Abstract:
Method of cyclic anchoring itinerant (CAI) propulsion uses a phenomenon of anchored float horizontal motion as wave rises. The method repeats a cycle:  
     Detaching the anchor from an immobile medium as a wave begins descent;  
     Accelerating it in new position as the wave descends;  
     Reattaching it to said medium as a wave rises.  
     The medium can be railway or water. Respectively a trolley or a glider works as the anchor. To drag as anchor the glider orients perpendicular to the link.  
     Improvements: adding an auxiliary propeller accelerating the glider, connecting bow and aft gliders with a single boom, making it telescopic, adding a small submarine hull for permanent observation water space, scientific researches, entertainment.  
     The method allows to reequip watercrafts to all-weather, ocean going watercrafts with an unlimited range of operation. These solutions can be widely used in marine rescue remedies. Experimental models of CAI propulsion system show remarkable results.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS  
         [0001]    Wave powered ship propulsion systems have an extensive history of inventions. However, prior attempts at invention have not, as yet, been successfully implemented. All of these designs are tightly attached to a ship body. Some of which use ship rocking to be driven (U.S. Pat. No. 6,099,368). There are no propulsion systems, which are wave powered and dangled in deep water to work.  
           [0002]    This invention presents a new method of ship propulsion having no analogs. It is based on well-known phenomenon of surface movement of anchored buoys or other floats caused by the ocean or tidal action. This invention supposes to use as anchors special devices named here by cyclic anchoring itinerant (CAI) devices that shift forward to a new remote position with the next wave. Powered by wave these devices and methods of ship propulsion can play a significant original role in Merchant Marine, Navy, Research and Fishing fleets, Marine rescue remedies, entertainment, and sports.  
         STATEMENT REGARDING FEDERALLY SPONSORED R &amp; D  
         [0003]    The author created this invention himself with his own means and in his free time.  
         REFERENCE TO A MICROFICHE APPENDIX  
         [0004]    Not applicable.  
         BACKGROUND OF THE INVENTION  
         [0005]    Endeavor:  
           [0006]    The purpose of this invention is to present an original development of methods and means based on the use of cyclic anchoring itinerant (CAI) devices for wave powered ship (any watercraft) propulsion. It can be used independently or in combination with standard propulsion systems. To promote the wave powered CAI propulsion systems we need to develop the next basic methods and means:  
           [0007]    1. Ship propulsion theory lied down of CAI propelling devices.  
           [0008]    2. Developing new CAI propelling devices.  
           [0009]    3. Methods and on-board devices control the CAI propulsion system.  
           [0010]    4. Use sea energy or/and on-board energy to drive the CAI propulsion system.  
           [0011]    5. The wave powered two-glider CAI propulsion system with a boom-sinker.  
           [0012]    6. Two-glider propulsion system with a telescopic boom-sinker.  
           [0013]    7. Submarine combined with the two-glider propulsion system.  
           [0014]    Benefits of the wave powered CAI propulsion systems include:  
           [0015]    a. Easy implementation on any kind of water born crafts (including rescue rafts);  
           [0016]    b. Ability to be adjusted to waves of any sizes and direction;  
           [0017]    c. Facility of the wave powered CAI ship propulsion systems for use by operating ships and boats to sharply increase their performance (cruising range, endurance, seaworthiness, efficacy etc.);  
           [0018]    d. CAI propulsion systems are ecologically clean and noiseless;  
           [0019]    e. They open possibility of constant observation under bottom water space.  
         BRIEF SUMMARY OF INVENTION  
         [0020]    The general premise of this invention is the detailed development of technologies for CAI propulsion systems powered by waves. All of these are to have virtually the self-powered, all weather ships (watercrafts) with unlimited cruising range.  
         BRIEF DESCRIPTION OF SEVERAL VIEWS OF DRAWINGS  
         [0021]    1. An anchored buoy changing its position under wave action.  
           [0022]    2. Propulsion system with CA-trolley passing along a rail when the rope is slack.  
           [0023]    3. CA-trolley mounted on submerged rail (side view, section BB from FIG. 4).  
           [0024]    4. CA-trolley mounted on submerged rail (rear view, section AA from FIG. 3).  
           [0025]    5. A diagram of anchored buoy moved by wave water circular motion.  
           [0026]    6. Diagrams of ratio sinφ/sinφp and its square as functions of a wave circle phase angle ψ and its relative radius ρ=r/R (wave circle radius r and a propulsor rope length R).  
           [0027]    7. Submarine glider dangled by a rope pair to use as a wave powered CAI propulsor.  
           [0028]    8. A map of the glider&#39;s main states depending on force values and rope tilt φ.  
           [0029]    9. A glider equipped by a mechanism effectively balancing gravity and outside forces.  
           [0030]    10. Map of cyclic work phases passed by an ordinary foil having fixed fins.  
           [0031]    11. Map of cyclic work phases passed by a foil having a balance mechanism.  
           [0032]    12. Diagram of propulsion system work when a ship goes ahead of the waves; the diagram is drawn to show ship motion relatively motionless in relation waves profile.  
           [0033]    13. Diagram of propulsion system work when a ship goes parallel to the waves; the diagram is drawn to show ship motion in relation space.  
           [0034]    14. Propulsion conditions for ship motions: ahead, parallel and in the passing wave.  
           [0035]    15. A ship with two independent fore and aft CAI propulsors.  
           [0036]    16. Fore CAI propulsor (view from above, horizontal section of the glider rope holder).  
           [0037]    17. Turret of the fore CAI propulsor (the rope holder is lifted).  
           [0038]    18. Wave powered CAI propulsion systems (front view).  
           [0039]    19. Wave powered CAI propulsion systems (bottom view).  
           [0040]    20. CAI propulsion system with a single rope (side view).  
           [0041]    21. CAI propulsion system with a single rope (front view).  
           [0042]    22. Diagram explaining the breaking zone to choose the right rope length.  
           [0043]    23. CAI propulsion system tied by boom-sinker (view from above).  
           [0044]    24. CAI propulsion system tied by boom-sinker (side view).  
           [0045]    25. The glider of two foldable wings set on the boom-sinker (side view); it can oscillate and swerve to any side; also the glider has a lock fixing wings horizontally.  
           [0046]    26. The glider of two foldable wings set on the boom-sinker (front view); it is shown with the rope holder equipped by devices folding glider wings  
           [0047]    27. The glider of two foldable wings set on the boom-sinker (view from above).  
           [0048]    28. Folded fore glider wings (side view).  
           [0049]    29. Folded aft glider wings (side view).  
           [0050]    30. A scheme of forces acting on fore glider (foil) in work phase.  
           [0051]    31. Diagram explaining necessity of freedom for gliders tied by a boom-sinker.  
           [0052]    32. CAI propulsion system with the expanding boom-sinker (side view).  
           [0053]    33. Design of the middle part of the expanding boom-sinker (side view).  
           [0054]    34. Propulsion system with an expanding boom-sinker (view from above).  
           [0055]    35. CAI propulsion system united with a submarine (side view).  
           [0056]    36. CAI propulsion system united with a submarine (front view).  
           [0057]    37. Submarine and ship bottom dock pad (view from above).  
           [0058]    38. Device docking the submarine and the ship bottom (side view).  
           [0059]    39. Cross section of the submarine docked to a ship bottom (front view).  
           [0060]    40. CAI propulsion system united with a submarine (view from above).  
                                                               LIST OF NUMBER SIGNS                                tens|________________________units________________3_________________4______________                0:0   1-rope,   2-buoy,   3-anchor,   4-wave profile,       5-boat,   6-anchor curt,   7-rail,   8-platform,   9-forefoot hitch,       1:0-rack,   1-traveling gear,   2-bevel gearing,   3-water-imp.drive,   4-connector,       5-cable,   6-eye,   7-jacket,   8-stock,   9-cover plate,       2:0-cable head,   1-connector,   2-switch,   3-diaphragm,   4-overr. clutch,       5-travel. gear,   6-holding wheel,   7-holding wheel,   8-bearing,   9-bearing bulge,       3:0-glider,   1-foil,   2-turret,   3-lower fin,   4-upper fin,       5-rest,   6-fairing,   7-sphere sinker,   8-plain flap,   9-axle,       4:0-bearing,   1-upper console,   2-upper lever,   3-lower stop,   4-lower lever,       5-gear collar,   6-sinker,   7-short lever,   8-spanwise shaft,   9-upper stop,       5:0-tie-rod,   1-bearing,   2-axle,   3-hinge,   4-drive,       5-slip join,   6-guide column,   7-lifting rope,   8-forefoot path,   9-carriage,       6:0-arm,   1-foot bearing,   2-lower console,   3-stern   4-spline,       5-key,   6-slip hole,   7-chute,   8-pair camera,   9-fork clamp,       7:0-drive,   1-axle,   2-mounting,   3-man-hole,   4-load winch,       5-bevel gear,   6-setting drive,   7-lifting winch,   8-foundation,   9-mounting,       8:0-pulley,   1-radiator,   2-acoustic ray,   3-ray receiver,   4-rudder,       5-screw,   6-holder,   7-steering gear,   8-heavy boom,   9-stem,       9:0-block,   1-bolt,   2-stop bar,   3-hinge,   4-foil base,       5-stanchion,   6-stock,   7-flat spring,   8-pawl,   9-stop bar,       10:0-oscillate axle,   1-yoke,   2-stop,   3-pinion,   4-fixed gear,       5-stop groove,   6-wing,   7-wire,   8-slit,   9-pulley peak,       11:0-guide bush,   1-foil stop,   2-mobile joint,   3-knee,   4-fore arm,       5-sinker,   6-aft arm,   7-inner wheel,   8-leading leg,   9-outer wheel,       12:0-right wall,   1-partition,   2-belt drive,   3-weight,   4-contact,       5-porthole,   6-compartment,   7-sluice,   8-submarine,   9-dock pad,       13:0-drying hole,   1-dock lock,   2-sluice track,   3-drying valve,   4-bottom,       5-lock seat,   6-framing,   7-man-hole,   8-displacer,   9-sealing,       14:0-ladder,   1-floor,   2-steerer,   3-cut-out,   4-side wave,       5-gliding zone,   6-anchor zone,   7-stop,   8-pawl,   9-guide,                          
 
       
    
    
     DETAILED DESCRIPTION OF INVENTION  
       [0061]    1. Basic Concept of Wave Powered Hard CAI Propulsion System.  
         [0062]    1.1. Description of the General Idea.  
         [0063]    The method of the ship propulsion using the deep submerged anchoring propulsion system comes from observation of a buoy hard anchored near a coast. During calm water, a buoy  2  usually stays near a coastline (position A) held by anchor  3  through rope  1  as shown on the FIG. 1. In case a single wave come in, it tests two additional forces: pulling force, additional buoyancy force b. The vector sum of these forces is resulting force T directed perpendicular to the rope  1  and it is a thrust forcing the buoy to move against the water drag. The same phenomenon is happening if the buoy is located on the opposite side (position E). From any position a wave moves the buoy to the center C.  
         [0064]    In case of recurring waves, the buoy saves its central state bobbing between points C and D. When it is located in the position D the rope  1  weakens. At this moment, the anchor  3  can move to any side easy spending neglect energy. A new wave can now move the buoy forward. At each time a wave falls, the anchor moves to the desirable direction and fixes at a new position, then a rising wave again propels the buoy forward. This is the basic idea for developing the wave powered cyclic anchoring itinerant (CAI) propulsion system with the hard anchor device able to move to the desired direction periodically in times when a ship falls on the wave base.  
         [0065]    1.2. Description of the Hard CAI Propulsion System.  
         [0066]    It is essential that the anchor should move to the new stop positions located on the same depth along a horizontal line. The design of the wave powered CAI propulsion system with the hard CI-anchor is represented in FIG. 2. Initially, it requests erection of a platform  8  carrying elevated railway  7 . The hard CI-anchor  6  is mounted on the railway  7  and it is linked with a boat bottom through the hitch  9  by the rope  1  having high tension strength and it is thin enough to have smallest drag. Also, it contains a core electric cable, supplying the CI-anchor with electric power. The cable ends are connected with the boat and CI-anchor electric equipment. The upper cable end is passed through the durable channel mounted on the boat body (not shown). The lower cable, end  15 , is released from the rope and is passed into the hard CI-anchor (FIG. 3). The hard CI-anchor is a simple trolley (FIGS. 3, 4) mounted on the platform  7 . It is able to move from right to left (opposite wave direction) when the rope  1  is loosened (the boat is in lower position). Loosening rope  1  releases the stock  18  held with the eye  16 . The stock is lowered by its spring, then it pushes the bottom of the switch  22  closing its contact (normally opened). This contact feeds the water-impervious drive  13  in which the pinion revolves the gear wheel  11  via the bevel gear  12 . As a result, the gear  11  using the geared rack  10  moves this trolley  6  forward without resistance of the slackened rope  1 . When rope  1  is drawn on, the stock  18  is lifted and the switch  22  cuts the feeding circuit. The CA-trolley cannot move backward due to the fore wheel  25 , also engaged with the rack  10 , cannot rotate backward owing to the build-in overrunning clutch  24 . It stops the CA-trolley banning it to move backward. The wave propelled boat (FIG. 2) moves from the right to the left opposite to the wave direction, as shown. The wave surface at commencement is shown by line α and the boat is located in point A (lower position).  
         [0067]    When the wave moves to the right in state denoted by β, then the boat moves in the point B owing to wave rising and the constancy of length of the rope  1 . They provide the boat with forces analogous to the force b and Φ shown in FIG. 2. The boat  5  speeds up on the path AB. In the point B, the boat has the highest state. Following this the wave surface lowers to the lowest state (to position C) where the boat moves itself inertia. For that period, the CA-trolley  6  moves faster than the boat and reaches the next position remote from the starting point as far as the distance D=length (AC). This is the condition for finding an optimal velocity of the CA-trolley 6. Repetition of this cycle leads to a stable propulsion process.  
         [0068]    2. Theory and Example of Wave Powered Hard Anchoring Propulsion.  
         [0069]    2.1. Math Modeling and Basic Equations.  
         [0070]    Let us consider circular water motion in the wave process. It is shown in FIG. 5. Vector r depicts the radius of its circular trajectory originating from center C and points a buoy location. Circular wave motion lifts the buoy from lower point A to the upper point X. Direction of water mass motion is shown next the circle by the arc arrow. Vector R depicts the rope anchored in center O and points a buoy location. Circular wave motion lifts the buoy from lower point A to upper point X. The trajectory of the buoy is the arc AX of radius R with the center O (the anchor position). At these extreme points, A and X, the rope  1 , shown as vector R, forms start φ o  and finish   x  angle tilts measured from the vertical OY in radians. The buoy path has the total length of the arc AX is R−(φ o −φ x ).  
         [0071]    The rope angle tilt  100  and angle ψ of the radius-vector r, pointing circular motion of water particles in a wave, reduced from φo to φx and from ψo=π to ψx=0 respectively, when the wave climbs. The angle ψ is the current state of orbital motion of a water particle a. The corresponding rope current angle is (p. Horizontal distance W=Wa−Wx between the point a and X and the depth of the anchor K from the point a to point O allows to count the cosine of the angle φ as: cosφ=K/R=(R·cosφx−h)/R=cosφx−r−(1−cosψ)/ R. And finally:  
         cosφ=cosφ x −η·(1−cosψ),  (1)  
         [0072]    where:  
         [0073]    ρ=r/R—relative radius of a wave circulation,  
         [0074]    h—current vertical distance to wave hill.  
         [0075]    For any angle ψ we can calculate a corresponding rope angle tilt φ as follows:  
         φ=arccos[cosφ x −ρ·(1−cosψ)].  (2)  
         [0076]    The rope length R should exceed a wave height H=2r at least 10÷15 times i.e. the relative rope length          =R/H=1/(2ρ) should be in range 10÷15 (or R is in range 0.5÷1.0 of wavelength). It is very important to provide the finish rope angle φx=0.05÷0.1 (radians) that insures a boat safety and floodability if some waves exceed an average circle radius r.  
         [0077]    When a float (buoy, boat etc.) is in the lowest position (FIG. 5) the rope angle tilt φ o  is maximum and also the start angle of wave circular motion ψ=π. So using (1) we obtain:  
         2ρ=cosφ x −cosφ o .  (3)  
         [0078]    For extreme case φ x =0 we have a formula evaluating a start rope angle tilt as follows:  
         φ o =2{square root}ρ.  (4)  
         [0079]    Taking in account that an elementary increment of height dh can be expressed two ways (through rope angle increment dh=R·dφ·sinφ and through wave circle angle increment dh=r dψ·sinψ the derivative of φ with respect to ψ is obtained as:  
           dφ/dψ= ρ·sinψ/sinφ.  (5)  
         [0080]    With accounting that 1=(sinφ){circumflex over ( )}2+(cosφp){circumflex over ( )}2, and using (1) we get:  
         sinφ={square root}(1−[cosφ x −ρ·(1−cosψ)]{circumflex over ( )}2).  (6)  
         [0081]    Now a tangent velocity of a bout or a boat in arbitrary point a is calculated as follows: V t =R·dφ/dt=R·dφ/dψ·dψ/dt=R ·ρ·sinψ/sinφ·ω, where angular velocity ω is:    
         ω=2ρ/τ,  (7)  
         [0082]    where: τ is a wave period. Finally a tangent boat velocity is defined as:  
           V   t   =u ·sinψ/sinφ,  (8)  
         Where:  u=r·ω−   (9)  
         [0083]    the peripheral velocity of water mass circular movement in a wave and the sin φ is substituted as shown by the formula (6). Below is given table of first, second and third powers of the function sinψ/sinφ for three values of relative radius of a wave circulation ρ and also there is taken the angle (φ x =0, i.e. cosφ x =1 when using the formula (6):  
                                                                                                                   TABLE 1                                       sinψ/simφ   (sinψ/sinφ){circumflex over ( )}2   (sinψ/sin ){circumflex over ( )}3            ψ   p = .05   p = .03   p = .01   p = .05   p = .03   p = .01   p = .05   p = .03   p = .01                    0.2   4.451   5.745   9.950   19.81   33.01   99.00   88.17   189.66   985.22       0.6   4.282   5.523   9.557   18.33   30.50   91.35   78.50   168.46   873.04       1.0   3.947   5.084   8.786   15.58   25.85   77.19   61.51   131.43   678.20       1.4   3.456   4.446   7.664   11.95   19.76   58.74   41.29   87.86   450.20       1.8   2.824   3.662   6.235   7.97   13.12   38.88   22.51   47.53   242.42       2.2   2.070   2.651   2.651   4.28   7.03   20.70   8.87   18.62   94.44       2.6   0.779   1.566   1.566   1.50   2.45   7.20   1.84   1.84   19.41       3.0   0.324   0.415   0.415   0.10   0.17   0.50   0.03   0.07   0.36                  
 
         [0084]    Propulsive thrust should overcome the boat drag in water and its required value is calculated as T=(ζ·C·S/2)·V t {circumflex over ( )}2 or, after substitution V t  by expression (8) as:  
           T=Q·u{circumflex over ( )} 2·(sinψ/sinφ){circumflex over ( )}2,  (10)  
         [0085]    where:  
         Q=ζ·C·S/2−design constant,  (11)  
         [0086]    ζ—water density,  
         [0087]    C—a boat drag coefficient,  
         [0088]    S—wet surface area of a boat.  
         [0089]    The power, developed by the wave powered propulsion system, can be found as a product of the thrust and the boat velocity P=T·V=Q·u{circumflex over ( )}2·(sinψ/sinφ){circumflex over ( )}2u·sinψ/sinφ.  
           P=Q·u{circumflex over ( )} 3·(sinψ/sinφ){circumflex over ( )}3.  (12)  
         [0090]    2.2. Exemplary Calculation Hard CAI Propulsion System Characteristics.  
         [0091]    The average wave period τ=6 sec for waves of 4 m high (the wave circle radius=2m). Thus for these p (0.05, 0.03, 0.01) the required lengths of the rope are 40, 66.7, and 200 meters. If φ x =0.1 (˜6 degrees) then φ o =0.173, 0.148, 0.118 for these ρ. The angular wave velocity according (6) is 1.047 radian/sec, i.e. the liner peripheral velocity of water mass in wave (circular) motion is u=2.094 m/s. According to formula (8), a theoretical boat velocity (m/s) succeeds in 2.094 times the numbers given in 2, 3, and 4 columns of table 1. So a boat with ρ=0.03 is accelerated in a rising wave hill theoretically from 0.68 m/s and attends to reach the extreme velocity on it V x =12.03 m/s (or 24 knots). Then a boat continues its motion by inertia losing the obtained velocity for pre-cycle multitude V c . It is best when the CA-trolley stops its translation and locks its location on the rail only at the time when the boat velocity V c  reduces down to the increasing velocity V t .  
         [0092]    Suppose C=2.35·10{circumflex over ( )}3, S=560 m{circumflex over ( )}2, and ζ=1000 kg 1 m{circumflex over ( )}3. So Q=658 kg/m and the required thrust accordingly (10) is T=658·2.094{circumflex over ( )}2 kgm/s{circumflex over ( )}2·(sinψ/sinφ){circumflex over ( )}2=2.885−(sinψ/sinφ){circumflex over ( )}2 kN. Using minimum and maximum values from table 1, column 6 we get minimum and potential maximum of propulsive force: 0.49 kN and 95.2 kN. We say the maximum required thrust T=95.2 kN because this force is obtained if the rope link enforces the boat to generate additional buoyancy b=T/sinφ=95.2/0.02=4760 kN. For that the rope force must be F=T /tgφ=4760 kN i.e., the same as b because the rope angle φ x  is very small (0.02 radians). If the boat displacement is equals 920 tons or its weight G and the primary buoyancy B=9025 kN than it is obvious that the inducted boat submerging cannot create such great additional buoyancy. In addition, the rope and the CA-trolley are going to be extra strong to keep that rope tension. Taking the ρ=0.05 (instead 0.03), requires the inducted additional buoyancy b=2857.6 kN i.e. much less. The potential maximum boat velocity is 9.32 m/s (18.2 knots).  
         [0093]    The power, being developed by the wave powered propulsion system, can be found with the formula 12 as P=Q·u{circumflex over ( )}3−(sinψ/sinφ){circumflex over ( )}3=6041 kN·m/s·(sinψ/sinφ){circumflex over ( )}3.  
         [0094]    3. Soft (Hydrodynamic) CI-Anchor.  
         [0095]    3.1. Unalterable Soft (Hydrodynamic) CI-Anchor.  
         [0096]    3.1.1. Design of Unalterable Soft CA-Glider.  
         [0097]    The previous hard CA-trolley design (p.2) requires trolley platform  8  erection on the bottom of a sea basin (FIG. 2) to provide conditions for the CA-trolley work as a part of the dangled wave powered CAI propulsion system. So offshore zones limit this project usage scope. For sea going watercrafts, we need special devices acting as the CI-anchors, when waves climb, and able to move forward cyclically when the waves lower. An example of that CI hydrodynamic anchors shown on FIG. 7 (front, side views and a view from above). Actually, it is a foil-glider knotted horizontally via eyes  16  (FIG. 7) by two ropes  1  dangled from a boat  5  (FIG. 18).  
         [0098]    The unalterable CA-glider consists of a foil or a thin wing  31 , a keel  33 , fins  34  with eyes  16 , and a plate flap  38  mounted on the rear edge of the foil  31  with a flexible strip, a globe sinker  37 , and a fairing  36 . Water resistance can deflect the plate flap  38  right up to rests  35  or ledges formed on the props  34  (FIG. 7B) and so the flap impedes the glider to move back thus increasing its anchor capability. The sinker is made as a globe and set in the fairing  36  with bearings  39  in order to enable the glider to pitch faster because the massive globe sinker  37  is not involved in pitching along with the glider. At resting, the foil  31  is positioned horizontally because it is perpendicular to the line es stretched vertically by opposite vertical forces: sinker weight G applied to bearings  39  (axis s) and suspending force F=−G applied to eye e. Structurally this line crosses the foil  31  in point c as perpendicular. When the CAI-glider moves, the water resistance as total dynamic pressure is applied to the center o from below or above depending on the direction the glider moves. The pressure center o is shifted relatively the crossing point c on the distance E (foil eccentricity).  
         [0099]    3.1.2. Description of Unalterable CA-Glider Work.  
         [0100]    Suppose at rest, the force F increases and the tilt φ&gt;0, the force&#39;s picture becomes as illustrated in FIG. 8A. If the force F vertical component F y =−G and it is applied in the phantom point k. So the glider is moved back with velocity V x  creating the plate flap drag R x =−F x . The equal opposite directed forces G and F y  have created the force moment M=G·m, where m− the force arm. Nothing equilibrates this force moment. Because of it the glider turns up as shown on FIG. 8B.  
         [0101]    Now the gravity force G crosses the phantom point J on the axis x. The component G x  is equilibrated by the plate flap drag R x . Since force F, produced by the rising boat through the rope  1  and applied to the eye e, is greater than G y  as much as F−G y  then this excess must be equilibrated by the foil drag R y . So for this stable state here an equation R y =F−G y  must be accomplished. Also the force moment sum relatively the center c must be equal zero. So R y −E=G y −n, where n=d-tgφ and G y =G·cosφ. Thus R y −E=G·d·sinφ. Because of it in order to keep the foil perpendicular to the rope (the normal orientation) the foil drag R y  is created by the foil motion with value as follows:  
           R   y   =G·d· sinφ/ E.   (13)  
         [0102]    If the waves are rough the foil velocity V y , produced by a rising boat, can be greater than normal velocity V n  causing the foil drag force R y  according the equation 13. The motive force F x  appears and moves the glider forward and up. Sometimes it can present an opportunity to impart the glider additional potential energy for the next very important step—itinerating forward to the next anchoring position by gliding to it in time of the wave lowers. However we believe that itinerating should not reduce anchoring ability of CA-glider.  
         [0103]    When the wave stops its lifting the rope is slackened. The glider obtains freedom. It turns down by the moment of couple forces: the gravity G applied down from point c (or even more left) and the foil drag R applied up from point o. At the end of the turn, the glider takes the state (FIG. 8D) and glides forward far by a dint of gravity force G. It should overtake the boat by the velocity approximately 2 times or greater.  
         [0104]    3.2. Alterable Anchor-Glider.  
         [0105]    As we have analyzed the unalterable anchor-glider work, we have found that it does not keep a stable, normal anchoring state (FIG. 8B). This is due to the anchor-glider tilting up on angle φ to normal state (perpendicular to rope line) its sinker 37 creates (relatively point c) force moment −G·d·sinφ and its drag creates force moment R y ·E. The normal state conservation needs to support this force moment&#39;s equity (13). This is difficult because the drag R y  depends of the force F stretching the rope 1.  
         [0106]    To solve this problem, there is an alterable anchor-glider (FIG. 9). It consists of the foil (wing)  31 , the sinker  46 , the spanwise shaft  48 , the levers  41 ,  44  and the tie-rod  50  allocated inside the foil cutout  143 . The tie-rod  50  and the spanwise shaft links the levers  41  attached to ropes  1  and lever  44  holding the sinker  46  through the stock  18  and the spring  144 . Position of the lever system is issued and stable while no additional force acts on the anchor-glider except the gravity G and coaxial opposite force F. In this position, the distance between the eye  16  and the sinker  46  is maximum. Any changes of it make the lever system to return back. However, when the rope force F increases in order to move the CA-glider up against the foil drag R y , the lever system and the foil change their state as shown (FIG. 9B).  
         [0107]    The new state is characterized by the perpendicularity of the lever  42  to the foil  31  (the normal position for hydrodynamic anchoring) and the minimal shoulder k of the gravity force G relative to the center o. Arising force moment G·k (before it disappears) turns the glider on small angle ε providing smooth gliding up and forward and preparing for future itinerations. When the rope angle tilt φ is greater than that shown (FIG. 9B) the shoulder k can be zero or negative. In the last case the deflecting angle ε has a negative value and the foil  31  tends, unsuccessfully, to slide back. Plane flap  38  stops it.  
         [0108]    Notice: the lever&#39;s motion freedom is limited by the lower and upper stops  43 ,  49 .  
         [0109]    When the rope is slackening the CA-glider turns down and slides forward with velocity V k  as shown by the FIG. 9D. The attack angle α is not changing because the rest  43  limits changes of the angle between the foil  31  and the lever  44 .  
         [0110]    The spring  144  and the stock  18  exclude particular harmful influence the sinker inertia on start anchoring ability of the foil  31 .  
         [0111]    3.3. Gliders Behavior During Work Cycle.  
         [0112]    3.3.1. Unalterable Glider&#39;S Behavior.  
         [0113]    A detailed, unalterable glider behavior map is shown as 8 frames of one single work cycle (FIG. 10). Under wave influence, the cycle progresses from the frame #1, where the force F is maximum, to the frame #5, where the force F=0, then it increases again up to the maximum (frame #1). The force F of maximum power (frame #1) along with the normal foil drag R y  creates the first force moment exceeding the second force moment created by the gravity force G. Additional glider turn up to angle φ 1  reduces the first moment to be equal to the second one. As a result, the glider moves with velocity V k  up. The glider disposition change reduces its anchoring and propelling capability. So it is an undesired CA-glider motion.  
         [0114]    Then, as the rope force F reduces, the CA-glider turns down until horizontal position (frame #4). When the rope is slackened in full (frame #5), the CA-glider dives because of the sinker weight G. To slide the glider speeds up and equalizes (frame #6). With the slackened rope, the glider goes down very fast and soon it hangs on the rope which lowers much slowly than the glider. Further the glider motion is happening under inertia and gravity&#39;s influence (frames  7 ,  8 ) similar to the motion of a swing with a lowering upper hinge. It is a key for understanding why the glider moves forward fast enough and almost horizontally.  
         [0115]    3.3.2. Alterable CA-Glider&#39;S Behavior.  
         [0116]    The alterable CA-glider behavior is happening the same way as illustrated for the unalterable glider except the phase  1  (frame #1). Here, phase  1  is absent because it is the same as phase # 2  (frame #2). Equality is explained by weight position and the rope lever  42 ,  44  alterations. The other phases do not differ from the ones for the unalterable glider. This is why these phases are shown selectively (FIG. 11).  
         [0117]    3.4. Description of Wave Powered Soft CAI PROPULSION SYSTEM Work.  
         [0118]    Let consider a case of side waving. Two straight lines  144  depicting upper and lower wave levels express the side wave (FIG. 13). The boat  5  accomplishes planar parallel wave-like translation. Its forefoot hitch 9 draws the scaled actual wave-like path. Its parts in each wave period consist of two zones: anchoring  146 , and gliding  145 . When anchoring the CA-glider  30  does not move forward (zone  146  with zero length d o =0). Instead, it is lifted by the force F applied to the glider  30  through the rope  1  stretched by the boat  5  bobbled up by the wave  144 . We can see how the boat is accelerated here by the wave. So it is propelled jerk-wise and his velocity is V. The gliding zone  145  has the length d 1 +d 2 =2V−τ.  
         [0119]    Let see now a case of ahead waving. The encountered wave is shown in FIG. 12. Even though the wave moves right with velocity w, we need to stop its motion in order to show its picture on a fixed page. This means that we need to add the velocity w to the average boat velocity V. In this case the anchoring zone  146  is depicted on FIG. 12 as an area with length d 0 =0.5 wτ. The gliding zone has length (d 1 +d 2 )=0.5 (w+2V)τ, where (w+2V)−the glider velocity relatively encountering wave.  
         [0120]    4. Theoretical Aspects of the Wave Powered Soft CAI Propulsion Systems.  
         [0121]    4.1. Anchoring Capability of an Anchoring Glider.  
         [0122]    A glider anchoring capability is defined by the maximum resisting force, which can be developed against dragging it out of a taken anchoring position. It can be found by formula:  
           R   y   =ζ·C   f   ·A·V   y {circumflex over ( )}2/2.  (14)  
         [0123]    The force F horizontal component F x =F·sinφ is really the boat drag to translation evaluated by the formula 10, thus R y =F x /sinφ=T/sinφ. Substituting the left part from the formula 13 and the right part—from the formula 9 we find correlation between the velocities of the boat and the foil: ζ·C f   A·V   y {overscore ( )}2 /2·tgφ=ζ·C·S/2·V t {circumflex over ( )}2.  
         [0124]    After conversions, we have (C f A)/(CS)·tgφ=V t {circumflex over ( )}2/V y 2. The following expression represents the foil relative anchoring capability:  
           Ra= ( C   f   A )/( CS).   (15)  
         [0125]    Now the correlation between the foil V y  and boat tangent V t  velocities takes this view:  
           V   t   /V   y =( Ra tgφ ).  (16)  
         [0126]    The horizontal boat velocity is V=V t ·cosφ. Owing to this, we have the next correlation between the foil V y  and the boat horizontal V velocities:  
           V/V   y ={square root}( Ra  sinφ).  (17)  
         [0127]    When the wave becomes much rougher, it creates the greater foil velocity V y  and so foil drag R y  rises greater, as well, the propulsion becomes more intensive and the boat speeds up. For example, Ra=3000, (p=0.1, V y =0.3 m/s then V=5.2 m/s (10.1 knots).  
         [0128]    4.2. Effective Radius of Wave Circular Motion.  
         [0129]    As the wave descends the boat goes forward by inertia. The rope slackens sharply, releasing the anchor-glider  30  and gives it to dive using its gravity force G. The anchor-glider speeds up on start and then glides on the path  145  being in phases  7  and  8  (FIG. 10, 11) i.e. being supported by the rope  1 . During anchoring, the glider is lifted up to height A. It means the wave energy was spent effectively only on the part of the wave height:  
           r   e   =r−Δ/ 2=( H−Δ )/2,  (18)  
         [0130]    where:  
         [0131]    r e —effective radius of wave circular motion, which should be used in formulas (2, 9) instead r in order to use the theory of hard CAI propulsion (p.2),  
         [0132]    H—height of waves,  
         [0133]    Δ—height of CA-glider lifting when anchoring.  
         [0134]    We see the same pictures of the glider lifting (FIGS. 12, 13) which reduces effectiveness of the propulsor in comparison with the hard itinerant anchor.  
         [0135]    4.3. Forcible Itinerant Glider is Way to Rise Effectiveness of the CAI-Propulsion.  
         [0136]    The considered above CA-glider (of either type) is propelled by gravity force as a gliding object. Its average velocity should exceed the boat velocity at least two times else the propulsor effectiveness will diminish. We can let the anchor-glider to lift upper height Δ in order to speed up to greater start velocity. In turn, this reduces an active radius of wave circular motion r e  (formula 17) so the power is transferred to the propulsor. Here exists the optimal height Δ o  providing the maximum propulsion power for each degree of wave.  
         [0137]    To improve propulsive capacity of CA-gliders, especially for long and very long waves, we need to take care about supporting the glider velocity on the path of gliding. For this, an auxiliary propelling device equips the CA-glider (FIG. 20). This device is embedded into the sinker  46  and it is switched on/off by the same manner as the drive of the hard CI-anchor (FIG. 3).  
         [0138]    The effectiveness of the CA-glider also can be increased by making greater its product C f ·A value diminishing its lifting height A.  
         [0139]    4.4. Controlling Requirements to the CAI Propulsion Systems Powered by Waves.  
         [0140]    4.4.1. Rope Length Automatic Control.  
         [0141]    As we saw before (formula 3) the relative radius of wave circulation ρ (also equals to 1/2         ) influences on the rope angle tilt φ. Converting the formula 6, we have first sinφ{circumflex over ( )}2 =1−[cosφ x −ρ(1—cosψ)]{circumflex over ( )}2 then, after extraction square root, cosφ x −ρ(1−cosψ)=cosφ. Taking φ=φ o  and ψ 32  ψ o =π (starting angles) we have obtained a demand for relative radius wave circulation as follows:  
         ρ=(cosφ x −cosφ o )/2≈(1−cosφ o )/2  (19)  
         [0142]    This demand failure can also cause the negative thrust on the finish length of propulsion path (FIG. 22, hatch zone). The boat  5  must go the propulsion path &lt;ac&gt; with velocity reached. However, it has the rope length R′ i.e., too short for this great wave size. When the rope angle φ′ becomes equal to zero, the glider breaks (hatch zone) until the point c because the glider&#39;s foil continues to stay perpendicular to the rope  1  (FIGS. 8, 9). After the normal lifting on height Δ (FIG. 22) owing to a “harmful” wave rising the foil lifts higher up to point U and produces antithrust. So the rope length R must be long enough (even regulated) to work with all wave sizes. Rope automatic regulator must control it according to formula:  
           R≧H /(1−cosφ o ).  (20)  
         [0143]    4.4.2. Start and Finish Rope Angle Tilts Controls.  
         [0144]    As well known [1], the buoyancy force acts on float body in direction normal to waterline. It means, the direction of the additional force b, acting on the boat and generating propulsive force T, depends of wave inclination (FIG. 14). The rope  1 , anchored in point  6 , holds the boat with the forefoot hitch  9  and allows it to move rigorously perpendicular to the rope line along the tangent to the circle of the radius R as well as directing the thrust T the same way. According to the frame  1  of FIG. 14, the propulsion process progresses ahead of the wave having rope angle tilt φ greater than wave slope s. Their positive difference (slide angle) f=φ−s allows the boat to go on the wave hill. If the slide angle was negative or zero the boat could not translate forward and yet it could sink or much likely it could tear the rope slightly. The mean rope tilt φ m =(φ o −φ x )/2 is limited by inequality: φ m &gt;s. For sake of safety it much better if φ o /2&gt;s or (using 19):  
         (1−cos2 s )/2≧ρ.  (21)  
         [0145]    For the other cases of waves, as sidewise (frame 2) or favorable (frame 3), where s=0 and s&lt;0 correspondingly, always φ o /2&gt;s, i.e., propulsion conditions are secure. Also these cases increase propulsion power because the thrust T increases as vector sum of forces Φ producing by CA-glider in anchoring state and b applied to common point with less force opening angle Ω (FIG. 14). When the angle Ω≧π, the normal CAI propulsion, powered by wave, is impossible.  
         [0146]    The finish rope angle tilt control should be greater 0.05 radians, which insures a boat safeness and floodability if same waves exceed an average circle radius r, as said in p.2.1.  
         [0147]    5. Methods and On-Board Devices Control the Two-Glider Propulsion System.  
         [0148]    5.1. Cranes Allocated on the Bow and Stem for Lifting and Swerving the Anchor-Gliders.  
         [0149]    We distinguished two types of anchor-gliders. They are unalterable (FIGS. 7, 8) and alterable (FIGS. 9, 41). Both types are considered as dangled with two ropes  1  attached to the upper fins (or levers)  34  with the eyes  16 . This way is chosen to swerve a glider  30  left or right when steering. The opposite rope ends (FIGS. 15, 16,  17 ) are held by its associated controlling crane (FIGS. 15, 18,  19 ) with two arms  60  of fork-like bifurcated carriage  59 .  
         [0150]    Either crane consists of upper console  41  and lower console  62  holding rotary crane block with bearings  40  and  59 , respectively. Any rotary block consists of the turret  32 , the guide shaft  56 , the bifurcated carriage  59  with two arms  60 . The drive  54  can slew it by the bevel gear  75  (FIG. 17) via the bevel gear collar  45  set on the turret  32 . So the CA-glider  30  (FIG. 15) can be carefully swerved also to steer the boat course. The steering is effective enough if both anchor-gliders combine various turret slew angles.  
         [0151]    The turret  32  (FIG. 17) contains two drams lifting the CA-glider with a pair of the rope  1 . The drives  76  revolve a couple of drams  74  (mutually engaged), simultaneously lowering or lifting ropes  1 . They control work length R (FIG. 18) of the ropes  1  and thus their relative length:  
                     e =1=2ρ e   =R/H   e ,  (22)  
         [0152]    which must be adjusted to the wave conditions and propulsion properties (formulas 19,20). Roughly the length of rope R should be 75-100% of wavelength.  
         [0153]    Any control crane is able to lift the CA-glider out of water for maintenance or to preserve it in time of constrains passing. The drums  74 , after lifting the glider  30  up to arms  60 , continue its work together with the drum  77  lifting the carriage  59  (FIG. 17) with the rope  57  (FIG. 15). The final highest position of the CA-gliders and the carriage arms  60  are signed as  30 ′ and  60 ′. The carriage  59  slides (FIGS. 16,17) on the column  56  along guide spline  64  having the key  65  put in the spline  64  that enables the carriage  59  to slew together with the turret  32  and the column  56  united by the mounting  79  as a single unit.  
         [0154]    5.2. Actuation of the CAI Propulsion System with On-Board Energy.  
         [0155]    In time of calm sea, the propulsion system can work using on-board power. For that (FIG. 16) the bifurcated carriage  59  clamps the ropes  1  in the pairing camera  68  with fork clamp  69  driven by the drive  70  with the stock  69 . Then (FIG. 17) the lifting drums  74 ,  77  with ropes  1 ,  57  periodically move the carriage  59  up and down along the column  56 . As a result the carriage upward motion propels the boat forward while the carriage downward motion enables the glider  30  to translate forward. It must be at least two times faster than the boat goes.  
         [0156]    If both of the carriages (fore and aft) accomplish this process with equal frequencies but with phase shift=π, then the boat translates smoothly. Due to this phase shift, either glider produces the thrust at any time.  
         [0157]    The described actuation process can be added to the boat propelled by the wave power. For this the actuation process must be synchronized with the natural rocking process. If the natural process is irregular, then the special automated control system must be implemented to adjust the artificial and the natural rocking process.  
         [0158]    6. The Wave Powered Two-Glider CAI Propulsion System with a Single Sinker.  
         [0159]    6.1. Single Rope CAI Propulsion System.  
         [0160]    The idea to dangle the anchor-glider with a single rope  1  is tempting enough because a single rope produces less drag for boat translation than their couple and also holds the CA-glider stable against boat rolling. It is obvious that the CA-glider needs to have a single upper fin  34  (FIGS. 7, 8,  18 ) or single upper lever  42  (FIGS. 9, 11). An example of that kind solution (FIGS. 20, 21) shows simplification of the crane design: the rotary turret is absent and the winches  74 ,  77  were carried out to the boat head deck. Also, a bifoil CA-glider was used here as an example of the glider design diversity.  
         [0161]    An auxiliary propeller and a rudder  84  give the CA-glider definite maneuverability solving the boat steering problem. As for two-rope CA-glider, here we also need to orient and position the single rope CA-glider relative to the boat (FIG. 20). To measure the glider orientation, the boat is equipped by the acoustic radiator  81 , which periodically sends acoustic impulses  82  to the glider. The last one is equipped by the couple of acoustic receivers  83 , allocated on the ends of the upper foil  31 .  
         [0162]    If the glider is oriented straight along the boat diametric plane, then both acoustic receivers obtain the acoustic impulses simultaneously. If the glider is oriented with the left or right angle from the boat diametric plane, then respectively the right or the left receiver  83  receives the acoustic impulse earlier than the other one. The impulse reception time lag is recalculated to the glider orientation angle. For straight translation, the anchor-glider must be oriented by its automatic navigating system as the impulse reception time lag equals zero. For left or right glider motion, the glider automatic navigation system must keep up the corresponding impulse reception time lag (by sign and value) through the rudder  84  swerving.  
         [0163]    The above-mentioned statements, describing the fore anchor-glider dangled with a single-rope, are also correct for the aft single-rope anchor-glider. Its automatic navigating system must turn it left, right or keep straight depending on its state and the boat&#39;s navigating task.  
         [0164]    6.2. Design of the Propulsor and its Work.  
         [0165]    The other way to get the CAI propulsion system with a single rope per glider is the two-glider propulsor with the single boom-sinker (FIG. 23—view from above, FIG. 24—side view, FIGS.  28 ,  29 —side views of the fore and aft folding gliders). The propulsor consists of a single boom-sinker  88 , two steering gears  87 , two gliders  31 , and two ropes  1 . This propulsion system also includes on-board devices: two slip rope holders  86 , two winches  74  and two pulleys  80  providing manipulation for both gliders. When the propulsor  88 ′ is lowered from the slip holder  86  down to the depth R, it is ready to propel the boat (FIG. 24). Its glider capability to act as an anchor causes the boat additional buoyancy b producing the thrust on the rising wave.  
         [0166]    Each glider (see FIGS. 25, 30 together) contains the couple of wings  106 , acting as the single foil  31 . The guide bush  110  allows the foil  31  with its base  94  to incline down around the oscillate axis  100  separately from the stock  96 . Also, the glider contains the yoke  101 , the sliding joint  55  and the rest  102 . When the wave rises, the foil drag D (FIG. 30) increases as well as the force F stretching the rope  1 , and the glider  30  inclines backward anchoring the boat  5  through the rope  1  providing the boat propulsion process. The glider is in an equilibrating state of forces and moments. The scheme (FIG. 30) shows rough force distribution on the glider. Except known forces F, D, G, here also act: I-inertia force, J-drag of the plane flap  38 .  
         [0167]    When, accidentally, the rope angle tilt φ becomes less than zero (FIG. 22,) this glider does not produce the negative thrust as the independent glider did. This propulsor prevents “harmful” situation by limiting the inclination for both the stock and the foil  31  (base  94 ) with the rest  102 .  
         [0168]    6.3. The Glider Wings Folding (Design and Work).  
         [0169]    The wave-powered CAI propulsion system should have the possibility to fold its glider wings in order to impart good maneuverability to the boat navigating in constraints (FIG. 28). When the propulsor is lifted up to the bottom of the boat  5 , the sliding the stock  96  slits in the hole of the rope holder  86  positioning the glider relative to the boat  5 . Also the glider cannot swing around axis  100 , it is kept parallel to the boom  88  because the stop  147  arrest the glider relative to the axis  100 .  
         [0170]    At the end of lifting the bolt  91 , pushes the pawl  98  through a hole in the foil base  94 . The pawl held by the flat spring  97  is bent out of the rear stop bar  99  (FIG. 25) and it unlocks the wings  106  (FIG. 26). Owing to lifting continuation, blocks  90  push wings  106  via stop grooves  105  (FIGS. 26, 27) and they turn up around axis  93  in the vertical position (FIG. 28). Here a pawl  148  locks them.  
         [0171]    The aft glider is occurring simultaneously and its wings become locked at the end of folding process (FIG. 29). When the CAI propulsor is actuated, the bow and aft pawls  148  release the wings and they slowly lower in horizontal position. The pawls  98  lock them again by its rear stop bars  99  (FIG. 25). Now the glider acts as it is a monolith foil  31 .  
         [0172]    6.3. Steerage with the Wave Powered Two-Glider Propulsion System.  
         [0173]    The presence of an alongside boom-sinker  88  in the propulsor design (FIGS. 25, 26) allows simplifying the steerage process. The oscillating axle  100  can be turned around a vertical axis along with the glider  94  by the water-impervious drive  87  whose pinion  103  rolls about gear  104  set stationary on the boom-sinker  88 . The drive  87  is fed through an electric cable embedded in a core of the rope  1  and the stock  96 . Also, the cable contains strands for feedback control signals determining with pickups (not shown) the glider position relative to the boom-sinker  88 .  
         [0174]    To turn the boat left, the fore glider should be swerved left and the aft glider should be swerved right. To drift left, both gliders should be swerved left, and to drift the boat right, they should be swerved right.  
         [0175]    7. Two-Glider CAI Propulsion System with a Telescopic Boom-Sinker.  
         [0176]    7.1. Critique of the Two-Glider CAI Propulsion System with a Solid Boom-Sinker.  
         [0177]    As we saw earlier (p.3), the wave powered CAI propulsion system with two independent gliders does not have interaction problems because each (bow, stern) glider behaves as a single unit. If they are linked by a solid boom-sinker (FIGS. 23, 24,  28 ,  29 ), the glider interaction problem occurs. As illustrated (FIG. 31), the two-glider CAI propulsion system with a solid boom-propulsor, denoted by line AB, restricts the gliders sliding by minimum of velocities as independent gliders.  
         [0178]    For example, when the boat  5  is in the 1 st  state relatively the wave  4 , the fore glider  30  should be in position C instead the actual position A, predetermined by the solid boom-sinker  88 . The other example: when the boat  5  comes to be in 2 nd  state the rear glider should be in position C′ instead B′ predetermined by the solid boom-sinker 88. In both situations, the gliders detain each other and slide forward only when not one of them works as a soft (hydrodynamic) anchor. So the propulsor works well when the boat is small relative to wave length. In this case, both gliders will work synchronically the greatest part of time so effectively.  
         [0179]    7.2. Description of Two-Glider CAI Propulsion System with a Telescopic Boom-Sinker.  
         [0180]    To solve the problem described above, we need to allow gliders to move as easily as they do when they are independent (FIG. 31). The propulsor with that kind behavior is the two-glider CAI propulsor with a telescopic boom-sinker (FIGS. 32, 33,  34 ), allowing its gliders to work as if they are independent. To allow this, the boom-sinker consists of three main parts: fore sliding arm  114 , sinker  115 , and aft sliding arm  116 . The arms always keeps a straight (mainly horizontal) position owing to parallel guides inside the oblong sinker  115  having weight  123 . Smooth sliding of each arm is provided by a couple of wheels  117  and  119  inside the arm  116  and guide  149 .  
         [0181]    The arms always accomplish equal but opposite motions relative to the sinker  115  owing to the synchronically leading legs  118  and belt  122 , revolving around the pulleys  80 . The propulsor has a balance state where both arms are extended equally only on half of the arm length. In this state, the total length of the telescopic boom-sinker is equal to the distance between the fore and aft rope holders  86 . Any external change of this total length induces rising of the telescopic boom-sinker gravity center which is an internal reason causing restoration of the balance state i.e., retraction or extension of the arm back to half position.  
         [0182]    On the other hand, when one glider works like hydrodynamic anchor, it goes up lifting the sinker gravity center on half height of its own lift height Δ. The accumulated potential energy is spent for the glider translational sliding. If, for any reason, extensions or retractions of the arms are not enough for maximum propulsion productivity, the wheels  119  should be power-driven and fed through electric strides of the central cable embedded into the rope core  1  and mounted along an arm  116 .  
         [0183]    8. Submarine Combined with the Two-Glider CAI Propulsion System.  
         [0184]    The two-glider propulsion system with a boom-sinker allows combining it with a dangling submarine (FIGS. 35, 36,  40 ), i.e. a submarine without its own maneuverability. This kind of submarine is destined for observation water space under boat for various goals: scientific researches, sink objects search, inspection of cables and pipes lied on shelf bottom, and entertainment.  
         [0185]    A two-compartment submarine  128  is mounted (FIGS. 35, 36,  40 ) on the sinker  115 . The weight  123  (FIG. 39) provides sink functionality. In its upper position, the boom  115  clasps (FIGS. 37, 38) the submarine  128  to service compartment  126  with a dock pad  129  which are reliably connected to boat bottom  134  with dock locks  131  and bottom lock seats  135 . Rubber seal  139  around each joint provides a water-impervious connection to the submarine&#39;s compartments with sluices  127  which are used by the crew to go in and out of the submarine through manholes  73  and  137 . Also the sluices  127  close the bottom manhole with pneumatic displacer  138 .  
         [0186]    When the submarine is docked to the boat bottom, each pneumatic displacer  138  is lifted by a vacuum in it and the sluices  127  are dried by pressured air replacing water through pad holes  130  and valves  135  (FIG. 37). Then, air pressure in the sluices is equilibrated with the air pressure in the compartment  126  in order to allow crew members to pass. On the other hand, before the submarine casts off, all manholes must be clipped up and the sluices filled by outboard water. After casting off, the displacers  138  are filled with air to remove outboard water from the sluices. Then the CAI propulsor combined with submarine works as usual. However, the submarine can be subjected alongside rocking.  
         [0187]    A submarine of this kind differs from an underwater towing system used wide in marine and fish fleets because this does not require power-intensive towing. Instead, the CAI propulsor, combined with submarine, derives energy from waves for boat propulsion. A submarine here can be replaced with uninhabited underwater automatic controlled devices of various applications.  
       TECHNICAL PUBLICATIONS  
       [0188]    [1] V. B. Zhinkin. Theory and ship design. Russia. St-Petersburg. Publication house Shipbuilding. 1995.