Latterly, many engineers have introduced, with much success, arrangements for communicating the action directly from the piston-rod to the crank, without the intervention of the beam and parallel motions. This is generally done by causing the piston-rod to work between guides, and a jointed arm connects it with the crank. One method of producing the same effect is to make the cylinders oscillate on pivots, as contrived by Mr. Murdoch, in the first model steam carriage, made in 1784. This principle has been successfully carried into operation by Messrs. Penn, of Greenwich. The oscillating cylinders accommodate themselves to the varying directions of the cranks, and the strain occasioned by guide rods is diminished; but when very large cylinders are required, the friction and the pressure on the pivots must tend to counterbalance the advantage otherwise obtained. In the ordinary paddle-wheel steam-boats, the floats of the paddle-wheels are fixed at equal distances round the rim, radiating from the centre; therefore they enter and come out of the water obliquely. There is, consequently, a considerable loss of power attending the use of such paddle-wheels, as only one float at a time can be acting vertically on the water, and exerting the propelling force in a direct line. Several attempts have been made to remedy this defect, and to produce what is called "feathering" floats, every one of which will act against the water at right angles. The mechanism required for making this adjustment is, however, liable to get out of order, and the introduction of vertically acting floats has consequently been very limited. The large projecting paddle-boxes are objectionable in sea-going ships, as they present so large a surface to the action of the wind, and either impede the course of the ship, or make it unweatherly. This inconvenience was experienced in the early progress of Steam Navigation, and many attempts were made to overcome it, by substituting a different kind of propeller. Recourse was had to the inventions of the ancients, from whom the paddle-wheel was taken, to find some other means of propulsion. A method of propulsion, similar in principle to the action of sculls at the back of a boat, had been contrived long before the inconvenience of paddle-wheels in Steam Navigation was experienced. In 1784, Mr. Bramah obtained a patent for a propeller similar in its forms to the vanes of a windmill, which by acting obliquely on the water as it revolved, pushed the boat forward. Ten years afterwards, an "aquatic propeller" was patented by Mr. William Lyttleton, a merchant in London. It consisted of a single convolution of a three-threaded screw, and may be considered to be the first screw propeller invented. Numerous other ingenious persons, among whom were Tredgold, Trevethick, Maceroni, and Millington, afterwards invented propellers on the screw principle; but none of them were sufficiently satisfactory in their results to come into practical use.