Patent Publication Number: US-2022224179-A1

Title: Methods and systems for a fractional concentrated stator configured for use in electric aircraft motor

Description:
FIELD OF THE INVENTION 
     The present invention generally relates to the field of electric aircraft. In particular, the present invention is directed to methods and systems for a stator with modular winding sets configured for use in electric aircraft motor. 
     BACKGROUND 
     In electric multi-propulsion systems such as electric vertical take-off and landing (eVTOL) aircraft, the propulsors are constrained by volumetric, gravimetric, and thermal concerns. Design and assembly of the propulsor units must be done in a manner which reduces volumetric, gravimetric, and thermal issues to enable efficient flight. Existing approaches to mitigating these issues are limited. 
     SUMMARY OF THE DISCLOSURE 
     In an aspect the present disclosure is directed to methods and systems for a fractional concentrated stator configured for use in electric aircraft motor. The fractional concentrated stator further comprising a stator including an inner and outer cylindrical surface about an axis of rotation wherein the inner and outer cylindrical surfaces comprise different radii and further comprise a coincident and parallel centerline. The stator further comprising a plurality of teeth disposed on the inner cylindrical surface and extending radially inward, wherein each tooth of the plurality of teeth has a cross-sectional area, the cross-sectional area increasing as the tooth extends further from the inner cylindrical surface. The stator further comprising a plurality of modular winding sets, each of the plurality of winding sets comprising at least a segment of electrically conductive material, in the form of wire, wound upon at least a tooth of the plurality of teeth. The stator further comprising at least an inverter wherein the inverter provides electrical power to at least a portion of the stator and the at least an inverter provides electrical power to a configurable portion of the stator. The electric motor further comprising a rotor shaft at the axis of rotation, the rotor shaft disposed coaxially within the stator and rotatable relative to the stator. The rotor shaft further comprising a cylindrical surface facing the inner cylindrical surface of the stator, a plurality of magnets mechanically coupled to rotor shaft and a first end of rotor shaft mechanically coupled to a propulsor. At least an air gap disposed between the outer cylindrical surface of the rotor shaft and the inner cylindrical surface of the stator. 
     These and other aspects and features of non-limiting embodiments of the present invention will become apparent to those skilled in the art upon review of the following description of specific non-limiting embodiments of the invention in conjunction with the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       For the purpose of illustrating the invention, the drawings show aspects of one or more embodiments of the invention. However, it should be understood that the present invention is not limited to the precise arrangements and instrumentalities shown in the drawings, wherein: 
         FIG. 1  is an embodiment of a portion of a stator assembly used in an electric motor assembly in partial planform view; 
         FIG. 2  is an embodiment of a stator assembly in partial isometric view; 
         FIG. 3  is an embodiment of a stator and axis of rotation thereof in isometric view; 
         FIG. 4  is an embodiment of at least an inverter and a fraction of a stator assembly; 
         FIG. 5  is an embodiment of a stator and of a plurality of windings; 
         FIG. 6  is an embodiment of a schematic diagram of a plurality of windings; 
         FIG. 7  is an embodiment of a rotor assembly used in an electric motor assembly; 
         FIG. 8  is an illustration of an exploded view of an electric motor in a propulsion assembly; 
         FIG. 9  is an embodiment of an integrated motor incorporated in an electric aircraft; 
         FIG. 10  is a block diagram of a computing system that can be used to implement any one or more of the methodologies disclosed herein and any one or more portions thereof. 
     
    
    
     The drawings are not necessarily to scale and may be illustrated by phantom lines, diagrammatic representations and fragmentary views. In certain instances, details that are not necessary for an understanding of the embodiments or that render other details difficult to perceive may have been omitted. 
     DETAILED DESCRIPTION 
     In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, that the present invention may be practiced without these specific details. As used herein, the word “exemplary” or “illustrative” means “serving as an example, instance, or illustration.” Any implementation described herein as “exemplary” or “illustrative” is not necessarily to be construed as preferred or advantageous over other implementations. All of the implementations described below are exemplary implementations provided to enable persons skilled in the art to make or use the embodiments of the disclosure and are not intended to limit the scope of the disclosure, which is defined by the claims. For purposes of description herein, the terms “upper”, “lower”, “left”, “rear”, “right”, “front”, “vertical”, “horizontal”, and derivatives thereof shall relate to the invention as oriented in  FIG. 9 . Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary or the following detailed description. It is also to be understood that the specific devices and processes illustrated in the attached drawings, and described in the following specification, are simply embodiments of the inventive concepts defined in the appended claims. Hence, specific dimensions and other physical characteristics relating to the embodiments disclosed herein are not to be considered as limiting, unless the claims expressly state otherwise. 
     At a high level, aspects of the present disclosure are directed to a fractional slot concentrated motor for electric aircraft, the motor including a stator. The stator includes an inner and outer cylindrical surface about an axis of rotation; the inner and outer cylindrical surfaces include different radii and the inner and outer cylindrical surfaces include a coincident and parallel centerline. The stator includes a plurality of teeth, a plurality of modular winding sets, and at least an inverter. The fractional slot concentrated motor for electric aircraft includes a rotor shaft at the axis of rotation, the rotor shaft disposed coaxially within the stator and rotatable relative to the stator and at least an air gap disposed between the outer cylindrical surface of the rotor shaft and the inner cylindrical surface of the stator. 
     Referring now to  FIG. 1 , stator assembly  100  that may be incorporated in a concentrated fractional motor used in electric aircraft is presented. Stator assembly  100  may include inner cylindrical surface  104  and outer cylindrical surface  108  that share a coincident and parallel centerline disposed at the center of each cylindrical surface. Inner cylindrical surface  104  and outer cylindrical surface  108  may include different radii and thus include different sizes. Stator assembly  100  further includes a hollow cylinder bounded by inner cylindrical surface  104 , outer cylindrical surface  108 , and a first and second end disposed perpendicularly to the centerline opposite and opposing to each other. At least a portion of stator assembly  100  may be mechanically coupled to at least a portion of an electric aircraft, for instance and without limitation as described below with reference to  FIG. 9 . 
     With continued reference to  FIG. 1 , stator assembly  100  may further include plurality of teeth  116  disposed on inner cylindrical surface  104 . Plurality of teeth  116  extend radially inward toward the centerline, but do not intersect with the centerline. The plurality of teeth  116  each comprise a cross-sectional area which increases as each tooth  116  extends further from inner cylindrical surface  104 . Cross-sectional area may include a polygonal shape like a rectangle, square, circle, oval, or substantially similar shape. Additionally, tooth  116  may, in embodiments, be flanged. In other words, a portion of the plurality of teeth  116 , which may be tooth  116  distal end, or section furthest from inner cylindrical surface  104 , may include a flange that is wider than a middle portion of tooth  116 , where a middle portion of a tooth is defined as a portion containing a cross-section that bisects a longitudinal axis of the tooth. Tooth  116  may include a flange that is extends transverse to tooth  116  longitudinal axis. One of ordinary skill in the art would understand tooth  116  longitudinal axis to extend from a proximal end of the tooth  116  at inner cylindrical surface  104  up to a distal end of tooth  116  which distal end is closer to the centerline than any other portion of tooth  116 . Longitudinal axis may be a line bisecting tooth  116  in two halves of equal volume and symmetrical about axis. The flange may be disposed on the end of tooth  116  closest to the centerline. The flange disposed on tooth  116  may assist in securing and retaining at least a portion of modular winding sets  120  consistent with the entirety of the disclosure. One of ordinary skill in the art would understand that each tooth  116  may be radially symmetrical about the centerline, symmetrical about some other axis, or not symmetrical about any cross section. Plurality of teeth  116  may extend from a first end to a second end of stator assembly  100  or a portion thereof. 
     With continued reference to  FIG. 1 , stator assembly  100  includes a plurality of modular winding sets  120 . Each of the plurality of modular winding sets  120  include at least a segment of electrically conductive material. The at least a segment of electrically conductive material may include a wire, filament, or other suitable material and configuration thereof to conduct electricity through it. At least a segment of electrically conductive material wound upon the tooth  116  may include Litz wires. 
     With continued reference to  FIG. 1 , each or any tooth  116  may be integral to stator assembly  100 . Integral, for the purposes of this disclosure, refers to a part of the overall geometric shape or assembly that was manufactured as one piece from the stock material. For example, stator assembly  100  may be machine from a block of aluminum with plurality of teeth  116  being cut away with the hollow cylinder stator assembly  100  also comprises. Stator assembly  100  may be manufactured in a plurality of methods known in the art. For example only, stator assembly  100  manufacturing may include a subtractive manufacturing process, which produces the product by removing material from a workpiece; the removal of material may be accomplished using abrasives, cutting tools or endmills, laser cutting or ablation, removal using heat, or any other method that removes material from the workpiece. Subtractive manufacturing may be performed using water-jet or other fluid-jet cutting techniques. Fundamentally, any process for removal of material may be employed for subtractive manufacturing. Each subtractive manufacturing process used may be any suitable process, such as, but not limited to, rotary-tool milling, electronic discharge machining, ablation, etching, erosion, cutting, and cleaving, among others. Additionally, if rotary-tool milling is utilized, this milling may be accomplished using any suitable type of milling equipment, such as milling equipment having either a vertically or horizontally oriented spindle shaft. Examples of milling equipment include bed mills, turret mills, C-frame mills, floor mills, gantry mills, knee mills, and ram-type mills, among others. In some embodiments, the milling equipment used for removing material may be of the computerized numerical control (CNC) type that is automated and operates by precisely programmed commands that control movement of one or more parts of the equipment to effect the material removal. CNC machines, their operation, programming, and relation to CAM tools and CAD tools are well known and need not be described in detail herein for those skilled in the art to understand the scope of the present invention and how to practice it in any of its widely varying forms. Subtractive manufacturing may be performed using spark erosive devices; for instance, subtractive manufacturing may include removal of material using electronic discharge machining (EDM). EDM may include wire EDM, plunge EDM, immersive EDM, ram EDM, or any other EDM manufacturing technique. Subtractive manufacturing may be performed using laser-cutting processes. Subtractive manufacturing may be performed using waterjet or other fluid jet cutting techniques. Fundamentally, any process for removal of material may be employed for subtractive manufacturing. 
     Manufacturing processes may include an additive manufacturing process, in which material is deposited on the workpiece. In some embodiments, an additive manufacturing process is a process in which material is added incrementally to a body of material in a series of two or more successive steps. The material may be added in the form of a stack of incremental layers; each layer may represent a cross-section of the object to be formed upon completion of the additive manufacturing process. Each cross-section may, as a non-limiting example be modeled on a computing device as a cross-section of graphical representation of the object to be formed; for instance, a computer aided design (CAD) tool may be used to receive or generate a three-dimensional model of the object to be formed, and a computerized process may derive from that model a series of cross-sectional layers that, when deposited during the additive manufacturing process, together will form the object. The steps performed by an additive manufacturing system to deposit each layer may be guided by a computer aided manufacturing (CAM) tool. In other embodiments, a series of layers are deposited in a substantially radial form, for instance by adding a succession of coatings to the workpiece. Similarly, the material may be added in volumetric increments other than layers, such as by depositing physical voxels in rectilinear or other forms. Additive manufacturing, as used in this disclosure, may specifically include manufacturing done at the atomic and nano level. Additive manufacturing also includes bodies of material that are a hybrid of other types of manufacturing processes, e.g. forging and additive manufacturing as described above. As an example, a forged body of material may have welded material deposited upon it which then comprises an additive manufactured body of material. 
     Deposition of material in additive manufacturing process may be accomplished by any suitable means. Deposition may be accomplished using stereolithography, in which successive layers of polymer material are deposited and then caused to bind with previous layers using a curing process such as curing using ultraviolet light. Additive manufacturing processes may include “three-dimensional printing” processes that deposit successive layers of power and binder; the powder may include polymer or ceramic powder, and the binder may cause the powder to adhere, fuse, or otherwise join into a layer of material making up the body of material or product. Additive manufacturing may include metal three-dimensional printing techniques such as laser sintering including direct metal laser sintering (DMLS) or laser powder-bed fusion. Likewise, additive manufacturing may be accomplished by immersion in a solution that deposits layers of material on the body of material, by depositing and sintering materials having melting points such as metals, such as selective laser sintering, by applying fluid or paste-like materials in strips or sheets and then curing that material either by cooling, ultraviolet curing, and the like, any combination of the above methods, or any additional methods that involve depositing successive layers or other increments of material. Methods of additive manufacturing may include without limitation vat polymerization, material jetting, binder jetting, material extrusion, fuse deposition modeling, powder bed fusion, sheet lamination, and directed energy deposition. Methods of additive manufacturing may include adding material in increments of individual atoms, molecules, or other particles. An additive manufacturing process may use a single method of additive manufacturing or combine two or more methods. Companies producing additive manufacturing equipment include 3D Systems, Stratasys, formLabs, Carbon3D, Solidscape, voxeljet, ExOne, envisiontec, SLM Solutions, Arcam, EOS, Concept Laser, Renishaw, XJET, HP, Desktop Metal, Trumpf, Mcor, Optomec, Sciaky, and MarkForged amongst others. 
     Additive manufacturing may include deposition of initial layers on a substrate. Substrate may include, without limitation, a support surface of an additive manufacturing device, or a removable item placed thereon. Substrate may include a base plate, which may be constructed of any suitable material; in some embodiments, where metal additive manufacturing is used, base plate may be constructed of metal, such as titanium. Base plate may be removable. One or more support features may also be used to support additively manufactured body of material during additive manufacture; for instance and without limitation, where a downward facing surface of additively manufactured body of material is constructed having less than a threshold angle of steepness, support structures may be necessary to support the downward-facing surface; threshold angle may be, for instance 45 degrees. Support structures may be additively constructed and may be supported on support surface and/or on upward-facing surfaces of additively manufactured body of material. Support structures may have any suitable form, including struts, buttresses, mesh, honeycomb or the like; persons skilled in the art, upon reviewing the entirety of this disclosure, will be aware of various forms that support structures may take consistently with the described methods and systems. One or more manufacturing processes may include a molding and/or injection molding manufacturing process. Molding and/or injection manufacturing may include deposition of a fluid material which may include, without limitation, a molten material, into a mold, cast, die, or any other suitable form. Deposition of a molten material for molding manufacturing may include carbon fiber, ceramics, confections, elastomers, epoxies, glasses, metals, plastics, photopolymers, polymers, resins, rubbers, amongst other suitable materials. Fluid materials, including without limitation molten materials, may be injected into the cavity of a mold and/or die, made of steel, aluminum, beryllium-copper, amongst other materials, until cooled and/or formed; forming may include without limitation any process of solidifying, curing, or thickening fluids into an elastomeric, solid, or other suitable state by processing including without limitation cooling or allowing material to be cooled and/or undergo a phase change and/or any other process of curing materials as described above in additive manufacturing. Manufacturing to produce molds may be performed by standard machining, electric discharge machining (EDM), 3D printing, spark erosion, CNC machining, or any other suitable manufacturing method. Molds may be additively manufactured, subtractively manufactured, machined, or 3D printed. Injection of molten material may be performed by die casting, metal injection molding, thin-wall injection molding, injection molding, 3D printing, reaction injection molding, or any other suitable method. Persons skilled in the art, upon reviewing the entirety of this disclosure, will be aware of various forms that molding and/or injection molding manufacturing may take consistently with the described methods and systems. 
     Referring now to  FIG. 2 , an embodiment of stator assembly  200 , which may be used as stator assembly  100  is presented. The plurality of winding sets  120  are shown in partial cross-sectional view. Additionally, outer cylindrical surface  108  is depicted. One of ordinary skill in the art would understand stator assembly  200  to be radially symmetric, taking the general shape of a hollow cylinder, and  FIG. 2  is only a portion of said hollow cylinder, in other words,  FIG. 2  is a sector of hollow cylinder. 
     Referring now to  FIG. 3 , an embodiment of stator assembly  300  which may be used as stator assembly  100  or  200  is presented. Stator assembly  300  includes axis of rotation  312 . Axis of rotation  312  is the common center of the plurality of radially symmetric elements presented in the disclosure. For example, axis of rotation  312  is virtually equidistant to every point on inner cylindrical surface  104  and virtually equidistant to every point on outer cylindrical surface  108 . Axis of rotation  312  is coincident with the centerline hereinabove disclosed. 
     Referring again to  FIG. 2 , the plurality of modular winding sets  120  may include a plurality of segments of wire wound around two or more plurality of teeth  116 . Due to the plurality of teeth  116  being disposed radially around inner cylindrical surface  104 , a plurality of segments of wire may be turn around the plurality of teeth  116  that are not necessarily adjacent along inner cylindrical surface  104 . Modular winding sets  120  include multiphase windings. Additionally, each of the plurality of modular winding sets  120  may be provided electrical power by an individual inverter. 
     Referring again to  FIG. 3 , the at least a segment wound upon the plurality of teeth  116  is wound parallel to the axis of rotation of the stator such that the loops created by winding the segment of wire lie in a plane orthogonal to axis of rotation  312 . Additionally, the at least a segment wound upon the plurality of teeth  116  may align the magnetic fields of the windings with the magnetic fields produced by the rotor shaft magnets. The plurality of modular winding sets  120  may include a fraction of stator assembly  100 . Modular winding sets  120  may each include a subset of phases. Stator assembly  100  may include a regularly disposed amount of modular winding sets  120 , where each modular winding set  120  may include one-fourth of the stator. In another non-limiting example, each modular winding set  120  may include another fraction of the stator, like one-eighth, one-sixteenth, or one-thirty-second, and so on. Alternatively, or additionally, the plurality of modular winding sets  120  may be disposed on the stator in a non-radially symmetric pattern. For example, one of the plurality of modular winding set  120  driven by an inverter may make up one-quarter of the stator, and another of the plurality of modular winding sets  120  driven by a second inverter may make up the other three-quarters of the stator. 
     Now referring to  FIG. 4 , an embodiment of a fraction of stator assembly  100  and at least an inverter  412  providing electrical power therefor, herein power assembly  400  is presented. Stator fraction  404  may include a fraction of a stator which may be used as stator assembly  100  which was disclosed herein. Modular winding sets  120  are presented here planform view. Permanent magnet array  408  is presented in planform view. At least an inverter  412  may provide electrical power to stator fraction  404 . The fraction of the stator assembly that stator fraction  404  may include may be any of the fractions herein disclosed or another undisclosed. The fraction of the stator assembly that the at least an inverter  412  powers may be configurable. For the purposes of this disclosure, configurable means that a user, a machine, a computer, or a combination thereof, may change or adjust the fraction of the stator, and more accurately, modular winding sets  120  that at least an inverter  412  provides electrical power to. One of ordinary skill in the art would appreciate the virtually limitless combination of inverters and modular winding sets that may be used in power assembly  400  and further in stator assembly  100 . At least an inverter  412  may be disposed in or on at least a portion of stator assembly  100  or motor  800 , discussed hereinbelow with reference to  FIG. 8 . 
     Referring now to  FIG. 5 , an embodiment of windings is presented. Windings  500  includes first winding  504  or second winding  508 . Windings  500 , first winding  504 , second winding  508 , or any of the phases thereof, may include Litz wires. Litz wires are a special type of multistrand wire or cable used in electronics to carry alternating current at radio frequencies. The wire is designed to reduce the skin effect and proximity effect losses in conductors at frequencies up to about 1 Megahertz (MHz). The skin effect of electrical conductors is the tendency of an alternating current to become distributed within a conductor such that the current density is largest near the surface of the conductor and decreases exponentially with greater depths in the conductor. Therefore, the electric current flows mostly at the “skin” of the conductor, or more accurately, the portion of the wire or conductor at the greatest radial distance from the center line or centroid of the conductor. The skin depth, or area of conductor that electric current flows through depends on the frequency of the alternating current. Litz wire can be used to mitigate the skin effect by weaving insulated wires together in a carefully designed pattern such that the magnetic field acts equally on all the wires and causes to the total current to be distributed equally among the wires. The woven insulated wires do not suffer the same increase in alternating current resistance that a solid conductor of the same cross-sectional area would be due to the skin effect. The proximity effect in electrical conductors is the tendency of nearby conductors to distribute current in smaller regions within the present conductors. The crowding of conductors near each other increases the effective resistance due to the smaller area current can flow through in a conductor, and the effective resistance increases with frequency. Litz wires mitigates the loss due to proximity effect by distributing conductive paths in an arrangement that reduces effective electromagnetic fields. 
     The at least a segment of electrically conductive material may include copper for example. Electrically conductive material may include any material that is conductive to electrical current and may include, as a nonlimiting example, various metals such as copper, steel, or aluminum, carbon conducting materials, or any other suitable conductive material. Persons skilled in the art, upon reviewing the entirety of this disclosure, will be aware of various forms of electrically conductive material that may be used as windings on a tooth consistent with the described methods and systems. Each winding of windings  500 , or the plurality of modular winding sets  120  includes a plurality of turns. A turn as defined in this disclosure is a portion of a winding passing once around the plurality of teeth  116  or similar object, such as without limitation a portion that crosses a first surface of the plurality of teeth  116  or stator assembly  100 , and then wraps around an edge, making an average angle that is an envelope of tangents to a first surface, and then crosses a second surface of the plurality of teeth  116 . Each turn of the plurality of turns may traverse each a cylindrical surface, traversal refers to a winding spanning a cylindrical surface from a lower edge to an upper edge, or spanning from an upper edge to a lower edge; traversal may refer to a winding covering any cylindrical surface between edges, and over edges. Persons skilled in the art, upon reviewing the entirety of this disclosure, will be aware of various methods of winding electrical windings on the plurality of teeth  116  that may be consistent with the described methods and systems. 
     With continued reference to  FIG. 2 , modular winding sets  120 , which include electrically conductive wires, may be wound upon the plurality of teeth  116  in a single layer. Modular winding set  120  may be wound upon the plurality of teeth  116  in a double layer. For the purposes of this disclosure, layers refer to a winding of at least a segment of electrically conductive material laying on the surface of the plurality of teeth  116 . A single layer lays directly on and around the plurality of teeth  116 , while the second layer (i.e. the double layer configuration) would lay on the single layer below it. One of ordinary skill in the art would understand a single layer of wound electrically conductive wire may effectively transmit electrical energy through said winding and produce a magnetic field. In an illustrative embodiment, a double layered electrical wire winding may include a cross-sectional arrangement that a second layer may lay in the groove created by two adjacent windings in a first single layer below it relative to the plurality of teeth  116 . In another illustrative embodiment, a double layer may be disposed on a segment in the layer directly below it relative to at least the plurality of teeth  116 . 
     Referring now to  FIG. 6 , a schematic diagram illustrates a portion of windings  500  on a stator half; a portion of windings  500  may be suitable for use as first winding  504  and/or second winding  508 . First winding  504  may include a first phase (initially denoted A1) that may traverse a first set of channels from first end  612 , to second end  616 , passing through mandrel through-hole  620  at second end  616  (with first phase now denoted as A2). A2 now traverses a second set of channels back to the first end  612 . A first phase may additionally pass through second mandrel through-hole  620  at first end  612  (after which first phase is denoted as A3 in  FIG. 6 ), and traverse a third set of channels to second end  616 , and may pass through third mandrel through-hole  620  at second end  616  (now denoted as A4), and traverses a fourth set of channels back to first end  612 . First winding  504  may include at least a second phase electrically isolated from the first phase; as illustrated without limitation in  FIG. 6  there may be three total phases (A1-4, B1-4, and C1-4). Alternatively, or additionally, there may be more than three total phases of windings, or less than three phases. First winding  504  may be connected to at least a first inverter to provide current to the winding. In nonlimiting illustrative embodiments, each half of mandrel  624  may have 3 phases, corresponding to a total of 6 windings, and therefore there may be 6 inverters connected to 6 windings. A second winding may include a second phase that traverses a fifth set of channels from a fourth end to a fourth through-hole at the third end, and then traverses a sixth set of channels back to the fourth end, as described in first winding  504  in  FIG. 5 . A third winding may include a third phase that traverses a fifth through hole at a fourth end, and may traverse a seventh set of channels to a second end, and may pass through a sixth through-hole at a third end, and traverse an eighth set of channels back to a fourth end. A second winding may include at least a fourth phase electrically isolated from the first three phases. Alternatively, or additionally, there may be a single phase, or any number of electrically isolated phases for a winding, and there may be a single winding or any number of windings A second winding is connected to at least a second inverter, and in non-limiting illustrative embodiments, each winding may be connected to at least its own inverter. Exemplary embodiments of inverters to which windings may connect are illustrated below for exemplary purposes; there may be any number of inverters and corresponding windings, including without limitation six inverters and six corresponding windings. An inverter, for the purposes of this disclosure, is a power electronic device or circuitry that changes direct current (DC) to alternative current (AC). An inverter (also called a power inverter) can be entirely electronic or may be a combination of mechanical effects (such as a rotary apparatus) and electronic circuitry. Alternatively, static inverters do not use moving parts in the conversion process. Inverters do not produce any power itself, rather it converts power produced by a DC power source. Inverters are often used in electrical power applications where high currents and voltages are present; circuits that perform the same function for electronic signals, which usually have very low currents and voltages, are called oscillators. Circuits that perform the opposite function, converting AC to DC, are called rectifiers. 
     Now referring to  FIG. 7 , rotor assembly  700  is presented. Rotor assembly  700  may include rotor shaft  704 . The rotor shaft  704  may be disposed coaxially and coincidentally within stator assembly  100 . Rotor shaft  704  may be rotatable relative to stationary stator assembly  100 . Rotor shaft  704  may be mechanically coupled to stator assembly  100  within electric motor assembly hereinafter disclosed. Rotor shaft  704  may include cylindrical surface  716  disposed opposite and opposing to inner cylindrical surface  104  disposed on stator assembly  100 . Rotor shaft  704  may include a plurality of permanent magnets, namely permanent magnet array  708 , which may be similar to or the same as permanent magnet array  408 , disposed radially about the axis of rotation of rotor shaft which is parallel and coincident with axis of rotation  312  of stator assembly  100 . Permanent magnet array  708  may be disposed radially about the axis of rotation  312  equally spaced, continuously spaced, or any arrangement in an array about rotor shaft  704 . Permanent magnet array  708  may include a Halbach array. A Halbach array is a special arrangement of permanent magnets that augments the magnetic field on one side of the array while canceling the field to near zero on the other side of the array. For the purposes of this disclosure, a side of the array is defined as an area disposed relative to the array of magnets, for example, if the Halbach array is disposed radially on the cylindrical surface of the rotor shaft, one side may be captured with the Halbach array, and a second side may be the area outside of the Halbach array. In general, the Halbach array is achieved by having a spatially rotating pattern of magnetization where the poles of successive magnets are not necessarily aligned and differ from one to the next. Orientations of magnetic poles may be repeated in patterns or in successive rows, columns, and arrangements. An array, for the purpose of this disclosure is a set, arrangement, or sequence of items, in this case permanent magnets. The rotating pattern of permanent magnets can be continued indefinitely and have the same effect, and may be arranged in rows, columns, or radially, in a non-limiting illustrative embodiment. One of ordinary skill in the art would appreciate that the area that the Halbach array augments the magnetic field of may be configurable or adjustable. 
     With continued reference to  FIG. 7 , rotor shaft  704  may be coupled at a first end to propulsor  712 . Propulsor  712  may be similar or the same as any of the propulsors disclosed herein. There may be at least an air gap disposed between cylindrical surface  716  or magnet array  708  and inner cylindrical surface  104 . Rotor shaft  704  may be mechanically coupled to impeller  720 , which may be similar to or the same as any impeller disclosed herein. Motor  800  may include impeller  720  coupled with the rotor shaft  704 . Impeller  720 , as described herein, is a rotor used to increase or decrease the pressure and flow of a fluid, including at least air. Impeller  720  may function to provide cooling to rotor assembly  700  and motor  800 . Impeller  720  may include varying blade configurations, such as radial blades, non-radial blades, semi-circular blades and airfoil blades. Impeller  720  may further include single and/or double-sided configurations. Impeller  720  is described in further detail below. Additionally, or alternatively, in a non-limiting illustrative example, rotor shaft  704  may be mechanically coupled to cooling vanes. Cooling vanes are used to lower the temperature of a high-velocity mechanical part, like the rotor in an electrical motor. Cooling vanes may employ a plurality of physical principles to cool mechanical parts. Cooling vanes may draw cool air like a fan if mechanically coupled to the rotor at an angle sufficient to create a pressure differential in order to draw cool air from outside the motor housing into the relatively hot inner motor and cool internal mechanical parts by convection. Convection cooling in principle, is cooling of a portion of a body by moving a fluid over it, the tendency of heat energy to move from high to low energy areas, like a hot spinning rotor to cool moving air. Additionally, cooling vanes may act as thermodynamic fins. Heat energy may be conducted through the cooling vanes from the hot rotor shaft to the tips of the cooling vanes, thus dissipating heat in a high-speed rotating part. 
     Referring now to  FIG. 8 , an embodiment of motor  800  is illustrated. Motor  800  may include at least a stator  804 . Stator  804 , as used herein, is a stationary component of a motor and/or motor assembly. In an embodiment, stator  804  may include at least first magnetic element  808 . As used herein, first magnetic element  808  is an element that generates a magnetic field. For example, first magnetic element  808  may include one or more magnets which may be assembled in rows along a structural casing component. Further, first magnetic element  808  may include one or more magnets having magnetic poles oriented in at least a first direction. The magnets may include at least a permanent magnet. Permanent magnets may be composed of, but are not limited to, ceramic, alnico, samarium cobalt, neodymium iron boron materials, any rare earth magnets, and the like. Further, the magnets may include an electromagnet. As used herein, an electromagnet is an electrical component that generates magnetic field via induction; the electromagnet may include a coil of electrically conducting material, through which an electric current flow to generate the magnetic field, also called a field coil of field winding. A coil may be wound around a magnetic core, which may include without limitation an iron core or other magnetic material. The core may include a plurality of steel rings insulated from one another and then laminated together; the steel rings may include slots in which the conducting wire will wrap around to form a coil. First magnetic element  808  may act to produce or generate a magnetic field to cause other magnetic elements to rotate, as described in further detail below. Stator  804  may include a frame to house components including first magnetic element  808 , as well as one or more other elements or components as described in further detail below. In an embodiment, a magnetic field may be generated by first magnetic element  808  and can include a variable magnetic field. In embodiments, a variable magnetic field may be achieved by use of an inverter, a controller, or the like. In an embodiment, stator  804  may have an inner and outer cylindrical surface; a plurality of magnetic poles may extend outward from the outer cylindrical surface of the stator. In an embodiment, stator  804  may include an annular stator, wherein the stator is ring-shaped. In an embodiment, stator  804  is incorporated into a DC motor where stator  804  is fixed and functions to supply the magnetic fields where a corresponding rotor, as described in further detail below, rotates. In an embodiment, stator  804  may be incorporated an AC motor where stator  804  is fixed and functions to supply the magnetic fields by radio frequency electric currents through an electromagnet to a corresponding rotor, as described in further detail below, rotates. 
     Still referring to  FIG. 8 , motor  800  may include propulsor  812 . In embodiments, propulsor  812  may include an integrated rotor. As used herein, a rotor is a portion of an electric motor that rotates with respect to a stator of the electric motor, such as stator  804 . A propulsor, as used herein, is a component or device used to propel a craft by exerting force on a fluid medium, which may include a gaseous medium such as air or a liquid medium such as water. Propulsor  812  may be any device or component that consumes electrical power on demand to propel an aircraft or other vehicle while on ground and/or in flight. Propulsor  812  may include one or more propulsive devices. In an embodiment, propulsor  812  may include a thrust element which may be integrated into the propulsor. A thrust element may include any device or component that converts the mechanical energy of a motor, for instance in the form of rotational motion of a shaft, into thrust in a fluid medium. For example, a thrust element may include without limitation a marine propeller or screw, an impeller, a turbine, a pump-jet, a paddle or paddle-based device, or the like. As another non-limiting example, at least a propulsor may include an eight-bladed pusher propeller, such as an eight-bladed propeller mounted behind the engine to ensure the drive shaft is in compression. Persons skilled in the art, upon reviewing the entirety of this disclosure, will be aware of various devices that may be used as at least a thrust element. As used herein, a propulsive device may include, without limitation, a device using moving or rotating foils, including without limitation one or more rotors, an airscrew or propeller, a set of airscrews or propellers such as contra-rotating propellers, a moving or flapping wing, or the like. In an embodiment, propulsor  812  may include at least a blade. Persons skilled in the art, upon reviewing the entirety of this disclosure, will be aware of various devices that may be used as propulsor  812 . In an embodiment, when a propulsor twists and pulls air behind it, it will, at the same time, push the aircraft forward with an equal amount of force. The more air pulled behind the aircraft, the more the aircraft is pushed forward. In an embodiment, thrust element may include a helicopter rotor incorporated into propulsor  812 . A helicopter rotor, as used herein, may include one or more blade or wing elements driven in a rotary motion to drive fluid medium in a direction axial to the rotation of the blade or wing element. Its rotation is due to the interaction between the windings and magnetic fields which produces a torque around the rotor&#39;s axis. A helicopter rotor may include a plurality of blade or wing elements. 
     Continuing to refer to  FIG. 8 , in an embodiment, propulsor  812  may include hub  816  rotatably mounted to stator  804 . Rotatably mounted, as described herein, is functionally secured in a manner to allow rotation. Hub  816  is a structure which allows for the mechanically coupling of components of the integrated rotor assembly. In an embodiment, hub  816  can be mechanically coupled to propellers or blades. In an embodiment, hub  816  may be cylindrical in shape such that it may be mechanically joined to other components of the rotor assembly. Hub  816  may be constructed of any suitable material or combination of materials, including without limitation metal such as aluminum, titanium, steel, or the like, polymer materials or composites, fiberglass, carbon fiber, wood, or any other suitable material. Hub  816  may move in a rotational manner driven by interaction between stator and components in the rotor assembly. Persons skilled in the art, upon reviewing the entirety of this disclosure, will be aware of various structures that may be used as or included as hub  816 , as used and described herein. 
     Still referring to  FIG. 8 , in an embodiment, propulsor  812  and/or rotor shaft  836  may include second magnetic element  820 , which may include one or more further magnetic elements. Second magnetic element  820  generates a magnetic field designed to interact with first magnetic element  808 . Second magnetic element  820  may be designed with a material such that the magnetic poles of at least a second magnetic element are oriented in an opposite direction from first magnetic element  808 . In an embodiment, second magnetic element  820  may be affixed to hub  816 , rotor shaft  836 , or another rotating or stationary electric motor component disclosed herein. Affixed, as described herein, is the attachment, fastening, connection, and the like, of one component to another component. For example, and without limitation, affixed may include bonding the second magnetic element  820  to hub  816 , such as through hardware assembly, spot welding, riveting, brazing, soldering, glue, and the like. Second magnetic element  820  may include any magnetic element suitable for use as first magnetic element  808 . For instance, and without limitation, second magnetic element may include a permanent magnet and/or an electromagnet. Second magnetic element  820  may include magnetic poles oriented in a second direction opposite, in whole or in part, of the orientation of the poles of first magnetic element  808 . In an embodiment, motor  800  may include a motor assembly incorporating stator  804  with a first magnet element and second magnetic element  820 . First magnetic element  808  may include magnetic poles oriented in a first direction, a second magnetic element includes a plurality of magnetic poles oriented in the opposite direction than the plurality of magnetic poles in the first magnetic element  808 . 
     Referring again to  FIG. 8 , in an embodiment, first magnetic element  808  may be a productive element, defined herein as an element that produces a varying magnetic field. Productive elements may produce magnetic field that may attract and other magnetic elements, possibly including a receptive element. Second magnetic element may be a productive or receptive element. A receptive element may react due to the magnetic field of first magnetic element  808 . In an embodiment, first magnetic element  808  may produce a magnetic field according to magnetic poles of first magnetic element  808  oriented in a first direction. Second magnetic element  820  may produce a magnetic field with magnetic poles in the opposite direction of the first magnetic field, which may cause the two magnetic elements to attract one another. Receptive magnetic element may be slightly larger in diameter than the productive element. Interaction of productive and receptive magnetic elements may produce torque and cause the assembly to rotate. Hub  816  and rotor assembly may both be cylindrical in shape where rotor may have a slightly smaller circumference than hub  816  to allow the joining of both structures. Coupling of hub  816  to stator  804  may be accomplished via a surface modification of either hub  816 , stator  804  or both to form a locking mechanism. Coupling may be accomplished using additional nuts, bolts, and/or other fastening apparatuses. In an embodiment, an integrated rotor assembly as described above may reduce profile drag in forward flight for an electric aircraft. Profile drag may be caused by a number of external forces that the aircraft is subjected to. In an embodiment, incorporating propulsor  812  into hub  816 , may reduce a profile of motor  800  resulting in a reduced profile drag. In an embodiment, the rotor, which may include motor inner magnet carrier  824 , motor outer magnet carrier  828 , propulsor  812  may be incorporated into hub  816 . In an embodiment, inner motor magnet carrier  824  may rotate in response to a magnetic field. The rotation may cause hub  816  to rotate. This unit may be inserted into motor  800  as one unit. This may enable ease of installation, maintenance, and removal. 
     Still referring to  FIG. 8 , stator  804  may include through-hole  832 . Through-hole  832  may provide an opening for a component to be inserted through to aid in attaching propulsor with integrated rotor and rotor shaft to stator. In an embodiment, through-hole  832  may have a round or cylindrical shape and be located at a rotational axis of stator  804 , which in an embodiment may be similar to or the same as axis of rotation  312 . Hub  816  may be mounted to stator  804  by means of rotor shaft  836  rotatably inserted though through-hole  832 . The rotor shaft  836  may be mechanically coupled to stator  804  such that rotor shaft  836  is free to rotate about its centerline axis, which may be effectively parallel and coincident to stator&#39;s centerline axis, and further the rotor shaft and stator may include a void of empty space between them, where at least a portion the outer cylindrical surface of the rotor shaft is not physically contacting at least a portion of the inner cylindrical surface of the stator. This void may be filled, in whole or in part, by air, a vacuum, a partial vacuum or other gas or combination of gaseous elements and/or compounds, to name a few. Through-hole  832  may have a diameter that is slightly larger than a diameter of rotor shaft  836  to allow rotor shaft  836  to fit through through-hole  832  to connect stator  804  to hub  816 . Rotor shaft  836  may rotate in response to rotation of propulsor  812 . 
     Still referring to  FIG. 8 , motor  800  may include a bearing cartridge  840 . Bearing cartridge  840  may include a bore. Rotor shaft  836  may be inserted through the bore of bearing cartridge  840 . Bearing cartridge  840  may be attached to a structural element of a vehicle. Bearing cartridge  840  functions to support the rotor and to transfer the loads from the motor. Loads may include, without limitation, weight, power, magnetic pull, pitch errors, out of balance situations, and the like. Bearing cartridge  840  may include a bore. Bearing cartridge  840  may include a smooth metal ball or roller that rolls against a smooth inner and outer metal surface. The rollers or balls take the load, allowing the device to spin. a bearing may include, without limitation, a ball bearing, a straight roller bearing, a tapered roller bearing or the like. Bearing cartridge  840  may be subject to a load which may include, without limitation, a radial or a thrust load. Depending on the location of bearing cartridge  840  in the assembly, it may see all of a radial or thrust load or a combination of both. In an embodiment, bearing cartridge  840  may join motor  800  to a structure feature. Bearing cartridge  840  may function to minimize the structural impact from the transfer of bearing loads during flight and/or to increase energy efficiency and power of propulsor. Bearing cartridge  840  may include a shaft and collar arrangement, wherein a shaft affixed into a collar assembly. A bearing element may support the two joined structures by reducing transmission of vibration from such bearings. Roller (rolling-contact) bearings are conventionally used for locating and supporting machine parts such as rotors or rotating shafts. Typically, the rolling elements of a roller bearing are balls or rollers. In general, a roller bearing is a is type of anti-friction bearing; a roller bearing functions to reduce friction allowing free rotation. Also, a roller bearing may act to transfer loads between rotating and stationary members. In an embodiment, bearing cartridge  840  may act to keep propulsor  812  and components intact during flight by allowing motor  800  to rotate freely while resisting loads such as an axial force. In an embodiment, bearing cartridge  840  may include a roller bearing incorporated into the bore. a roller bearing is in contact with rotor shaft  836 . Stator  804  may be mechanically coupled to inverter housing. Mechanically coupled may include a mechanical fastening, without limitation, such as nuts, bolts or other fastening device. Mechanically coupled may include welding or casting or the like. Inverter housing may contain a bore which allows insertion by rotor shaft  836  into bearing cartridge  840 . 
     Still referring to  FIG. 8 , motor  800  may include a motor assembly incorporating a rotating assembly and a stationary assembly. Hub  816 , motor inner magnet carrier  824  and rotor shaft  836  may be incorporated into the rotor assembly of motor  800  which make up rotating parts of electric motor, moving between the stator poles and transmitting the motor power. As one integrated part, the rotor assembly may be inserted and removed in one piece. Stator  804  may be incorporated into the stationary part of the motor assembly. Stator and rotor may combine to form an electric motor. In embodiment, an electric motor may, for instance, incorporate coils of wire, which may be similar to or the same as any of the electrically conductive components in the entirety of this disclosure, which are driven by the magnetic force exerted by a first magnetic field on an electric current. The function of the motor may be to convert electrical energy into mechanical energy. In operation, a wire carrying current may create at least a first magnetic field with magnetic poles in a first orientation which interacts with a second magnetic field with magnetic poles oriented in the opposite direction of the first magnetic pole direction causing a force that may move a rotor in a direction. For example, and without limitation, first magnetic element  808  in motor  800  may include an active magnet. For instance, and without limitation, a second magnetic element may include a passive magnet, a magnet that reacts to a magnetic force generated by first magnetic element  808 . In an embodiment, a first magnet positioned around the rotor assembly, may generate magnetic fields to affect the position of the rotor relative to the stator  804 . A controller may have an ability to adjust electricity originating from a power supply and, thereby, the magnetic forces generated, to ensure stable rotation of the rotor, independent of the forces induced by the machinery process. 
     Motor  800  may include impeller  844 , which may be used as impeller  720 , coupled with the rotor shaft  836 . An impeller, as described herein, is a rotor used to increase or decrease the pressure and flow of a fluid, including at least air. Impeller  844  may function to provide cooling to motor  800 . Impeller  844  may include varying blade configurations, such as radial blades, non-radial blades, semi-circular blades and airfoil blades. Impeller  844  may further include single and/or double-sided configurations. Impeller  844  is described in further detail below. Additionally, or alternatively, in a non-limiting illustrative example, rotor shaft  836  may be mechanically coupled to cooling vanes. Cooling vanes are used to lower the temperature of a high-velocity mechanical part, like the rotor in an electrical motor. Cooling vanes may employ a plurality of physical principles to cool mechanical parts. Cooling vanes may draw cool air like a fan if mechanically coupled to the rotor at an angle sufficient to create a pressure differential in order to draw cool air from outside the motor housing into the relatively hot inner motor and cool internal mechanical parts by convection. The cooling vanes may alternatively or additionally cool other components disclosed herein with the impeller. Convection cooling in principle, is cooling of a portion of a body by moving a fluid over it, the tendency of heat energy to move from high to low energy areas, like a hot spinning rotor to cool moving air. Additionally, cooling vanes may act as thermodynamic fins. Heat energy may be conducted through the cooling vanes from the hot rotor shaft to the tips of the cooling vanes, thus dissipating heat in a high-speed rotating part. Cooling vanes may be consistent with those disclosed in U.S. patent application Ser. No. 16/910,255 entitled “Integrated Electric Propulsion Assembly” and incorporated herein by reference in its entirety. 
     Now referring to  FIG. 9 , electric aircraft  900  may include motor  800  may be mounted on a structural feature of an aircraft. Design of motor  800  may enable it to be installed external to the structural member (such as a boom, nacelle, or fuselage) for easy maintenance access and to minimize accessibility requirements for the structure. This may improve structural efficiency by requiring fewer large holes in the mounting area. This design may include two main holes in the top and bottom of the mounting area to access bearing cartridge. Further, a structural feature may include a component of electric aircraft  900 . For example, and without limitation structural feature may be any portion of a vehicle incorporating motor  800 , including any vehicle as described below. As a further non-limiting example, a structural feature may include without limitation a wing, a spar, an outrigger, a fuselage, or any portion thereof persons skilled in the art, upon reviewing the entirety of this disclosure, will be aware of many possible features that may function as at least a structural feature. At least a structural feature may be constructed of any suitable material or combination of materials, including without limitation metal such as aluminum, titanium, steel, or the like, polymer materials or composites, fiberglass, carbon fiber, wood, or any other suitable material. As a non-limiting example, at least a structural feature may be constructed from additively manufactured polymer material with a carbon fiber exterior; aluminum parts or other elements may be enclosed for structural strength, or for purposes of supporting, for instance, vibration, torque or shear stresses imposed by at least propulsor  812 . Persons skilled in the art, upon reviewing the entirety of this disclosure, will be aware of various materials, combinations of materials, and/or constructions techniques. 
     Still referring to  FIG. 9 , electric aircraft  900  may include a vertical takeoff and landing aircraft (eVTOL). As used herein, a vertical take-off and landing (eVTOL) aircraft is one that can hover, take off, and land vertically. An eVTOL, as used herein, is an electrically powered aircraft typically using an energy source, of a plurality of energy sources to power the aircraft. In order to optimize the power and energy necessary to propel the aircraft. eVTOL may be capable of rotor-based cruising flight, rotor-based takeoff, rotor-based landing, fixed-wing cruising flight, airplane-style takeoff, airplane-style landing, and/or any combination thereof. Rotor-based flight, as described herein, is where the aircraft generated lift and propulsion by way of one or more powered rotors coupled with an engine, such as a “quad copter,” multi-rotor helicopter, or other vehicle that maintains its lift primarily using downward thrusting propulsors. Fixed-wing flight, as described herein, is where the aircraft is capable of flight using wings and/or foils that generate life caused by the aircraft&#39;s forward airspeed and the shape of the wings and/or foils, such as airplane-style flight. 
     With continued reference to  FIG. 9 , a number of aerodynamic forces may act upon the electric aircraft  900  during flight. Forces acting on electric aircraft  900  during flight may include, without limitation, thrust, the forward force produced by the rotating element of the electric aircraft  900  and acts parallel to the longitudinal axis. Another force acting upon electric aircraft  900  may be, without limitation, drag, which may be defined as a rearward retarding force which is caused by disruption of airflow by any protruding surface of the electric aircraft  900  such as, without limitation, the wing, rotor, and fuselage. Drag may oppose thrust and acts rearward parallel to the relative wind. A further force acting upon electric aircraft  900  may include, without limitation, weight, which may include a combined load of the electric aircraft  900  itself, crew, baggage, and/or fuel. Weight may pull electric aircraft  900  downward due to the force of gravity. An additional force acting on electric aircraft  900  may include, without limitation, lift, which may act to oppose the downward force of weight and may be produced by the dynamic effect of air acting on the airfoil and/or downward thrust from the propulsor  812  of the electric aircraft. Lift generated by the airfoil may depend on speed of airflow, density of air, total area of an airfoil and/or segment thereof, and/or an angle of attack between air and the airfoil. For example, and without limitation, electric aircraft  900  are designed to be as lightweight as possible. Reducing the weight of the aircraft and designing to reduce the number of components is essential to optimize the weight. To save energy, it may be useful to reduce weight of components of electric aircraft  900 , including without limitation propulsors and/or propulsion assemblies. In an embodiment, motor  800  may eliminate need for many external structural features that otherwise might be needed to join one component to another component. Motor  800  may also increase energy efficiency by enabling a lower physical propulsor profile, reducing drag and/or wind resistance. This may also increase durability by lessening the extent to which drag and/or wind resistance add to forces acting on electric aircraft  900  and/or propulsors. 
     Still referring to  FIG. 9 , electric aircraft  900  can include motor  800 . Motor  800  may include a stator which has a first magnetic generating element generating a first magnetic field. Motor  800  may also include propulsor  812  with an integrated rotor assembly of the motor assembly which may include includes a hub mounted to stator, at least a second magnetic element generating a second magnetic field. First magnetic field and second magnetic field vary with respect to time which generates a magnetic force between both causing the rotor assembly to rotate with respect to the stator. 
     It is to be noted that any one or more of the aspects and embodiments described herein may be conveniently implemented using one or more machines (e.g., one or more computing devices that are utilized as a user computing device for an electronic document, one or more server devices, such as a document server, etc.) programmed according to the teachings of the present specification, as will be apparent to those of ordinary skill in the computer art. Appropriate software coding can readily be prepared by skilled programmers based on the teachings of the present disclosure, as will be apparent to those of ordinary skill in the software art. Aspects and implementations discussed above employing software and/or software modules may also include appropriate hardware for assisting in the implementation of the machine executable instructions of the software and/or software module. 
     Such software may be a computer program product that employs a machine-readable storage medium. A machine-readable storage medium may be any medium that is capable of storing and/or encoding a sequence of instructions for execution by a machine (e.g., a computing device) and that causes the machine to perform any one of the methodologies and/or embodiments described herein. Examples of a machine-readable storage medium include, but are not limited to, a magnetic disk, an optical disc (e.g., CD, CD-R, DVD, DVD-R, etc.), a magneto-optical disk, a read-only memory “ROM” device, a random access memory “RAM” device, a magnetic card, an optical card, a solid-state memory device, an EPROM, an EEPROM, and any combinations thereof. A machine-readable medium, as used herein, is intended to include a single medium as well as a collection of physically separate media, such as, for example, a collection of compact discs or one or more hard disk drives in combination with a computer memory. As used herein, a machine-readable storage medium does not include transitory forms of signal transmission. 
     Such software may also include information (e.g., data) carried as a data signal on a data carrier, such as a carrier wave. For example, machine-executable information may be included as a data-carrying signal embodied in a data carrier in which the signal encodes a sequence of instruction, or portion thereof, for execution by a machine (e.g., a computing device) and any related information (e.g., data structures and data) that causes the machine to perform any one of the methodologies and/or embodiments described herein. 
     Examples of a computing device include, but are not limited to, an electronic book reading device, a computer workstation, a terminal computer, a server computer, a handheld device (e.g., a tablet computer, a smartphone, etc.), a web appliance, a network router, a network switch, a network bridge, any machine capable of executing a sequence of instructions that specify an action to be taken by that machine, and any combinations thereof. In one example, a computing device may include and/or be included in a kiosk. 
       FIG. 10  shows a diagrammatic representation of one embodiment of a computing device in the exemplary form of a computer system  1000  within which a set of instructions for causing a control system, such as the integrated motor  800  system of  FIG. 8 , to perform any one or more of the aspects and/or methodologies of the present disclosure may be executed. It is also contemplated that multiple computing devices may be utilized to implement a specially configured set of instructions for causing one or more of the devices to perform any one or more of the aspects and/or methodologies of the present disclosure. Computer system  1000  includes a processor  1004  and a memory  1008  that communicate with each other, and with other components, via a bus  1012 . Bus  1012  may include any of several types of bus structures including, but not limited to, a memory bus, a memory controller, a peripheral bus, a local bus, and any combinations thereof, using any of a variety of bus architectures. 
     Memory  1008  may include various components (e.g., machine-readable media) including, but not limited to, a random-access memory component, a read only component, and any combinations thereof. In one example, a basic input/output system  1016  (BIOS), including basic routines that help to transfer information between elements within computer system  1000 , such as during start-up, may be stored in memory  1008 . Memory  1008  may also include (e.g., stored on one or more machine-readable media) instructions (e.g., software)  1020  embodying any one or more of the aspects and/or methodologies of the present disclosure. In another example, memory  1008  may further include any number of program modules including, but not limited to, an operating system, one or more application programs, other program modules, program data, and any combinations thereof. 
     Computer system  1000  may also include a storage device  1024 . Examples of a storage device (e.g., storage device  1024 ) include, but are not limited to, a hard disk drive, a magnetic disk drive, an optical disc drive in combination with an optical medium, a solid-state memory device, and any combinations thereof. Storage device  1024  may be connected to bus  1012  by an appropriate interface (not shown). Example interfaces include, but are not limited to, SCSI, advanced technology attachment (ATA), serial ATA, universal serial bus (USB), IEEE 1094 (FIREWIRE), and any combinations thereof. In one example, storage device  1024  (or one or more components thereof) may be removably interfaced with computer system  1000  (e.g., via an external port connector (not shown)). Particularly, storage device  1024  and an associated machine-readable medium  1028  may provide nonvolatile and/or volatile storage of machine-readable instructions, data structures, program modules, and/or other data for computer system  1000 . In one example, software  1020  may reside, completely or partially, within machine-readable medium  1028 . In another example, software  1020  may reside, completely or partially, within processor  1004 . 
     Computer system  1000  may also include an input device  1032 . In one example, a user of computer system  1000  may enter commands and/or other information into computer system  1000  via input device  1032 . Examples of an input device  1032  include, but are not limited to, an alpha-numeric input device (e.g., a keyboard), a pointing device, a joystick, a gamepad, an audio input device (e.g., a microphone, a voice response system, etc.), a cursor control device (e.g., a mouse), a touchpad, an optical scanner, a video capture device (e.g., a still camera, a video camera), a touchscreen, and any combinations thereof. Input device  1032  may be interfaced to bus  1012  via any of a variety of interfaces (not shown) including, but not limited to, a serial interface, a parallel interface, a game port, a USB interface, a FIREWIRE interface, a direct interface to bus  1012 , and any combinations thereof. Input device  1032  may include a touch screen interface that may be a part of or separate from display  1036 , discussed further below. Input device  1032  may be utilized as a user selection device for selecting one or more graphical representations in a graphical interface as described above. 
     A user may also input commands and/or other information to computer system  1000  via storage device  1024  (e.g., a removable disk drive, a flash drive, etc.) and/or network interface device  1040 . A network interface device, such as network interface device  1040 , may be utilized for connecting computer system  1000  to one or more of a variety of networks, such as network  1044 , and one or more remote devices  1048  connected thereto. Examples of a network interface device include, but are not limited to, a network interface card (e.g., a mobile network interface card, a LAN card), a modem, and any combination thereof. Examples of a network include, but are not limited to, a wide area network (e.g., the Internet, an enterprise network), a local area network (e.g., a network associated with an office, a building, a campus or other relatively small geographic space), a telephone network, a data network associated with a telephone/voice provider (e.g., a mobile communications provider data and/or voice network), a direct connection between two computing devices, and any combinations thereof. A network, such as network  1044 , may employ a wired and/or a wireless mode of communication. In general, any network topology may be used. Information (e.g., data, software  1020 , etc.) may be communicated to and/or from computer system  1000  via network interface device  1040 . 
     Computer system  1000  may further include a video display adapter  1052  for communicating a displayable image to a display device, such as display device  1036 . Examples of a display device include, but are not limited to, a liquid crystal display (LCD), a cathode ray tube (CRT), a plasma display, a light emitting diode (LED) display, and any combinations thereof. Display adapter  1052  and display device  1036  may be utilized in combination with processor  1004  to provide graphical representations of aspects of the present disclosure. In addition to a display device, computer system.  1000  may include one or more other peripheral output devices including, but not limited to, an audio speaker, a printer, and any combinations thereof. Such peripheral output devices may be connected to bus  1012  via a peripheral interface  1056 . Examples of a peripheral interface include, but are not limited to, a serial port, a USB connection, a FIREWIRE connection, a parallel connection, and any combinations thereof. 
     The foregoing has been a detailed description of illustrative embodiments of the invention. Various modifications and additions can be made without departing from the spirit and scope of this invention. Features of each of the various embodiments described above may be combined with features of other described embodiments as appropriate in order to provide a multiplicity of feature combinations in associated new embodiments. Furthermore, while the foregoing describes a number of separate embodiments, what has been described herein is merely illustrative of the application of the principles of the present invention. Additionally, although particular methods herein may be illustrated and/or described as being performed in a specific order, the ordering is highly variable within ordinary skill to achieve embodiments according to this disclosure. Accordingly, this description is meant to be taken only by way of example, and not to otherwise limit the scope of this invention. 
     Exemplary embodiments have been disclosed above and illustrated in the accompanying drawings. It will be understood by those skilled in the art that various changes, omissions and additions may be made to that which is specifically disclosed herein without departing from the spirit and scope of the present invention.