Abstract:
The wave powered (WP) propulsion systems developed in great amount for boats are not in use because of small effectiveness caused by rocking process reducing propellor stroke relatively water. Submarines and special quasi-dipped watercrafts deprived of this disadvantage. Their bodies keeps stable the propellors mounted on conning towers or special props owing to the body&#39;s great mass. This factor multiplies the WP propellor effectiveness meeting Navy and Merchant fleet requirements.  
     The invention includes designs of:  
     spare WP propulsion plant embedded into submarine diving rudders or folded into pockets of the submarine sail,  
     quasi-dipped watercraft carrying multiple foil WP propulsion system,  
     quasi-dipped tug towing submerged tank,  
     self optimized foil propellor.  
     Experiences with submarine models equipped by the WP propellers have shown excellent results. Expected velocities for submarine 4-7 knots, for the quasi-dipped watercraft 5-15 knots. The folded spare WP propulsion plant does not interrupt submarine functioning.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS  
         [0001]    The invention has no analogues.  
         STATEMENT REGARDING FEDERALLY SPONSORED R &amp; D  
         [0002]    The author created the invention by himself with own means in duty free time.  
         REFERENCE TO A MICROFICHE APPENDIX  
         [0003]    Not Applicable.  
         BACKGROUND OF THE INVENTION  
         [0004]    Endeavor: Most efforts developing or improving existing submarine propulsion systems are directed basically on two kinds of them: nuclear and diesel systems. In both cases a submarine needs some type of fuel with nuclear or chemical ingredients. Usage the second one limits a range of a submarine independent operating distance. Both types of the propulsion systems never become absolutely reliable and noiseless.  
           [0005]    Here we suggest the new kind submarine propulsion system, which was not considered before. It is a WP propulsion system. This asserts clear that a submarine needs contact with waving water surface or with subsurface layer, i.e. it does not certainly need to emerge fully. Rather it emerges only by its conning tower, a part of it or without coming to the surface remaining on the periscope depth to be invisible.  
           [0006]    The first reason of emerging is a critical situation (emergency), which a submarine turns out finally loosing the standard propulsion. The second one is necessity to economize fuel for future attacks. In this case a submarine chooses hidden or remote water areas and time of bad weather accompanied by waving to make a voyage. The waving powers propulsion and also creates additional conciliation.  
           [0007]    The other situation can happen when some emergency deprives a submarine to run out of aquatic region of a strange state. This violation can be ruinous for a submarine. The same situation but inside neutral or own waters also requires spare remedies helping a submarine overcome the motion loss.  
           [0008]    Experience with submarine&#39;s models propelled by wave energy was so exciting that it has made us to develop architecture of quasi-dipped watercrafts with the WP propulsion system. Abundance wave energy in seas makes possible to build them as the watercrafts with everlasting propellant. They can live in seas “perpetually” deriving sea energy for own propulsion as well as for power supply its services.  
           [0009]    The unmanned robotic submarine or quasi-dipped watercrafts can be used also as a marine mobile instruments for variety of goals: scientific researches, coast guard observation, mines which changes waiting position to meet hostile convoy or a single ship. Even though it can pursuit some slow object to take an action. Equipped with sensors they can also find some source of environmental pollution or other dangers.  
         BRIEF SUMMARY OF INVENTION  
         [0010]    All previous attempts to use wave energy for propulsion are related to the water surface vessels. Many of these are failed because the water surface ships do not provide proper conditions for a wave-powered (WP-) propellor like a hydrofoil attached to a board under water pivotally elastically with eccentricity of a pivot axis and a foil hydrodynamic head center. It is because the created hydrodynamic head is too small to propel a ship owing to ship rocking making the hydrofoil follows to the wave motion. For propulsion the most important thing is hydrofoil motion of water masses relatively hydrofoil. The ship rocking eliminates the great part of this relative motion.  
           [0011]    Submarines have huge advantage in compare with the water surface ships. They are rocking with small amplitudes or do not rock at all. They are rather rolling instead pitching or heaving when they emerge at a sail (conning tower) or periscope depth. The submarine sail is located near the middle keeps its depth very stable. It is the best platform to mountain a foil wave-powered (WP-) propellor because:  
           [0012]    a) water masses run the maximum stroke relative the WP-propellor;  
           [0013]    b) the submarine body is the very inertial stop for the hydrofoil propellor;  
           [0014]    c) the submarine has not wind load at this depth because nothing is above water;  
           [0015]    d) the submerged submarine experiences less hydrodynamic water resistance.  
           [0016]    So the hydrofoil obtains the maximum possible hydraulic pressure from waving water masses and the submarine has minimum water resistance and zero wind load. These are great advantages and it is why the submarine WP propulsion system is a few times more effective than the analogous system mounted on the surface ships.  
           [0017]    Here we consider two ways of equipping the submarines with the hydrofoil WP propulsion system. The first one uses the existing diving rudders mounted on sides of the sail. The second one uses additional folding hydrofoils that only unfolded when they used for direct designation to propel a submarine with wave power.  
           [0018]    Acting submarine models emerging with its sail at half have shown excellent results. They run with velocity that can satisfy anyone. 
       
    
    
     BRIEF DESCRIPTION OF SEVERAL VIEWS OF DRAWINGS  
       [0019]    [0019]FIG. 1. Diving rudders combining the wave powered hydrofoil propellers using the spring/cord mechanism providing elasticity of propellor deflection (view from above).  
         [0020]    [0020]FIG. 2. Diving rudders combining the wave powered hydrofoil propellers (section AA of FIG. 1).  
         [0021]    [0021]FIG. 3. Mechanism opening the fan-like foil extension (view from above).  
         [0022]    [0022]FIG. 4. Mechanism tightening the spring which provides elasticity of the foil deflection.  
         [0023]    [0023]FIG. 5. Mechanism combining both previous mechanisms (view from above).  
         [0024]    [0024]FIG. 6. Mechanism combining both previous mechanisms (section AA of FIG. 5).  
         [0025]    [0025]FIG. 7. Force interaction of a foil WP-propellor with waves.  
         [0026]    [0026]FIG. 8. Submarine model made of a bottle with the WP propulsion system (side view).  
         [0027]    [0027]FIG. 9. Submarine model made of a plastic bottle (middle part, view from above).  
         [0028]    [0028]FIG. 10. Diving rudders combining the WP- propellers using the torsion spring providing elasticity of the propellor deflection (view from above).  
         [0029]    [0029]FIG. 11. Section of cantilever axle  4  (FIG. 10) holding the diving rudder pivotally.  
         [0030]    [0030]FIG. 12. Quasi-dipped watercraft equipped with multi foil WP propulsion system (view from above).  
         [0031]    [0031]FIG. 13. Quasi-dipped watercraft with multiple foil WA propulsion system (Section AA of FIG. 12).  
         [0032]    [0032]FIG. 14. Quasi-dipped watercraft with multi foil WP propulsion system (side view).  
         [0033]    [0033]FIG. 15. Mono WP-propellor held by the center of its deflections (view from above).  
         [0034]    [0034]FIG. 16. Mono WP-propellor held by the center of its deflections (side view).  
         [0035]    [0035]FIGS. 17, 18,  19 . A tug equipped with WP propulsion system and designated to tow a submerged barge or tank (side view, view from above, section AA of FIG. 18).  
         [0036]    [0036]FIGS. 21, 22. Submarine equipped with collapsing WP propulsion plant.  
         [0037]    [0037]FIG. 23. Profiles of the foils and the sail (section AA of FIG. 21).  
         [0038]    [0038]FIGS. 24, 25. Mechanisms folding and opening the foils of a submarine WP propulsion system (front and upper views).  
         [0039]    [0039]FIGS. 26, 27. Hydrofoil self deflected to optimal angle by auxiliary foil by water flow (side and above views).  
         [0040]    [0040]FIG. 28. Invisible fully submerged submarine with WP propulsion system.  
     
    
     NUMERIC SYSTEM SIGNING ELEMENTS AND PARTS OF SYSTEMS  
       [0041]    [0041]                                                         Tens| ———————— · ————————— · ———— Units ———— · ————————— · ———————              0:0   1- sail,   2- rudder (foil),   3- mounting,   4- shaft (axle),        :5- hose,   6- worm wheel,   7- worm,   8- spline shaft,   9- slide clutch,       1:0- clutch drive,   1- distributor,   2- bearing,   3- drive,   4- muff,        :5- worm,   6- worm wheel,   7- lead foil,   8- slave foil,   9- lug,       2:0- cord,   1- guide pipe,   2- bearing,   3- drive,   4- side guard,        :5- connection,   6- spring,   7- cord,   8- winding dram,   9- inner disk,       3:0- groove,   1- pin,   2- hook,   3- pulley,   4- hook,        :5- belt,   6- arm,   7- post (holder),   8- foil,   9- tank,       4:0- sinker,   1- plug,   2- strip,   3- glue bond,   4- inner foil,        :5- bearing,   6- stop nut,   7- hydro device,   8- carriage,   9- torsion,       5:0- guide,   1- hole,   2- float,   3- axle,   4- mounting,        :5- boom,   6- cantilever,   7- stabilizer,   8- stabilizer,   9- rudder,       6:0- screw,   1- post,   2- bearing,   3- ware,   4- rack,        :5- drive,   6- bearing,   7- lead-in,   8- house,   9- post,       7:0- bolt,   1- nest,   2- hinge,   3- foil,   4- foil,        :5- support,   6- drive,   7- bearing,   8- cantilever,   9- pocket,       8:0- shaft,   1- foil,   2- bush,   3- arm,   4- bearing,        :5- link,   6- bush,   7- slider,   8- link,   9- guide,       9:0- spring,   1- hinge.                    
         [0042]    Letter&#39;s denotes: L—vertical component of hydrodynamic head (lift force), T—horizontal component of hydrodynamic head (thrust), P—hydrodynamic head (pressure); V—submarine velocity, S—total velocity vector of water masses motion relatively the wing, U—vertical component of the vector S, W—wave&#39;s velocity; C—center of exerting hydrodynamic head, E—eccentricity; WP—wave powered, O/C—opening/closing.  
       DETAILED DESCRIPTION OF INVENTION  
       [0043]    1. Submarine wave powered (WP) propulsion system. Basic design. Claim 1.  
         [0044]    The basic design of submarine WP propulsion system (FIG. 8) consists of two elastically deflecting foils  38  attached to a submarine sail with arms  36  and holders  37 . On tested submarine model the holders has held the foils  38  with glue bond  43  (FIG. 9) via elastic strip  42  functioning as a torsion. Because the eccentricity E presents here the wave hydraulic head P deflects the foils around axis&#39;s Y creating vertical and horizontal components of the force P. Tremendous inertia forces of the body mass  39  equilibrate the vertical components L while the horizontal components T are thrusts propelling the submarine model.  
         [0045]    Notice.  
         [0046]    The scheme of thrust generation is shown also for a submarine using its expandable diving rudders  2  (FIG. 7) as spare WP propulsion plant. We see three positions of the submarine sail  1 . If the wave moves to right (with velocity W) then an ascending wave front angles the expanded rudder up on the angle γ owing to the water masses rising with the relative velocity S. The vector S is a sum of the vertical component U and horizontal component -V (as a matter of fact it is a reversed submarine velocity V). To get the hydraulic head P&gt;0 it is necessary to provide the angle Φ&gt;0 between the rudder  2  plane and the vector of relative velocity S. The optimal deflection angle γ=Φ=α/2, where α− angle slope of the water flow (velocity vector S) relative horizon. This is a foil deflection rule.  
         [0047]    When the relative position of the sail and the wave is that as shown by fragment B the expanded rudder  2  takes a horizontal position because in a wave base the velocity vector S directs horizontally (α=0). When the relative position of the sail and a wave is that as shown by fragment D the rudder is deflecting down. But the created trust T continues to push the submarine forward.  
         [0048]    The model made of a wooden sail  1  stuck to a plastic bottle  39  filled with water and a metal sinker  40 , effectively speeds up and runs when waving. The basic submarine WP propulsion system design, as it is assumed, contains the WP propulsion system with the arm  36  lifting and lowing the hydrofoil propellors  2  (FIG. 28). Thus the WP propulsion system can be propel the submarine being fully under water (invisible) or having some contact with water surface if it is needed for observation or for something else.  
         [0049]    2. Spare WP propulsion plant expanding diving rudders functionality.  
         [0050]    2.1. Initial design. Claim 2  
         [0051]    It is an alluring idea to expand submarine diving rudder functionality for spare wave powered propulsion. Such system as expected can propel a submarine with velocity 2-4 knots, 4-5 knots, and 5-6 knots when sea is rough, very rough, and high. The diving rudder combined with spare WP propulsion plant consists of the rudder wing  2  held by the shaft  4  with the mountings  3  (FIG. 1) is shown in suggestion that an upper cover is removed (opened).  
         [0052]    Let&#39;s see how the hypothetical control diving system works. When the sliding clutch  9  is shifted by the drive  10  to right it engages the spline part  8  of the worm wheel  6  set freely on the shaft  4 . Because the clutch muff  9  is also engaged with the shaft  4  via spline part of the shaft  4  it transits the wheel  6  revolution to the shaft  4  and so to the rudder wing  2  inclining it as necessary for diving.  
         [0053]    When the clutch muff  9  disengaged from the worm wheel  6  the shaft  4  and so the hydraulic head can turn the wings  2  if there is eccentricity E between the deflecting axis Y and hydraulic head center C. The eccentricity rises when the additional foil surfaces  17  and  18  are opened with worm mechanism  15 , which turns the hollow worm disk  16 . The foil  17  attached to it pulled out of the rudder wing  2  drawing out also the foil  18  which is attached to the second disk  29  inserted to the first one (FIG. 3).  
         [0054]    Both disks rotate around common pin  23 . Freedom of relative rotation of disks is limited by length of groove  30  in lower disk  29  where the pin  31  fixed in the first upper (worm) disk  16  can move. This is why after the foil  17  pulled out it also pulls out the foil  18 . At end of this process the hook  32  stops further motion of the foils  17 ,  18  and the drive  13  revolving the worm  15  is stopped too. The back process requires backward revolution of the drive  13  controlled by switching oil pressure in armored hoses  5 . These hoses lay from the oil distributor  11  through hollow shaft  4  to the hydraulic drives  13 . After foils pulling out the hydraulic head center C and axis Y have eccentricity E (FIG. 1) allowing the hydraulic head to deflect the extended wings. But according to the foil deflection rule (see the Notice above) the deflecting angle γ should be the half of inclination of vector S. To make it automatically the wings are linked to the mechanism providing the foil deflection rule with the cords  20  attached to eyes  19  and passing inside the sail  1  via the guide pipe  21  able to swing in bearing  22 . Usually the cord  20  sag giving to wings freedom to be turned by the diving control system.  
         [0055]    When the spare WP propulsion plant works the cords  20  are taut by the spring  26  (FIG. 4) stretched enough by winding dram  28  which is has been revolved as necessary. The spring allows the wings to be deflected greater from neutral position by the greater hydraulic head. If the control rule is not accomplished the tension of the spring  26  is adjusted by a drive of the winding dram. To accomplish this control the system should contain angle pick-ups and an automated control system realizing the described algorithm.  
         [0056]    The spare WP propulsion plant can be closed at any time. For that we need to do: first, retract the foils  17 ,  18  with drives  13  by reversing it via the oil distributor  11 ; second, switch on the clutch  9  with the clutch drive  10 ; third, set the dram  28  free to release tension of the spring  26  giving the cord  20  to sag.  
         [0057]    There are three steps making diving rudders ready to function in the standard mode of operation.  
         [0058]    2.2. Simplification of the first design (p.2.1.) by removing the worm mechanism.  
         [0059]    Collapsing the foils  17 ,  18  can be done with spring  90  (FIG. 5) if the cord  20  sags. In this case the spring  90  contracts by length x as well as the cord  35  move in the same distance to left rewinding from the pulley  33 . This pulley  33  holds the foil  17 , embraces the lower disk  29  (FIG. 3) and makes the foils  17 ,  18  to interact similar as the worm disk  16  does. But instead the worm mechanism  15  here is used the winding pulley  28  driven with embedded hydraulic or electric drive supplied via flexible armored cables  5 . The pulley  28  is suspended via the spring  26  on the hook  34 .  
         [0060]    When the WP-propellor opens the drive  10  shifts the clutch muff  9  to right disconnecting it from the spline cylinder  8  of the worm wheel  6  giving the diving rudder (wing)  2  freedom. Then the winding pulley  28  pulls the cord  20  and stretches the spring  26 . The cord  20  turns the pulley disk  33  by the lug  19 , which initially resides on the position I. To do this the string  26  should be harder then the spring  90 . After opening the foils the tension force of the spring  26  can be much stronger to meet the power of the hydraulic head and to keep right the foil deflection rule.  
         [0061]    To close the WP-propellor we need to release tension of the spring  26  by reversing the pulley  28  in order to sag the cord  20 . This causes the pulley  33  to turn back in initial angle position so, as the lug will stay in position I and the spring  90  contracts by the length x. Probably we need here to measure angle position of the diving rudder with a rudder angle pick up in order to start controlling the rudder from initial position differ than the neutral position.  
         [0062]    2.3. Design of the spare WP-propellor with the torsion deflecting spring.  
         [0063]    This design assumes the diving rudder  2  able to swing rotary around motionless cantilever-axle  4  using the bearing bush  12  connected with the wing  2  hard. The wing  2  is fixed on the axle  4  with the nut  46 . The axle  4  is hollow and allows the torsion shaft  49  go through it. When the WP-propellor is collapsed, here is no eccentricity E to create the couple of the forces turning the wing  2  except the torque issued by the worm wheel  6  fixed on the torsion shaft  49 . The bearing  45  and the anti spin bush  48  hold the shaft  49 . In turn the guide  50  and rack guide  64  hold the anti spin bush  48 . This allows the control diving system to deflect the wings  2  as needed by turning the worm wheel  6 .  
         [0064]    To open the WP-propellor the diving control system should fix the wings  2  in neutral position. Then the distributor  11  directs the pressured oil via channels  51  (FIG. 11) of the axle  4  into hoses  5  (FIG. 10) such way as the drive  13  opens the foils  17 ,  44 ,  18  with the worm mechanism  15 . As a result the extended wing area shifts his center to new position C creating the needed eccentricity E. Now the hydraulic head can deflect the wings making it to turn (oscillate) around the axle  4 . But the torsion  49  hinders the wings to deflect accomplishing the foil deflection rule, i.e. allowing the wings to angle only half of the water flow slope α.  
         [0065]    Depending of the wave power the hydraulic head changes the value of torque applied to the wings. It requires adjustment of the torsion  49  resistance that is accomplished by the anti spin bush  48  slid along spline part  49   a  of the torsion  49  by the drive  47 . Said drive uses the rack guide  64  and the slide guide  50  to do so. The more powerful waving the shorter distance between the worm wheel  6  and the bush  48 .  
         [0066]    3. Spare WP propulsion plant for submarine having an even sail. Claim 3.  
         [0067]    Submarines of this class (with an even sail) should be equipped by independent WP propulsion plant with the folded foil WP-propellors (FIGS.  21 - 25 ). When a submarine runs using an ordinary propulsion system the WP-propellors are folded and resided in the pockets  79  (FIG. 24) of the sail. When waving and submarine runs under the WP propulsion plant its propellors  73 ,  74  are opened (FIG. 22). The rear propellers  74  in turn opens its foil extensions B in order to capture more water area carrying wave energy. Also these opened foil extensions B shift the center C of hydraulic head of each rear WP-propellor back creating the eccentricity E needed for propulsion process. Roman digits II and I show the axis&#39;s which the WP-propellors turn around when folding and opening (FIG. 22).  
         [0068]    To make the submarine sail with streamline form, when it is rigged with the WP propulsion plant, the sail  1  pockets and the propellers wings  73 ,  74  are made with shapes (profiles) adjoining each to other (FIG. 23).  
         [0069]    A mechanism opening/closing the WP-propellors consists of a worm drive (drive  76 , muff  14 , prop  74 , bearing  77 , worm  15 , worm wheel  6 , shaft  80 ) and a cantilever  78  fixed on the shaft  80  and holding the propellor  2  via the shaft  4 . The O/C-mechanism opens or folds the WP-propellors by turn them around axis&#39;s II and I with the shafts  80 . As a result a cantilever  78  lifts or lowers the propellor  2  via a shaft  4  (FIG. 25). To provide the perpendicularity of the foil deflection axis&#39;s Y to the diameter axis X the shafts  4  can be tilted to the axis I or axis II respectively (FIG. 25). It makes the propellers to work the most effectively.  
         [0070]    The mechanism opening the embedded foil extension  17  and the mechanism controlling foil elastic deflection are similar to these shown in FIGS. 1, 3,  10  and described inp. 2.1 or p.2.3.  
         [0071]    The spare submarine WP propulsion plant disclosed here is more powerful than that is disclosed in the p.2 because it has 4 WP-propellors catching greater water area filled with wave energy. Such spare submarine WP-plant as expected can propel a submarine with velocity 3-4 knots, 4-6 knots, and 6-7 knots when sea is rough, very rough, and high.  
         [0072]    4. Quasi-dipped watercraft equipped with the WP propulsion system. Claim 4  
         [0073]    Spare submarine WP propulsion plant concept using great inertia of the submarine body as reliable stabilized support for the foil WP-propellors opens the new ways for building the WP propulsion systems in conjunction with the quasi-dipped watercrafts (FIG. 12). Having positive ability to float, which is almost equaled to zero, the quasi-dipped watercrafts can carry the basic WP propulsion system much more powerful than the spare submarine WP propulsion plant limited by the propelling foil areas.  
         [0074]    The shown quasi-dipped watercraft design (FIGS. 12, 13,  14 ) takes the body  39  shaped similar to the submarine body and inherits the horizontal stabilizers  57 ,  58  and vertical course rudder  59  from a submarine. The standard propulsion plant  60  (FIG. 14) driven by an ordinary engine installed in the rear float (looking like a boat) can be small and to play auxiliary role providing some maneuvers when sea is quiet. On the other hand the multi wing WP propulsion system, catching energy from great water area, is powerful enough to propel the quasi-dipped watercraft as expected with the velocities 5-15 knots.  
         [0075]    The best thing of it is absence of substantial wind action. The floats  52  holding the quasi-dipped watercraft buoyant have neglect surface opened to the wind. So the wind almost has no influence toward to the quasi-dipped watercraft. The worth thing is that the floats  52  may dive under each essential wave. It causes necessity to make the crew houses watertight.  
         [0076]    5. Underwater wave powered (WP-) tug. Claim 5.  
         [0077]    The underwater WP-tug disposes on the water surface (FIG. 17) while its barge made as a streamlined tank shaped similar to the submarine body  39  (without stabilizers, rudders and screw) disposes under water. The submarine barge  39  is hermetically closed and possesses the buoyancy value approximately equaled to zero. Connection between the WP-tug and the barge  39  is provided with posts  69  and the bolts  70  fixing the posts inside of the nests  71 . After connecting the composite watercraft installation behaves itself as the quasi-dipped watercraft (p.4).  
         [0078]    The WP-tug itself consists of two floats  52  connected each with other by the boom  55 , which can be made hollow (as a pipe) providing passes and communications between the floats as well as supporting the propellers close to the water surface for the better acceptation of the wave energy. Also the boom  55  holds the posts  69 , connecting to and supporting the underwater barge  39 . The stabilizers  57  and  58  may support horizontal stabilization. If the floats  52  are effective enough the stabilizers  57  and  58  may not be present. The rudders  59  mounted on the floats  52  provide the course handling.  
         [0079]    One or both floats  52  may be rigged with the auxiliary propulsion plants  60 . It provides the WP-tug with the possibility to maneuver separately from the barge or together when sea is quiet.  
         [0080]    It is clear that this tug and its barge can be converted to the quasi-dipped watercraft by making the connection between them permanent and trough providing some communications between them and possibly making the barge part inhabited.  
         [0081]    6. Some additional designs of the WP-propellors.  
         [0082]    6.1. The mono foil WP-propellor.  
         [0083]    The WP propulsion system of the WP-tug requires the WP-propellors of simpler design (FIGS. 15, 16) than we used for the spare submarine WP propulsion plant (p.2) because it does not requires the foil collapsing. The only we need here is to control the foil deflection resistance which provides the foil deflection rule (see the Notice in p.1) for variable wave force. The foil (wing)  2  initially can turn around the torsion  49  into bearings  62 ,  66 . But the carriage  48 , set on the torsion spline part  49   a , does not allow the foil  2  freely revolve around the torsion  49 . The foil  2  can only oscillate around the torsion  49  exploiting its elasticity.  
         [0084]    The signals that provided via the flexible ware  63  could enforce the carriage  48  to slide along the torsion  49  and the guide  50 . For this the carriage drive uses the rack  64 . This changes length of the twisted part of the torsion  49  as well as it changes the torsion elasticity resistance, supporting the foil deflection rule.  
         [0085]    6.2. The coupled WP-propellors design.  
         [0086]    The other design of the WP-propellor (FIG. 20) combine two individual foils (wings) resided on the common post  61 . This paired design increases effectiveness of the WP-propellor because each individual foil catches own area of wave motion. If two areas caught by single foil then energies from them can partially annihilate each other reducing total result.  
         [0087]    Here the cable lead-in passes through hollow motionless shaft  4  to feed the drive of the carriage  48 , which changes length of the twisted part  49   a  of the torsion  49 . Said torsion continues the motionless shaft  4  carrying the foil  2  with the bearings  62 . The foil  2  is fixed on the shaft  4  with the nut  46 .  
         [0088]    We assume that this paired propellor is used for the WP-tug (FIGS. 17, 18,  19 ).  
         [0089]    6.3. Self controlled WP-propellor. Claim 6.  
         [0090]    The self controlled WP-propellor accomplishes automatically the foil deflection rule. It is set on the motionless shaft  4  and consists of two foils  2  and  81 . The foil  2  is a working foil creating the thrust and its center C of the hydraulic head disposes on the foil deflection axis Y making the eccentricity equal to zero. The hydraulic thrust can not turn this foil because of it. The other auxiliary foil  81  set on the same shaft  4  and it is able to be turned by the hydraulic head as a weather vane and it can keep so the direction of the water flow relative the shaft  4 .  
         [0091]    Between both foils the lever mechanism is set to divide the auxiliary foil deflection a by two and to incline the basic foil  2  to resulting angle α/2. This mechanism consists of the arm  83  set through its bush  82  on the motionless shaft  4  with a key providing hard connection the arm  83  with the shaft  4  making the arm  83  motionless too. When a wave deflects the auxiliary foil  81  it pulls (FIG. 26) the link  85 . This link in turn pulls the sliders  87  via the pin  86  welded to the slider  87  while the link  88  restrains it pulling it to the hinge  91  held motionless by the motionless arm  83 . As a result of two equal actions from the links  85  and  88  the slider  87  moves along bisector of the angle α, i.e. the foil  2  occupy the bisector of the angle a accomplishing the foil deflection rule.  
         [0092]    Any new water mass flow direction automatically corrects the position of the working foil  2 . So the considered WP-propellor is really auto optimized.  
         [0093]    Wave powered propulsion systems for submarines and quasi-dipped watercrafts