Abstract:
Disclosed is a cyclic mechanism for engaging or disengaging a switch with the stage of the cycle being determined by a height to which a first object is lifted relative to a second object. The mechanism has few moving parts, is inexpensive to manufacture, is reliable, can be incorporated into a wide range of devices or structures, and operates as an incident to raising or lowering a first object relative to a second.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application claims the benefit of U.S. provisional patent application Ser. No. 61/831,957, filed Jun. 6, 2013, which application is incorporated herein for all purposes. 
     
    
     BACKGROUND 
       [0002]    Many objects periodically need to be relocated in horizontal position (“position”) and/or vertical position (“elevation”), relative to a gravitational field. Table saws need to be repositioned within workshops; shipping containers need to have elevation and position changed; a flower container may need to be relocated on a deck. Some objects never experience a change in elevation or position; some experience one or more generally unrelated changes in elevation and/or position; some experience a cyclic change in elevation and/or position (for example, the objects are cyclically lifted up and down); while some experience change more often in one direction than another. 
         [0003]    Many technologies have been developed over the years to change the position or elevation of objects. Cars and trucks have wheels; fork lifts and cranes can change the elevation of shipping containers; furniture has casters, including retractable casters. These technologies appear to be specific to the application. For example, in the context of retractable casters, patent numbers 2490953, see  FIG. 1A , and 2779049, see  FIG. 1B , illustrate technologies which require that the object supported by the caster be tilted in a specific direction to engage the caster and then a different direction to disengage the caster; other existing examples, such as the example illustrated in patent number 2663048, see  FIG. 1C , require additional parts, such as load-bearing cams or, as in 6507975, require manipulation of an external articulator to engage or disengage the caster. 
         [0004]    Existing technologies, however, often require specific equipment or infrastructure, and/or require that the position and/or elevation changing equipment be manipulated in particular way, and/or require relatively expensive components which must be precisely engineered for the application context and/or which must be maintained over time. 
         [0005]    In addition, existing technologies do not approach the problem from the perspective of a kinematic finite state machine, which can be in a finite number of different states, with transitions between the states caused by triggering events, in which the states define the memory condition of the state machine, the events define how the memory conditions may be processed, where the states are equivalent to logical statements, where there may be an order of the logical statements, and where the state machine may be reprogrammed. 
       SUMMARY 
       [0006]    A first object and a second object each comprise a surface, each of which defines a coordinate function. The coordinate functions of the first and second objects together form a composite surface defining a composite coordinate function. The composite surface contacts a switch; the switch only moves relative to the first and second objects in response to gravity and acceleration. The first and second objects have an allowed range of motion relative to one another. When the first and second objects move relative to one another within the allowed range of motion, the composite coordinate function transmits a force at a force vector to the switch, which force and force vector may change the position or orientation of the switch in the finite state machine. When certain of such movements pass one or more points of no return, events occur which change the state of the machine. The then-current state and the event determine the state of the finite state machine in the following state. In the states, the switch either i) experiences no more force than the force produced by its own weight on the surface(s) of the object(s) or ii) it contacts both objects and transports a force at a force vector across the two objects, which force is greater than the force produced by the weight of the switch. As used herein, “weight” is defined as mass multiplied by acceleration, whether the acceleration comes from a gravitation field or acceleration due to movement. 
         [0007]    The first object is active; it may be repositioned by an external force. The second object and the switch are passive, reacting to forces provided by the first object. Except for one state, the first and second objects are in a passive kinematic relationship, in which the number of degrees of freedom of motion between the two objects does not change. However, in at least one state, referred to herein as the “engaged” state, the number of degrees of freedom of motion between the two objects is limited by the switch and the switch has zero degrees of freedom of motion. In the non-engaged state(s), the switch does not limit the number degrees of freedom between the first two objects and the switch&#39;s number of degrees of freedom of motion is greater than zero. 
         [0008]    For example, in a first state the switch may not be interposed between the objects and the first object may be free to translate vertically and come to rest on, for example, the ground; in another state, the switch may be interposed between the objects such that a reactive force is transmitted through the switch from the second object to the first object, such that the second object supports the first object via the switch, subjecting the switch to a force greater than the force produced by the weight of the switch and limiting the degrees of freedom of both the first object and the switch. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0009]    Certain of the drawings illustrate motion through a flip-book effect. To experience this effect in a PDF, the viewer may set the display resolution to show one complete page per display-page and then hit “page down” or equivalent. 
           [0010]      FIG. 1A to 1C  illustrate prior art. 
           [0011]      FIGS. 2 to 133  illustrate elevation and top plan views of a First Embodiment of a kinematic finite state machine, in which the first and second bodies are provided be separate sets of joined plates, in which the first and second bodies have a piston-type relationship and the switch has a round vertical cross section, and show the states and events of this embodiment of the finite state machine as the first body moves. 
           [0012]      FIGS. 134 to 166  illustrate elevation views of a Second Embodiment of a kinematic finite state machine, in which the first and second bodies are connected at two axles and the switch has a non-round vertical cross section, and show the states and events of this embodiment of the finite state machine as the first body moves. 
           [0013]      FIGS. 167 to 177  illustrate a Third Embodiment of a kinematic finite state machine, in which the first and second bodies have a piston-type relationship and the switch has a non-round vertical cross section. Within this group of figures,  FIG. 167  illustrates a side elevation view of exploded components of the Third Embodiment,  FIG. 168  illustrates a top three-quarter wire frame view of the exploded components of the Third Embodiment,  FIG. 169  illustrates a section perspective view of the Third Embodiment with the components assembled and in State One of the state machine, and  FIGS. 170 to 177  illustrate elevation views of the Third Embodiment, assembled, and show the states and events of this embodiment of the finite state machine as the first body moves. 
           [0014]      FIGS. 178 to 217  illustrate elevation, close elevation, and top plan views of a Fourth Embodiment, in which the first and second bodies have a piston-type relationship, and show the states and events of this embodiment of the finite state machine as the first body moves. 
           [0015]      FIGS. 218 to 260  illustrate a Fifth Embodiment of a kinematic finite state machine, in which the first and second bodies are connected at an axle, in which there are two switches, neither of which has a round vertical cross section, and show the states and events of this embodiment of the finite state machine as the first body moves. 
           [0016]      FIG. 261  illustrates variations on a Switch, generally a Switch similar to the one illustrated in Embodiment Two. 
       
    
    
     DETAILED DESCRIPTION 
       [0017]    As used herein, a kinematic finite state machine comprises at least two bodies and a switch. For the sake of convenience, the first body may be referred to herein as “a Housing” while the second body may be referred to herein as “a Platform”. Each body may be one continuous structure or may comprise multiple bodies or plates permanently or at least semi-permanently joined together to form one continuous structure. As used herein, permanently or semi-permanently joined bodies, or “joined bodies” or “joined plates”, are bodies requiring tools (including hand tools) or removal of a pin or the like to disassemble the joined parts. As discussed herein, the Housing may be part of or may be attached to a “solid body”, such as a table, chair, shipping container, refrigerator, or the like. 
         [0018]    As used herein, the Housing is supported against gravity (and/or against another acceleration force) by i) an external surface, ii) the switch which transfers the weight of or other forces from the Housing to the Platform and then by the Platform to the external surface (potentially via an accessory), or iii) by an external force provided by a human, a fork lift, a crane, or another machine. The Housing may move relative to the Platform and relative to an external surface, upon which the Platform may rest. Motion of the Housing is generally described in terms of one degree of freedom, such as up/down or rotation about an axis, though additional degrees of freedom may also be utilized. The Housing discussed herein is described as an active component, because the position of the Housing is actively changed by the external force. 
         [0019]    As discussed herein, an active component acts on a passive component, such as when a Housing is actively translated or rotated by an external force. 
         [0020]    As discussed herein, prismatic kinematic pairs may act upon a Switch. As discussed herein, revolute kinematic pairs act upon the Platform in the kinematic chain. 
         [0021]    As used herein, the Platform is supported against gravity (and/or against another acceleration force) by an external surface and/or by a joint or revolute kinematic chain with the Housing, when the Housing and Platform are connected by an axle. Between the Platform and the external surface may be an “accessory”, such as, for example, a leg, a wheel-axle combination, an adjustable length leg, a scale, a vibration dampener and the like. Many accessories may be used in addition to these examples. The Platform discussed herein is a passive component, because the Platform only moves, if at all, in reaction to movement of the Housing by the external force. 
         [0022]    The Housing and/or Platform may comprise a Housing-Platform restraint to limit the range of motion between the Housing and Platform and to prevent the Housing and Platform from traversing beyond the allowed range. The Housing-Platform restraint may allow the Housing and Platform to move in a piston-type relationship, wherein a gap (within allowable tolerances) between the Housing and Platform allow the Housing to raise and lower relative to the Platform. The Housing-Platform restrain may comprise a hinge, which causes the Platform to rotate about the hinge when the Housing is raised. The Housing may be lifted vertically, without a rotational component, or the Housing may be lifted by rotation about a corner. 
         [0023]    The Housing and/or Platform together form a composite coordinate function in a variable surface which contacts the Switch and which transmits a force at a force vector determined by the Switch and the Switch geometry. The Housing, Platform, and Switch system may occupy states, which states are changed by events. The Platform may be secured to accessories. 
         [0024]    As used herein, the “switch” is a rigid body in contact with the Housing and/or Platform. The switch either i) experiences no more force than the force produced by its own weight on the surface(s) of the object(s) or ii) when the kinematic state machine is in the engaged state, the switch contacts both first and second objects and transports a force at a force vector across the two objects, which force is greater than the force produced by the weight of the switch. In the engaged state, the number of degrees of freedom of motion between the two objects is limited by the switch and the switch has zero degrees of freedom of motion. In the non-engaged state(s), the switch does not limit the number degrees of freedom between the first two objects and the switch&#39;s number of degrees of freedom of motion is greater than zero. 
         [0025]      FIGS. 2 to 133  illustrate elevation and top plan views of a First Embodiment  100  of a kinematic finite state machine, in which the first and second bodies are provided be separate sets of joined plates, in which the first and second bodies have a piston-type relationship and the switch has a round vertical cross section, and show the states and events of this embodiment of the finite state machine as the first body moves. In the First Embodiment  100 , the kinematic pairing between the first and second bodies imposes five constraints on the degrees of freedom in relative movement between the bodies; because unconstrained bodies have a maximum of six degrees of freedom (three translational degrees: up, down, side-to-side; and three rotational degrees: roll, yaw, pitch), constraints on five degrees leaves one degree of freedom. In the First Embodiment  100 , the kinematic pairing is prismatic. 
         [0026]    In  FIGS. 2 through 133 , elements  1  through  9  illustrate a set of joined plates comprising the Housing. The plates comprising the Housing may be joined by screws, bolts, nails, glue, epoxy, or the like (not shown in  FIGS. 2 through 133 ). In  FIGS. 2 through 133 , elements  11  through  16  illustrate a set of joined plates comprising the Platform. Similarly, the plates comprising the Platform may be joined by screws, bolts, nails, glue, epoxy, or the like (not shown in  FIGS. 2 through 133 ). The Housing and Platform plates are arranged in a matrix which allows the Housing and Platform to translate vertically relative to one another, but which does not allow the Housing and Platform to translate horizontally relative to one another (movement of the Housing in the horizontal plane will also move the Platform). The plates of the Housing form a first coordinate function, while the plates of the Platform form a second coordinate function. 
         [0027]    Together, the first and second coordinate functions form a variable composite coordinate function. As the Housing is lifted, the variable composite coordinate function transmits forces at force vectors to Switch  10 , which vectors are determined by Switch  10 , generally orthogonal to the slope of the points where the composite coordinate function contacts the Switch. The forces and force vectors trigger events which change the state of this First Embodiment  100  of the state machine. As described further below, these figures show the states and the triggering events of this embodiment of the finite state machine. 
         [0028]    In  FIGS. 2 through 133 , element  10  illustrates Switch  10 , in this First Embodiment  100  a rod, such as a one-half inch diameter steel rod (other materials may be used). As illustrated in  FIGS. 2 through 133 , the Housing and Platform may move separately. In the illustrations of  FIGS. 2 through 133 , the Platform is generally resting on an external surface, while the Housing may rest upon the external surface, but may also be lifted, translating the Housing vertically. 
         [0029]    Proceeding clockwise around  FIG. 2  as an example of all of  FIGS. 2 through 133 , starting in the top-left quadrant, the top-left quadrant illustrates a top plan view of the First Embodiment  100 , illustrating the plates which comprise the Housing and the Platform, with a width corresponding to the bottom-left quadrant. Among other features, this top-left quadrant illustrates, with pointer and ruler, how the center line of Switch  10  translates horizontally as the displacement of Housing changes relative to Platform. 
         [0030]    The top-right quadrant illustrates a detailed side-elevation view of the First Embodiment  100 , looking down the length of the center line of Switch  10 . Except for  FIG. 2 , the top-right quadrant illustrates only those portions of the plates in contact with the Switch  10 . 
         [0031]    The bottom-right quadrant illustrates a front or rear elevation view of the First Embodiment  100 , illustrating the plates which comprise the Housing and the Platform and the Switch  10 . Among other features, this bottom-right quadrant illustrates, with pointer and ruler, how the center line of Switch  10  translates vertically as the displacement of Housing changes relative to Platform. 
         [0032]    The bottom-left quadrant illustrates a side elevation view of the First Embodiment. The bottom-left quadrant illustrates, with broken lines, the perimeter of the Platform and an accessory (a wheel) attached to the Platform. 
         [0033]    Both bottom quadrants illustrate, with pointers and rulers, elevation-view displacement meters. 
         [0034]    In the top-left and bottom right-quadrants in these Figures, plates in contact with and transmitting a force vector to or receiving a force vector from the switch are cross-hatched. 
         [0035]    In all of these views, a force is transmitted to Switch  10  from the Housing. The force has a magnitude, generated by the rate of the relative displacement of the Housing and Platform, and a force vector orthogonal to the slope of the points where the composite coordinate function of the surfaces of the Housing and Platform contact the Switch. 
         [0036]      FIGS. 2 through 133  illustrate the following states and events: 
         [0000]    
       
         
               
               
               
             
           
               
                 TABLE 1 
               
               
                   
               
               
                 State 
                   
                 Next 
               
               
                 State narrative 
                 Event 
                 State 
               
               
                   
               
             
             
               
                 One 
                 a. Raise Housing to displacement 0.10, 
                 One 
               
               
                 Housing supported by external surface; Switch in 
                 then lower (FIG. 29) 
               
               
                 intermediate energy level, between first energy 
                 b. Raise Housing to displacement 0.28+ 
                 Two 
               
               
                 well and energy barrier; FIGS. 2 and 133 
                 (FIG. 30+), but less than displacement 
               
               
                   
                 2.4 (FIG. 66), lower Housing to 
               
               
                   
                 displacement 0.0 (FIG. 42) 
               
               
                   
                 c. Raise Housing to displacement 2.5+ 
                 Three 
               
               
                   
                 (FIG. 67), but less than displacement 
               
               
                   
                 3.38 (FIG. 74) 
               
               
                   
                 d. Raise Housing to displacement 3.38+ 
                 Four 
               
               
                 Two 
                 e. Raise Housing to displacement 2.4 
                 Two 
               
               
                 Switch falls to First Energy Well (FIG. 36); 
                 (FIG. 66), then lower to 0.0 (FIG. 42) 
               
               
                 Housing supported by Switch, Switch supported 
                 c. Raise Housing to displacement 2.5+ 
                 Three 
               
               
                 by Platform (FIG. 42) 
                 (FIG. 67), but less than 3.38 (FIG. 74) 
               
               
                   
                 d. Raise Housing to displacement 3.38+ 
                 Four 
               
               
                 Three 
                 d. Raise Housing to displacement 3.38+ 
                 Four 
               
               
                 Switch in or will return to second energy well 
                 f. Lower Housing to displacement −2.5 
                 One 
               
               
                 (FIG. 70); Housing supported by external 
               
               
                 force; Switch supported by Housing; Platform 
               
               
                 supported by external surface 
               
               
                 Four 
                 f. Lower Housing to displacement −2.5 
                 One 
               
               
                 Switch in or will return to second energy well 
               
               
                 when Housing released; (FIG. 70); Housing 
               
               
                 supported by external force; Switch supported by 
               
               
                 Housing; Platform supported by Switch; FIGS. 
               
               
                 2 and 133 
               
               
                   
               
             
          
         
       
     
         [0037]    States Three and Four in the foregoing require an external force to support the Housing (such as a human, a fork lift, a crane, or similar). When the external force is removed following the event, then States Three and Four return to State One. If events which do not pass a point-of-no-return are removed, then the table of states and events is reduced to the following: 
         [0000]    
       
         
               
               
               
               
             
           
               
                   
                 TABLE TWO 
               
               
                   
                   
               
               
                   
                 State 
                 Event 
                 Next State 
               
               
                   
                   
               
             
             
               
                   
                 One 
                 b. 
                 Two 
               
               
                   
                 One 
                 c. 
                 One 
               
               
                   
                 One 
                 d. 
                 One 
               
               
                   
                 Two 
                 c. 
                 One 
               
               
                   
                 Two 
                 d. 
                 One 
               
               
                   
                   
               
             
          
         
       
     
         [0038]    In the foregoing, when the machine is in State One, one event, Event b, can transition the machine to State Two. In the foregoing, when the machine is in State Two, two events, Event c and d, can transition the machine to State One. Events b, c, and d are points of no return.  FIG. 2 through 133  illustrate two energy wells into which the Switch  10  may fall, if allowed by the composite coordinate function defined by the Housing, the Platform, and Switch  10  geometry. The Switch  10  is illustrated in the first energy well in  FIGS. 36-53 ; the Switch  10  is illustrated in the second energy well in  FIGS. 70 and 71 and 79-112 . The energy wells are separated by an energy barrier defined by the plates comprising the Platform; the Switch  10  obtains energy to move over the energy barrier from the Housing and the force and force vector transmitted to the Switch  10  by the Housing and the Platform. Because the Housing is active, the force for surmounting the energy barrier is provided by the Housing. The Switch  10  may be intermediate between an energy well and the energy barrier, as in State One. 
         [0039]    In  FIGS. 2 through 133 , the Housing is in a static kinematic relationship with the Platform. The Housing has two frames of reference: i) the Housing&#39;s location in a larger physical body in which the Housing may be embedded (if any) and ii) the horizontal axis of the center of gravity of the Switch  10 . 
         [0040]    In  FIGS. 2 through 133 , the Platform has three frames of reference: i) the Housing, determined by the Platform&#39;s kinematic pair relationship with the Housing; ii) the vertical axis through the center of gravity of the Switch  10 ; and iii) the kinematic pair relationship with the external surface, which may be mediated by the accessory. 
         [0041]    In  FIGS. 2 through 133 , the Switch  10  has one frame of reference: its own center of gravity. 
         [0042]      FIGS. 134 to 166  illustrate elevation views of a Second Embodiment  200 , in which a first body or Housing  201  is attached to a second body or Platform  202  at a Platform-Housing Axle  204 , which bodies combine with a Switch  206  to form a composite coordinate function. Components illustrated and labeled on one side of the Second Embodiment  200  are mirror images of equivalent components on the other side of the Second Embodiment  200 . The bottom portion of  FIGS. 134 to 166  illustrates an entire mechanism, which may be embedded in a larger object. The top portion of  FIGS. 134 to 166  illustrates a detailed view of the bottom portion. The Housing  201  and Platform  202  are illustrated as being singular components; however, they could be made from a set of plates, as illustrated in the First Embodiment  100  in  FIGS. 2 through 133 . In the Second Embodiment  200 , the kinematic pairing between the first and second bodies imposes five constraints on the degrees of freedom in relative movement between the bodies. In the Second Embodiment  200 , the kinematic pairing is revolute. 
         [0043]    In  FIGS. 134 to 166 , Housing  201  may translate vertically. The vertical translation of the Housing  201  may have a rotational component; for example, in  FIGS. 134 to 166 , the Housing  201  is raised at one corner while the opposite corner remains on the exterior surface, which results in rotation of the Housing  201  about the opposite corner on the exterior surface. Raising the Housing  201  (with or without a rotational component) results in rotation of the Platform  202  about the Platform-Housing Axle  204 , and which changes the composite coordinate function, which, via the Cut-Out  208  (which is part of the Housing) and the Switch  206 , triggers the events which change the states available to the state machine. 
         [0044]    As described further below,  FIGS. 134 to 166  show the states and the triggering events of this embodiment of the finite state machine. The Switches  206  in  FIGS. 134 through 166  are not round about their horizontal axis of rotation (when viewed in elevation, as in  FIGS. 134 through 166 ). The Switches  206  may be connected at their base to the Platform  202  (such as about an axle, not shown). 
         [0045]    The composite coordinate function is formed by the Cut-Out  208  (which is part of the Housing  201 ), the base of the Platform  202  (which changes elevation slightly when the Platform  202  rotates about the Platform-Housing Axle  204 ), and the Switch  206 . The composite coordinate function defines two energy wells, a first well when the Switch  206  is leaning on the left side of the base of the Switch  206  (relative to the Switch  206  on the left side of the machine— FIGS. 134 to 141 ), a second well when the Switch  206  is leaning on the right side of the base of the Switch  206 , and an energy barrier when the Switch  206  is vertically oriented above its base. The energy barrier and the two wells arise because the energy of the Switch  206  is highest when the Switch  206  is vertically oriented above its base. The energy wells and energy barrier are discussed further below in relation to the states available to the finite state system. 
         [0046]    The Platforms  202  in  FIGS. 134 through 166  are connected to the Housing  201  at Platform-Housing Axle  204 . The Platforms  202  may be within an opening inside of the Housing  201 . The Switches  206  comprise a Rod  209 , or similar, which Rod  209  projects beyond the main body of the Switch  206  and contacts the Housing  201  along Cut-Out  208 . The Cut-Out  208 , the Platform  202 , and the Switch  206  are configured to impart energy—force—and a direction—vector—to the Switch  206  as the Housing  201  is raised, transitioning the Switch  206  from one energy well to the other, over the energy barrier. The Housing  201  may be raised vertically, holding the Housing  201  horizontal as it is raised, and/or it may be raised vertically by rotating the Housing  201  about an axis, such as a corner of the Housing  201  (as illustrated in  FIGS. 134 to 166 ). 
         [0047]    In all of these views, a force is transmitted to the Switch  206  from the Housing; the force has a magnitude, generated by the rate of the relative displacement of the Housing and Platform, and a force vector orthogonal to the slope of the combined coordination functions of the surfaces of the Housing and Platform where they contact the Switch. 
         [0048]      FIGS. 134 through 166  illustrate the following states and transitions: 
         [0000]    
       
         
               
               
               
             
           
               
                 TABLE THREE 
               
               
                   
               
               
                 State 
                   
                 Next 
               
               
                 State narrative 
                 Event 
                 State 
               
               
                   
               
             
             
               
                 One 
                 a. Raise Housing 201 to elevation less 
                 One 
               
               
                 Housing 201 supported by external surface; 
                 than in FIG. 140 (approximately shown 
               
               
                 Switch 206 in intermediate energy level, between 
                 in FIG. 139), then lower 
               
               
                 first energy well and energy barrier; FIGS. 134 
                 b. Raise Housing 201 to elevation greater 
                 Two 
               
               
                 and 166 
                 than in FIG. 139, but less than 
               
               
                   
                 equivalent elevation in FIG. 151, then 
               
               
                   
                 lower 
               
               
                   
                 c. Raise Housing 201 to elevation in 
                 Three 
               
               
                   
                 FIG. 151+, less than elevation in FIG. 
               
               
                   
                 153+ 
               
               
                   
                 d. Raise Housing 201 to elevation in 
                 Four 
               
               
                   
                 FIG. 153+ 
               
               
                 Two 
                 e. Raise Housing 201 to elevation less 
                 Two 
               
               
                 Switch 206 falls to bottom of first energy well 
                 than in FIG. 151, then lower to 
               
               
                 (FIG. 141); Housing 201 supported by Switch 
                 elevation in FIG. 148 
               
               
                 206, Switch 206 supported by Platform 202 
                 c. Raise Housing 201 to elevation in 
                 Three 
               
               
                 (FIG. 141) 
                 FIG. 151+, less than elevation in FIG. 
               
               
                   
                 153+ 
               
               
                   
                 d. Raise Housing 201 to elevation in 
                 Four 
               
               
                   
                 FIG. 153+ 
               
               
                 Three 
                 d. Raise Housing 201 to elevation in 
                 Four 
               
               
                 Switch 206 in or will return to second energy 
                 FIG. 153+ 
               
               
                 well (FIG. 152); Housing 201 supported by 
                 f. Lower Housing 201 to elevation in 
                 One 
               
               
                 external force; Switch 206 supported by Housing 
                 FIGS. 160 or 166 
               
               
                 201 and/or Platform 202; Platform 202 supported 
               
               
                 by external surface 
               
               
                 Four 
                 f. Lower Housing 201 to elevation in 
                 One 
               
               
                 Switch 206 in or will return to second energy 
                 FIGS. 160 or 166 
               
               
                 well; (FIG. 152); Housing 201 supported by 
               
               
                 external force; Switch 206 supported by Housing 
               
               
                 201; Platform 202 supported by Switch 206; 
               
               
                 FIG. 154 
               
               
                   
               
             
          
         
       
     
         [0049]    States Three and Four in the foregoing require an external force to support the Housing (such as a human, a fork lift, a crane, or similar). When the external force is removed following the event, then States Three and Four return to State One. If events which do not pass a point-of-no-return are removed, then the table of states and events is reduced to the following: 
         [0000]    
       
         
               
               
               
               
             
           
               
                   
                 TABLE FOUR 
               
               
                   
                   
               
               
                   
                 State 
                 Event 
                 Next State 
               
               
                   
                   
               
             
             
               
                   
                 One 
                 b. 
                 Two 
               
               
                   
                 One 
                 c. 
                 One 
               
               
                   
                 One 
                 d. 
                 One 
               
               
                   
                 Two 
                 c. 
                 One 
               
               
                   
                 Two 
                 d. 
                 One 
               
               
                   
                   
               
             
          
         
       
     
         [0050]    In the foregoing, when the machine is in State One, one event, Event b, can transition the machine to State Two. In the foregoing, when the machine is in State Two, two events, Event c and d, can transition the machine to State One. Events b, c, and d are points of no return. 
         [0051]      FIGS. 220 to 230  illustrate a Third Embodiment  300  of a kinematic state machine. In the Third Embodiment  300 , the kinematic pairing between the first and second bodies imposes five constraints on the degrees of freedom in relative movement between the bodies. In the Third Embodiment  300 , the kinematic pairing is prismatic. 
         [0052]    Within this set,  FIG. 220  illustrates a side elevation view of exploded components of the Third Embodiment  300 .  FIG. 221  illustrates a top orthogonal wire frame view of the exploded components of the Third Embodiment  300 .  FIG. 222  illustrates a section perspective view of the Third Embodiment  300  with the components assembled and in State One of the state machine. 
         [0053]      FIGS. 223 to 230  illustrate elevation views of the Third Embodiment  300 , assembled, in which a first body, Housing  301 , translates vertically relative to a second body, Platform  302 . The Housing  301  and Platform  302  form a composite coordinate function which interacts with a Switch  303 ; vertical translation of the Housing  301  changes the composite coordination function via Cut-Out  305  (which is part of Housing  301 ), a Kicker  306  (which is part of Housing  301 ), and a Headboard  307  (which is part of Housing  301 ). Changes in the composite coordinate function interact with the Switch  303  at Switch-Finger  304  and trigger the events which change the states available to the state machine. The energy states of the Switch  303  (discussed in the table below) come from rotation of the Switch  303  about the lower interior corner; lines  309  and  310  on Switch  303  (see  FIG. 223 ) illustrate the angle of the Switch  303  relative to a point of no return which occurs approximately when line  310  is just over vertical (see  FIGS. 226 and 227 ). As described further below, these figures show the states and the triggering events of this embodiment of the kinematic state machine. 
         [0054]    The composite coordinate function contacts the Switch  303  and imparts a force at a force vector on the Switch  303  in the ambient gravitational field or acceleration force. The shape of the Switch  303 , its density distribution (which is generally uniform in this example), and the space allowed between the Housing  301  and the Platform  302  determine that the Switch  303  may occupy two energy wells, separated by an energy barrier. The energy barrier occurs when the Switch  303  is tipped up on one corner, with line  310  oriented vertically. See, for example,  FIGS. 226 and 227 . A first energy well occurs when the Switch  303  rests flat on its base upon the Platform  302 , which, due to the space allowed between the Housing  301  and the Platform  302 , occurs only when the Housing  301  is supported by the Switch  303 , which is supported by the Platform  302 , which is supported by the Accessory  308 . See, for example,  FIGS. 224 and 225 . A second energy well occurs when the Switch  303  is tipped up on one corner, past the point of no return relative to the energy barrier, and the Cut-out  305  has not yet descended far enough to push the Switch  303  (via the Switch Finger  304 ) back over the energy barrier. See, for example,  FIGS. 226 to 229 . 
         [0055]    In all of these views, a force is transmitted to the Switch  303  from the Housing  301 ; the force has a magnitude, generated by the rate of the relative displacement of the Housing  301  and Platform  302 , and a force vector orthogonal to the slope of the combined coordination functions of the surfaces of the Housing  301  and Platform  302  where they contact the Switch  303 . 
         [0056]      FIGS. 223 through 230  illustrate the following states and transitions: 
         [0000]    
       
         
               
               
               
             
           
               
                 TABLE FIVE 
               
               
                   
               
               
                 State 
                   
                 Next 
               
               
                 State narrative 
                 Event 
                 State 
               
               
                   
               
             
             
               
                 One 
                 a. Raise Housing 301 below elevation 
                 One 
               
               
                 Housing 301 supported by external surface; 
                 where Switch 303 falls from beneath 
               
               
                 Switch 303 in intermediate energy level, between 
                 Headboard 307 to the first energy well, 
               
               
                 first energy well and energy barrier (FIGS. 223 
                 then release 
               
               
                 and 230) 
                 b. Raise Housing 301 above elevation 
                 Two 
               
               
                   
                 where Switch 303 falls from beneath 
               
               
                   
                 Headboard 307 to the first energy well, 
               
               
                   
                 then release 
               
               
                   
                 c. Raise Housing 301 to elevation where 
                 Three 
               
               
                   
                 Kicker 306 pushes Switch 303 past 
               
               
                   
                 energy barrier, lower to where Cut-Out 
               
               
                   
                 305 pushes Switch 303 up to energy 
               
               
                   
                 barrier 
               
               
                   
                 d. Raise Housing 301 to limit 
                 Four 
               
               
                 Two 
                 e. Raise Housing 301 to elevation less 
                 Two 
               
               
                 Switch 303 falls to bottom of first energy well, 
                 than in FIG. 226, then lower to 
               
               
                 Housing 301 supported by Switch 303, Switch 
                 elevation in FIG. 224 
               
               
                 303 supported by Platform 302 (FIG. 224) 
                 c. Raise Housing 301 to elevation where 
                 Three 
               
               
                   
                 Kicker 306 pushes Switch 303 past 
               
               
                   
                 energy barrier, lower to where Cut-Out 
               
               
                   
                 305 pushes Switch 303 up to energy 
               
               
                   
                 barrier 
               
               
                   
                 d. Raise Housing 301 to limit 
                 Four 
               
               
                 Three 
                 d. Raise Housing 301 to limit 
                 Four 
               
               
                 Switch 303 in second energy well (FIGS. 226 to 
                 f. Lower Housing 301 to contact external 
                 One 
               
               
                 229); Housing 301 supported by external force; 
                 surface (FIGS. 223 and 230) 
               
               
                 Switch 303 supported by Housing 301 and/or 
               
               
                 Platform 302; Platform 302 supported by 
               
               
                 external surface 
               
               
                 Four 
                 f. Lower Housing 301 to contact external 
                 One 
               
               
                 Switch 303 in second energy well (FIGS. 226 to 
                 surface (FIGS. 223 and 230) 
               
               
                 229); Housing 301 supported by external force; 
               
               
                 Switch supported by Housing 301; Platform 302 
               
               
                 supported by Switch; FIG. 226, no surface 
               
               
                 beneath Accessory 
               
               
                   
               
             
          
         
       
     
         [0057]    States Three and Four in the foregoing require an external force to support the Housing  301  (such as a human, a fork lift, a crane, or similar). When the external force is removed following the event, then States Three and Four return to State One. If events which do not pass a point-of-no-return are removed, then the table of states and events is reduced to the following: 
         [0000]    
       
         
               
               
               
               
             
           
               
                   
                 TABLE SIX 
               
               
                   
                   
               
               
                   
                 State 
                 Event 
                 Next State 
               
               
                   
                   
               
             
             
               
                   
                 One 
                 b. 
                 Two 
               
               
                   
                 One 
                 c. 
                 One 
               
               
                   
                 One 
                 d. 
                 One 
               
               
                   
                 Two 
                 c. 
                 One 
               
               
                   
                 Two 
                 d. 
                 One 
               
               
                   
                   
               
             
          
         
       
     
         [0058]    In the foregoing, when the machine is in State One, one event, Event b, can transition the machine to State Two. In the foregoing, when the machine is in State Two, two events, Event c and d, can transition the machine to State One. Events b, c, and d are points of no return. 
         [0059]      FIGS. 178 to 217  illustrate elevation and top plan views of a Fourth Embodiment  400 . The top portion of  FIGS. 178 to 217  illustrates a close elevation view; the bottom-left portion of  FIGS. 178 to 217  illustrates an elevation view; the bottom-right portion of  FIGS. 178 to 217  illustrates a top plan view. In the top plan view portion of these drawings, four switch seats are illustrated as part of the Housing  401 ; only two switch seats are illustrated in the elevation views. As with the other Embodiments, Housing  401  and Platform  402  are illustrated as single components. In an embodiment, these components may be formed from multiple plates, as illustrated with respect to the First Embodiment  100 . In the Fourth Embodiment  400 , the kinematic pairing between the first and second bodies imposes five constraints on the degrees of freedom in relative movement between the bodies. In the Fourth Embodiment  400 , the kinematic pairing is prismatic. 
         [0060]    In the Fourth Embodiment  400  illustrated in  FIGS. 178 to 217 , a first body, Housing  401 , may translate vertically relative to a second body, Platform  402 , which bodies form a composite coordinate function which interacts with a Switch  403 ; vertical translation of the Housing  401  changes the composite coordinate function, which, via the Switch  403 , triggers the events which change the states available to the state machine. As described further below, these figures show the states and the triggering events of this embodiment of the kinematic finite state machine. 
         [0061]    In this embodiment, the Switch  403  may rotate about a central axis, when viewed in plan-view (from above). The Platform  402  in  FIGS. 178 through 217  may occupy an opening within the Housing  401 . The composite coordinate function in contact with the Switch  403  is formed by Housing  401  and the top of the Platform  402 , which contact the Switch  403 . The composite coordinate function and the Switch  403  geometry define a set of energy wells, separated by energy barriers, discussed further below in relation to the states available to the finite state system. The energy wells in this Fourth Embodiment  400  are essentially identical, though a first set of the energy wells do not position the Switch  403  between the Housing  401  and the Platform  402  while a second set of the energy wells do position the Switch  403  between the Housing  401  and the Platform  402 . The energy barriers in this Fourth Embodiment  400  are found at the top of the peaks on top of the Platform  402 . 
         [0062]    The composite coordinate function is configured to impart energy to the Switch  403  as the Housing  401  is raised, transitioning the Switch  403  from one energy well to the other, over the energy barriers. As the Switch  403  moves between the energy wells, the Switch  403  rotates about its central axis and is alternatively interposed or not interposed between the Housing  401  and the Platform  402  and the finite state machine transitions between states. 
         [0063]    In all of these views, a force is transmitted to the Switch  403  from the Housing  401 ; the force has a magnitude, generated by the rate of the relative displacement of the Housing  401  and Platform  402 , and a force vector orthogonal to the slope of the combined coordination functions of the surfaces of the Housing  401  and Platform  402  where they contact the Switch  403 . 
         [0064]      FIGS. 178 through 217  illustrate the following states and transitions of the Fourth Embodiment  400 : 
         [0000]    
       
         
               
               
               
             
           
               
                 TABLE SEVEN 
               
               
                   
               
               
                   
                   
                 Next 
               
               
                 State 
                 Event 
                 State 
               
               
                   
               
             
             
               
                 One 
                 a. Raise Housing 401 below where 
                 One 
               
               
                 Housing 401 supported by external surface 
                 Housing 401 lifts Switch Arm 404 above 
               
               
                 (FIGS. 232 and 234) 
                 teeth on Platform 402 (approx. FIG. 
               
               
                   
                 192) 
               
               
                   
                 b. Raise Housing 401 to where Housing 
                 Two 
               
               
                   
                 401 lifts Switch Arm 404 above teeth on 
               
               
                   
                 Platform 402, and release (FIG. 193) 
               
               
                   
                 c. Raise Housing 401 above level of 
                 Three 
               
               
                   
                 event b., but not to limit (FIG. 194, but 
               
               
                   
                 then raise the Housing 401 until before 
               
               
                   
                 the entire machine is lifted off of the 
               
               
                   
                 surface) 
               
               
                   
                 d. Raise Housing 401 to limit (FIG. 
                 Three 
               
               
                   
                 194, but then continuing to raise the 
               
               
                   
                 Housing 401, until the entire machine is 
               
               
                   
                 lifted off of the surface) 
               
               
                 Two 
                 a. Raise Housing 401 below where 
                 Two 
               
               
                 Housing 401 supported by Switch 403, which is 
                 Housing 401 lifts Switch Arm 404 above 
               
               
                 supported by Platform 402 
                 teeth on Platform 402 (approx. FIG. 
               
               
                   
                 192) 
               
               
                   
                 b. Raise Housing 401 to where Housing 
                 One 
               
               
                   
                 401 lifts Switch Arm 404 above teeth on 
               
               
                   
                 Platform 402, and release (FIG. 193) 
               
               
                   
                 c. Raise Housing 401 above level of 
                 Four 
               
               
                   
                 event b., but not to limit (FIG. 194, but 
               
               
                   
                 then raise the Housing 401 until before 
               
               
                   
                 the entire machine is lifted off of the 
               
               
                   
                 surface) 
               
               
                   
                 d. Raise Housing 401 to limit (FIG. 
                 Four 
               
               
                   
                 194, but then continuing to raise the 
               
               
                   
                 Housing 401, until the entire machine is 
               
               
                   
                 lifted off of the surface) 
               
               
                 Three 
                 d. Raise Housing 401 to limit (FIG. 
                 Three 
               
               
                 Housing 401 supported by external force; 
                 194, but then continuing to raise the 
               
               
                 Housing 401 supports Switch 403; next State 
                 Housing 401, until the entire machine is 
               
               
                 when Housing 401 is lowered will be Two 
                 lifted off of the surface) 
               
               
                   
                 f. Lower Housing 401 to contact external 
                 Two 
               
               
                   
                 surface (FIGS. 232 and 234) 
               
               
                 Four 
                 d. Raise Housing 401 to limit 
                 Four 
               
               
                 Housing 401 supported by external force; 
                 f. Lower Housing to contact external 
                 One 
               
               
                 Housing 401 supports Switch 403; next State 
                 surface (FIGS. 178 and 217) 
               
               
                 when Housing 401 is lowered will be One 
               
               
                   
               
             
          
         
       
     
         [0065]    States Three and Four in the foregoing require an external force to support the Housing (such as a human, a fork lift, a crane, or similar). When the external force is removed following the event, then State Three transitions to State Two and State Four transitions to State One. If events which do not pass a point-of-no-return are removed, and if transitional States Three and Four reflect their ultimate state, after the external lifting force is removed, then the table of states and events is reduced to the following: 
         [0000]    
       
         
               
               
               
               
             
           
               
                   
                 TABLE EIGHT 
               
               
                   
                   
               
               
                   
                 State 
                 Event 
                 Next State 
               
               
                   
                   
               
             
             
               
                   
                 One 
                 b. 
                 Two 
               
               
                   
                 One 
                 c. 
                 Two 
               
               
                   
                 One 
                 d. 
                 Two 
               
               
                   
                 Two 
                 b. 
                 One 
               
               
                   
                 Two 
                 c. 
                 One 
               
               
                   
                 Two 
                 d. 
                 One 
               
               
                   
                   
               
             
          
         
       
     
         [0066]    In the foregoing, when the machine is in State One, three events, Event b, c, and d, can transition the machine to State Two. In the foregoing, when the machine is in State Two, three events, Event b, c, and d, can transition the machine to State One. Events b, c, and d are points of no return. 
         [0067]      FIGS. 218 to 260  illustrate a Fifth Embodiment  500  of a kinematic finite state machine, in which the first and second bodies are connected at an axle, in which there are two Switches,  510  and  511 , neither of which has a single round vertical cross section, and show the states and events of this embodiment of the finite state machine as the first body moves. 
         [0068]    In  FIG. 218 , plates  501 - 505  illustrate Housing components. Elements  516  and  517  illustrate assembly of these Plates into Housing  516  and  517 ; note: the stacking order of Plates in Housing  516  is not the same as the stacking order of Plates in Housing  517 . A side elevation of both Housings is illustrated in box  514  (not including the Switches and omitting Housing Plate  501 ). 
         [0069]    In  FIG. 218 , plates  506 - 509  illustrate Platform components. A side elevation of both Platforms (and an accessory) is illustrated in box  513 . Box  515  illustrates a side elevation of both Platforms and Housings, assembled around axle  512 . 
         [0070]    In  FIG. 218 , elements  510  and  511  are Switches. 
         [0071]    Within  FIGS. 218 to 260 ,  FIGS. 219 to 259  show the states and events of the Fifth Embodiment  500  of the finite state machine as the first body moves. In these Figures, box  530  shows a schematic view of interaction of Switch  510  with components of Housing and Platform. Box  530  is not separately labeled in  FIGS. 219 to 259 , but can be seen in a consistent position within these Figures. In  FIGS. 219 to 259 , element  531  is a portion of Housing Plate  503 ; element  532  is a portion of Platform Plate  507 ; element  533  is a portion of Platform Plate  506 ; element  534  is a portion of Housing Plate  501 ; element  535  is a portion of Housing Plate  505 ; element  536  is a portion of Housing Plate  502 ; element  537  is a portion of Platform Plate  507 ; element  538  is a portion of Platform Plate  508 ; and element  539  is a portion of Housing Plate  504 . Only portions of the Plates are illustrated to focus on the control surfaces which interact with the Switches and to illustrate that the size of the Plates is not significant, so long as the space occupied by the Switches is not impinged upon as the composite coordinate function formed by the Housing and Platform is executed by raising and lowering the Housing. 
         [0072]      FIG. 260  illustrates the Housing  517  or Housing  518  of the Fifth Embodiment  500  embedded in a larger solid body, element  520 . Element  521  illustrates a solid body with an opening consistent with Housing  514 . Element  522  illustrates an elevation view of Housing  514  and Housing Plate  501 . 
         [0073]      FIG. 261  illustrates variations on the Switch, generally a Switch similar to the one illustrated in Embodiment Two ( FIGS. 134 to 166 ). These variations show mechanisms to dampen or delay the events (and state transitions), such as, for example, a viscous fluid which can flow from one side of the Switch to the other through an adjustable needle valve,  701 , ball bearings able to translate back and forth within a tube,  702 , or a horizontal screw which can be adjusted to change the center of gravity of the switch,  703 . These variations are shown together,  704 , in an embodiment of a Switch similar to the Switch illustrated in the Second Embodiment  200 . 
         [0074]    The finite state machines described herein may be summarized as follows: Each comprises two bodies and a switch. The two bodies may move separately with at least one degree of freedom and a defined range of motion therein. The bodies may be connected at an axle and/or the bodies may interlock, with an allowed range of motion prior to the interlock. One or both of the bodies may contact an external surface. 
         [0075]    At least one, if not two, of the bodies may form a composite coordinate function in conjunction with the geometry of the switch. The composite coordinate function may comprise coordinate functions obtained from each separate body and/or from components within one body (such as from plates which together comprise one body). The coordinate functions illustrated in this paper are generally linear equations (straight lines with a slope), but may be non-linear. The composite coordinate function transmits a force at a force vector to the switch, which force vector counteracts the force vector experienced by the switch in the gravitational field or acceleration force. The composite coordinate function changes as one of the bodies moves relative to the other. 
         [0076]    The switch has a geometric structure, a density distribution, and is subject to gravity (or another acceleration force). Because the geometric structure and density distribution of the switch are known, because the composite coordination function is known based on the then-current relative position of the two bodies, and if, when relevant, the preceding state of the finite state machine is known (the state of certain finite state machines depends on the prior state of the finite state machine), the position of the switch relative to the composite coordinate function is also known. The position of the switch relative to the two bodies determines the state of the finite state machine. 
         [0077]    The finite state machine may have at least two states: A first state wherein a first body contacts and/or is supported by an exterior surface, without being supported by the switch; and a second state wherein the first body is supported by the switch, which switch is supported by the second body, which second body is supported by an accessory and/or by an exterior surface. The first state transitions to the second state when the first body is raised, the variable surface formed by the first and/or second body either i) provides a force and force vector which counteract the force and force vector experienced by the switch in the gravitational field and moves the switch past a point of no return and transitions the switch from a first energy well over an energy barrier into a second energy well (Embodiment 4), or ii) releases a force and force vector which were counteracting the force and force vector experienced by the switch in the gravitational field and allows the switch to fall into the second energy well (Embodiments 1 through 3) whereupon the first body may be lowered into the second state, wherein the first body is supported by the switch and the second body. The second state does not change if the state machine is released. The second state may transition to the first state when the first body is raised past the point of no return where the composite coordinate function formed by the first and/or second body contacts the switch and provides a force and force vector which moves the switch past a point of no return and transitions the switch from the second energy well over the energy barrier, and into i) the side of the first energy well (Embodiments 1 through 3), or ii) entirely into the first energy well (Embodiment 4), whereupon the first body may be lowered to the ground, and, in the case of Embodiments 1 through 3, the composite coordinate function contacts the switch and provides a force and force vector which moves the switch past a point of no return and transitions the switch from the first energy well over the energy barrier, and into a position intermediate between the second energy well and the energy barrier. 
         [0078]    Third and fourth transitional states may result, but require that one of the bodies be supported by an external force. 
         [0079]    The finite state machines in Embodiments 1 through 3 exhibit the following state/transitions: 
         [0000]    
       
         
               
               
             
           
               
                 TABLE NINE 
               
               
                   
               
               
                 state # --&gt; (transitioning to) state #, 
                 state # --&gt; state #, eliminating 
               
               
                 showing all states 
                 intermediate states 
               
               
                   
               
             
             
               
                 1 --&gt; 2 
                 1 --&gt; 2 
               
               
                 1 --&gt; 3 or 4 (limit), then 3 or 4 --&gt; 
                 1 --&gt; 1 
               
               
                 (through, but not stopping in, 2) 1 
               
               
                 2 --&gt; 3 or 4, then 3 or 4 --&gt; 1 
                 2 --&gt; 1 
               
               
                 2--&gt; 1 
                 2 --&gt; 1 
               
               
                   
               
             
          
         
       
     
         [0080]    The finite state machine in Embodiment 4 exhibit the following state/transitions: 
         [0000]    
       
         
               
               
             
           
               
                 TABLE TEN 
               
               
                   
               
               
                 state # --&gt; (transitioning to) state #, 
                 state # --&gt; state #, eliminating 
               
               
                 showing all states 
                 intermediate states 
               
               
                   
               
             
             
               
                 1 --&gt; 2 
                 1 --&gt; 2 
               
               
                 1 --&gt; 3 or 4 (limit), then 3--&gt; 2; 
                 1 --&gt; 2 
               
               
                 2 --&gt; 3 or 4, then 3 or 4 --&gt; 1 
                 2 --&gt; 1 
               
               
                 2 --&gt; 1 
                 2 --&gt; 1 
               
               
                   
               
             
          
         
       
     
         [0081]    A larger object may comprise more than one finite state machine. For example, and without limitation, a table may comprise a finite state machine on each corner of the table; the Housing-component of the table may be lifted vertically, without a rotational component, triggering events for each of the finite state machines on each corner. If the finite state machines in this example are identical, then the events would occur at essentially the same time. For example, and without limitation, a table may comprise a finite state machine on each corner of the table; the Housing-component of the table may be rotated along an axis at the base of one side of the table, in which case the finite state machines at the opposite side of the table (assuming they are all identical) would experience events at essentially the same time. A single object may comprise multiple different finite state machines, such as, for example, four different state machines being attached to the four corners of a table. In this way, different states, events, and state sequences may occur at each of the four corners, depending on how the table is raised. 
         [0082]    The first or second objects—or a larger object to which the first and/or second objects may be attached—may have any shape which is consistent with the allowed range of motion of the first and second objects and which does not impinge upon the area occupied by the switch due to the composite coordinate function. 
         [0083]    The control surfaces of the first and second objects, discussed herein in terms of the composite coordinate function, have a frame of reference which is an axis through the center of gravity of the Switch, which axis is in a plane perpendicular to the gravitational field of the machine. The Housing has two frames of reference: i) an attachment, if any, to a larger solid body to which the Housing may be attached (such as a table) and/or to an external surface upon which the Housing may come to rest; and ii) an axis through the center of gravity of the Switch, which axis is in a plane perpendicular to the gravitational field of the machine. The Platform has three frames of reference: i) the Housing, as determined by the kinematic pair relationship between the Housing and the Platform; ii) the axis through the center of gravity of the Switch, which axis is in a plane perpendicular to the gravitational field of the machine; and iii) an attachment, if any, to an accessory to which the Platform may be attached (such as a wheel) and/or to an external surface upon which the Platform may rest. The Housing and Platform have at least one shared frame of reference in the axis through the center of gravity of the Switch. 
         [0084]    The state machines disclosed herein may be programmable by a user. For example, if the state machine is composed of joined plates, the user may remove one or more plates and replace the removed plates with other plates which may, for example, allow the state machine to bear a heavier load, or which scale the size of the state machine in one or more dimensions. Additional or different plates may be utilized to increase or decrease the number of states which are available to the machine. 
         [0085]    At least one of the bodies may be connected or attached to an accessory, such as, for example, a wheel, a foot, a scale, a sensor. 
         [0086]    The states available to the machine may be understood of as information states, wherein the information in the machine is processed based on the then-current state and the then-current event, with the output of processing the information states being a next state of the kinematic machine. 
         [0087]    In the Embodiments illustrated herein, a first rigid body is an active component with a 3-dimensional load bearing surface with a minimum length and which physically embodies a coordinate function or a set of coordinate functions. A second rigid body is a passive component with a 3-dimensional load bearing surface with a minimum length and which physically embodies a coordinate function or a set of coordinate functions. The active and passive components have an allowed (limited) range of motion relative to one another. The coordinate functions of the active and passive components—together, a composite coordinate function—intersect with the surface of a switch as the first body is moved relative to the second body within the allowed range of motion. The active and passive components share a frame of reference in an axis which passes through the horizontal center of gravity of the switch and a plane which is perpendicular to a gravitational field in which the components are present. The composite coordinate function translates and/or rotates the switch through a volume occupied by the switch. In certain positions or orientations, the engaged positions, the switch engages with both bodies to transfer a force from the first body to the second, which force is greater than the weight of the switch by itself. In other positions or orientations, the disengaged positions, the switch experiences reactive forces from the composite coordinate function, which reactive forces are no greater than those produced by the weight of the switch (the mass multiplied by the acceleration of the switch, with acceleration driven by movement of the active component or caused by the gravitational field). The engaged and disengaged states of the switch define at least a subset of the states available to the machine. The states are generally separated by energy barriers defined by the gravitational field in which the machine exists, the composite coordinate function, and the switch geometry and center of gravity. The states, the composite coordinate function, the switch geometry and center of gravity, and the allowed range of motion between the first and second bodies define the volume which the switch occupies and the shapes of load bearing surfaces of the first and second bodies. 
         [0088]    The raising limit of a finite state machine may be defined by the axle and/or the allowed range of motion of the interlocking bodies. For example, to provide the raising limit, a first body may comprise a cable, “U” shaped bracket or similar which projects through an opening in the second body or around a surface of the second body, which cable or similar comprises a nut or similar physical object which cannot pass through the opening or around the surface of the second body and which thereby interlocks with the second body at the raising limit (beyond which there is no change in state for the state machine).