Patent Publication Number: US-10315460-B1

Title: Apparatus and methods for a spherical assembly

Description:
FIELD 
     This disclosure relates generally to propulsion and, more specifically, vehicle drive systems and corresponding methods of propulsion. 
     BACKGROUND 
     Today&#39;s transport vehicles include vehicle drive systems that are powered typically by either internal combustion engines, electric motors, or, in some cases, a hybrid of both, which provide power for vehicle propulsion. These vehicles are also equipped with steering mechanisms and manually or automatically controlled gearboxes. These steering mechanisms allow for the control of vehicle travel direction, while the gearboxes facilitate vehicle torque and speed. To change travel direction, however, the vehicles require a circular area in which to execute the turn, also known as a turning radius. 
     To propel in a given direction, today&#39;s vehicles depend on the horizontal reacting force of friction between the vehicle&#39;s tires and the surface of travel (e.g., the road). The force of friction is based on a coefficient of friction and the vertical force of the vehicle&#39;s weight at the point of contact between the vehicle&#39;s tires and the surface of travel. As such, the tires provide a horizontal force that is reacted to by an equal horizontal force in the opposite direction due to the friction. If the force of friction is less, slippage between the tire and surface of travel will occur, as may occur on icy or muddy surfaces, where the coefficient of friction between the vehicle&#39;s tires and the icy or muddy surface may be less than the coefficient of friction between the vehicle&#39;s tires on a dry surface. When slippage occurs, not only does the vehicle fail to propel as expected, the vehicle can lose control of its travel direction, and can also lose energy due to the slippage rather than using it to propel. Accordingly, there are opportunities to improve today&#39;s vehicle drive systems. 
     SUMMARY 
     Briefly, apparatus employ weights within a spherical assembly whereby the spherical assembly rotates the weights so as to use gravitational force to propel the spherical assembly. For example, the apparatus can employ suitably shaped weights within a spherical assembly whereby the spherical assembly rotates the weights so as to continuously maintain its center of gravity in the forward half of the spherical assembly regardless of its rotation while using a moment due to gravitational force acting on the weights to propel the spherical assembly. 
     In some embodiments, the spherical assembly includes a spherical encasing, two motors, such as electric motors, two weights, and a controller, such as a processor. The first motor is connected to the first weight and the spherical encasing, and the second motor is connected to the second weight and the spherical encasing. For example, the motors may be connected to the spherical encasing in positions that are opposite of each other along a centerline of the spherical encasing. In some examples, the two weights weigh the same. 
     The controller is operatively coupled to the first motor and to the second motor, such that the controller can control each of the motors (e.g., control the direction and speed at which the motors rotate). The controller is configured to cause the first motor to rotate the first weight in a certain direction at a rotational speed (e.g., rotational rate), which can be based on a rotational (e.g., rolling) speed of the spherical assembly. For example, assuming the spherical assembly is rotating at a given rotational speed, the controller activates the first motor such that it rotates the first weight at the same rotational speed of the spherical assembly. As another example, the controller can cause the first motor to rotate the first weight at a rotational speed that is slower than, or greater than, the rotation speed of the spherical assembly. Similarly, the controller is configured to cause the second motor to rotate the second weight in a certain direction at a rotational speed, which can also be based on the rotational speed of the spherical assembly. For example, the controller can be configured to cause the rotational speed of the first motor and the rotational speed of the second motor to be the rotational speed of the spherical assembly. As such, the controller may maintain the center of gravity of the first weight and the second weight in a half of the spherical assembly as the spherical assembly rotates (e.g., forward half of spherical assembly, or the half closest to the direction of travel of the spherical assembly). 
     In some examples, the controller causes the first motor to rotate the first weight in one direction, and causes the second motor to rotate the second weight in the same or another direction. For example, the controller can cause the first motor to rotate the first weight in a clockwise direction, and cause the second motor to rotate the second weight in a counter-clockwise direction. 
     In some examples, the controller is configured to cause the first motor to change the rotational speed of the first weight from a current rotational speed to the current rotational speed of the spherical assembly. The processor can also cause the second motor to change the rotational speed of the second weight from a current rotational speed to the rotational speed of the spherical assembly. For example, the processor can cause the first and second motors to cause the centers of gravity of both of the oppositely rotating weights to coincide in a one half of the spherical assembly, which can be the rotational forward half of the spherical assembly within a 360 degree horizontal plane of the spherical assembly. The first and second motors may be rotated in opposite directions. 
     In some examples, the controller is configured to cause the first motor to change the rotational speed of the first weight in relation to the rotational speed of the second weight to change a direction of travel of the spherical assembly. For example, the controller can be configured to cause the first motor to momentarily change the rotational speed of the first weight in relation to the opposite rotational speed of the second weight to horizontally shift the location where the centers of gravity of the two weights coincide. This can cause the direction of travel of the spherical assembly to change. As another example, assuming the first motor and the second motor are rotating the first weight and the second weight, respectively, at the same rotational speed (e.g., controller is rotating the first motor and the second motor at the same rotational speed), the controller can slow down, or speed up, the first motor so that the first weight&#39;s rotational speed is different than that of the second weight. Similarly, the controller can slow down, or speed up, the second motor so that the second weight&#39;s rotational speed is different than that of the first weight. 
     In some embodiments, the controller is configured to cause the first motor to rotate the first weight such that the first weight provides a greatest moment of a gravitational force to a point along a center axial line (i.e., a vertical radial center line) of the spherical assembly. For example, assuming the spherical assembly is not rotating (e.g., at a standstill), the center of gravity of the spherical assembly is along the center axial line of the spherical assembly. The controller may rotate the first weight such that the center of gravity of the spherical assembly moves away from the center axial line of the spherical assembly, thus causing the spherical assembly to rotate. 
     In some embodiments, the controller is configured to cause the first motor and the second motor to rotate the first weight and the second weight respectively at opposite but equal speeds. The rotational speeds of the weights can be equal to the rotating speed of the spherical assembly. The centers of gravity of the two weights can coincide at a certain location on an imaginary plane defined by the spherical assembly&#39;s geometrical vertical centerline and the spherical assembly&#39;s travel direction. In some examples, the controller is configured to cause the two motors to momentarily and equally slow down or speed up their equal but opposite rotational speeds from the spherical assembly&#39;s rotating speed. The controller can also control the duration (e.g., length of time) of the momentary slow down or speed up of the rotation of the weights. By slowing down or speeding up the weights rotational speeds, the centers of gravity of the two weights can coincide at a new location on the imaginary plane. The new location can be in a forward half, or a backward half, of the spherical assembly. For example, by causing the centers of gravity of the two weights to coincide at a location of the backward half of the spherical assembly, the rotation of the spherical assembly may be slowed down or stopped. 
     In some examples, the controller is configured to cause the second motor to rotate the second weight such that the second weight provides a greatest moment of a gravitational force to the point along the center axial line of the spherical assembly simultaneous to when the controller causes the first motor to rotate the first weight to provide the greatest moment of the gravitational force to the center axial line of the spherical assembly. As an example, assuming the spherical assembly is rotating at a rotational speed, the controller may cause the first motor and the second motor to rotate the first weight and the second weight in opposite directions at the same rotational speed as that of the spherical assembly. In this example, the processor rotates the weights such that they provide the largest possible moment of the gravitational force on the weights to the center axial line of the spherical assembly twice per spherical assembly rotation. 
     In some embodiments, a planar surface of the first weight forms an angle greater than 0 degrees (e.g., 1 degree) with respect to a center axial line of the spherical assembly. In some examples, a planar surface of the second weight forms an angle greater than 0 degrees with respect to the center axial line of the spherical assembly. For example, the weights can be configured such that a side of each weight faces the center of the spherical assembly at the same angle. In some examples, planar surfaces of the first weight and the second weight form a 0-degree angle with respect to a center axial line of the spherical assembly. 
     In some embodiments, a spherical assembly includes a spherical inner assembly and a spherical outer assembly. The spherical inner assembly encases a first motor connected to a first weight and a second motor connected to a second weight. The spherical inner assembly also encases a controller that is operatively coupled to the first motor and to the second motor. The controller can be configured to cause the first motor to rotate the first weight in a direction at a rotational speed based on a rotational speed of the spherical inner assembly. The controller can also be configured to cause the second motor to rotate the second motor in the same or different direction at a rotational speed based on the rotational speed of the spherical inner assembly. For example, the controller may cause the first motor and the second motor to rotate the first weight, and the second weight, respectively, at the same rotational speed but in opposite directions. As another example, the controller may cause the first motor and the second motor to rotate the first weight and the second weight, respectively, at the rotational speed of the spherical inner assembly. 
     In some examples, the spherical assembly may use electric power (e.g., via on or more electric motors) to rotate the weights within the spherical assembly. In some embodiments, the weights may include radial magnetic cores and crossing current carrying conductors through which the apparatus can provide an electrical current. The current carrying conductors may be embedded in the weights. For example, the apparatus can provide a radial magnetic flux through the radial magnetic cores such that, as the weights rotate through the magnetic flux, a magnetic force is applied to the weights. The force can be perpendicular to the direction of the radial magnetic flux and current directions. The magnetic force can be used for propulsion of the spherical assembly. For example, the magnetic force can increase the rotational speed of the spherical inner assembly. In some examples, the direction of the current flowing through the conductors can be reversed, which can cause a force to be generated in an opposite direction. The force can cause the rotational speed of the spherical assembly to decrease (e.g., slow down). As such, the magnetic force generated can be in addition to, or against, a gravitational force acting on the weights. A controller may control the current in the conductors to assist in speeding up, or slowing down, the spherical inner assembly. The controller may also adjust the rotational speed of the weights to match a new speed of the spherical inner assembly. 
     In some examples, a controller may adjust the rotational speed of the weights to match that of the spherical inner assembly. In some examples, current is generated in the conductors as the weights rotate through the generated magnetic flux. The controller may direct this generated current to charge batteries located within the assembly. 
     As such, the spherical assembly can operate without, or independently of, an internal combustion engine. The spherical assembly can also operate without, or independently of, a traditional gearbox and steering mechanism. In some examples, a vehicle, such as a car, truck, semi-truck, amphibious vehicle, or any other suitable vehicle, uses one or more spherical assemblies for propulsion. For example, the one or more spherical assemblies may be wirelesses controlled from a controller. Other uses that would be recognized by those skilled in the art having the benefit of these disclosures are also contemplated. 
     In some examples, the spherical assembly also includes first radial magnetic windings affixed to the spherical outer assembly and second magnetic windings affixed to the spherical inner assembly. The first magnetic windings and the second magnetic windings may be of opposite polarities, thereby creating magnetic fields between the spherical outer assembly and the spherical inner assembly. For example, the magnetic windings may provide magnetic fields either from the spherical outer assembly to the spherical inner assembly, or vice versa, thus creating a magnetic flux between the spherical outer assembly and spherical inner assembly in a given direction. 
     In some examples, a vehicle includes one or more spherical assemblies, where each spherical assembly is surrounded by a spherical enclosure. The spherical enclosure may surround more than half of the spherical assembly. The spherical enclosure can include magnetic windings of a polarity similar to that of magnetic windings located in the spherical outer assembly. As such, magnetic forces caused by the respective magnetic windings will oppose each other so as to provide magnetic levitation between the spherical enclosure and the spherical outer assembly. 
     In some examples, the spherical outer assembly encases the spherical inner assembly. The spherical inner assembly can also encase a friction reducer configured to minimize friction between the spherical inner assembly and the spherical outer assembly. For example, the friction reducer can be a lubricant, such as oil, a mechanical means, such as ball bearings, any combination of these, or any other known method of reducing friction. In one example, the friction reducer includes at least one ball bearing in a flow path of oil located between the spherical inner assembly and the spherical outer assembly. In some examples, the spherical outer assembly includes an inner shell and an outer shell, where the inner shell is in contact with the friction reducer. 
     In some examples, the spherical assembly includes one or more motion detectors. The motion detectors can be used to detect the rotational speed of the spherical inner assembly. The motion detectors can also be used to detect the rotational speed of the spherical outer assembly. Any given motion detector can be in communication with the controller, whereby the controller can detect a rotational speed as provided by the motion detector. For example, the controller may be electrically coupled to the motion detector thereby allowing for wired communications, or may communicate with the motion detector wirelessly. 
     In some examples, at least one motion detector is in communication with the controller and configured to detect the rotational speed of the spherical inner assembly. Based on the detected rotational speed of the spherical inner assembly, the controller can determine at what rotational speed (e.g., rate) to rotate the first and second motors as described above. In some examples, the motion detector may be coupled to the spherical outer assembly, such that detection of the rotational speed of the spherical inner assembly is with respect to the rotational speed of the spherical outer assembly. 
     In some examples, at least one motion detector is in communication with the controller and configured to detect the rotational speed of the spherical outer assembly. In this manner, the controller can determine, for example, the “rolling” speed of the spherical outer assembly. 
     Methods to propel the spherical assembly are also contemplated. The methods can be carried out by, for example, the spherical assemblies or any components thereof described above. For example, a method, by a controller, to propel a spherical assembly includes causing a first motor to rotate a first weight in a first direction at a first rotational speed based on a rotational (e.g., rolling) speed of the spherical assembly. The method also includes causing a second motor to rotate a second weight in a second direction at a rotational second speed based on the rotational speed of the spherical assembly. 
     In some examples, the method also includes causing the first rotational speed of the first weight and the second rotational speed of the second weight to be at the rotational speed of the spherical assembly. 
     In some examples, the method includes causing the first motor to rotate the first weight such that the first weight provides a greatest moment of a gravitational force to a point along a center axial line of the spherical assembly. The method can also include causing the second motor to rotate the second weight such that the second weight provides a greatest moment of a gravitational force to the point along the center axial line of the spherical assembly. In some examples, the controller rotates the motors such that the moments of gravitational force provided by the first and second weights are simultaneous. 
     In some examples, the method includes causing the first rotational speed of the first motor to change in relation to the rotational second speed of the second motor to change a direction of travel of the spherical assembly. Other methods in accordance with the disclosures herein are also contemplated. 
     Among other advantages, the apparatus and methods can provide for propulsion without the need for a combustion engine, a gearbox, or a conventional steering mechanism. They can also allow for the changing of a direction of travel without requiring a large turning radius. In some examples, the apparatus and methods provide for propulsion of land vehicles. As such, the apparatus and methods may improve road traction control and reduce road slippage. The apparatus and methods may also reduce a vehicle&#39;s distance to a stop. In addition, the apparatus may require less components over traditional combustion engines, and can provide cost benefits as well. Other advantages of these disclosures will be readily apparent to one skilled in the art to whom the disclosures are provided from a perusal of the claims, the appended drawings, and the following detail description of the embodiments. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  illustrates a sphere of uniform density to illustrate prior art concepts; 
         FIGS. 2A-2C  illustrates a spherical assembly rotating weights at a rotational speed of the spherical assembly in accordance with some embodiments of the present disclosure; 
         FIGS. 3A-3C  illustrates a spherical assembly rotating weights at double of a rotational speed of the spherical assembly in accordance with some embodiments of the present disclosure; 
         FIGS. 4A-4C  illustrates a spherical assembly rotating weights at triple of a rotational speed of the spherical assembly in accordance with some embodiments of the present disclosure; 
         FIGS. 5A-5C  illustrates a spherical assembly rotating weights at half of a rotational speed of the spherical assembly in accordance with some embodiments of the present disclosure; 
         FIG. 6  illustrates a spherical assembly system in accordance with some embodiments of the present disclosure; 
         FIG. 7  illustrates an electrified spherical assembly system in accordance with some embodiments of the present disclosure; 
         FIG. 8  illustrates the spherical assembly of  FIG. 7  that includes an additional outer surface in accordance with some embodiments of the present disclosure; 
         FIG. 9  illustrates a motion detector that can be used with the spherical assembly of  FIG. 6  in accordance with some embodiments of the present disclosure; and 
         FIGS. 10A and 10B  illustrate a weight configuration that may be used with the spherical assemblies of  FIGS. 2A-2C ,  FIG. 6 , or  FIG. 7  in accordance with some embodiments of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     While the present disclosure is susceptible to various modifications and alternative forms, specific embodiments have been shown by way of example in the drawings and will be described in detail herein. The objectives and advantages of the claimed subject matter will become more apparent from the following detailed description of the preferred embodiments thereof in connection with the accompanying drawings. It should be understood, however, that the present disclosure is not intended to be limited to the particular forms disclosed. Rather, the present disclosure is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the disclosure as defined by the appended claims. 
       FIG. 1  illustrates a sphere  100  of uniform density  102  with three dimensions as identified by plane- 1   104 , plane- 2   106 , and plane- 3   108 . For example, plane- 1   104  may represent a plane along an x direction, plane- 3   108  may represent a plane along the y direction, and plane- 2   106  may represent a plane along the z direction in an x,y,z coordinate system. The geometrical center of sphere  102  is identified by point- 1   110 . When placed on a surface, the sphere  102  will have a single point of contact, namely, at point- 2   112 . If gravity is the only force applied to the sphere  102 , it will stand still in a steady state of equilibrium. Because sphere  102  is of uniform density, its center of gravity appears along a vertical line intersecting point- 2   112  and point- 1   110 . 
     If, however, a weight is embedded into sphere  102 , sphere  102  will no longer be of uniform density. As a result, its center of gravity will shift and can lie outside the vertical line intersecting point- 2   112  and point- 1   110 . For example, the center of gravity may shift to a vertical line intersecting plane- 1   104  and point- 3   114 . As a result (assuming no other forces), sphere  102  will rotate (e.g., roll) along plane  1   104  towards the direction of point- 3   114 . Sphere  102  will continue rotating until a new steady state of equilibrium is established. Specifically, when the sphere  102  has stopped rotating, its center of gravity identified by point- 3   114  will be along a vertical line with sphere&#39;s  102  new point of contact along plane- 1   104 . 
       FIGS. 2A-2C  illustrates a spherical assembly  200  as it rolls along a plane  295  in three views, namely a side view in  FIG. 2A , a top view in  FIG. 2B , and a schematic view in  FIG. 2C . The spherical assembly  200  includes spherical encasing  256 , first motor  248 , second motor  250 , first weight  252 , and second weight  254 . The first motor  248  is connected to first weight  252  and the spherical encasing  256 . Likewise, second motor  250  is connected to second weight  254  and spherical encasing  256 . The side view in  FIG. 2A  shows spherical assembly  200  from a side as it rotates along plane  295 . The top view in  FIG. 2B  views the same spherical assembly  200  as it rotates along plane  295 , but from a top view. The schematic view in  FIG. 2C  also shows the same spherical assembly  200  as it rotates along plane  295 , but with an angle at each position that shows a face (e.g., planar side) of the weights. 
     It is noted that, as with respect to  FIGS. 2A-2C, and 3-5 , it is assumed that the only forces acting on spherical assembly  200  include gravity acting on the weights  252 ,  254 , and a frictional force in the direction of travel at the spherical assembly&#39;s  200  contact point with the plane  295  (e.g., spherical assembly is rolling on the plane  295  in a vacuum). Assuming a constant rotational speed of spherical assembly  200 , the three views of  FIGS. 2A-2C  show spherical assembly  200  as it rotates along plane  295  at each point after one-eighth of a rotation. For example, in the side view of  FIG. 2A , position  202  is the beginning of a full rotation of spherical assembly  200  (and similarly at position  218  of the top view in  FIG. 2B  and position  234  of the schematic view in  FIG. 2C ). Position  204  shows spherical assembly  200  after one-eighth of a rotation (and similarly at position  220  of the top view in  FIG. 2B  and position  236  of the schematic view in  FIG. 2C ); position  206  shows spherical assembly  200  after two-eighths of a rotation (and similarly at position  222  of the top view in  FIG. 2B  and position  238  of the schematic view in  FIG. 2C ); position  208  shows spherical assembly  200  after three-eighths of a rotation (and similarly at position  224  of the top view in  FIG. 2B  and position  240  of the schematic view in  FIG. 2C ); position  210  shows spherical assembly  200  after four-eighths of a rotation (and similarly at position  226  of the top view in  FIG. 2B  and position  242  of the schematic view in  FIG. 2C ); position  212  shows spherical assembly  200  after five-eighths of a rotation (and similarly at position  228  of the top view in  FIG. 2B  and position  244  of the schematic view in  FIG. 2C ); position  214  shows spherical assembly  200  after six-eighths of a rotation (and similarly at position  230  of the top view in  FIG. 2B  and position  246  of the schematic view in  FIG. 2C ); and position  216  shows spherical assembly  200  after seven-eighths of a rotation (and similarly at position  232  of the top view in  FIG. 2B  and position  247  of the schematic view in  FIG. 2C ). The top view of  FIG. 2B  shows the same positions of the spherical assembly as it rotates as the side view of  FIG. 2A , but from an angle from above. The schematic view of  FIG. 2C  shows a view as if looking at an angle perpendicular to the plane of the weights at each position. 
     In addition, in  FIGS. 2A-2C, and 3-5 , weights  252 ,  254  are shaped as half of a circle, with each in a separate half of spherical assembly  200 . It is to be appreciated, however, that the weights can be in other shapes as well. For example, the weights can be shaped as less than a half circle, as squares, as spheres, discs, spherical wedges, as less than one quarter spheres, or in any other shape. 
     In this example, motors  248 ,  250  rotate weights  252 ,  254 , respectively, at the rotational speed of the spherical assembly. For example, weights  252  and  254  complete one full rotation within spherical assembly  200  at the same time that spherical assembly  200  itself completes one full rotation. Furthermore, in this example, the motors  248 ,  250  rotate the weights  252 ,  254  in opposite directions. At position  202  in the side view of  FIG. 2A  (and similarly at position  218  of the top view in  FIG. 2B  and position  234  of the schematic view in  FIG. 2C ), the weights provide the largest moment of a gravitational force to a point along a center axial line of the spherical assembly  200 . At this position, the weights  252 ,  254  coincide in a forward half (i.e., the half closest to the direction of travel) of spherical assembly  200 . This is because, at this point in the rotation, the weights  252 ,  254  are aligned along a center horizontal axis of the spherical assembly  200  and are furthest from the center axial line of the spherical assembly  200 . 
     As the sphere rotates, motors  248 ,  250  rotate weights  252 ,  254  at the same rotational speed as the rotational speed of spherical assembly  200 . As such, after one half of a rotation of spherical assembly  200 , identified by position  210  in the side view (and similarly by position  226  of the top view and position  242  of the schematic view), the weights  252 ,  254  will again coincide in the front half of spherical assembly  200 , but this time weight  254  appears on top of weight  252 . Again, however, the weights  252 ,  254  are aligned along a center horizontal axis of the spherical assembly  200 . As such, they provide the largest moment of a gravitational force to a point along a center axial line of the spherical assembly  200 . In other words, the gravitational force acting on weights  252 ,  254  provides a moment to spherical assembly  200  in its direction of travel. As such, spherical assembly  200  will continue to rotate in the same direction. As mentioned above, the three different views show the positions of the weights at one-eight rotational increments as the spherical assembly rotates along the plane  295 . 
     The direction of travel of the spherical assembly  200  can be controlled by rotating weights  252 ,  254  at a rotational speed that is greater than, or less than, the rotational speed of spherical assembly  200 . For example,  FIGS. 3A-3C  illustrates the spherical assembly  200  of  FIGS. 2A-2C  as it rolls along a plane  295  again in three views (i.e., a side view in  FIG. 3A , a top view in  FIG. 3B , and a schematic view in  FIG. 3C ). In this example, however, motors  248 ,  250  rotate weights  252 ,  254 , respectively, at double the rotational speed of the spherical assembly. As with  FIG. 2 , the three different views in this example also show the positions of the weights at one-eight rotational increments as the spherical assembly rotates along the plane  295 . Position  302  in the side view of  FIG. 3A  corresponds to position  318  in the top view of  FIG. 3B  and to position  334  in the schematic view of  FIG. 3C . Similarly, position  304  in the side view of  FIG. 3A  corresponds to position  320  in the top view of  FIG. 3B  and to position  336  in the schematic view of  FIG. 3C  position  306  in the side view of  FIG. 3A  corresponds to position  322  in the top view of  FIG. 3B  and to position  338  in the schematic view of  FIG. 3C ; position  308  in the side view of  FIG. 3A  corresponds to position  324  in the top view of  FIG. 3B  and to position  340  in the schematic view of  FIG. 3C ; position  310  in the side view of  FIG. 3A  corresponds to position  326  in the top view of  FIG. 3B  and to position  342  in the schematic view of  FIG. 3C ; position  312  in the side view of  FIG. 3A  corresponds to position  328  in the top view of  FIG. 3B  and to position  344  in the schematic view of  FIG. 3C ; position  314  in the side view of  FIG. 3A  corresponds to position  330  in the top view of  FIG. 3B  and to position  346  in the schematic view of  FIG. 3C ; and position  316  in the side view of  FIG. 3A  corresponds to position  332  in the top view of  FIG. 3B  and to position  348  in the schematic view of  FIG. 3C . At position  302  in the side view of  FIG. 3A  (and similarly at position  318  in the top view of  FIG. 3B  and position  334  in the schematic view of  FIG. 3C ), weights  252 ,  254  provide the largest moment of a gravitational force to a point along a center axial line of the spherical assembly  200 . 
     Because the weights  252 ,  254  rotate at double the rotational rate of the spherical assembly  200 , after a full rotation of spherical assembly  200 , the weights will make two full rotations within spherical assembly  200 . For example, after one half of a rotation of spherical assembly  200 , identified by position  310  in the side view of  FIG. 3A  (and similarly by position  326  of the top view in  FIG. 3B  and position  342  of the schematic view in  FIG. 3C ), the weights  252 ,  254  have completed a full rotation. Weight  254  appears on top of weight  252  because the spherical assembly has completed only a half of a rotation. At this position, the weights provide a moment of the gravitation force to a point along the center axial line of spherical assembly  200  as against the rotational direction of spherical assembly  200 . For example, in this position the weights would act to slow down or stop the rotation of spherical assembly  200 . 
       FIGS. 4A-4C  illustrates the spherical assembly  200  of  FIGS. 2A-2C  as it rolls along a plane  295  again in three views (i.e., a side view in  FIG. 4A , a top view in  FIG. 4B , and a schematic view in  FIG. 4C ). In this example, however, motors  248 ,  250  rotate weights  252 ,  254 , respectively, at triple the rotational speed of the spherical assembly. As with  FIGS. 2A-2C , the three different views in this example also show the positions of the weights at one-eight rotational increments as the spherical assembly rotates along the plane  295 . Position  402  in the side view of  FIG. 4A  corresponds to position  418  in the top view of  FIG. 4B  and to position  434  in the schematic view of  FIG. 4C . Similarly, position  404  in the side view of  FIG. 4A  corresponds to position  420  in the top view of  FIG. 4B  and to position  436  in the schematic view of  FIG. 4C ; position  406  in the side view of  FIG. 4A  corresponds to position  422  in the top view of  FIG. 4B  and to position  438  in the schematic view of  FIG. 4C ; and position  408  in the side view of  FIG. 4A  corresponds to position  424  in the top view of  FIG. 4B  and to position  440  in the schematic view of  FIG. 4C . At position  402  in the side view of  FIG. 4A  (and similarly at position  418  in the top view of  FIG. 4B  and position  434  in the schematic view of  FIG. 4C ), weights  252 ,  254  provide the largest moment of a gravitational force to a point along a center axial line of the spherical assembly  200 . 
     Because the weights  252 ,  254  rotate at triple the rotational rate of the spherical assembly  200 , after a full rotation of spherical assembly  200 , the weights will make three full rotations within spherical assembly  200 . However, because the weights are being rotated at triple the rotational rate of the spherical assembly  200 , the rotation of the weights  252 ,  254  will cause the spherical assembly to slow down. For example, after one eighth and before two eighth of a rotation of spherical assembly  200 , identified by positions  404  &amp;  406  in the side view in  FIG. 4A  (and similarly by positions  420  &amp;  422  of the top view in  FIG. 4B  and positions  436  &amp;  438  of the schematic view in  FIG. 4C ), the weights  252 ,  254  will fully coincide (e.g., be aligned) in the back half (e.g., in relation to spherical assembly&#39;s  200  direction of travel) of the rotating spherical assembly  200  and will cause spherical assembly  200  to slow down. Eventually, spherical assembly will reverse its direction. 
       FIGS. 5A-5C  illustrates the spherical assembly  200  of  FIGS. 2A-2C  as it rolls along a plane  295  again in three views (i.e., a side view in  FIG. 5A , a top view in  FIG. 5B , and a schematic view in  FIG. 5C ). In this example, however, motors  248 ,  250  rotate weights  252 ,  254 , respectively, at half of the rotational speed of the spherical assembly. As with  FIGS. 2A-2C , the three different views in this example also show the positions of the weights at one-eight rotational increments as the spherical assembly rotates along the plane  295 . Position  502  in the side view of  FIG. 5A  corresponds to position  518  in the top view of  FIG. 5B  and to position  534  in the schematic view of  FIG. 5C . Similarly, position  504  in the side view of  FIG. 5A  corresponds to position  520  in the top view of  FIG. 5B  and to position  536  in the schematic view of  FIG. 5C ; position  506  in the side view of  FIG. 5A  corresponds to position  522  in the top view of  FIG. 5B  and to position  538  in the schematic view of  FIG. 5C ; position  508  in the side view of  FIG. 5A  corresponds to position  524  in the top view of  FIG. 5B  and to position  540  in the schematic view of  FIG. 5C ; position  510  in the side view of  FIG. 5A  corresponds to position  526  in the top view of  FIG. 5B  and to position  542  in the schematic view of  FIG. 5C ; position  512  in the side view of  FIG. 5A  corresponds to position  528  in the top view of  FIG. 5B  and to position  544  in the schematic view of  FIG. 5C ; position  514  in the side view of  FIG. 5A  corresponds to position  530  in the top view of  FIG. 5B  and to position  546  in the schematic view of  FIG. 5C ; and position  516  in the side view of  FIG. 5A  corresponds to position  532  in the top view of  FIG. 5B  and to position  548  in the schematic view of  FIG. 5C . At position  502  in the side view of  FIG. 5A  (and similarly at position  518  in the top view of  FIG. 5B  and position  534  in the schematic view of  FIG. 5C ), weights  252 ,  254  provide the largest moment of a gravitational force to a point along a center axial line of the spherical assembly  200 . 
     Because the weights  252 ,  254  rotate at half of the rotational rate of the spherical assembly  200 , after a full rotation of spherical assembly  200 , the weights will make one half of a full rotation within spherical assembly  200 . For example, after one quarter of a rotation of spherical assembly  200 , identified by position  508  in the side view of  FIG. 5A  (and similarly by position  524  of the top view of  FIG. 5B  and position  540  of the schematic view of  FIG. 5C ), the weights  252 ,  254  have completed a eighth of a rotation. At that position, each weight&#39;s center of gravity starts to move into the back half of the spherical assembly  200  creating a moment that opposes its travel direction thus cause spherical assembly  200  to slow down. 
       FIG. 6  illustrates a spherical assembly system  600  that includes a spherical well (e.g., fender)  650  and a spherical assembly  601 . Spherical well  650  can surround at least half of spherical assembly  601 . Spherical assembly  601  includes an outer spherical assembly  622 , which can contact a surface, such as the ground, and an inner spherical assembly  652 . Outer spherical assembly  622  includes magnetic windings  606 . In this example, spherical well  650  includes one or more magnetic windings  602 . Magnetic windings  602  and  606  can be, for example, windings of a radial magnetic core. In some examples magnetic windings  602  are the same polarity of magnetic windings  606  of outer spherical assembly  622 . In this manner, because the windings would repel each other, a magnetic force is applied to the spherical well  650 . In some examples, all (e.g., 4) spherical wells of a vehicle include magnetic windings  602 . The magnetic windings  602  and magnetic windings  606  are configured to provide a magnetic force to a vehicle such that it supports some of the vehicle&#39;s weight. In some examples, all of the vehicle&#39;s weight is supported via magnetic force (e.g., magnetic levitation). 
     In some examples, spherical well  650  includes one or more brakes  631  to slow down or stop rotation of the outer spherical assembly  622 . The brakes  631  can aid in slowing down or stopping the rotation of spherical assembly  601 . In addition, brakes  630  can be located between the inner spherical assembly  652  and the outer spherical assembly  622 . The brakes  630 ,  631  may be of any suitable type, such as mechanical brakes that are electronically controlled (e.g., electromechanical brakes). 
     In some examples, inner spherical enclosure  652  also contains chargeable electric batteries and controllers. Outer spherical assembly  622  can contain radial magnetic core and windings  606  homogeneously covering some or all of its outside surface. Outer spherical assembly  622  can also contains chargeable electric batteries and controllers (not shown). The controllers may also be connected to one or more motion detectors  634 . The motion detectors  634  can be any suitable type, such as one that can indicate absolute and relative rotational speeds. 
     In some examples, a controller (not shown) can activate the spherical assembly  601  by causing motors  612 ,  614  to start rotating their associated weights  618 ,  620 , respectively, at a preset low speed. The controller can also control and modulate the brakes  631 , as well as brakes  630  between the inner spherical assembly  652  and the outer spherical assembly  622  to adjust the inner assembly rotating speed and match the preset low speed of weights  618 ,  620  detected via motion detectors  634 . Upon receiving, for example, a wireless signal from an operator of a desired direction of travel, the controller can create momentary differences in the weights&#39;  618 ,  620  rotational speeds. The amount and duration of the change in speeds can be based on a desired direction of travel. The same polarity magnetic windings  602 ,  606  in both of the outer spherical assembly  622  and the spherical well  650  can be activated by the controller to produce a magnetic levitational force to the spherical well  650 . The controller can also release the breaks  630  between them so that the spherical assembly  601  is free to move in the desired direction. 
     In some examples, upon wireless input signals from the operator, the controller is operable to control the spherical assembly&#39;s  601  speed and direction. The weights  618 ,  620  can be rotated (e.g., in opposite directions) by the controller automatically so as to change the arm length of the moment exerted by the gravitational force acting on the weights  618 ,  620 . The controller can also be operable to modulate the resistance exerted by the breaks  630 . For steady state travel (e.g., to maintain a particular rotational speed of the outer spherical assembly  622 , which can contact the ground), the spherical assembly&#39;s  601  controller can automatically and continuously maintain the weights&#39;  618 ,  620  rotating speeds to be the same as that of the rotating speed of the inner spherical assembly  652 . 
       FIG. 7  illustrates a spherical assembly system  700  that includes a spherical well  650 , and a spherical assembly  701 . The spherical assembly  701  includes a spherical inner assembly  704  and a spherical outer assembly  702 . Spherical inner assembly  704  houses motor  714  and weight  720  in a first (e.g., upper) portion, and motor  712  and weight  718  in a second (e.g., lower) portion. Each of the first and second portions of spherical inner assembly  704  can be hermetic chambers, for example. Motors  712 ,  714  can be variable speed direct current (DC) motors, such as variable reversible speed DC motors, or any other suitable motors. Weight  720  includes portions of radial magnetic core  740  and portions of current carrying conductor  724 . Weight  718  includes portions of radial magnetic core  742  and portions of current carrying conductor  722 . In this example, the weights  718  and  720  are in the shape of a quarter of a hollow sphere, where the respective hollow spheres allow for placement of the radial magnetic cores  740 ,  742  and current carrying conductors  724 ,  722 . 
     Spherical assembly  701  can also include a friction reducer configured to minimize friction between the spherical inner assembly  704  and the spherical outer assembly  702 . In this example, the friction reducer includes ball bearings  710 . The ball bearings  710  may be held in place by a wire mesh or other suitable material. The friction reducer can also include a flow path of oil such that the ball bearings  710  reside in the flow path of oil. The oil can serve as a lubricant as well as a cooling mechanism. Spherical assembly  701  can also include a friction reducer  770  configured to minimize friction between the spherical inner assembly  704  and radial magnetic windings  716 . 
     Spherical inner assembly  704  can also encase radial magnetic windings  716  in each of the first portion and the second portion. Similarly, spherical outer assembly  702  may encase radial magnetic windings  706 . These magnetic windings can be, for example, windings of a radial magnetic core. The magnetic windings  706 ,  716  may be of opposite polarities, thereby creating magnetic fields across the current carrying conductors  722  and  724  embedded within weights  718  and  722 . 
     One or both of the portions of spherical inner assembly  704  can also include one or more controllers (not shown) that are operatively coupled to one or both of motors  712 ,  714 . The controller can be, for example, a processor, a microprocessor, or a microcontroller. The controller may also be implemented as part of or in a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), digital circuitry, or any suitable circuitry. The controller can be configured to cause the motors  712 ,  714  to rotate weights  718 ,  720 , respectively. The controller can be housed in a respective half of a center region  708  of spherical inner assembly  704 . In some examples, the controller is attached to, or is embedded within, a weight  720 ,  718 . 
     One or both of the first and second portions of center region  708  can house batteries (not shown) to power the center magnetic windings  716 , each of the motors  712 ,  714  and/or the controller. The batteries can be, for example, rechargeable batteries such as wirelessly charged batteries, traditional batteries, gel type batteries, or any other suitable batteries. The batteries can optionally be housed in a respective half of a center region  708  of spherical assembly  701 . In some examples, the batteries can be attached to, or be embedded within, one or more weights  720 ,  718 . 
     The controller can be operatively connected to the current carrying conductors  722 ,  724 , and can be configured to control an amount, timing, and direction of currents through the current carrying conductors  722 ,  724 . In some examples, the controller causes the motors  712 ,  714  to rotate weights  718 ,  720 , respectively, in opposite directions, and causes a current to go through current carrying conductors  722 ,  724 . As the weights  718 ,  720  rotate through the magnetic fields provided by radial magnetic windings  706 ,  716 , a magnetic force is applied to the weights  718 ,  722  due to the current going through the current carrying conductors  722 ,  724 . The magnetic force applied to the weights  718 ,  722  can act with, or against, the gravitational force acting on weights  718 ,  722 . For example, the controller may cause current to go through the current carrying conductors  722 ,  724  is one direction such that the magnetic force is in a same direction as the gravitation force acting on the weights  718 ,  722 . As such, the magnetic force will tend to increase the speed of the spherical inner assembly  704 . Similarly, the controller may cause current to go through the current carrying conductors  722 ,  724  is another direction such that the magnetic force is in an opposite direction as the gravitation force acting on the weights  718 ,  722 . In this example, the magnetic force will tend to decrease the speed of the spherical inner assembly  704 . 
     For example, to increase a rotational speed of spherical inner assembly  704 , the controller may cause an increase to currents flowing through current carrying conductors  722 ,  724  when weights  718 ,  720  coincide in a forward half of spherical assembly  701 . To reduce the rotational speed of spherical inner assembly  704 , the controller may cause an increase to currents flowing through current carrying conductors  722 ,  724  when weights  718 ,  720  coincide in a backward half of spherical assembly  701 . To reduce the rotational speed of spherical inner assembly  704 , the controller may instead cause a decrease to (e.g., completely eliminate) currents flowing through current carrying conductors  722 ,  724  when weights  718 ,  720  coincide in a forward half of spherical assembly  701 . 
     In some examples, rather than causing a current to flow through the current carrying conductors  722 ,  724 , the controller directs current generated in the current carrying conductors  722 ,  784  to charge batteries, such as batteries power the center magnetic windings  716 , each of the motors  712 ,  714  and/or the controller. For example, as the weights  718 ,  720  rotate through the magnetic flux created by the radial magnetic windings  706 ,  716 , a current is generated in the current carrying conductors  722 ,  724 . This current can be directed by the controller (via an electrical switch, for example) to charge one or more batteries. 
     The controller may also be connected to one or more brakes  728 ,  730 ,  732 . The controller can control and modulate the brakes  728 ,  730  between spherical inner assembly  704  and the spherical outer assembly  702  to adjust the spherical inner assembly  704  rotating speed. The brakes  732  are located between spherical well  650  and the spherical outer assembly  702 . 
     The controller may also be connected to one or more motion detectors (not shown). The motion detectors can be any suitable, such as one that can indicate absolute or relative rotational speeds. In some examples, the controller is configured to cause a current through the current carrying conductors  722 ,  724  based on the rotational speed of the spherical inner assembly  704 . For example, the controller can detect the rotational speed of the spherical inner assembly  704  via one or more of the motion detectors. Based on the detected rotational speed, the controller may increase, or decrease, the currents flowing through the current carrying conductors  722 ,  724 . 
       FIG. 8  illustrates the spherical assembly of  FIG. 7  including an outer surface  804 . The outer surface  804  encases (e.g., surrounds) spherical assembly  701 . The outer surface  804  includes air cooling fins  802  to allow for heat dissipation. For example, the air cooling fins may provide cooling to the friction reducer of  FIG. 7 . In some examples, the air cooling fins may be covered with a perforated cover. For example, a perforated sheet metal cover with an outside rubber layer may cover the air cooling fins. The outside rubber layer provides a high coefficient of friction when in contact with a roadway, thereby reducing slippage. In some examples, outer surface encases the spherical assembly  601  of  FIG. 6 . 
       FIG. 9  shows an example of motion detector  900 . For example, motion detector  900  can be employed as motion detectors  634  of  FIG. 6 , or as a motion detector in  FIG. 7 . In this example, motion detector  900  is in a hexagon shape and includes a magnetic core and windings  902 . The motion detector may be coded for monitoring rotating speeds. For example, motion detector  728 ,  730  can be configured to detect the rotational speed of the spherical inner assembly  704 . 
       FIGS. 10A and 10B  show a weight configuration that may be employed, for example, in spherical assembly  601 . In the figures, spherical assembly  601  includes weights  1006 ,  1002 . Each weight  1006 ,  1002  includes a planar surface that forms a same angle (e.g., an angle greater than 0 degrees) with respect to the center axial line  1050  of spherical assembly  601 . In other words, the weights  1006 ,  1008  include tilted and mirrored planes with respect to the center axial line  1050  of spherical assembly  601 . To initiate rotation (e.g., rolling) of spherical assembly  601  along the surface, one or both of weights  1006 ,  1008  may be rotated such that one or both of the weights, due to gravity, provide a moment to the spherical assembly  601  in a desired direction of travel. 
     For example, in  FIG. 10A , assume spherical assembly  601  is at rest, with weight  1002  in the position shown, and weight  1006  at the position  1004 . Weight  1002  would have a center of gravity  1008  with a distance from center axial line  1050 , and weight  1006  would have a center of gravity (not shown) located at the same distance from center axial line  1050  (assuming weights  1002 ,  1006  have same shape and density). At this position, the moment of a gravitational force on weight  1002  with respect to the center axial line  1050  is the same as the moment of a gravitational force on weight  1006  with respect to the same center axial line  1050 . Because the moments are in opposite directions (e.g., moment caused by weight  1002  is in counter-clockwise direction while moment caused by weight  1006  is in clockwise direction), spherical assembly  601  does not rotate. 
     If either weight  1002  or  1006  is rotated, however, the moments acting on spherical assembly  601  change. For example, if weight  1006  is rotated to be at position  1040  as indicated by arrow  1052 , the moment of a gravitational force on weight  1002  with respect to center axial line  1050  would be greater than the moment of a gravitational force on weight  1006  with respect to the same center axial line  1050 . This is because the center of gravity  1010  of weight  1040  would be at a lesser distance from center axial line  1050  than the center of gravity  1008  of weight  1002  is from the same center axial line  1050 . As such, spherical assembly  601  would tend to rotate in the direction identified by arrows  1012  (e.g., counter-clockwise). In this manner, the rotation of spherical assembly  601  may be initiated. 
     Similarly, in  FIG. 10B , assume spherical assembly  601  is at rest, with weight  1002  in the position shown, and weight  1006  at the position  1024 . Weight  1002  would have a center of gravity  1028  with a distance from center axial line  1050 , and weight  1006  would have a center of gravity  1030  located at the same distance from center axial line  1050  (assuming weights  1002 ,  1006  have same shape and density). Note, however, that these initial distances are less than the initial distances in  FIG. 10A . At this position, the moment of a gravitational force on weight  1002  with respect to the center axial line  1050  is the same as the moment of a gravitational force on weight  1006  with respect to the same center axial line  1050 . Because the moments are in opposite directions (e.g., moment caused by weight  1002  is in counter-clockwise direction while moment caused by weight  1006  is in clockwise direction), spherical assembly  601  does not rotate. 
     If either weight  1002  or  1006  is rotated, however, the moments acting on spherical assembly  601  change. For example, if weight  1006  is rotated to be at position  1042  as indicated by arrow  1054 , the moment of a gravitational force on weight  1002  with respect to center axial line  1050  would be less than the moment of a gravitational force on weight  1006  with respect to the same center axial line  1050 . This is because the center of gravity  1028  of weight  1008  would be at a lesser distance from center axial line  1050  than the center of gravity  1020  of weight  1002  is from the same center axial line  1050 . As such, spherical assembly  601  would tend to rotate in the direction identified by arrows  1032  (e.g., clockwise). In this manner, the rotation of spherical assembly  601  may also be initiated. 
     In some examples, a controller, such as the controller described with respect to  FIG. 7 , causes a motor, such as motor  712 ,  714 , to rotate at least one of weights  1002 ,  1006  to initiate rotations of spherical assembly  601 . 
     Among other advantages, the apparatus and methods can provide for propulsion without the need for a combustion engine or a gearbox. In addition, the apparatus can inherently change its direction of travel to any direction without requiring a large turning radius. The apparatus and methods may provide for propulsion of any suitable vehicle, such as a land or amphibious vehicle. For example, the apparatus and methods may improve road traction control and reduce road slippage. The apparatus and methods may also reduce vehicle stop distance. In addition, the apparatus may require less components over traditional combustion engines, and can provide cost benefits as well. Other advantages of these disclosures will be readily apparent to one skilled in the art to whom the disclosures are provided from a perusal of the claims, the appended drawings, and the following detail description of the embodiments. 
     While preferred embodiments of the present subject matter have been described, it is to be understood that the embodiments described are illustrative only and that the scope of the subject matter is to be defined solely by the appended claims when accorded a full range of equivalence, and the many variations and modifications naturally occurring to those of skill in the art from a perusal hereof.