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I always though there where stairs that went up and down in the doors, and the wells are high pressure holes that suck in and blow out objects, that may be volcanic or tectonic in origin (the Big Well, anybody?). Of course, the mudokons built most of them years ago, but I suspect they were powered by a natural force already present.
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i agree with the volcanic theory. maybe the wells were powered by natural gasses seeping through the ground from past volcanic activity. maybe the mudokons found concentrated areas and put barriers or tanks over them, so that when a lever was pulled, a valve would open and the gas inside had collected enough pressure to push something through the well at high speeds.
as for the doors, maybe there are small hidden wells or quick portals inside. but i've always wondered what made the doors open and close, especially if it's stone or imbedded in stone... hmm...