US Patent 7224252 Adaptive magnetic levitation apparatus and method

A magnetic levitation system, includes a base module having a plurality of coils spaced in a matrix configuration. The system also includes a platform module having a plurality of focusing magnets and a plurality of lifting magnets. Activation of the plurality of coils by way of an electric current supplied to the plurality of coils creates a magnetic field strength which provides a force that levitates the platform module over the base module. The system also includes a position and orientation sensing and feedback system provided on the platform module.