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In one embodiment, a propulsion device for use with a fluid may include a shaft coupled to a drive system that rotates the shaft, one or more cranks rigidly coupled to the shaft, and one or more connecting structures that are movably coupled to one of the one or more cranks. A foil may be rigidly co

In one embodiment, a propulsion device for use with a fluid may include a shaft coupled to a drive system that rotates the shaft, one or more cranks rigidly coupled to the shaft, and one or more connecting structures that are movably coupled to one of the one or more cranks. A foil may be rigidly coupled to the one or more connecting structures. One or more slide structures or one or more linkages may be coupled to the foil and arranged to restrain movement of the foil when the foil is actuated by the one or more cranks via the one or more connecting structures, such that rotational motion of the shaft is translated to a combination of motion of the foil between an inner extent and an outer extent and motion of the foil within an angular range between first and second limits.

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1. A propulsion device for use with a fluid, comprising: a shaft coupled to a drive system that rotates the shaft;one or more cranks rigidly coupled to the shaft;one or more connecting structures that are movably coupled to at least one of the one or more cranks, the movable coupling to permit rotat

1. A propulsion device for use with a fluid, comprising: a shaft coupled to a drive system that rotates the shaft;one or more cranks rigidly coupled to the shaft;one or more connecting structures that are movably coupled to at least one of the one or more cranks, the movable coupling to permit rotation therebetween;a foil rigidly coupled to the one or more connecting structures, the foil actuated by the one or more cranks via the one or more connecting structures, the foil including a nose portion extending between a leading edge of the foil and an area where at least one of the one or more connecting structures rigidly couple to the foil, anda tail portion extending from an area where at least one of the one or more connecting structures rigidly couple to the foil and a trailing edge of the foil; andone or more slide structures or one or more linkages that are coupled to the foil and arranged to restrain movement of the foil when the foil is actuated by the one or more cranks via the one or more connecting structures, such that rotational motion of the shaft is translated to a combination of motion of the foil between an inner extent and an outer extent and motion of the foil within an angular range between a first limit and a second limit. 2. The propulsion device of claim 1, wherein a pitch angle of the foil is at a maximum inward pitch angle or a maximum outward pitch angle with respect to a direction of propulsion when the foil is disposed at a midpoint between the inner extent and the outer extent. 3. The propulsion device of claim 2, wherein the pitch angle of the foil is controlled by interaction of the one or more cranks, the one or more connecting structures, and the one or more slide structures or one or more linkages. 4. A propulsion device for use with a fluid, comprising: a shaft coupled to a drive system that rotates the shaft;one or more cranks rigidly coupled to the shaft;one or more connecting structures that are movably coupled to at least one of the one or more cranks, the movable coupling to permit rotation therebetween;a foil rigidly coupled to the one or more connecting structures, the foil including a nose portion extending between a leading edge of the foil and an area where at least one of the one or more connecting structures rigidly couple to the foil, anda tail portion extending from an area where at least one of the one or more connecting structures rigidly couple to the foil and a trailing edge of the foil; andone or more slide structures or one or more linkages that are coupled to the foil and arranged to restrain movement of the foil when the foil is actuated by the one or more cranks via the one or more connecting structures, such that rotational motion of the shaft is translated to a combination of motion of the foil between an inner extent and an outer extent and motion of the foil within an angular range between a first limit and a second limit,wherein a pitch angle of the foil is controlled by interaction of the one or more cranks, the one or more connecting structures, and the one or more slide structures or one or more linkages to be at a maximum inward pitch angle or a maximum outward pitch angle with respect to a direction of propulsion when the foil is disposed at a midpoint between the inner extent and the outer extent, and the pitch angle of the foil is controlled absent a separate pitch regulating assembly. 5. The propulsion device of claim 1, wherein the one or more cranks comprise two cranks. 6. The propulsion device of claim 1, wherein the one or more connecting structures comprise two or more connecting rods. 7. The propulsion device of claim 1, wherein the one or more slide structures or one or more linkages are one or more linkages. 8. The propulsion device of claim 1, wherein the one or more slide structures or one or more linkages are one or more slide structures. 9. The propulsion device of claim 8, wherein the foil is rigidly coupled to the one or more connecting structures via a mast, the mast extending through a channel of the one or more slide structures, the channel restraining movement of the mast and thereby the foil. 10. The propulsion device of claim 9, wherein the one or more connecting structures is a connecting rod and the mast is rigidly coupled to the connecting rod. 11. The propulsion device of claim 9, wherein the mast is oriented parallel to the leading edge of the foil. 12. The propulsion device of claim 1, wherein the foil is a flexible foil that has graduated flexibility through a length of the flexible foil, the graduated flexibility providing a differing amount of flexibility between the tail portion and the nose portion. 13. A propulsion device for use with a fluid, comprising: a shaft coupled to a drive system that rotates the shaft;one or more cranks rigidly coupled to the shaft;one or more connecting structures that are movably coupled to at least one of the one or more cranks, the movable coupling to permit rotation therebetween;a foil rigidly coupled to the one or more connecting structures, the foil actuated by the one or more cranks via the one or more connecting structures, the foil including a nose portion and a tail portion; andone or more slide structures or one or more linkages that are coupled to the foil and arranged to restrain movement of the foil when the foil is actuated by the one or more cranks via the one or more connecting structures, such that rotational motion of the shaft is translated to a combination of motion of the foil between an inner extent and an outer extent and motion of the foil within an angular range between a first limit and a second limit,wherein a pitch angle of the foil is at a maximum inward pitch angle or a maximum outward pitch angle with respect to a direction of propulsion when the foil is disposed at a midpoint between the inner extent and the outer extent. 14. The propulsion device of claim 13, wherein the one or more slide structures or one or more linkages are one or more linkages. 15. The propulsion device of claim 13, wherein the one or more slide structures or one or more linkages are one or more slide structures. 16. The propulsion device of claim 15, wherein the foil is rigidly coupled to the one or more connecting structures via a mast, the mast extending through a channel of the one or more slide structures, the channel restraining movement of the mast and thereby the foil. 17. The propulsion device of claim 16, wherein the mast is oriented parallel to the leading edge of the foil. 18. A device for use with a fluid, comprising: a shaft coupled to a drive system that rotates the shaft;one or more cranks rigidly coupled to the shaft;one or more connecting structures that are movably coupled to at least one of the one or more cranks, the movable coupling to permit rotation therebetween;a foil rigidly coupled to the one or more connecting structures, the foil actuated by the one or more cranks via the one or more connecting structures, the foil including a nose portion and a tail portion; andone or more slide structures or one or more linkages configured to guide the foil, such that rotational motion of the shaft is translated to a combination of motion of the foil between an inner extent and an outer extent and motion of the foil within an angular range between a first limit and a second limit, or the combination of motion of the foil between the inner extent and the outer extent and motion of the foil within the angular range between the first limit and the second limit is translated to rotational motion of the shaft. 19. The device of claim 18 wherein a pitch angle of the foil is at a maximum inward pitch angle or a maximum outward pitch angle when the foil is disposed at a midpoint between the inner extent and the outer extent. 20. The device of claim 18 wherein the one or more slide structures or one or more linkages is one or more slide structures.