CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application No. 62/215951, filed September 9, 2015, and U.S. Provisional Application No. 62/241,971, filed October 15, 2015. Each of the above-referenced patent applications is incorporated by reference herein in its entirety.

BACKGROUND OF THE INVENTION

Field of the Invention

[0002] The disclosure relates to systems for generating force. More specifically, this disclosure relates to a rotor system that creates an imbalance of force that can be harnessed for work, such as in propulsion.

Description of the Related Technology

[0003] Movement and flight through air and space generally require a propulsion system, which may include, for example, an engine to generate constant movement, and a means to generate thrust, such as a propeller or a propulsive nozzle. Thrust causes acceleration in objects such as vehicles (e.g., aircraft, spacecraft, etc.). In addition, all moving mechanical bodies in the atmosphere experience a drag force, which must be balanced with the thrust force in order to maintain constant movement or velocity (e.g., a cruising aircraft). To accelerate an object, the thrust must be greater than the drag.

[0004] A propeller or turbine generates thrust by moving surrounding air (e.g., atmospheric air), which acts as the "working fluid" that pushes an object forward. Propulsive nozzles in jets and rockets use machine generated gas, usually from a chemical reaction of stored substances within the engine, as the working fluid. Aircraft, which operate within the earth's atmospheric sphere, use atmospheric air as the working fluid. Spacecraft may not rely on the presence of atmospheric air, and thus must use chemically-generated gas to create the working fluid.

[0005] Propulsion systems thus typically rely on a working fluid, e.g., a liquid or gas, in order to function.

SUMMARY [0006] In a first aspect, a system for generating force is provided. The system comprises a disk configured to rotate about an axis of rotation, the disk comprising a plurality of recesses, the recesses extending generally radially from the axis of rotation, the recesses being disposed symmetrically about the axis of rotation. The system also comprises a plurality of bearings, each bearing disposed within a corresponding recess of the disk and movable in at least a radial direction within the corresponding recess. The system further comprises a housing surrounding the disk, the housing comprising a first groove configured to accommodate rotation of the disk. The system further comprises at least a first guide configured to constrain movement of the bearings in at least the radial direction, at least a portion of the first guide having a smaller radius than a radius of the disk, the first guide being disposed non-concentrically with respect to the disk. The guide can comprise a second groove in the housing. The system can further comprise a shaft configured to drive rotation of the disk. The bearings can have a diameter larger than a thickness of the disk. The system can further comprise a second guide configured to constrain movement of the bearings in at least the radial direction, the first guide being disposed above the disk, the second guide being disposed below the disk and aligned with the first guide. The first guide can have a circular shape. The first guide can have an elliptical shape having a major axis and a minor axis, the major axis being smaller than a radius of the disk. The first guide can alternatively have an ovoid shape. The system can comprise an even number of the recesses. The recesses can extend through a thickness of the disk. The recesses can have a width at least 5% greater than a diameter of the bearings. The disk and the first guide can each comprise high tensile steel. The system can further comprise a second disk configured to rotate about the axis of rotation, the disk comprising a plurality of recesses, the recesses extending generally radially from the axis of rotation, the recesses being disposed symmetrically about the axis of rotation; a second plurality of bearings, each bearing disposed within a corresponding recess of the second disk and movable in at least the radial direction within the corresponding recess; and a third guide configured to constrain movement of the second plurality of bearings in at least the radial direction, at least a portion of the third guide having a smaller radius than a radius of the second disk, the third guide being disposed non- concentrically with respect to the second disk.

[0007] In a second aspect, a method for generating force is provided. The method comprises providing a disk configured to rotate about an axis of rotation, the disk comprising a plurality of recesses, the recesses extending generally radially from the axis of rotation, the recesses being disposed symmetrically about the axis of rotation; providing a plurality of bearings, each bearing disposed within a corresponding recess of the disk; providing a housing surrounding the disk, the housing comprising a first groove configured to accommodate rotation of the disk; providing a first guide configured to constrain movement of the bearings in at least the radial direction, at least a portion of the first guide having a smaller radius than a radius of the disk, the first guide being disposed non-concentrically with respect to the disk; and causing the disk to rotate at a speed sufficient to move the plurality of bearings into contact with the first guide. The first guide can comprise a second groove in the housing. The method can further comprise providing a shaft configured to drive rotation of the disk. The method can further comprise using an electromagnetic field to cause the disk to rotate. Causing the disk to rotate creates a force in a direction normal to the axis of rotation. The method can further comprise harnessing the force and using the force for acceleration. The method can further comprise providing a second disk configured to rotate about the axis of rotation, the second disk comprising a plurality of recesses, the recesses extending generally radially from the axis of rotation, the recesses being disposed symmetrically about the axis of rotation, the second disk being aligned with the first disk; providing a second plurality of bearings, each bearing disposed within a corresponding recess of the second disk; providing a third guide configured to constrain movement of the bearings in at least the radial direction, at least a portion of the third guide having a smaller radius than a radius of the second disk, the third guide being disposed non-concentrically with respect to the second disk, the third guide being aligned with the first guide; and causing the second disk to rotate at a speed sufficient to move the second plurality of bearings into contact with the third guide, in a direction opposite a direction of rotation of the first disk.

BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In the drawings, which are not necessarily drawn to scale, like numerals describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document.

[0009] FIGURE 1A is a top view of a system for generating force according to an embodiment. [0010] FIGURE IB is a cross-sectional side view of the system shown in FIGURE 1A, taken along line IB-IB of FIGURE 1A.

[0011] FIGURE 1C is another top view of the system of FIGURE 1A, with the housing removed to more clearly show the disk and bearings.

[0012] FIGURE 2 is a perspective view of a system for generating force configured in accordance with another embodiment.

[0013] FIGURE 3A is a top view of a system for generating force configured in accordance with another embodiment.

[0014] FIGURE 3B is a top view of a system for generating force configured in accordance with yet another embodiment.

[0015] FIGURE 4 is a perspective view of a system for generating force, configured in accordance with a further embodiment.

[0016] FIGURE 5 a cross-sectional side view of another system for generating force, configured in accordance with an embodiment.

DETAILED DESCRIPTION OF CERTAIN INVENTIVE EMBODIMENTS

[0017] Embodiments of this application relate to systems and methods for generating force. The system generally comprises one or more rotatable disks, a plurality of bearings or masses which are movable in at least a radial direction with respect to the axis of rotation of the disk or disks, and a race or guide configured to constrain the movement of the bearings during rotation of the disk or disks. The system may also include a shaft configured to drive the rotation of the disk or disks. The race or guide can be configured to constrain the movement of the bearings to a curved (e.g. circular, elliptical, ovoid, or otherwise curvilinear) path, at least a portion of which has a smaller radius than the radius of the disk or disks. The guide (and the path) can be disposed off-center with respect to the disk. Rotating the disk can cause the bearings or masses to move outward from the axis of rotation, but the outward movement of the bearings is constrained by the guide during at least a portion of their path about the axis of rotation. By such a configuration, the system can produce a force capable of work. The force produced may be used in propulsion, for example to propel watercraft, aircraft, or spacecraft.

[0018] FIGURE 1A is a top view of a system 100 configured in accordance with an embodiment. FIGURE IB is a cross-sectional side view of the system 100, taken along line 1B- IB of FIGURE 1A. FIGURE 1C is another top view of the system 100, with the housing 103 removed to better illustrate the configuration of the disk 101 and bearings 102. As can be seen in these three figures, the system 100 comprises a circular disk 101 which is rotatable about an axis of rotation inside a housing 103. In some embodiments, the disk can be driven by a rotating shaft

105, which may be coupled to the housing 103 by one or more roller bearings 110. The disk 101 includes a plurality of recesses 106 which extend in a generally radial direction from the axis of rotation. The recesses 106 are configured to allow movement of their respective bearings 102 outwardly (e.g., in at least a radial direction) from the center of the disk 101 as the disk 101 rotates about the axis. The recesses 106 are disposed radially symmetrically about the axis of rotation, at evenly spaced-apart circumferential locations about the disk 101. One or more masses or bearings 102 are disposed within each recess 106. The bearings 102 may have a spherical shape, and may be of substantially equal weights and sizes.

[0019] In the embodiment illustrated in FIGURE 1C, the recesses 106 are configured with an elongate U-shape, extending through the full thickness of the disk 101, and extending in a radial direction all the way to the perimeter of the disk 101. Each of the recesses 106 can be configured with the same size, shape, and orientation. In embodiments, the recesses can have any shape or configuration suitable for their intended purpose. For example, in some embodiments, the recesses can be V-shaped. In some embodiments, the recesses can extend at an angle to the radial direction (e.g. angled toward, or away from, the direction of rotation of the disk). In some embodiments, the recesses may extend only partway through the thickness of the disk. In some embodiments, the recesses may extend from a central region of the disk toward an outer region of the disk, without extending all the way to the perimeter of the disk. Although the embodiment illustrated in FIGURES 1A includes six recesses 106, other embodiments can include fewer or more recesses

106. For example, in some embodiments, the disk may include anywhere from 2 to 200 recesses, or more than 200 recesses. In some embodiments, an even number of recesses (e.g. 2, 4, 6, 8, 10, 12, etc.) may be provided so as to ensure an even mass distribution about the center of the disk 101 and avoid excess vibrations in the system. The walls and ends of the recesses may be rounded and polished, and/or provided with lubricant, in order to facilitate smooth movement of the bearings within the recesses and reduce friction.

[0020] As can be seen in FIGURE IB, the housing 103 includes a first groove 112 configured to closely accommodate the disk 101, with sufficient clearance to avoid friction on the disk 101 as it rotates. The system 100 also includes two second grooves 114a, 114b, one disposed on each side of the disk 101, which together form a guide for the bearings 102. The second grooves 114a, 114b are configured to constrain the movement of the bearings 102 within the curvilinear path 104 defined by the grooves 114a, 114b as the disk 101 rotates about the axis. In the embodiment illustrated in FIGURE IB, the second grooves 114a, 114b are formed within the housing 103, and thus remain stationary as the disk 101 rotates. In other embodiments, the second grooves can be formed separately from the housing and coupled to the housing in any suitable fashion. The housing 103 and/or the second grooves 114a, 114b can be configured to prevent the bearings 102 from escaping from the recesses 106 (e.g., in a vertical direction as viewed in FIGURE IB), and also provide a shell for the system 100. The housing can have any suitable configuration for its intended purpose, such as the cylindrical shape illustrated in FIGURES 1A and IB, or any other suitable shape.

[0021] With continued reference to FIGURE IB, in some embodiments, the recesses 106 can have a depth (in a direction parallel to the axis of rotation) which is smaller than the diameter of the bearings 102, such that the bearings 102 are "taller" than the recesses 106 (i.e., so that they extend above and/or below the recesses 106 when placed in the recesses 106). In some embodiments, the bearings 102 can have a diameter which is approximately 50% to 200% larger than the depth of the recesses 106. The recesses 106 may have a width (in a direction normal to the axis of rotation) which is the same as, or greater than, the diameter of the bearings 102. In some embodiments, the recesses can be configured with a width small enough to prevent zigzag movement of the bearings 102 during initial rotation of the disk 101. In some embodiments, the width of the recesses 106 can be between 1% and 5% larger than the diameter of the bearings 102.

[0022] As can further be seen in FIGURE IB, the grooves 114a, 114b can have a curved inner surface, which may be shaped to correspond with the curvature of the bearings 102. The curvature of the inner surface can be configured such that the bearings fit slightly loosely against the inner surface.

[0023] In the embodiment illustrated in FIGURE 1C, the grooves 114a, 114b are circular in shape, and thus define a path 104 which is circular in shape, with a radius smaller than the radius of the disk 101. The path 104 can have a radius which is anywhere from 1% to 50% smaller than the radius of the disk 101. In some embodiments, the radius of the path can be between 5% and 30% smaller than the radius of the disk, or between 10% and 20% smaller than the radius of the disk. The grooves 114a, 114b (and thus the path 104) are disposed off-center with respect to the disk 101, but are aligned with one another in the direction of the axis of rotation. By such a configuration, the grooves 114a, 114b can constrain the radial movement of the bearings 102 asymmetrically about the disk 101 as the disk 101 rotates. Put another way, the grooves 114a, 114b can serve to reduce the distance that the bearings can travel radially from the center of the disk 101, for at least a portion of the disk.

[0024] The portions of the grooves 114a, 114b in which the bearings 102 are free to move outwardly the full length of the disk's radius may be referred to as the "full radius region" or "full radius side," and the portions of the grooves 114a, 114b in which the movement of the bearings 102 is constrained to a smaller radius of curvature than the full radius of the disk 101 may be referred to as the "reduced radius region" or "reduced radius" side.

[0025] In use, as the shaft 105 drives the rotation of the disk 101, the bearings 102 move in at least a radial direction toward the outer perimeter of the disk 101. The bearings may be driven outward by centrifugal forces. The grooves 114a, 114b, however, constrain the movement of the bearings 102 within the path 104, in an asymmetric fashion from the left side to the right side of the system 100. Where the movement of the bearings 102 in a radial direction is limited by the grooves 114a, 114b, the bearings 102 exert a force onto the grooves 114a, 114b. The result is an imbalance of force exerted on the grooves 114a, 114b from the left side to the right side of the system 100, in a direction normal to the axis of rotation (e.g., to the right in FIGURES 1A and IB). This imbalance in force may be harnessed for work, in particular for propulsion. The non- concentric constraint on the outward movement of the bearings creates an imbalance of angular momentum which can be harnessed to create a steady state constant acceleration.

[0026] FIGURE 2 is a perspective view of a system 200 configured in accordance with another embodiment, also with its housing removed. The system 200 includes a rotatable disk 201 with recesses 206, and bearings 202 disposed within the recesses. In the embodiment illustrated in FIGURE 2, the system 200 includes guides 204a, 204b, one disposed above and one disposed below the disk 201. The guides 204a, 204b are circular in shape, with a radius smaller than the radius of the disk 201. The guides 204a, 204b are disposed non-concentrically with the disk 201, but are aligned with one another in the direction of the axis of rotation. By such a configuration, the guides 204a, 204b can constrain the radial movement of the bearings 202 asymmetrically about the disk 201 as the disk 201 rotates. Put another way, the guides 204a, 204b can serve to reduce the distance that the bearings can travel radially from the center of the disk 201, for at least a portion of the disk, during rotation of the disk. Although the guides 204a. 204b are shown to be tangentially aligned with the disk 201 (e.g. at the top of FIGURE 2), other embodiments can include a guide or guides which are not tangentially aligned with the disk.

[0027] FIGURE 3A is a top view of a system 300 configured in accordance with another embodiment, shown without a housing for illustrative purposes. The system 300 includes a disk

301 with recesses 306 and bearings 302 disposed in the recesses. The disk 301 is rotatable about an axis of rotation, and the rotation may be driven by a shaft 305 mounted on a roller bearing 310. The system also includes a guide which is configured to constrain the movement of the bearings

302 in at least a radial direction, within the path illustrated by line 304. In other words, line 304 illustrates the outermost edge of the inner surface of the guide, in this embodiment. As can be seen in FIGURE 3A, the path 304 has an elliptical shape which is disposed non-concentrically with respect to the disk 301. The ellipse's major axis is smaller than the diameter of the disk 301. In some embodiments, the ellipse's major axis can be between 2% and 20% smaller than the diameter of the disk 301. In some embodiments, the ellipse's minor axis can be between 2% and 20% smaller than the ellipse's major axis.

[0028] FIGURE 3B is 3 top view of a system 350 configured in accordance with yet another embodiment, also shown without a housing. The system includes a disk 351 with recesses 356 and bearings 352 disposed in the recesses. The disk 351 is rotatable about an axis of rotation, and the rotation may be driven by a shaft 355 mounted on a roller bearing 360. The system 350 also includes a guide which is configured to constrain the movement of the bearings 352 in at least a radial direction, within the path illustrated by line 354. In other words, line 354 illustrates the outermost edge of the inner surface of the guide, in this embodiment. In the embodiment illustrated in FIGURE 3B, the path 354 has an egg-like or ovoid shape, with a radius of curvature that changes about its perimeter. The radius of curvature can match that of the disk 351 in some regions (e.g., at the leftmost portion of the path 354 shown in FIGURE 3B), but can reduce to a smaller radius (e.g. to between 50% and 95% of the radius of the disk 351, for example, to roughly 90% of the radius of the disk 351) in another region (e.g., in the right half of the guide 354 shown in FIGURE 3B). In some embodiments, the radius of curvature of the guide or guides (and/or of the path defined by them) can reduce gradually from one half of the guide to the other. [0029] In some embodiments, the radius of curvature r of the guide or guides (and/or of the path defined by them), as measured from the axis of rotation, can change as a function of the angle Θ about the axis of rotation, for example as follows:

if (θ > π/2) and (θ < 3π/2)

r = (ai*b/sqrt ((b*cos Θ) ² + (ai*sin Θ) ² )

else

r = (a ₂ *b/sqrt ((b*cos Θ) ² + (a ₂ *sin Θ) ² )

[0030] FIGURE 4 is a perspective view of a system 400 configured in accordance with a further embodiment, and also shown without a housing. The system 400 includes a disk 401 with recesses 406 and bearings 402 disposed in the recesses 406. The disk 401 is rotatable about an axis of rotation, and the rotation may be driven by a shaft 405, which may be mounted on a roller bearing (not shown). The system 400 also includes two guides 404a, 404b which are configured to constrain the movement of the bearings 402 in at least a radial direction, within a curvilinear path defined by the guides 404a, 40b. In the embodiment illustrated in FIGURE 4, the guides 404 have a circular shape, with a radius smaller than the radius of the disk 401. The guides 404 are aligned with one another above and below the disk 401, but are disposed non-concentrically with the disk 401; the guides 404 are instead aligned tangentially with the disk 401 (e.g., with a point along the perimeter of the disk 401). As illustrated in FIGURE 4, the recesses 406 are V-shaped and disposed at an angle with respect to the radial direction. The V-shaped recesses 406 can be angled toward or away from the direction of rotation of the shaft 405. The recesses 406 can be sized to, at a minimum, equal the reduction in the arc length of the guide 404 (as compared to the disk 401) to allow forward travel of the bearings 402 through the full circumference of the guide 404. In other words, the difference between the arc length on the reduced radius side from the center of the disk 401 and the arc length on the full radius side from the center of the disk 401 is the minimum size of the arc between the two legs of the V-shape at the perimeter of the disk 401. This size can facilitate maintaining of linear velocity and rotary momentum of the bearings 402. During rotation, the bearings 402 can move toward the leading edges of their respective recesses 406 in the reduced radius region; and the bearings 402 can move towards the trailing edges of their respective recesses 406 in the full radius region. In other words, as the bearings travel around the axis of rotation, they can tend to contact the forward leg of the V as they travel through full radius region, while "floating" between the legs of the V as they travel through the reduced radius region. In these and other embodiments employing a guide which is formed separately from the housing, the guide can be fixedly coupled to the housing, so as to remain stationary (at least with respect to the housing) as the disk rotates.

[0031] FIGURE 5 a cross-sectional side view of another system 500 for generating force, configured in accordance with an embodiment. The system 500 comprises a pair of circular disks 501a, 501b, which are rotatable about an axis of rotation inside a housing 503. The disks 501a, 501b can be driven, respectively, by rotating shafts 505a, 505b, which may be coupled to the housing 503 by one or more roller bearings 510a, 510b. Each of the disks 501 includes a plurality of recesses which extend in a generally radial direction from the axis of rotation. One or more bearings 502a, 502b are disposed within each recess. The bearings 502 may have a spherical shape, and be of substantially equal weights and sizes. The recesses are configured to allow movement of their respective bearings 502 in at least a radial direction as the disks 501 rotate about the axis.

[0032] The housing 503 includes a pair of grooves 512a, 512b, each configured to closely accommodate one of the disks 501a, 501b, with sufficient clearance to avoid friction on the disks 501 as they rotate. The system 500 also includes two pairs of second grooves 514a, 514c and 514b, 514d (collectively referred to as grooves 514), each pair disposed above and below each disk 501a, 501b. Each pair of grooves 514a, 514c and 514b, 514d forms a guide for its respective bearings 502. The grooves 514 may be circular, elliptical, ovoid, or may include any other suitable gradation of curvature about their perimeters (as viewed in a plane normal to the axis of rotation). The grooves 514 are aligned with one another, but are disposed off-center with respect to the axis of rotation. The grooves 514 are configured to constrain the movement of the bearings 502 within a curvilinear path having a reduced radius of curvature (as compared to the radius of the disks 501) along at least a portion of the path. The grooves 514 are configured to remain stationary as the disks 501 rotate. The housing 503 can be configured to prevent the bearings 502 from escaping from the recesses, and also provide a shell for the system 500. The housing can have any suitable configuration for its intended purpose.

[0033] During operation, the two disks 501a and 501b may rotate in opposite directions, as indicated by arrows A and B, but at the same speed. The rotation of each shaft 505a, 505b may be timed to match using encoded motor controls. [0034] As illustrated in FIGURE 5, the outward movement (e.g., away from the axis of rotation) of the bearings 502a, 502b on the right half of the figure is constrained by the presence of the grooves 514, which have a reduced radius as compared to the radius of the disks 501 in the right half of the figure. The bearings 502a, 502b shown in FIGURE 5 are all under the same force exerted by the torque of the shafts 505a, 505b, but the bearings on the right half of the figure are constrained to a position inside the grooves 514. Thus, the bearings on the right side of the figure exert a force onto the grooves 514 in the direction indicated by arrow F. The force generated by the movement of each disk 501a and 501b is of the same magnitude and in the same direction. Thus, the cumulative force F generated by the system 500 can be in the same direction regardless of the direction of rotation of the disks 501. This force F may be put to work for movement or propulsion. In particular, the force F may provide acceleration for the system 500 as a whole. One advantage of a system employing two counter-rotating disks may be a reduction in vibration and unwanted torque, since opposing movements of the disks may cause opposing moment vectors, which may balance out.

[0035] In one embodiment, a two-rotor system such as the one illustrated in FIGURE 5, with disks having a roughly 15 cm radius, ovoid-shaped guides configured to reduce the radius of travel of the bearings to roughly 13.5 cm around at least a portion of the disks, and ball bearings having a roughly 2 inch diameter, rotating at roughly 25,000 rpm, can generate approximately 50,000 pounds of thrust.

[0036] Any or all of the components of the systems described herein, including but not limited to the disk, the housing, the guides, the bearings, and/or the shaft, may be made of one or more metals, such as stainless steel. Any or all of the components of the systems described herein, including but not limited to the disk, the housing, the guides, the bearings, and/or the shaft, may be made of one or more high tensile materials, such as high tensile stainless steel. In some embodiments, the components can all be made of the same material, while in other embodiments, different materials can be used for different components. In embodiments, the housing, including the groove to accommodate the rotation of the disk and the groove forming the guide for the bearings, can be milled out of a solid block of metal (e.g. steel) and case hardened. In practice the housing can be split.

[0037] In some embodiments, the shaft may be formed separately from or integrally with the disk or disks. The dimensions and material of the shaft can be dependent on the desired torque for the particular application. In use, the shaft may be driven by any suitable means, such as an electric or hydraulic motor. Alternatively, an electromagnetic field (EMF) may provide the force required to drive the disk or disks. The capacity of the power source may be chosen depending on the required velocity at which the disk or disks are to be driven. In embodiments where the disk or disks are rotated by EMF or by fluid, a shaft may be omitted.

[0038] In embodiments, lubricant may be used in or on all components to reduce friction and ensure smooth relative movement of the components, particularly at contact surfaces.

[0039] In embodiments, the force exerted by each bearing in contact with the guide during rotation on the reduced radius side may be calculated as follows:

Gr _t

[0040] Wherein Fi: force exerted by each bearing; w: weight of each bearing; v: linear velocity of the bearing; G: gravitational force (980 cm/s ² ); and r _s is the radius of the rotation at a particular location.

[0041] The force exerted by each bearing in contact with the guide during rotation on the full radius side is:

wv ²

F, =

Gr _x

[0042] Wherein F/: force exerted by each bearing; w: weight of each bearing; v: linear velocity of the rotation; G: gravitational force (980 cm/s ² ); and r/ is the radius of the rotation at a particular location.

[0043] The total force imbalance F that is the result of the imbalance of force during rotation is:

[0044] In embodiments comprising two aligned but counter-rotating disks at matching intervals, the total force imbalance F may be calculated as:

wherein n is the number of bearings present on each opposing side of the guide. [0045] Variations and modifications will occur to those of skill in the art after reviewing this disclosure. The disclosed features may be implemented, in any combination and subcombination (including multiple dependent combinations and sub-combinations), with one or more other features described herein. The various features described or illustrated above, including any components thereof, may be combined or integrated in other systems. Moreover, certain features may be omitted or not implements. Examples of changes, substitutions, and alterations are ascertainable by one skilled in the art and could be made without departing from the scope of the information disclosed herein.