all movements and moments should be turned the opposite directions. 
     There are two disadvantages of the break method used as the single way of the gyro precession control. The first disadvantage is relating to the ship handiness. There is the necessity to turn the ship left in order to make fore or aft GAM-line tilts (drifts) to be the right or left side tilts before eliminating it. The second disadvantage of the break method is its disability when there is no rocking. 
     3.2. The Gravity Polar and Cartesian Schemes for the Gyroscope Precession Control. 
     The polar type gyroscope precession control (FIG. 3) includes the swivel carriage  49  revolving into the ring suspension  46  with rolls  55 . The needed carriage  49  position is reached with the controlled drive  54  via the pinion  122  and the internal gear of the ring suspension  46 . The issued carriage  49  position makes the arc shaped guide  47  transverse directed. Thus the gyro precession hesitations do not have influence on the weight  50 . It remains in the lowest position on the guide  47  and gives it to hesitate freely because of the rolls  51 . 
     When the GAM-line shifts left or right side then the carriage  49  should be set in the fore-aft position with the drive  122  as shown (FIG.  3 ). Then the weight  50  must be displaced aft or fore respectively with its bevel pinion  53  engaged with the bevel gear rack  48  cut on the guide  47  side. The weight shift is produced with the weight drive  52  through the pinion  53  engaged with the bevel gear rack  48 . And the force moment produced by the shifted weight  50  directs where the gyro axis must follow. 
     The Cartesian gyroscope precession control system (FIG. 4) contains two shifted weights  50  (upper and lower) which can be moved separately along the transverse axis (y) with the shift Y and longitudinal ship axis (x) with the shift X in order to manage separately the mean gyro axis tilt drifts. The weights  50  are moved along the guides  47  with the drive  52  and its pinions  53  engaged with internal gear racks  49 . 
     3.3. The Gyroscope Couplers Operating Description. 
     The couplers provide disconnection the gyroscope from the load in order to avoid its influence on the mean gyro axis alignment. The engaging and disengaging are accomplished (FIG. 4) with the identical couplers. For example, the aft coupler moves the gear  45  along the splined shaft  64  with the round sliding ring bush  62  being the part of the frame  61 . This frame slides along the guide  59  (FIG. 4 a ) of the support  57  under the pressure in the cylinder  63 . 
     When the cylinder  63  pushes its stock  66  (shown the only  66   a ) it disengages the gear  45  with the toothed quadrant  44  by moving itself aside from the around sliding end mount  65 . Engaging is accomplished by the valve  68  controlled by electromagnets  67 . It connect the high pressure hydraulic pipe  69  with the side pipe union  58  and the low pressure hydraulic pipe  70 —with the bottom union  58 . As a result the cylinder  63  pulls itself for the end mount  65 , the frame  61 , the bush  62  and the gear  45  toward the toothed quadrant  44  and engages them. 
     The other design of the gyroscope coupler (FIG. 5) uses the electromagnet  75  fixed on the splined shaft  64 . The shaft  64  takes the torque from sliding gear  45   a  driven by the toothed quadrant  44   a  if the movable electromagnet  72  is pulled up to the electromagnet  75 . The electromagnet  72  action pushes the gear  45   a  into the engaging by the stock  77  sliding into cylinder space of the splined shaft  64 . If the electric current is changes direction then the electromagnets  72  and  75  are mutual repulsing and the stock  77  pulls out the gear  45   a  with the draw nut  78  and the screw  81  along the longitudinal groove  86 . As result the gear  45   a  is disengaged from the quadrant  44   a  and the last one finishes to apply the force moment to the gyroscope  7 . 
     The one more gyroscope coupler is shown on the FIG.  9 . It contains additional element  55 . It is the roll mounted on the splined shift  64  to compensate the side component of engagement force of the gear  45 . And the gear  45  is disengaged by the cylinder  63  through the lever  113  and the round sliding bush  62 . 
     3.4. The Automated Gyroscope Precession Control System (Gyro-PACS). 
     In accordance with the typical chart of the gyro-PACS (FIG. 6 a ) the system measurers the gyroscope inclination (ιx) relatively the axis (x) with the angle sensor  87  mounted on the shaft  14  (the axis y). In order to reject interference proceeding from pitching the control loop has the integrator  89  renewing the summarized signal ιx from the angle sensor  87  during the some past period, amplifies it with the amplifier  91  and apply it to the moment generator  93 . This one creates the force moment Mx around the axis (x). To reduce the gyroscope inclination mean value (ιx) the moment vector Mx must point the positive direction of the angle (ιx). 
     The similar control loop is organized to reduce the mean value of gyroscope inclination (ιy) relatively the axis (y). It consists of the angle sensor  88 , the integrator  90 , the amplifier  92  and the moment generator  94 . Here the integrator  90  rejects interference of rolling and the transverse precession hesitations. The angles (ιx) and (ιy) can be interpreted also as angles of The GAM-drifts from the plumb in the central lateral and transverse planes. 
     To reject rocking interference far the system can be equipped (FIG. 6 a ) with the mounted on the gyroscope pendulum angles meter  95  that can be two types: Cartesian (FIG. 6 b ) and polar (FIG. 6 c ). The similar sensors  87 ,  88  of the pendulum Cartesian angles meter (FIG. 6 b ) picks up correct signals ιx and ιy. However to get the mean values of the gyro plane side inclinations (ιx, ιy) the system has to average them during the nearest some past period. This is because the work gyroscope hesitates under altering precession induced by the GRP-plant. 
     The pendulum polar angles meter (FIG. 6 c ,  7   a,b ) picks up the vertical gyro axis inclination (ι) relatively the plumb with the sensor  107  and the course angle α relatively axis (x) with the sensor  105  (FIG. 6 c ). The mean values of them can be use to control gyroscope precession with the polar system (FIG. 3) or with the Cartesian system (FIG. 4) because measure results can be converted between both systems. 
     In fact the angular momentum vector W is deflected (FIG. 7) from the axis z on an angle (ι), so the gyroscope plane crosses the coordinate planes along the 111, OJ and OK lines. The line JK is passed horizontal through the extreme disk point e located on the height h. The plane JLK is horizontal. So the vector W is in the plane OLeS. The course angle α is the second angle measured by the polar system. The desired angles (ιx) and, (ιy) can be calculated by the formulas: 
     
       
         ι x=h /( y )= h ( l /cos α)= tg ι×cos α,  (26) 
       
     
     
       
         ι y=h /( x )= h ( l /sin α)= tg ι×sin α.  (27) 
       
     
     The FIG. 7 d  shows the usage opposite conversion when we want to get the polar angles from rectangular Cartesian measured angles. For that we should use the formulas: 
     
       
           tgα=tgιy/tgιx,   (28) 
       
     
     
       
         sin ι= h/l=tgιx cos α.   (29) 
       
     
     3.5 Efficacy of the Gravity Force Moment Generators and Developing its Hydraulic Design. 
     The force moment generator  93 ,  94  (FIG. 6 a ) presents the generators of gravity type: polar (FIG. 3) and Cartesian (FIG.  4 ). Have they enough capacity to manage the gyro axis precession? The control force moment cM created by the weight  50  is defined as follows: 
     
       
           cM=wG×l,   (30) 
       
     
     where: wG—weight gravity, 
     l—horizontal displacement of the weight  50  from the vertical axis z. 
     If the weight gravity wG=35 kN and l=2 m then cM=70 kN·m. For our example the gyro disk has the rotation speed Ω=258.3 radian/sec, the gyro disk mass m=35.65 Mg, ρ{circumflex over ( )}2=2.88 m{circumflex over ( )}2, the moment of inertia J=102.7×10{circumflex over ( )}6 kg·m{circumflex over ( )}2, the angular momentum (formula 1) W=26.53×10{circumflex over ( )}9 N·m·sec. And the gyroscope precession speed under this force moment calculated with the formula 2: ω=cM/W=7×10{circumflex over ( )}4/26.53×10{circumflex over ( )}9 2.64/10{circumflex over ( )}6 radian/sec. It means that during one hour the gyro precession is 0.0095 radian (or 0.545° per hour). This is too slowly. Earth revolves 27.5 times faster (15° per hour). 
     We need to generate the control moment cM in 50-100 times greater, for example cM≧4 MN·m. Let&#39;s to try the hydraulic pressure-system (FIG. 9) to operate the GAM-drift. If the force arm is the same l=2.5 m (FIG. 9 b ) then the force created by the hydraulic cylinder  132  must be at least F=1.6 MN. The cylinder of diameter 0.5 m requires the pressure 1.57 MPa or 16 atm to manage the gyro precession properly. To reduce this-pressure or cylinder diameter we can use two cylinders  132  mounted symmetric and opposite on the same shaft  127  of the column  128  (FIG. 9 b ) and generating the couples of opposite forces applied to the gyroscope  7 . 
     The advantage of this scheme is its elasticity providing for the force moment constancy independently of the gyroscope hesitation and the ship rocking. 
     4. Creating Architectures for the Ship Using the GRP-station for Powering and Propulsion. 
     4.1. The Ship With the Gyroscope Located in the Middle. 
     Here (FIG. 10) the GRP-plant contains all elements presented on the FIG.  9 . And it contains also the standard engine  135  able to drive the generator  1  when the gyroscope  7  is switched off with the clutch  63  (FIG.  9 ). The unit contains also the battery hold  147  (electric energy accumulation), the motor  142  and the reductor  141 , the propeller  139  and its shaft  140 . When the rocking is absent or it is not enough the ordinary engine  135  can power the ship propulsion and services. In other case the GRP-plant does it, and the batteries  147  accumulate superfluous energy. 
     The other example of the ship with the GRP (FIG. 11) contains the floating gyroscope ball  145  fixed to the ship hull with axles  14 ,  14   a . The gyro ball provides the fulcrum moment relatively this axis stabilizing the gear quadrant  44   a . The gyroscope  7  is suspended on the inner axis  17 - 17   a  (FIG. 9) and the gyroscope  7  hesitates around this axis owing to precession when it keeps steady gear quadrant  44   a  against the load moment of the GRP. This ship architecture provides more space for the cargo-hold  136 . And secondly it lets to detach the gyro ball from the hull for quick exchange. 
     Also the second project is equipped with the heavy vertical telescopic keel  191  providing for the ship pendulum capability. As explained before it obtains heaving motion energy and transforms it to the pitching energy utilized by GRP-plant. The single condition of it is the equivalence (or a little access) of the free ship pitching period to the seas period. To equalize the free ship pitching period (ship-pendulum period) to the wave period the heavy vertical keel rigged with bob  115  (FIG. 11) can be, lowered or lifted with its rack  49  by the drive  53 . 
     4.2. The Floating GRP-plant With the Hydraulic Converter of Rocking Motion to the Power. 
     Earlier we have scrutinized the floating GRP-plant with the mechanical converter of rocking energy to the power. The hydraulic converter also can be used for power production and ship propulsion separately or together with the mechanical one (FIG.  12 ). The mechanical converter  3 - 5  can take energy from the quadrant  44  if it is clutched. In this case the cylinders  158 ,  158   a  of the central lateral plane and the cylinders  160 ,  160   a  of the transverse plane should also work as the moment generators under the gyro-PACS control as described in the paragraph 3.4. 
     In this case each cylinder can operate by it through the hydraulic monitor (FIG. 13 a ). If the valves  168 ,  169  are both set vertical as shown or horizontal then both cylinder spaces are connected by the single pipe between the valves. Thus the piston  165  can freely move inside the cylinder without any resistance. If the valves  168 ,  169  is set different then the spaces have the different pressure because the valves connect them with the lines  170  and  171  of high and low pressures. To change direction of the force moment created by the single cylinder it is enough to set the valves  168 ,  169  to opposite state. Each cylinder can accomplish the stop function in order to arrest the gyroscope. For that both valves  168 ,  169  have to be set into third cut off state. /* Notice: The gyroscope arresting can hamper ship maneuvering (FIG.  8 ). When the inclined gyroscope disk  7  arrested then the ship can pivot only left turn because (FIG. 8 a ) it induces the force moment Mz applied to the gyroscope  7 . Its component M perpendicular to the angular momentum vector W forces the disk  7  to precess safely to plumb. The moment M is a projection of the left turn ship moment Mz on the gyroscope plane; the other projection Mw has no influence on the gyroscope  7  because it is directed along the angular momentum vector W. 
     The ship can&#39;t do any right turn if the mean gyro axis stays not up right (FIG. 8 b ) because in this case the moment M applied to the disk  7  is directed to the other side. And causes the angular momentum vector W to precess from the axis z. So the gyroscope  7  increases its inclination. And the most interesting is the ship can not do the right turn until the gyroscope axis turns down. */ 
     If the mechanical converter  3 - 5  is disengaged from the gear quadrant  44  with the clutch  161  (FIG. 12 a ) then the only hydraulic converter can produce the power by the scheme (FIG. 13 b ). For that the cylinders should be connected with the hydraulic power system by closing the valve  175  as shown for single cylinder  158  (FIG. 13 b ). The cylinders  158  and  158   a  (FIG. 12) in this case should work as the pumps (FIG. 13 b ) filing the high pressure tank (line  171 ) or extra high pressure tank (line  172 ) of the hydraulic power system with oil when the ship is rocked by the seas. In this case the gyro-PACS should differentiate the load for both directions of each cylinder using valves  168 ,  169  (FIG. 13 b ). 
     We see if the valve  175  is set as shown (cut off) then through the valves  173 ,  176  the oil is suck in from the line  170  (low pressure) by the space  164  or  166  depending of the direction the piston  165  is moved on. Both valves close the access of the high pressed oil into the line  170 . The high pressure is created by the piston  165  in the space  164  or  166  where it is moving to. The piston  165  pushes the oil out of both spaces (in turn) through the valves  174 ,  177  into the line  171  (high pressure) or the line  172  (extra high pressure) depending of which directions the valves  168 ,  169  are set on. These are defined by the gyro-PACS depending of which the piston  165  motion must have additional resistance accordance the control rule: the control force moment vector cM must follow from the GAM-line W′ to the plumb (FIG. 7 c ). 
     This scheme of the GPR-plant with few cylinders (FIG. 12) can produce the power from the pitching, heaving (if the ship has the pendulum layout) and also from the rolling. The cylinders  160 ,  160   a  can be loaded if there is rolling. For that the cylinders  160 ,  160   a  are mounted by face on the cantilevers  162  and  162   a  and by stocks on the cantilever  112  (FIG. 12 b ) of the gyroscope  7  bottom. 
     4.3. The Rocking Ship Propulsion Supported by the Gyroscope. 
     The Ser. No. 09/323,857 offers the rocking ship propulsion using the long rocking keel propulsor. It consisting of two opposite longitudinally projected arms keeping under water flapping hydrofoils producing the propellant when the ship is rocking. To provide high speed of foil swings the arms are madden as long as possible. The gyroscope gives the new possibility to increase the foil vertical swings under the rocking motion. 
     Let see the rocking propelled ship, supported by the gyroscope (FIG. 14 a ). When the sea  186  pitches the ship hull  193  on the pitch angle P as shown the gyro ball  145  rests vertical. As a result the line joining axis&#39;  189  on the ball and  187  on the corbel  188  inclines together with the arm  184  on the angle S that exceeds the pitch angle on D=S−P as shown. Thus the foil  185  has the stroke much more than it has if only the arm  184  was fixed on the ship bottom. It is also true for ship opposite pitching under wave  192 . So the sum stroke  2 H is great enough to develop fast vertical motion and to get the propellant of custom ship velocity. 
     Once again the vertical keel  191  with the heavy bob  115  imparts to the ship the pendulum property in order to convert heaving energy to pitching energy. Also the lowering of ship gravity center is need to provide the transverse ship stability (FIG. 16 a ). Roughly the ship can be descry under action of forces B—buoyancy, G—gravity and N—foil water drag. To save stability the gravity center C must be located lower the line LL connecting points, where projections Q and b are applied. And also the projection T (propellant) must be greater than R in order to impart the ship translation. 
     4.4. The Retracting Rocking Ship Propulsor Rigged With the Stabilized Rest for Foil Oscillation. 
     The gyroscope gives possibility to use rocking motion to swing a foil propulsor. The propulsor  184  (FIG. 14) has the amplified angle of oscillations S comparably with angle of ship pitching P. In order to get the great stroke  2 H for the foil  185  producing the propellant T. But it must be provided (FIG. 16) without oscillating of the rest lever  178  in order to uniform conditions for the foil work. The foil  185  resists against deflection by pressure of water flow with the rest lever  178  and the spring  202 . Always it must be deflected on similar angle depending of only its velocity. For that the rest lever  178  should save its angle attitude parallel to the ship bottom  205 . 
     So even though the propulsor  184  oscillates with angle amplitude S the rest lever  178  must only pitch together with the ship on angle P. Satisfaction of this condition guarantees the effective propulsor work. Other wise the propulsor can not produce considerable propellant and even more it can give the negative propellant in extreme areas. 
     And the third requirement is the propulsor must have retracting capability providing the maneuverability in straitened circumstances (channels, bays, ports etc.). For that includes (FIG. 16) several parts. The pin  197  is mounted on and stabilized by the gyro ball  145 . The rocker  200  is mounted on two corbels  203 ,  204  welded to the ship body  193 . The sliding frame  198  and bush  199  connected are by the cylinder  160  and guides  121  to the rocker  200 . Two cylinders  100  connect the rocker  200  and the corbels  203 ,  204  via two stops  114 . 
     Before propulsor retracts the rocker should be aligned with the bottom guides  150 . For that the remote automated control system enforces the cylinder  160  to lower down the sliding frame  198  together with the bush  199  and so disconnect the rocker from the gyro ball  145  (pin  197 ). Farther the cylinders  100  are switched on and align the rocker guides  151  with the bottom guides  150  spreading under the ship bottom  205  as the ship keel. 
     When the propulsor extends by the drive  53  then the cylinder  160  lifts up the frame  198  and the bush  199  (hinged with the pins  195 ,  196  and oriented vertically with the spring  201 ). The bush  199  catches the pin  197  to get the joint. Then the corbels  203 ,  204  and the stable pin  197  swing the rocker  200 , the arm  184  and the foil  185  to propel the ship when it is pitching. 
     The swings of the rocker  200  inducted by the ship pitching are imparted to the arm  184  and it oscillates around the still shaft-pulley  182 . This shaft is having slots for the ledges  181  (FIG. 16 a ) of both short shafts  183  kept also motionless by the corbels  203 ,  204  via the bushing keys  97 . When the rocker  200  swings it transmits own motion to the arm  184  through the rocker guides  151  and the arm slots  148  engaged each other on both sides of the propulsor. In its turn the arm  184  wags the bifoil  185  able to oscillate at its end around axis  153  owe to the axle  153  the spring  202  and the lever  178 . The last one is stabilized because the arm  184  can not turn the short shaft-pulley  182 . It is remaining steady owe to its engagement with the steady shafts  183  via ledges  181 . On the side section view of the propulsor (FIG. 16 b ) the cover  64  is taken off. 
     The motionless shaft-pulley  182  keeps the end pulley  152  also steady because both pulleys are hard toughed by the rope  180 . When the arm  184  swings the pulley  152  then its lever  178  saves its angle attitude steady. Now the water stream from constant angle base deflects the bifoil  185 , defined by the motionless lever  178 . This design of the propulsor with the stabilized rest lever  178  sharply increases its efficacy because the water stream always deflects the foil  185  on the optimal angle measured ship bottom  205  (or lever  178 ) direction. The deflecting resistance of the bifoil must depend on the pitching power and it can be adjusted with the end screw of the spring  202  located inside space of the base rib  155 . 
     The propulsor retraction is accomplished with the submerged drive  53  via the pinion  52  engaged with the arm rack  49 . In time of such retraction the guide  151  of the rocker  200  and the keel guides  150  should be aligned. This is because the groves  148  of the propulsor arm  184  and the grooves  149  of its internal shaft-pulley  182  must be moved smoothly along both of these guides. The cylinders  100  provide the alignment and the propulsor  184  can be retracted under the bottom  205  along the keel guides  150 . Both of these are welded up to the bottom  205  in order to keep the propulsor  184  between them via both grooves  148 . 
     5. The Automatically Controlled Force Moment Generator. 
     Earlier when we searched ways to control gyroscope precession in order to keep the GAM-drift from the plumb as small as possible we used the brake  82  (FIG. 1,  2 ,  4 ,  6 ,  11 ). The brake  82  creates the force moment added to the GRP-plant loading force moment but it is applied to the only transverse axis of the gyroscope  7 . The way is chosen to apply the additional moment to the gyro in order to enforce it to precess additionally to the side that brings the GAM-line to the longitudinal vertical plane. The brake has two disadvantages: 
     Complicated control system designed to switch on the brake  82  only when the ship pitch applies the force moment directed to the side providing the needed gyro precession and to switch off when the pitch is directed to opposite side; 
     Losing the rocking energy in the brake process. 
     Here is developed the effective scheme creating the needed force moment and simultaneously saving the energy for useful utilization (FIG.  17 ). The force moment generator can be mounted instead of the brake  82  on the gearbox  6  (FIG. 1,  2 ,  4 ,  6 ,  11 ) or on other frame  213  (FIG. 17 a ) of some part of the GRP-plant having the round oscillating mechanical process starting from the gyroscope  7  including the axles  14 ,  17 . Instead braking this generator  211  exerts the force moment to the one of the gyroscope axles directly or through the gearbox like  6 . In common situation the force moment generator case  211  is mounted on the frame  213  from which the splined shaft  64  is leaded out. It is connected through the gearbox like  6  with the one of the gyroscope axles  14  or  17  so as any force moment generated by it on the shaft  64  is added to the force moments applying to one of the gyroscope axles. 
     The force moment value is controlled by the drive  119  (FIG. 17) through the pinion  45  revolving the gear wheel  208  and the geared dram  40  in opposite directions. And it keeps them steady in this controlled position by itself mounting on the cover  212 . The cogs  215  and  216  located on the dram  40  and the wheel  208  are now set on the angle providing the required level of the force moment of the spring  218  twirling. The oscillating shaft  64  produces the twirling. For that the second control device—the cylinder  63  clutches the shaft  64  with the splined bush  207  or  210  by sliding the double splined bush  219  via the tie-tube  206  and the stock  66 . 
     The cylinder  63  can set it to three positions: the neutral (as shown), the right—to clutch the splined bush  210  or to the left—to clutch the splined bush  207 . If it is right then the angle oscillations of the splined shaft  64  are transmitted to the splined bush  210  through the double splined bush  219 . These oscillations are transmitted far to the inter dram  220  but only to one direction overcoming the force of the spring  218 . The shaft  64  can turn back freely owe to the overrun clutching between the bush  210  and the dram  220 . Their adjacent surfaces and the rollers  209  provide the overrun clutching (example in the [1]) so that the cog  217  can be turned only toward to a reader (FIG. 17 a ). 
     When the shaft  64  and thus the bush  219  and the bush  210  are turning back the spring helps the shaft  64  to do it and gives back the accumulated energy to the GRP-plant until the cog  217  bumps on the cog  216  of the steady wheel  208 . Then the motion can not meet the spring resistance far owe to overrun clutching action. But when the shaft  64  again turns forward it meets the spring  218  resistance and transmits it back as force moment to the GRP-plant. The second end of the spring  218  is still because it is held up by the outer dram  29  insisting with its cog  214  on the cog  215  of the geared dram  40  which was set and is now kept steady by the pinion  45  of the drive  119 . The described circle of the force moment creating and the energy back giving is repeated automatically with the pitching process. 
     The opposite force moment is created against the shaft  64  when the cylinder  63  slides the double splined bush  219  to the left side and clutches the opposite inter bush  207 . It can be swirled by the shaft  64  only to direction opposite of the bush  210  can be swirled. This is owe to the second overrun clutching of the bush  207  with the outer dram  29  providing by rollers  209 . Overcoming the spring  218  resistance the outer drum  29  winds the spring  218  with its outside end. In the same time its inner end is held steady on the inner dram  220  owe to the cogs  217 ,  216  (of the wheel  208 ) and owe to the motionless pinion  45 . The work circle is similar to the described before for the direct force moment. 
     It is important the force moment generator can work also when the shaft  64  does not hesitate. For that the case  211  must be turned relatively and fixed on the frame  213  up to the angle needed to have the required force moment value. The turning is performed by the drive  54  with the pinion  122  in direction opposite to desired force moment direction. To redirect the force moment the generator must be turned back and then up to the opposite angle. 
     7. Floating Power Plant Energized by the Heaving Process. 
     In conditions when the navigating is not required the power production is much easier. It is because we don&#39;t need to steer the floating craft if we are only producing the power. It is enough to keep the GAM-drift to minimum as possible. The power producing floating craft can have round shape and keep the GRP-plant as shown on the FIG. 12 but without the gearbox  5 , the propulsive  139  and steering  156  complexes, any transmissions to it. The accumulated hydraulic power is converted to the electric power by any generator driven with the hydraulic motor  157 . 
     More the absence of the navigating necessity presents the possibility to refuse from the gyroscope and to build the simplest buoyant rocking power plant (BRP-plant) as shown on the FIG.  18 . The BRP-plant consists of the hull  193  (FIG. 18 a ) heaving under the seas action, the column  128  containing the spring  201  stretching the rope  180  winded on the winch  120  and dropped down to suspend the hollow ball  231  (FIG. 18 b ). The machine room ( 163 ) is hermetically sealed by the corrugated flexible hose ( 227 ) allowing the rope  180  to be kept stable by the ball  231  when the hull  193  is lifted up by a sea. 
     The lifting stage means also that the rope  180  is untwisted down from the winch  120  by resistance forces and the rope twists on the winch  120  stretching the spring  201 . The hallow ball  231  (FIG. 18 b ) holds the rope  180  down mainly owe to the inertia of inner water masses and the hydrodynamic resistance of the opened flaps  236 ,  118 ,  119 . The rope  180  is fixed to the central point of the winch  120  so the great holding force from the ball  231  together with two supports  22  create the force moment on the shaft of the winch  120 . And it is revolving the speed-up gear  6 , the spin rectifier  5 , the speed-up gear  3  and at last the generator  1 . 
     When the hull  193  is down the ball does not create the force. It goes down under base weight  238  and the flaps don&#39;t interrupt now to do it because they can clasp to the ball  231  by the water flow. To increase or reduce the ball sink capability the holes  232  can have adjustable size. Any way the submerged rope  180  does not interrupt the winch  120  to revolve back under the spring  201  action. The rest of BRP-plant work circle is the same as for GRP-plant (p. 1.2). The only difference is the amplitude of the input shaft angle motion becomes a few revolutions instead only 1/50÷1/30 revolution. It is much better for designing of the converter ‘rocking to revolution’. 
     The BRP-plant can drift or be anchored with the anchor cable  229  united functionality of the anchor rope and the submerged electric cable transmitting the electric power on the shore. Tens and hundreds of BRP-plants can power supply a few coastal settlements. 
     Technical Publications: 
     [1] D. N. Reshetov. Machine elements. Russia. Moscow. Publishing house Mashinostroenie. 1989. 
     [2] J. P. Den Hartog.: Mechanics. Dover Publications, Inc. New York. 1948. 
     [3] Kurt &amp; Reiner Gieck. Engineering Formula. 7 th  edition. McGraw-Hill, Inc. Germany 1997. 
     [4] Long-range cruise captain&#39;s hand book. Russia. Moscow. Publishing house Transport. 1988. 
     [5] V. B. Jinkin. Theory and ship design. Russia. St-Petersburg. Publish. house Shipbuilding. 1995.