Patent 7099746 was granted and assigned to Carnegie Mellon University on August, 2006 by the United States Patent and Trademark Office.
A mobile device for traversing a ferromagnetic surface. The device includes a frame and at least one surface contacting device attached to the frame. The device also includes a Halbach magnet array attached to the frame, wherein the Halbach magnet array provides a magnetic force to maintain the surface contacting device substantially into contact with the ferromagnetic surface.