Device for linear propulsion

A device for linear propulsion, comprising

• a support structure for carrying a payload, and
• one or more wave propulsion modules,
• wherein each of the one or more wave propulsion modules includes a first individually-pivoted substantially planar blade that is capable of producing a reactive force by self-attenuating by spring or dynamics of buoyancy means in response to an incoming fluid flow in the horizontal plane, and a second individually-pivoted substantially planar blade that is capable of producing a reactive force by self-attenuating by spring or dynamics of buoyancy means in response to an incoming fluid flow in the vertical plane,
• wherein the first and second blades are constructed to be positively buoyant, wherein the first blade is provided with a pivot that is inclined forward at a top of the pivot, such that an orbit of rotation of the first blade is on a forwardly-inclined plane, thereby allowing a center of positive buoyancy to provide a return force when the first blade is deflected by lateral flows, or
• wherein the first and second blades are constructed to be negatively buoyant, and wherein the first blade is provided with a pivot that is inclined rearward at a top of the pivot, such that the orbit of rotation of the first blade is on a rearwardly-inclined plane, thereby allowing a center of negative buoyancy to provide a return force when the first blade is deflected by lateral flows.