Patent Publication Number: US-11040288-B2

Title: Multi-degree of freedom elevator ride system

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to and the benefit of U.S. Provisional Patent Application No. 62/773,005, entitled “Multi-Degree of Freedom Elevator Ride System,” filed Nov. 29, 2018, which is hereby incorporated by reference in its entirety for all purposes. 
    
    
     BACKGROUND 
     The present disclosure relates generally to amusement park-style rides, and more specifically to systems for controlling motion of a ride vehicle of the amusement park-style rides via a multi-degree-of-freedom (DOF) elevator ride system. 
     Generally, amusement park-style rides include ride vehicles that carry passengers along a ride path, for example, defined by a track. Over the course of the ride, the ride path may include a number of features, including tunnels, turns, ups, downs, loops, and so forth. The direction of travel of the ride vehicle may be defined by the ride path, as rollers of the ride vehicle may contact the tracks or other features defining the ride path. In this manner, traditional amusement park-style rides employing only tracks to define the ride path may limit the overall thrill and excitement experienced by passengers. Furthermore, controlling vertical motion (e.g., motion having a component oriented substantially parallel to the gravity vector) of the ride vehicle may be unfeasible for these amusement park-style rides employing only tracks. For instance, vertical motion of the ride vehicle may subject the tracks and components of the ride vehicle in contact with these tracks to undesirable conditions, such as unwanted loads, while performing this vertical motion. Accordingly, while it may be desirable to control vertical motion of a ride vehicle in such a manner that the ride experience is enhanced, in certain existing motion-based amusement park-style rides control of this vertical motion may be unfeasible and not thrilling, the improvement of which may be difficult to coordinate and implement in practice. 
     BRIEF DESCRIPTION 
     Certain embodiments commensurate in scope with the originally claimed subject matter are summarized below. These embodiments are not intended to limit the scope of the claimed subject matter, but rather these embodiments are intended only to provide a brief summary of possible forms of the subject matter. Indeed, the subject matter may encompass a variety of forms that may be similar to or different from the embodiments set forth below. 
     In an embodiment, a ride system to control ride vehicle motion includes a carriage that receives and secures a ride vehicle. The ride system also includes a plurality of pulley systems drivingly coupled to the carriage. Each pulley system of the plurality of pulley systems include a pulley, a pulley cable engaged with the pulley and attached to a portion of the carriage, and a motor drivingly coupled to the pulley to drive pulley motion and pulley cable motion, and thereby cause the portion of the carriage to displace in accordance with the pulley motion and the pulley cable motion. 
     In another embodiment, a method includes instructing, via a controller, a securing mechanism on a platform assembly to disengage from a carriage to enable a carriage housing a ride vehicle received from a first ride path to freely move relative to the platform assembly. The method further includes actuating, via the controller, a plurality of pulley systems to control carriage motion relative to the platform assembly. Furthermore, the method includes instructing, via the controller, a motor of the platform assembly to vertically transport the platform assembly from a first position coupled to the first ride path to a second position coupled to a second ride path, such that the platform assembly further defines the first ride path while in the first position, and the platform assembly further defines the second ride path while in the second position. The method also includes actuating, via the controller, the plurality of pulley systems to position the carriage on the platform assembly to enable the ride vehicle to travel along the second ride path. 
     In yet another embodiment, a ride system includes a platform assembly that includes a platform base that extends along a ride path, such that the platform base includes one or more alignment pins that mate with corresponding openings on a carriage to removably couple the carriage to the platform base. The carriage houses and secures a ride vehicle. The ride system also includes a pulley cable drivingly coupled to the platform assembly and a motor coupled to the pulley cable. The motor vertically transports the platform assembly from a first position associated with a first ride path to a second position associated with a second ride path by driving pulley cable motion of the pulley cable. The platform assembly further defines the first ride path while in the first position, and the platform assembly further defines the second ride path while in the second position. 
    
    
     
       DRAWINGS 
       These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein: 
         FIG. 1  is a block diagram of an embodiment of various components of an amusement park, in accordance with aspects of the present disclosure; 
         FIG. 2  is a schematic diagram of an embodiment a ride system, in accordance with aspects of the present disclosure; 
         FIG. 3  is a flow diagram of a process for controlling motion of a carriage housing a ride vehicle operating in the ride system of  FIG. 2 , in accordance with aspects of the present disclosure; 
         FIG. 4  is a schematic diagram of an embodiment of a platform assembly configured to support the carriage of  FIG. 3 , in accordance with aspects of the present disclosure; 
         FIG. 5  is a schematic diagram of an embodiment of the platform assembly of  FIG. 4  and an alignment mechanism configured to align the carriage of  FIG. 3  while supported by the platform assembly of  FIG. 4 , in accordance with aspects of the present disclosure; 
         FIG. 6  is a schematic diagram of an embodiment of the carriage of  FIG. 3  supported by the platform assembly of  FIG. 4 , in accordance with aspects of the present disclosure; 
         FIG. 7  is a schematic diagram an embodiment of the carriage of  FIG. 3  receiving and securing the ride vehicle of  FIG. 3 , in accordance with aspects of the present disclosure; 
         FIG. 8  is a schematic diagram an embodiment of a pulley system being actuated to control motion of the carriage of  FIG. 3 , in accordance with aspects of the present disclosure; 
         FIG. 9  is a schematic diagram of an embodiment of the pulley system of  FIG. 8  being actuated to drive the motion of the carriage of  FIG. 3  to the platform assembly of  FIG. 4 , in accordance with aspects of the present disclosure; 
         FIG. 10  is a schematic diagram of an embodiment of the carriage of  FIG. 3  having four pulley systems in an open-loop configuration, in accordance with aspects of the present disclosure; 
         FIG. 11  is a schematic diagram of an embodiment of the carriage of  FIG. 3  having eight pulley systems in an open-loop configuration, in accordance with aspects of the present disclosure; 
         FIG. 12  is a schematic diagram of an embodiment of the carriage of  FIG. 3  having four pulley systems in an closed-loop configuration, in accordance with aspects of the present disclosure; 
         FIG. 13  is a schematic diagram of an embodiment of the four pulley systems of  FIG. 12  driving motion of the carriage of  FIG. 3 , in accordance with aspects of the present disclosure; 
         FIG. 14  is a schematic diagram of an embodiment of the four pulley systems of  FIG. 12  raising the carriage of  FIG. 3 , in accordance with aspects of the present disclosure; 
         FIG. 15  is a schematic diagram of an embodiment of the four pulley systems of  FIG. 12  lowering the carriage of  FIG. 3 , in accordance with aspects of the present disclosure; and 
         FIG. 16  is a schematic diagram of an embodiment of the four pulley systems of  FIG. 12  stabilizing the carriage of  FIG. 3 , in accordance with aspects of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     One or more specific embodiments of the present disclosure will be described below. In an effort to provide a concise description of these embodiments, all features of an actual implementation may not be described in the specification. It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers&#39; specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure. 
     While the following discussion is generally provided in the context of amusement park-style rides that may include a plurality of closed-loop or open-loop pulley systems to drive motion of a carriage which may secure and house a ride vehicle, it should be understood that the embodiments disclosed herein are not limited to such entertainment contexts. Indeed, the provision of examples and explanations in such an entertainment application is to facilitate explanation by providing instances of real-world implementations and applications. As such, it should be appreciated that the embodiments disclosed herein may be useful in other applications, such as transportation systems (e.g., train systems, building and floor connecting systems), elevator systems, and/or other industrial, commercial, and/or recreational human transportation systems, to name a few. 
     With the forgoing in mind, present embodiments include systems and methods for controlling motion of a ride vehicle operating within a ride system. For example, ride systems, such as the above-referenced amusement park-style ride, may include one or more ride vehicles that carry passengers along a ride path, for example, defined by a track. Over the course of the ride, the ride path may include a number of features, including tunnels, turns, ups, downs, loops, and so forth. The direction of travel of the ride vehicle may be defined by the ride path, for example, as rollers of the ride vehicle may be in constant contact with the tracks defining the ride path. It may be desirable to control vertical motion of the ride vehicle along a vertical axis. “Vertical motion,” as used to herein, may refer to motion having a component substantially oriented parallel to the gravity vector. In certain existing approaches in which roller assemblies of a ride vehicle are the sole mechanisms for driving motion of the ride vehicle along the tracks defining the ride path, such that the ride path has a component oriented along the vertical axis, vertical motion may result in unwanted loads experienced by the ride vehicle and/or the rollers assemblies. Furthermore, these existing approaches may result in the passenger always being oriented in the same direction relative to the ride path, which may be unwanted, as more complete control of the position and velocity of the passengers relative to the ride path may be desirable. Furthermore, in these existing approaches, the passenger may be aware that the vertical motion is realized via the ride vehicle continuing to traverse along the ride path, such that the thrill associated with the ride experience is compromised, as the passenger visually anticipates motion of the ride vehicle. 
     In accordance with certain embodiments of systems and methods disclosed herein, the ride experience may be enhanced as vertical motion of the ride vehicle is controlled. By way of example, the mechanisms allowing vertical motion are hidden from the passenger, and unwanted loads on the ride vehicle are reduced and/or eliminated. Aspects of the disclosed embodiments include receiving the ride vehicle from a ride path and securing the ride vehicle onto a carriage removably coupled to a platform assembly, as described in detail below. In an embodiment, the carriage may seamlessly mate with the ride path (e.g., tracks of the ride path) to seamlessly receive and then secure the ride vehicle. Furthermore, after securely housing the ride vehicle, the carriage (which houses the ride vehicle) may detach from the platform, such that the carriage is freely suspended relative to the platform, as discussed in detail below. In an embodiment, the platform may retract, pivot about a point, or execute any suitable motion, for example, so as to not interfere with motion of the carriage. 
     To allow for control over this motion of the carriage, the ride system may include a plurality of pulley systems each including an actuatable motor to drive motion of a corresponding pulley coupled to the ride vehicle to, in turn, collectively drive motion of the carriage. That is, a control system may receive ride system data (e.g., position, velocity, acceleration along or about any of a longitudinal, lateral, and vertical axis for the moveable features of the ride system) and actuate the motors to drive motion of the carriage, as described in detail below. The pulley systems may be open-loop or closed-loop control systems. “Open-loop” pulley systems may refer to pulley systems employing pulley cables having a first end separate from the second end. For example, a first end may couple to the carriage, while a second end may couple to a winch or wall. Furthermore, “closed-loop” pulley systems may refer to pulley systems employing pulley cables having a closed contour. 
     For pulley systems employing closed-loop pulley cables, the carriage may always contact the same points on the closed-loop pulley cables. In this manner, actuating a motor to drive the corresponding closed-loop pulley cable in rotation causes the carriage to be driven in motion, as motion of the carriage may be based on motion of the closed-loop pulley cable. For example, the carriage may be coupled to four pulleys that each pass through the carriage (e.g., an inner surface of the carriage) and include a portion oriented substantially parallel to one another and oriented along the vertical axis. As a result, a control instruction (e.g., control signal) from the control system that actuates the motor to drive the motion of the pulley cables may also control motion of the carriage. 
     To help illustrate,  FIG. 1  is a block diagram of an embodiment of various components of an amusement park  8 , in accordance with aspects of the present disclosure. The amusement park  8  may include a ride system  10 , which includes a ride path  12  that receives and guides a ride vehicle  20 , for example, by engaging with tires or rollers of the ride vehicle  20 , and facilitates movement of the ride vehicle  20  (e.g., through an attraction). In this manner, the ride path  12  may define a trajectory and direction of travel that may include turns, inclines, declines, ups, downs, banks, loops, and the like. In an embodiment, the ride vehicle  20  may be passively driven or actively driven via a pneumatic system, a motor system, a tire drive system, a roller system, fins coupled to an electromagnetic drive system, a catapult system, and the like. 
     The ride path  12  may receive more than one ride vehicle  20 . The ride vehicles  20  may be separate from one another, such that they are independently controlled, or the ride vehicles  20  may be coupled to one another via any suitable linkage, such that motion of the ride vehicles  20  is coupled or linked. For example, the front of one ride vehicle  20  may be coupled to a rear end of another ride vehicle  20 . Each ride vehicle  20  in these and other configurations may hold one or more passengers  22 . In an embodiment, the ride vehicle  20  may include a turntable, a yaw drive system, or any experience-enhancing motion-based platform allowing motion of a cab housing the passenger relative to a chassis of the ride vehicle  20 . 
     The ride system  10  may include a carriage  24  that may receive one or more ride vehicles  20 . In one non-limiting embodiment, the shape of the carriage  24  may substantially match the shape of the ride vehicle  20  to facilitate receiving and securing the ride vehicle  20 . For example, the ride vehicle  20  may have a substantially rectangular prism contour, and the carriage  24  may have a similar substantially rectangular prism contour larger in size to receive and house the ride vehicle  20 . While the shape of the ride vehicle  20  and carriage  24  is discussed as having a substantially rectangular prism contour, it should be understood that the ride vehicle  20  and the carriage  24  may individually be of any other suitable shapes and sizes. 
     The ride vehicle  20  may be driven in motion along the ride path  12  via rollers of a roller system, and the carriage  24  may seamlessly mate with the ride path  12  to receive the rollers. In this manner, the carriage  24  may further define the ride path  12  when mated. The passenger may not feel or experience substantial vertical displacements resulting from the ride vehicle  20  transitioning from the ride path  12  (e.g., tracks defining the ride path  12 ) to the carriage  24 , as the ride rollers may seamlessly transition from the ride path  12  to the carriage  24 . While certain embodiments of the ride path  12  are disclosed as having tracks, it should be understood that the tracks may be omitted, such that the ride path  12  may include a surface on which ride vehicles  20  (e.g., autonomous ride vehicles) may traverse. 
     To facilitate this seamless transition, the carriage  24  may include a stopping device  26  that decelerates the ride vehicle  20  and may include a securing device  28  that secures the ride vehicle  20  to the carriage  24  after the ride vehicle  20  decelerates to a stop. In an embodiment, the securing device  28  may include or also function as the stopping device  26 , such that the securing device  28  is integral with the stopping device  26 . The stopping device  26  may include a dead end stopping pin, a damper, a spring system, a break pad system, and/or any suitable device configured to decelerate the ride vehicle  20  onto a target position on the carriage  24 . The securing device  28  may include a hook, a ratchet system, a redundant locking mechanism, or any suitable device to lock the ride vehicle  20  in place, allowing the ride vehicle  20  to become fixed relative to the carriage  24  at the target position on carriage  24 . As may be appreciated, when the securing device  28  (and the stopping device  26 ) is engaged, the ride vehicle  20  may be fixed relative to the carriage  24 . Alternatively, when the securing device  28  (and the stopping device  26 ) is disengaged, the ride vehicle  20  may freely egress from (or ingress into) the carriage  24 . For example, the ride vehicle  20  may egress from the carriage  24  to continue traveling along the ride path  12 . As discussed in detail below, the ride path to which the ride vehicle  20  egresses to may or may not be the same as the ride path from which the ride vehicle  20  is received from by the carriage  24 . 
     The carriage  24  may be supported by a platform assembly  32  when the carriage  24  receives the ride vehicle  20 . The carriage  24  may be removably coupled to the platform assembly  32 , such that the carriage  24  may decouple from the platform assembly  32  to move relative to the platform assembly  32 , as described in detail below. In an embodiment, the carriage  24  may detach from the platform assembly  32  after verification that the securing device  28  (and/or the stopping device  26 ) is engaged and/or after verification that the ride vehicle  20  is secured to the carriage  24 . Verification of engagement of the securing device  28  and/or the stopping device  26  is described in further detail below. In an embodiment, motion of the carriage  24  may occur in response to verification that the ride vehicle  20  is secured to the carriage  24 . In this manner, the ride vehicle  20  (which is secured and housed by the carriage  24 ) and the carriage  24  may collectively move as a single object (e.g., as a multi-DOF elevator). 
     Motion of the carriage  24  and the ride vehicle  20  may be realized via one or more pulley systems  34 . For example, the pulley systems  34  may each include a motor  36  that may drive motion of a pulley cable  38 . Furthermore, the pulley systems  34  may couple to the carriage  24  in any suitable configuration. In an embodiment, four pulley systems  34  may each include pulley cables  38  positioned parallel to one another and coupled to an inner surface of the carriage  24 , such that the pulley cables  38  may be independently driven by a corresponding motor  36 . While motion of the carriage as discussed in this example is realized via four pulley systems  34 , it should be understood that any suitable number of pulley systems  34 , such as one, two, three, five, ten pulley systems may be employed to control motion of the carriage. The pulley systems  34  may be in any suitable configuration and include open-loop or closed-loop cables. 
     The motors  36  may include any suitable motion-driving device such as a torque motor, a permanent magnetic direct current (DC) motor, an electrically excited motor, any universal alternating current (AC)-DC motor, or any suitable electromechanical actuators (e.g., linear actuators, rotary actuators, or pneumatic actuators). To facilitate control of the motor  36 , the motor  36  may employ a permanent magnet, a servomechanism, and the like. In an embodiment, the motor  36  may include a relay or a contactor connected to one or more sensor assemblies  51  to automatically start or start in response to control instructions. The motor  36  may employ fuses or circuit breakers to attenuate any current received by the motor. The motors  36  may be hidden from the passengers  22 , such that the motion driving mechanisms of the ride system  10  remain undetected by the passengers  22 . 
     The pulley cable  38  may include a cable wire of any suitable characteristics and material. For example, the pulley cable  38  may include a steel cable having redundant features, such as a fiber core and an independent wire core. While the pulley cable  38  may be replaced or enhanced by a chain, employing a pulley cable  38  may result in a variety of benefits. For example, the pulley cable may be more light weight, require less maintenance, and operate more quietly than a chain. 
     The amusement park  8  may include a control system  50  that is communicatively coupled (e.g., via wired or wireless features) to the ride vehicle  20  and the features associated with the ride system  10 . In an embodiment, the amusement park  8  may include more than one control system  50 . For example, the amusement park  8  may include one control system  50  associated with the ride vehicle  20 , another control system  50  associated with the carriage  24  and the pulley system  34 , respectively, a base station control system  50 , and the like. Further, each of the control systems  50  may be communicatively coupled to one another (e.g., via respective transceiver or wired connections). 
     The control system  50  may be communicatively coupled to one or more ride vehicle(s)  20  of the amusement park  8  via any suitable wired and/or wireless connection (e.g., via transceivers). The control system  50  may control various aspects of the ride system  10 , such as the direction of travel of the ride vehicle  20  in some portions of the ride, by controlling the position of the carriage  24  by actuating the motors  36  to drive motion of the pulley cables  38 . The control system  50  may receive data from sensor assemblies  51  associated with the ride system  10  to, for example, control the position and velocity of each of the pulley cables  38 . In an embodiment, the control system  50  may be an electronic controller having electrical circuitry configured to process data associated with the ride system  10 , for example, from the sensor assemblies  51  via transceivers. Furthermore, the control system  50  may be coupled to various components of the amusement park  8  (e.g., park attractions, park controllers, and wireless networks). 
     The control system  50  may include memory circuitry  52  and processing circuitry  54 , such as a microprocessor. The control system  50  may also include one or more storage devices  56  and/or other suitable components. The processing circuitry  54  may be used to execute software, such as software stored on the memory circuitry  52  for controlling the ride vehicle(s)  20  and any components associated with the ride vehicle  20  (e.g., the carriage  24 , the stopping device  26 , the securing device  28 , the platform assembly  32 , and the pulley system  34 ). Moreover, the processing circuitry  54  may include multiple microprocessors, one or more “general-purpose” microprocessors, one or more special-purpose microprocessors, and/or one or more application specific integrated circuits (ASICS), or some combination thereof. For example, the processing circuitry  54  may include one or more reduced instruction set (RISC) processors. 
     The memory circuitry  52  may include a volatile memory, such as random-access memory (RAM), and/or a nonvolatile memory, such as read-only memory (ROM). The memory circuitry  52  may store a variety of information and may be used for various purposes. For example, the memory circuitry  52  may store processor-executable instructions (e.g., firmware or software) for the processing circuitry  54  to execute, such as instructions for controlling components of the ride system  10 . For example, the instructions may cause the processing circuitry  54  to control motion of the carriage  24  by actuating motors  36  to drive motion of the pulley cables  38  to subject the passengers  22  to ride-enhancing motions, while also controlling a turntable or yaw drive system to further enhance the overall ride experience by subjecting the passenger to additional motion. 
     The storage device(s)  56  (e.g., nonvolatile storage) may include ROM, flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The storage device(s)  56  may store ride system data (e.g., passenger information, data associated with the amusement park  8 , data associated with a ride path trajectory), instructions (e.g., software or firmware for controlling the carriage  24 , the platform assembly  32 , the pulley system  34 , and/or the ride vehicle  20 ), and any other suitable information. 
     The ride system  10  may additionally or alternatively include a ride environment  60 , which may include multiple and differing combinations of environments. The ride environment  60  may include the type of ride (e.g., dark ride, water coaster, roller coaster, virtual reality [VR] experience, or any combination thereof) and/or associated characteristics (e.g., theming) of the type of ride. For example, the ride environment  60  may include aspects of the ride system  10  that add to the overall theming and/or experience associated with the ride system  10 . 
     The ride system  10  may additionally or alternatively include a motion-based environment  62 , in which the passengers  22  are transported or moved by the ride system  10 . For example, the motion-based environment  62  may include a flat ride  64  (e.g., a ride that moves passengers  22  substantially within a plane that is generally aligned with the ground, such as by the ride vehicle  20  traveling along the ride path  12  toward the carriage  24 ). Additionally or alternatively, the motion based ride environment  62  may include a gravity ride  66  (e.g., a ride where motion of the passengers  22  has at least a component along the gravity vector, such as the motion generated via the pulley system  34  acting on the carriage  24 ). Additionally or alternatively, the motion based ride environment  62  may include a vertical ride  68  (e.g., a ride that displaces passengers  22  in a vertical plane around a fixed point, such as the motion generated via the pulley system  34  acting on the carriage  24 ). 
     The ride system  10  may additionally or alternatively include a motionless environment  70 , in which the passengers  22  are not substantially transported or displaced by the ride system  10 . For example, the motionless environment  70  may include a virtual reality (V/R) feature  72  (e.g., the passenger  22  may sit in a seat that vibrates or remains stationary while wearing a virtual reality (V/R) headset displaying a VR environment or experience) and/or a different kind of simulation  74 . In an embodiment, the ride vehicle  20  may come to a stop along the ride path  12 , such that the ride experience may include aspects of the motionless ride environment  70  for a portion of the duration of the ride experience. While the motionless environment  70  may not substantially move the passengers  22 , virtual reality and/or simulation effects may modify the perception of the passengers  22 , which may be enhanced and contrasted by motion-based distortion experienced by passengers  22 . To that end, it should be understood the ride system  10  may include both motion-based and motionless ride environments  62  and  70 , which make the carriage  24  and the pulley system  34  desirable features, at least for enhancing the ride experience. 
       FIG. 2  is a schematic diagram of an embodiment of the ride system  10 , in accordance with aspects of the present disclosure. The ride system  10  may include multiple ride vehicles  20  coupled together via a linkage to join passengers  22  riding in corresponding ride vehicles  20  in a common ride experience. In an embodiment, the ride vehicles  20  may be decoupled to one another, and may instead move independently of one another, for example, along respective and/or separate ride paths  12 . In another embodiment, the ride vehicles  20  may move as sets. 
     For example, a first set  20 A of ride vehicles  20  (e.g., three ride vehicles) may move along a first ride path  12 A and a second set  20 B of ride vehicles  20  (e.g., five ride vehicles) may move along a second ride path  12 B. The first ride path  12 A may be on a level positioned higher than the second ride path  12 B. For example, the first ride path  12 A may define a direction of travel for the ride vehicle  20  operating in a level above the second ride path  12 B. The carriage  24  may receive the ride vehicles  20 , individually or as sets (e.g., the first set or second set  20 A,  20 B) to transport the ride vehicle(s)  20  from along the first ride path  12 A to the second ride path  12 B or from any ride path  12  to any other ride path  12 . 
     The control system  50  may instruct the carriage  24  to vertically displace to transport the ride vehicle  20  from the first ride path  12 A on the first level to the second ride path  12 B on the second (e.g., lower) level. Alternatively, the control system  50  may instruct the carriage  24  to vertically displace to transport the ride vehicle  20  from the first ride path  12 A on the first level to the second ride path  12 B on the second (e.g., lower) level and back to the first level, such that the ride vehicle  20  may continue to move along the first ride path  12 A. By employing the embodiments disclosed herein, the control system  50  may displace a carriage  24  in a ride-enhancing manner to, in an embodiment, change a direction of travel (e.g., from along the first ride path  12 A to the second ride path  12 B). The carriage  24  may displace the passengers  22 , while enhancing their ride experience, by subjecting the passenger to the experience-enhancing motion described in detail below. It should be understood that the control system  50  may instruct the ride vehicles  20  to travel along the ride path  12  in any desired manner. 
       FIG. 3  is flow diagram of a process  80  for controlling motion of a carriage  24  ( FIGS. 1, 2 ) housing a ride vehicle  20  ( FIGS. 1, 2 ) operating in the ride system  10  of  FIG. 2 , in accordance with aspects of the present disclosure. The process  80  may be implemented by the ride system  10 . In a non-limiting embodiment, processor-based circuitry of the control system  50  ( FIGS. 1, 2 ) may facilitate implementing the process  80 . With the forgoing in mind, the control system  50  may position (process block  82 ) the ride vehicle  20  on the carriage  24  ( FIGS. 1, 2 ) at a target position on the carriage  24 . The control system  50  may actuate the stopping device  26  ( FIG. 1 ) to cause the ride vehicle  20  to stop on the carriage  24  at the position in which the ride vehicle  20  may engage with the securing device  28  ( FIG. 1 ). For example, the target position may be a position on the carriage  24  at which the securing device  28  may engage with compatible features of the ride vehicle  20  (e.g., female or male connectors). 
     The control system  50  may receive (process block  83 ) ride system data from sensor assemblies  51  associated with the ride system  10  ( FIGS. 1, 2 ) prior to, during, or after controlling motion of the carriage  24 . In this manner, the control system  50  may receive ride system data, such as a position, velocity, and acceleration of the ride vehicle  20 , an engaging state (e.g., engaged or disengaged) of the stopping device  26  and securing device  28 , a position, velocity, or acceleration of the pulley cable  38  and/or motor  36 , an engaging state of the carriage  24  relative to the platform assembly  32 , a position of the platform assembly  32 , and the like, to facilitate control of the features in the ride system  10 . The control instructions sent from the control system  50  to the various features of the amusement park  8  may be based on the ride system data, a subset of the ride system data, and/or any additional data. 
     The control system  50  may secure (process block  84 ) the ride vehicle  20  to the carriage  24  based on the ride system data. After verifying that the ride vehicle  20  is properly positioned on the carriage  24 , the control system  50  may engage the securing device  28  to secure (process block  84 ) the ride vehicle  20  into the carriage  24 . For example, after verifying that the ride vehicle  20  is stopped and positioned on the carriage  24  at the target position, the control system  50  may engage the securing device  28  to secure the ride vehicle to the carriage  24 , such that the ride vehicle  20  becomes fixed to the carriage (e.g., at one or more connection points). The securing device  28  may include a plurality of mechanisms to redundantly secure the ride vehicle  20  to the carriage  24 . For example, the securing device  28  may secure (process block  84 ) the ride vehicle  20  to the floor of the carriage  24 , to the sides of the carriage  24 , to the ceiling of the carriage  24 , or any combination thereof, among any additional suitable location on the carriage  24 . In this manner, motion of the ride vehicle  20  and the carriage  24  may be coordinated, such that the ride vehicle  20  and carriage  24  may operate as a single feature (e.g., a multi-DOF elevator). 
     To control motion of the carriage  24 , the control system  50  may actuate (process block  86 ) the motor  36  corresponding to each pulley system  34 , as described in detail below. Each motor  36  may be communicatively coupled to the control system  50 , such that the control system  50  may control each motor  36  to drive motion of the corresponding pulley cables  38 . In an embodiment, the control system  50  may supply electrical power (e.g., AC or DC current) to drive motion of the corresponding pulley cable  38  to, in turn, drive motion of the carriage  24 . In an embodiment, the carriage  24  may be coupled to the pulley cables  38 , such that when the control system  50  drives motion of the pulley cables  38 , the corresponding portion of the carriage  24  coupled to the pulley cables  38  to displace in a substantially similar manner. For example, for a carriage  24  coupled to four pulley cables  38  at each of four portions of the carriage, the control system  50  may control motion for each of the four portions of the carriage  24  by actuating the motor  36  to drive the pulley cables  38  in motion based on the ride system data. 
     In an embodiment, the carriage  24  may be removably coupled to a platform assembly  32  ( FIG. 1 ), such that the platform assembly  32  may include a securing mechanism that secures the carriage  24  to the platform assembly  32 . In response to the motors  36  actuating, the control system  50  may disengage the securing device on the platform assembly  32  to allow the carriage  24  to move relative to the platform assembly  32 , as described in detail below. 
     After actuating the motor  36  and causing the carriage  24  to execute a thrill-enhancing motion, the control system  50  may stop motion of the carriage  24  and position the carriage  24  on the platform assembly  32  and/or secure the carriage  24  to the platform assembly  32  to allow (process block  88 ) the ride vehicle  20  to exit the carriage  24 . Prior to allowing exit the ride vehicle  20 , the control system  50  may verify that the carriage  24  and the ride path  12  mate in such a manner that the ride vehicle  20  may seamlessly transition from the carriage  24  to the ride path  12 . Additionally or alternatively, the control system  50  may verify that the carriage  24  is secured to the platform assembly  32  before allowing (process block  88 ) the ride vehicle  20  to egress from the carriage  24 . In an embodiment, the ride path  12  from which the ride vehicle  20  may egress onto may not be the same as the ride path  12  from which the ride vehicle  20  may have ingressed from. As such, in an embodiment, the carriage  24  may transport the ride vehicle to another ride path. 
       FIG. 4  is a schematic diagram of an embodiment of the platform assembly  32  configured to support the carriage  24  of  FIG. 3 , in accordance with aspects of the present disclosure. To facilitate discussion, a coordinate system including a longitudinal axis  90 , a lateral axis  92 , and a vertical axis  94  (e.g., oriented parallel to a gravity vector) is illustrated. The platform assembly  32  may include one or more bracket members  95  to support a platform base  96 . The bracket members  95  may be fixed to bar members  97  extending along the width of the platform base  96 . 
     In the illustrated embodiment, the platform base  96  may extend along the longitudinal axis  90  outward from vertical rails  98 . While the carriage  24  is supported by the platform assembly  32 , the carriage  24  may be positioned on the platform base  96 . The platform base  96 , bracket members  95 , and bar members  97  may be manufactured out of any material (e.g., steel alloy, copper, aluminum) configured to support at least the weight of the carriage  24 , the passengers  22  ( FIGS. 1, 2 ), and the one or more ride vehicles  20  housed within the carriage  24 . Furthermore, while the depicted platform base  96  is quadrilateral in shape, the platform base  96  may be of any suitable shape (e.g., circular, triangular, rectangular, octagonal, or round) that may support the carriage and the one or more ride vehicles  20 . 
     The platform assembly  32  may include vertical rails  98  that allow the platform base  96  to transport the platform base  96  along the vertical axis  94 . For example, the platform assembly  32  may include a plurality of rollers  100  that engage with the vertical rails  98  and rotate about the lateral axis  92  to drive vertical motion of the platform base  96 . Motion of the platform base  96  may be realized via a motor  102  communicatively coupled to the control system  50 , such that the motor  102  may receive control instructions to drive vertical motion of the platform base  96 . In an embodiment, the motor  102  may receive control instructions from the control system  50  to control the current or voltage supplied to the vertical rails  98  to drive rotation of the rollers  100  and motion of the platform base  96 . In another embodiment, the motor  102  may receive control instructions from the control system  50  to control a winch  104  that may drive motion a pulley cable  106  coupled to the platform base  96 . The platform assembly  32  may include a counterweight  108  that may reduce the force needed to control the vertical motion of the platform base  96 . While motion of the platform base  96  is discussed as being driven via a motor system using a motor  102 , the platform assembly  32  may include a pneumatic system, a motor system, a tire drive system, fins coupled to an electromagnetic drive system, a catapult system, and the like, to actively or passively drive the platform base  96 . Further, the motor  102  may be integral or incorporated into the winch  104 . 
       FIG. 5  is a schematic diagram of an embodiment of the platform assembly  32  of  FIG. 4  and an alignment mechanism  110  configured to align the carriage  24  of  FIG. 3  while supported by the platform assembly  32  of  FIG. 4 , in accordance with aspects of the present disclosure. The alignment mechanism  110  may include alignment pins  112  on the platform base  96  and openings  114  on the lower surface of the carriage  24 , such that the each of the alignment pins  112  may engage with a corresponding opening  114 . The alignment pins  112  may have a conical contour that extends vertically upward from the platform base  96  along the vertical axis  94 , and the corresponding openings  114  may have a similar contour to engage with the alignment pins  112 . The conical contour of the alignment pins  112  and the openings  114  may mate with one another to facilitate placement of the carriage  24  on the platform assembly  32 . The alignment mechanism  110  may facilitate maintaining contact between the platform base  96  and the carriage  24 , and prevent the carriage  24  from sliding or rotating off the platform assembly  32  (e.g., by rotating about the vertical axis  94 , the longitudinal axis  90 , and the lateral axis  92 ). 
     Furthermore, the platform assembly  32  may include a back stabilizer  116 , which includes a raised surface having a height  118  raised vertically upward from the top of the platform base  96 . The height  118  may be substantially similar in size to a thickness  120  of the base of the carriage  24 . In this manner, the back stabilizer  116  may facilitate transition of the ride vehicle  20  from the ride path  12  to the carriage  24 . For example, in transitioning from the ride path  12  ( FIG. 1, 2 ) to the carriage  24 , the ride vehicle  20  ( FIG. 1, 2 ) may travel from the ride path  12  to the back stabilizer  116  and onto the carriage  24 . It should be appreciated, that in another embodiment, the back stabilizer  116  may be omitted, such that the top thickness  120  is level with the ride path  12  to facilitate seamless transition of the ride vehicle  20 . 
     Although not illustrated, the securing mechanism that secures the carriage  24  to the platform assembly  32  (e.g., to the platform base  96 ) may be positioned on the platform base  96  and be enhanced by the alignment mechanism  110 . In an embodiment, the securing mechanism of the platform assembly  32  may be integral to the alignment mechanism  110 . 
       FIG. 6  is a schematic diagram of an embodiment of the carriage  24  of  FIG. 3  supported by the platform assembly  32  of  FIG. 4 , in accordance with aspects of the present disclosure. The ride system  10  may include a two-level ride that may include the first ride path  12 A which may be positioned on a level higher than the second ride path  12 B. The ride system  10  may include eight pulley systems  34  each communicatively coupled to the control system  50 , such that the control system  50  may control the pulley cables  38  to control motion of the carriage  24 . As illustrated, eight pulley cables  38  may couple to respective edges of the carriage  24 , but it should be understood that any number of pulley cables  38  may couple to any position on the carriage  24 . The pulley cables  38  may be pretensed, such that all eight cables are similar in length. 
     As illustrated, the carriage  24  may remain rigidly fixed to the platform assembly  32  while the carriage  24  receives or awaits to receive and secure one or more of the ride vehicles  20 . For example, the securing mechanism of the platform assembly  32  may rigidly fix the carriage  24  to the platform to restrict motion of the carriage  24  relative the platform assembly  32 . Furthermore, while the carriage  24  receives or awaits to receive and secure the ride vehicle  20 , the platform assembly  32  may remain fixed in place (e.g., in response to certain control instructions, a response from the motor  102 , and/or assistance from the counterweight  108 ) such that vertical motion of the platform assembly  32  is restricted. Alternatively or additionally, the control system  50  may actuate a motor  36  ( FIG. 1 ) corresponding to each pulley system  34  to pull each pulley cable  38  along a corresponding outward direction  122 . In this manner, the load the carriage  24  exerts on the platform assembly  32  may be reduced as the tension in the pulley cables  38  may suspend or partially suspend the carriage  24 . 
       FIG. 7  is a schematic diagram an embodiment of the carriage  24  of  FIG. 3  receiving and securing the ride vehicle  20  of  FIG. 3 , in accordance with aspects of the present disclosure. The ride paths  12  (e.g., the first ride path  12 A and the second ride path  12 B) may remain partially hidden from the passengers  22  ( FIGS. 1, 2 ) by walls  124 . For example, in an embodiment, the motors  36  corresponding to the pulley cables  38  may be hidden behind walls, such that the mechanisms causing motion of the pulley cables  38  remains hidden from the passengers  22 . Additionally, after the ride vehicle  20  exits the ride path  12 , a door may raise from the level or swing shut to further hide the ride path  12  from the passengers  22 . 
     The control system  50  may direct motion of the ride vehicle  20  along the longitudinal direction  90  via the first ride path  12 A and engage the stopping device  26  ( FIG. 1 ) and the securing device  28  ( FIG. 1 ) in response to determining (e.g., via sensor assemblies  51 ) that the ride vehicle  20  is stopped on a target position on the carriage  24  and secured to the carriage  24 . After verifying that the ride vehicle  20  is secured to the carriage  24 , the control system  50  may send control instructions to the platform assembly  32  to disengage the securing mechanism to allow the carriage  24  to be moved via actuation of the pulley systems  34 . For example, the control system  50  may send control instructions to each of the pulley systems  34  to control motion of the carriage  24  (and the secured ride vehicle  20 ), as described in detail below. 
     To help illustrate,  FIG. 8  is a schematic diagram an embodiment of the pulley system  34  being actuated to control motion of the carriage of  FIG. 3 , in accordance with aspects of the present disclosure. The control system  50  may send control instructions to the upper pulley systems (e.g., pulley systems  34 A,  34 B,  34 C,  34 D), such that the corresponding motors  36  of  FIG. 1  (not illustrated) cause the upper pulley cables to exert more force than the lower pulley cables (e.g., pulley cables  38 E,  38 F,  38 G,  38 H) to lift the carriage  24  from the platform assembly  32 . For example, the motors  36  corresponding to the upper pulley cables may cause the upper pulley cables to retract along the outward direction  122  to lift the carriage  24  off the platform assembly  32 . While lifting the carriage  24 , the lower pulley cables may freely extend (move opposite the outward direction  122 ), for example, by freely rotating about a corresponding winch, to facilitate upward motion of the carriage  24 . 
     In an embodiment, the control system  50  may control motion of the carriage  24  by controlling the input (e.g., current input) to the motors  36  that drive motion of the pulley cables  38 . In this manner, the control system  50  may control motion of the carriage  24  by retracting or extending the pulley cables  38  to target positions and/or at target velocities. To enable this control of the pulley cables  38 , the control system  50  may receive ride system data from sensor assemblies  51  ( FIG. 1 ) to control the pulley cables  38  individually or as sets. For example, as illustrated, the leftmost pulley cables (e.g., pulley cables  38 A,  38 B,  38 E,  38 F) may be retracted along the outward direction  122  in response to their corresponding motor  36  causing the leftmost pulley cables to exert a pulling force on the carriage  24 . As may be appreciated, the pulley cables  38  may be controlled to control motion of the carriage  24  along or about the longitudinal axis  90 , the lateral axis  92 , and/or the vertical axis  94 . 
     After the carriage  24  decouples from the platform assembly  32 , the platform base  96  may be lowered to be level with the second ride path  12 B. As described above, the platform base  96  may be lowered, for example, by actuating the motor  102  until the back stabilizer  116  is level with the second ride path  12 B to facilitate ride vehicle egression from the carriage  24 . In another embodiment, absent the back stabilizer  116 , the platform base  96  may be lowered until the base of the carriage  24  is level with the second ride path  12 B to facilitate ride vehicle egression from the carriage  24  onto the second ride path  12 B. 
       FIG. 9  is a schematic diagram of an embodiment of the pulley system  34  of  FIG. 8  being actuated to drive the motion of the carriage  24  of  FIG. 3  to the platform assembly  32  of  FIG. 4 , in accordance with aspects of the present disclosure. The control system  50  may control the pulley systems  34 , such that the control system  50  controls motion of the pulley cables  38  such that the carriage  24  is positioned over the platform assembly  32  and lowered to the platform assembly  32 . After positioning the carriage  24  over the platform assembly  32 , the securing mechanism of the platform assembly  32  may engage to secure the carriage  24  to the platform assembly  32 . After verifying that the carriage  24  is secured to the platform assembly  32 , the control system  50  may instruct the ride vehicle  20  to exit the carriage  24  onto the second ride path  12 B. 
       FIG. 10  is a schematic diagram of an embodiment of the carriage  24  of  FIG. 3  having four pulley systems  34  in an open-loop configuration, in accordance with aspects of the present disclosure. To facilitate discussion, the ride system  10  is illustrated in the embodiments of  FIGS. 10-16  with certain of the aforementioned features omitted. However, it should be understood that the embodiment of  FIGS. 10-16  may include the platform assembly  32 , the walls  124 , and one or more ride paths  12 , such that the carriage  24  may receive the ride vehicle  20  from the first ride path  12 A and/or transport the ride vehicle to the second ride path  12 B (or vice-versa) after executing thrill-enhancing motion, and allow the ride vehicle  20  to continue motion along the first or second ride path, based on instructions from the control system  50 . As mentioned above, the instructions from the control system  50  may be based on ride system data from the sensor assemblies  51  ( FIG. 1 ), for example, used to determine ride system data. 
     Furthermore, in the embodiments of  FIGS. 10 and 11 , the control system  50  may actuate devices in the ride system  10  to cause the ride vehicle  20  to perform five DOF motion; for example, heave motion (e.g., motion along the vertical axis  94 ), pitch motion (e.g., motion about the lateral axis  92 ), roll motion (e.g., motion about the longitudinal axis  90 ), surge motion (e.g., motion along the longitudinal axis  90 ), and sway motion (e.g., motion along the lateral axis  92 ). In the embodiments of  FIGS. 12-16 , the control system  50  may actuate devices in the ride system  10  to cause the ride vehicle  20  to perform three DOF motion; for example, heave motion (e.g., motion along the vertical axis  94 ), pitch motion (e.g., motion about the lateral axis  92 ), and roll motion (e.g., motion about the longitudinal axis  90 ). However, it should be understood that the passengers may experience six DOF motion in response to the control system  50  additionally actuating devices (e.g., turntable, a yaw drive system, or any experience-enhancing motion-based platform) of the ride vehicle  20 . 
     The pulley systems  34  (e.g., pulley systems  34 A,  34 B,  34 C,  34 D) may receive control instructions from the control system  50  to drive a corresponding motor  30  (e.g., motors  30 A,  30 B,  30 C,  30 D) in rotation to retract or extend the corresponding pulley cables  38 . As illustrated, the origins of the pulley cables  38  on the carriage  24  spread outward (e.g., in outward direction  122 ) from the contact points  125  on the carriage  24  to facilitate motion along the longitudinal axis  90 , along the lateral axis  92 , along the vertical axis  94 , about the longitudinal axis  90 , and/or about the lateral axis  92 . 
     To further facilitate this motion, the upper pulley cables (e.g., the pulley cables  38 A,  38 B) and the lower pulley cables (e.g., the pulley cables  38 C,  38 D) may be positioned on respectively opposite corners from one another on the carriage  24 . For example, in an embodiment, the two upper cables are positioned on opposite corners of the top of the carriage  24 , and the two lower cables are positioned on opposite corners of the bottom of the carriage  24 , such that the two upper cables are on corresponding corners different than the corners on which the two lower cables are coupled. While the pulley cables  38  having the open-loop configuration in the illustrated embodiment of  FIG. 10  include four pulley systems  34 , it should be understood that the carriage  24  may include any number of pulley cables  38  having the open-loop configuration. To help illustrate,  FIG. 11  is a schematic diagram of an embodiment of the carriage  24  of  FIG. 3  having eight pulley systems  34  in an open-loop configuration, in accordance with aspects of the present disclosure. Alternatively or additionally, the pulley systems  34  may be arranged in a closed-loop configuration. 
     To that end,  FIG. 12  is a schematic diagram of an embodiment of the carriage  24  of  FIG. 3  having four pulley systems  34  in a closed-loop configuration, in accordance with aspects of the present disclosure. As described above, the carriage  24  may contact the same points on the pulley cables  38  during the duration of the ride. In this manner, actuating one of the motors  30  to drive the corresponding pulley cable  38  in rotation causes the carriage  24  to be driven in motion, as motion of the carriage  24  may be based on motion of the pulley cables  38 . To facilitate discussion, the ride system  10  includes a first pulley system  34 A, having a first motor  30 A, a first set of winches  140 A, and first pulley cable  38 A; a second pulley system  34 B, having a second motor  30 B, a second set of winches  140 B, and second pulley cable  38 B; a third pulley system  34 C, having a third motor  30 C, a third set of winches  140 C, and third pulley cable  38 C; and a fourth pulley system  34 D, having a fourth motor  30 D, a fourth set of winches  140 D, and fourth pulley cable  38 D. 
     The carriage  24  may be coupled to a plurality (e.g., four) of closed-loop pulley cables  38  that each pass through the carriage  24 , such that the pulley cables  38  are hidden from the passengers  22  ( FIG. 1, 2 ). The pulley systems  34  may each be associated with a plurality of (e.g. four) winches  140  that may freely rotate to enable translation of the pulley cables  38 . In an embodiment, one of the winches  140  of each pulley system  34  may be a drive winch (e.g., includes the motor  30 ). As illustrated, the pulley cables  38  may be arranged in a quadrilateral configuration with a winch  140  on each edge of the quadrilateral configuration. The pulley cables  38  may include a portion  142  oriented substantially parallel to one another and substantially parallel to the vertical axis  94 . Control instruction causing the motor  30  to actuate and drive the motion of the pulley cables  38  may also control the motion of the carriage  24 , in accordance with the control instructions. Due to the substantially parallel arrangement of the portion  142  of the pulley cables  38  in contact with the carriage  24 , vertical motion of the carriage  24  may be better controlled, for example, because the pulley cables  38  contact the carriage  24  at four contact points  125  (e.g., a contact point  125  at each corner of the top surface of the carriage  24 ) extending the height of the carriage  24  and the pulley cables  38  may be parallel to one another at respective portions  142 . 
     In one embodiment, each of the four pulley cables  38  may extend between a top surface and a bottom surface of the carriage at different portions of the carriage, such that the four pulley systems  34  remain hidden to the passenger  22 . In this configuration, the pulley cables  38  may be rigidly fixed to the inner surface of the carriage  24  via any suitable mechanisms, such as clamps, a ratcheting systems, and the like. In this manner, each pulley cable  38  may be driven in motion to drive the corresponding portion of the carriage  24 , in a similar motion to control vertical motion, roll, and pitch of the carriage  24 , as described in detail below. 
     As may be appreciated, the carriage  24  may receive the ride vehicle  20  ( FIG. 1, 2 ) from the ride path  12  ( FIG. 1, 2 ) oriented along the longitudinal axis  90  or the lateral axis  92 . However, the carriage  24  may receive the ride vehicle  20  from any suitable direction. After receiving and securing the ride vehicle  20 , the carriage  24  may be controlled to move vertically (e.g., along the vertical axis  94 ), about the longitudinal axis  90 , or about the lateral axis  92 . 
     To help illustrate,  FIGS. 13-16  each include an embodiment of the control system  50  controlling motion of the carriage  24  by causing the motors  30  to drive their corresponding pulley cable  38  in motion. For example,  FIG. 13  is a schematic diagram of an embodiment of the four pulley systems  34  of  FIG. 12  driving motion of the carriage  24  of  FIG. 3 , in accordance with aspects of the present disclosure. In the embodiment illustrated in  FIG. 13 , the portion  142  of the second pulley cable  38 B may be raised in response to the second motor  30 B causing the second set of winches  140 B to rotate in a first rotation direction  150  (e.g., counterclockwise), thereby raising the corner of the carriage  24  coupled to the second pulley cable  38 B. Additionally, the portion  142  of the third pulley cable  38 C may be lowered in response to the third motor  30 C causing the third set of winches  140 C to rotate in a first rotation direction  150 , thereby lowering the corner of the carriage  24  coupled to the third pulley cable  38 C. 
       FIG. 14  is a schematic diagram of an embodiment of the four pulley systems  34  of  FIG. 12  raising the carriage  24  of  FIG. 3 , in accordance with aspects of the present disclosure. In the embodiment illustrated in  FIG. 14 , the first and second motors  30 A,  30 B may cause the first and second sets of winches  140 A,  140 B to rotate in the first rotation direction  150 , and the third and fourth motors  30 C,  30 D may cause the third and fourth winches  140 C,  140 D to rotate in the second rotation direction  152  (e.g., clockwise)), causing the carriage  24  to be moved along the vertical axis  94 , based on control instructions. The control system  50  may cause rotation of the carriage  24  about the longitudinal and lateral axis  90 ,  92  in addition or alternative to causing vertical motion of the carriage by causing the winches to rotate at different rates or causing the pulley cables to be vertically displaced at different rates. 
     For example, the carriage  24  may rotate about the lateral axis  92 , as illustrated, in response to the control system  50  instructing the first and third motors  30 A,  30 C to cause the first and third sets of winches  140 A,  140 C to rotate at a rate higher than the rate of rotation of the second and fourth sets of winches  140 B,  140 D. Similarly, the carriage  24  may rotate about the lateral axis  92 , as illustrated, in response to the control system  50  instructing the first and third motors  30 A,  30 C to cause the portion  142  of the first and third pulley cables  38 A,  38 C to displace vertically at a rate higher than the rate of displacement of the portion  142  of the second and fourth pulley cables  38 . 
     To further help illustrate,  FIG. 15  is a schematic diagram of an embodiment of the four pulley systems  34  of  FIG. 12  lowering the carriage  24  of  FIG. 3 , in accordance with aspects of the present disclosure. As illustrated, the carriage  24  may be lowered in response to the control system  50  instructing the first and second motors  30 A,  30 B to cause the first and second sets of winches  140 A,  140 B to rotate along the second rotational direction  152  and instructing the third and fourth motors  30 C,  30 D to cause the third and fourth sets of winches  140 C,  140 D to rotate along the first rotational direction  150 . Similarly, the carriage  24  may be lowered, in response to the control system  50  instructing the motors  30  to cause the portion  142  of the pulley cables  38  to displace downwardly. 
     As may be appreciated, when the pulley cables  38  are displaced at the same rate and/or when the winches  140  rotate at the same rate, the carriage  24  may vertically translate without substantial rotation about the longitudinal, lateral, and vertical axis  90 ,  92 ,  94 . To help illustrate this vertical translation of the carriage  24 ,  FIG. 16  is a schematic diagram of an embodiment of the four pulley systems  34  of  FIG. 12  stabilizing the carriage  24  of  FIG. 3 , in accordance with aspects of the present disclosure. 
     While only certain features of the disclosed embodiments have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the disclosure. 
     The techniques presented and claimed herein are referenced and applied to material objects and concrete examples of a practical nature that demonstrably improve the present technical field and, as such, are not abstract, intangible or purely theoretical. Further, if any claims appended to the end of this specification contain one or more elements designated as “means for [perform]ing [a function] . . . ” or “step for [perform]ing [a function] . . . ”, it is intended that such elements are to be interpreted under 35 U.S.C. 112(f). However, for any claims containing elements designated in any other manner, it is intended that such elements are not to be interpreted under 35 U.S.C. 112(f).