The invention relates to a method for moving an object, transmitting or converting rotational and linear movements, or the creation of varying electromagnetic fields. Further, the invention relates to a system using the method.

Methods for moving objects, for transmitting or converting rotational and linear movements or for the creation of varying electromagnetic fields are generally well known, and usually involve the use of mechanical or electromechanical laws and processes. Use of magnetic or electromagnetic effects, for example gyromagnetic effects (Heims S. P., Jaynes E. T., Theory of gyromagnetic effects and some related magnetic phenomena, Rev. Modern Phys. 34, 143 (1962)), is also known from the prior art. Further, spinmechatronics describes interconversion of mechanical rotation and spin-currents (M. Matsuo, E. Saitoh, S. Maekawa, Spin- Mechatronics, J. Phys. Soc. Jpn. 86, 011011 (2017).

It is an object of the present invention to provide a novel method for moving an object, transmitting or converting rotational and linear movements, or the creation of varying electromagnetic fields.

In a first aspect the invention provides a method for moving an object, transmitting or converting rotational and linear (translational) movements or the creation of varying electromagnetic fields, the method comprising causing a rotation of a magnetic body about a rotation axis coinciding with the magnetization axis of the magnetic body exclusively under the common action of two or more competing torques acting on the magnetic body, one of the torques being a magnetic torque.

The present invention is based on a novel magnetomechanical effect comprising the emergence of mechanical revolution of a magnetic body around its magnetization axis. It has been surprisingly found that magnetic revolution emerges without any externally forced rotation about this axis or magnetic polarization along this axis, but rather due to a competition of at least two competing driving torques j(t) (i =2..N) having corresponding driving angular velocities flj(t). Revolution of the magnetic body may or may not be combined with a translational motion of the revolving body. The magnetic body revolves up about a rotation axis R coinciding with that of magnetization orientation, and revolution emerges without any externally forced rotation around this rotation axis. The rotation axis R orients itself in such a way that components of the total torque to the rolling axis vanish, that is, T _rolling (t) = and, therefore, magnetization orientation M _eq (t) becomes conserved (“~~ 0). Due to this conservation, an additional intrinsic torque T _R collinear to M _eq and causing the magnetic revolution emerges without any externally forced rotation.

The term “rolling axis” relates to the axis going through the center of mass (com) of the magnetic body and being perpendicular to the vector f? _Fs connecting com and the contact point as well as to the friction force F _s .

The term “creation of variable electromagnetic fields” relates to the creation of position- and time-varying magnetic/electric fields providing position- and time-dependent variation in magnetic/electric field strength leading to synchronized oscillations of electric and magnetic fields (Lee Y.H. Time-Varying Fields and Maxwell’s Equations. In: Introduction to Engineering Electromagnetics. Springer, Berlin, Heidelberg (2013)).

The term “magnetic body” as used herein relates to entities having a net magnetic moment or generating a magnetic field, and encompasses magnetic or magnetized bodies or bodies having magnetic parts, including bodies where the magnetic field is generated electromagnetically. The term encompasses objects comprising magnetic regions, e.g. inside a host material. A magnetic body can have any shape, e.g. spherical, and be of any material. An example is a permanent magnet of a ferromagnetic material, for example a neodymium (NdFeB) magnet. Another example is a body of non-magnetic material (e.g. a sphere) having a permanent magnet or an electromagnet at its center of mass (com). The magnetic body may also be a magnetized body, e.g. of a paramagnetic material.

The term “magnetization axis” relates to the orientation of the net magnetic moment M of a magnetic body described above. The term “magnetization orientation” or “axis of magnetic polarization” may be used synonymously. The term “emerges without any externally forced rotation about its magnetization axis or any externally forced magnetic polarization along the rotation axis” means that the magnetic body starts to rotate around the magnetization axis without there being any mechanical or other torque produced by external means acting directly in the direction of the angular velocity . _R and without any magnetic field oriented along the axis of angular velocity

The term “non-magnetic” relates to materials that have no net magnetic moment. This does not exclude, however, that they can be paramagnetic, diamagnetic or antiferromagnetic, i.e. become magnetized in the presence of an applied magnetic field.

The term “magnetic torque” encompasses the term “electromagnetic torque”, and relates to a torque, i.e. a rotational force, exerted by a magnetic field or its derivatives like field gradient, field curvature, etc, which is exerted by a magnetic field on a net magnetic moment or by an electric field on a net electric moment.

The terms “revolution-up effect”, “revolution effect”, ”rotation-up effect” or “spin-up effect” may be used herein to denote the emergence of a revolution of a magnetic body around its magnetization axis, as described herein. The term “magnetic revolution” may also be used in this context as a term for denoting a revolution of a magnetic body brought about by the revolution-up effect. The term encompasses the spinning-up and subsequent spinning and/or precession and/or nutation of a magnetic body, which may or may not be associated with a translational movement of the magnetic body.

The term “two or more competing torques acting on the magnetic body” relates to two or more different torques being non-collinear with the magnetization M and acting concomitantly on the magnetic body, e.g. a mechanical torque and a magnetic torque, a mechanical and electromagnetic torque. The term “competing” means that at least two torques have components acting in opposite directions at some period of time. The term “mechanical torque” relates to a torque exerted mechanically, e.g. a torque brought about by friction forces or the action of gravity, for example, in case of an inclined surface, and other mechanical (non-magnetic) forces. The term “exclusively under the common action of two or more competing torques acting on the magnetic body” means that the rotation of the magnetic body about its rotation axis is brought about without any externally forced rotation about this axis or magnetic polarization along this axis.

The term “movable driving element” in the context of the invention relates to an element, for example a solid or hollow body or a body surface, being able to be moved, for example rotated, in order to exert a torque, preferably a mechanical torque, on another body, e.g. a rotatable magnetic body. The term “movable” includes translational and rotational movements. An example of a “movable driving element” is a rotatable curved body, for example a cylindrical body that can be rotated around a body axis, e.g its central axis, a surface of which can be brought into contact with a rotatable magnetic body.

The invention makes use of a physical effect causing revolution of a magnetic body around a well-defined axis without any externally forced rotation about this axis or magnetic polarization along this axis. This effect can be used in a plurality of different fields and applications, including, but not limited to lifting of loads, linear or angle gears, rotors or engines, spin oscillators, sensors, energy storage, information storage and transfer, or navigation. The invention is not limited to applications on a macroscopic scale, but can also advantageously be used in the microscopic or nanoscopic range. The invention can, for example, also be applied in the field of robotics (H. Zhou, C. C. Mayorga-Martinez, S. Pane, L. Zhang, and M. Pumera, Magnetically Driven Micro and Nanorobots, Chem. Rev. 121, 4999 (2021)). Rotating, oscillating or position- and time-varying electromagnetic fields, which are produced by a revolving magnetic body can be used in a variety of applications, e.g. in magnetic nanooscillators, magnetic spin-torque oscillators and the like that can, for example, be used in electronic circuits to excite self-oscillations (S. I. Kiselev, J. C. Sankey, I. N. Krivorotov, N. C. Emley, R. J. Schoelkopf, R. A. Buhrman and D. C. Ralph, Microwave oscillations of a nanomagnet driven by a spin-polarized current, Nature 425, 380 (2003)). The invention thus also provides basis for the creation of variable electromagnetic fields due to the rotational and translational motion of a magnetic body caused by the novel physical effect described herein.

The rotation axis of the magnetic body orients itself such that the total torque along the rolling axis is minimized. This may result in a rotation axis coinciding neither with the axes of the competing driving angular velocities ,(t) that are associated with the torques T, and that brought the rotation into being, nor with the axis corresponding to the vector sum of these velocities,

It has surprisingly been found that a defined rotation of a magnetic body about a rotation axis spatially coinciding with the magnetization axis of the magnetic body occurs exclusively due to the relative movement with friction of the magnetic body and a magnetic or non-magnetic surface in a magnetic field, such that the magnetization axis makes an angle with the normal to the surface and differs from the magnetic field’s axis. The rotational sense of the magnetic body can, for example, be changed by changing the angle between the magnetization and the surface normal.

In a preferred embodiment of the method of the invention, one of the at least two competing torques is a magnetic torque, and another torque is a mechanical torque. A mechanical torque can, for example, be exerted on a magnetic body via friction forces between a moving surface and a surface of the magnetic body, between a surface of the moving body and an immobile surface, or via the Earth’s gravity acting on a magnetic body on an inclined surface. A moving surface can be a plane moving translationally in any direction or a surface of rotating object having curved shape, e.g. of a cylindrically shaped object. In preferred embodiments of the invention the mechanical torque is exerted via rolling friction, i.e. friction occurring between objects rolling on each other, e.g. a spherical magnetic object on a surface of a movable driving element, for example a curved surface a curved body, e.g. a cylindrical solid or hollow body.

In some embodiments of the method of the invention, the rotating magnetic body performs a translational motion in addition to the rotation. The translational movement may, for example, be caused simply by restricting the freedom of movement, e. g. mechanically, of a rotating magnetic body. An example for such a restriction is placing a rotating magnetic body within a cylindrical tube. The translational movement can, for example, be a horizontal movement of the magnetic body, and possibly devices or objects attached to the magnetic body or into which the magnetic body is incorporated. The translational movement may also be a vertical movement against gravitation. Such a lifting movement of a magnetic body according to the invention can, for example, be generated by placing two magnetic bodies separately into two adjacent vertically aligned tubes, the tubes being rotated around their central axis, as described in more detail below.

The rotational movement of a magnetic body according to the invention, possibly combined with a translational movement of the magnetic body, can be used for a plethora of diverse methods and devices, e.g. for gears, sensors, storage of information, transporting devices etc.

In a further aspect the invention relates to a system comprising a rotatable magnetic body and means for exerting a torque on the rotatable magnetic body, such that said magnetic body is caused to rotate about a rotation axis coinciding with its magnetization axis exclusively under the common action of two or more competing torques acting on the magnetic body, one of the torques being a magnetic torque.

The system of the invention may, for example, comprise a movable, preferably rotatable, nonmagnetic driving element being in direct or indirect physical contact with the rotatable magnetic body, and being able to exert a torque, preferably a mechanical torque, on the rotatable magnetic body. The driving element can be or comprise a surface being able to be brought into contact with a surface of the rotatable magnetic body, such that a mechanical torque can be exerted, e.g. via frictional forces, for example rolling friction, on the magnetic body.

In a preferred embodiment the movable driving element is a curved body being rotatable around a rotation axis. The curved body can be a solid or hollow body, for example a hollow cylindrical body being rotatable around its central axis. The rotatable magnetic body is in contact with an inner or outer surface of the curved body, e. g. a cylindrical hollow body. A “curved body” is a body having a curved, e.g. rounded, surface. In cross-section, such a curved body preferably has no corners, edges or ledges, and may have a circular, elliptical or oval shape in cross-section. The surface may also be irregularly shaped in cross-section, with the proviso that the shape has only rounded sections. The curved body is preferably an elongate body, i.e. a body extending predominantly in one direction and having a central longitudinal axis. An example for such a body is a cylinder, which may be hollow and thus having a curved outer and inner surface. The body may have, for example, a circular, oval or elliptical shape in cross-section. A “curved” surface of a curved body is particularly suitable to be brought in contact with a rotatable magnetic body in order to exert e.g. a mechanical torque on the magnetic body by rotating the curved body via a rolling friction between the surface of the curved body and the magnetic body. The curved surface may be an outer surface of a solid or hollow curved body, or an inner surface of a curved hollow body.

The system may further comprise a fixed magnet in addition to the rotatable magnetic body. Preferably, the magnetization axes of the fixed magnet and the rotatable magnetic body are oriented in the same direction and are arranged collinear. The fixed magnet and the rotatable magnetic body are preferably arranged in a manner and distance to each other that they attract each other magnetically. The term “fixed magnet” relates to a magnet that is not intended to be rotated by means of the rotation-up effect of the invention, but is fixed at a given position. “Fixed” does not exclude, that the magnet may be moved by suitable means to another fixed position. The term “fixed magnet being oriented to the rotatable magnetic body” relates to a fixed magnet in the vicinity, e.g. adjacent to, opposite to or at the side of the rotatable magnetic body”, such that the rotatable magnetic body is positioned within the magnetic field of the fixed magnet.

In a preferred embodiment of the system according to the invention, the system is configured for lifting a load. In one embodiment the system comprises at least two movable driving elements, the driving elements being curved hollow bodies, for example cylindrical hollow bodies, each of the curved hollow bodies being rotatable around its rotation axis, e.g. central axis, and each of the curved bodies containing a rotatable magnetic body being in contact with the inner wall of the curved hollow body, wherein the curved hollow bodies are essentially arranged vertically in parallel along their rotation axes, and wherein the rotatable magnetic bodies magnetically attract each other, and wherein the rotatable magnetic bodies are incorporated in or attached to an object configured as a carrier for carrying a load. The curved bodies are preferably elongate hollow bodies, particularly preferred cylindrical hollow bodies, being rotatable around their longitudinal central axes. The term “incorporated in or attached to an object configured as a carrier for carrying a load” in relation to the rotatable magnetic body means that the rotatable magnetic body is installed in an object or connected to an object in a manner that the object is moved, e.g. lifted, together with the magnetic body. The rotatable magnetic body is installed in or connected with the object by suitable means allowing the desired rotational movement of the magnetic body. This does not mean, however, that the object is also rotated. Although this is not excluded, it is preferred that the object, for example a carrier for carrying a load, is installed in or connected to the magnetic body in a way that the object is decoupled from the rotational movement of the magnetic body so that the rotational movement of the magnetic body is not transmitted to the object.

In an embodiment of the system of the invention, which can be used as a lifting ramp or an elevator, two rotatable magnetic bodies are, for example, each placed in a vertical tube, i.e. a cylindrical hollow body rotatable around its central axis. The rotatable magnetic bodies arrange themselves on internal sides of the tubes due to the magnetic attraction. When the tubes are rotated along their central axis, the magnetic bodies revolve up and lift due to emerging magnetic revolution. Any object, for example a cabin for carrying loads like people, connected in suitable manner with the magnetic bodies will also lift. It is irrelevant in which direction the tubes are rotated. The magnetic bodies will lift irrespective of the direction of rotation of the tubes. In order to end lifting, rotation of the tubes can be stopped. The lifting can be reversed by changing the relative angle between equilibrium magnetization M _eq of the rotatable magnetic bodies and corresponding normals to the curved surfaces of the cylindrical hollow bodies (e.g. tubes). This can be achieved by any means, for example by adding a local magnetic field stemming from an electromagnet or from a third weaker magnet placed near an ensemble of two rotatable magnetic bodies. This third magnet can be located on inner or outer surfaces of the rotatable hollow bodies. The third magnet changes the magnetization orientation of the rotatable magnetic bodies due to the magnetic attraction. When the tubes are rotated along their central axis in presence of the third magnet, the magnetic bodies revolve up and descend, move. Additionally, lifting can be reversed by weakening, interrupting or otherwise interfering with the magnetic attraction between the two magnetic bodies, e.g. by increasing the distance between the tubes, by application an additional magnetic field or, for example in case of electromagnets, by decreasing supplied power or switching off the power supply. In this manner, the magnetic bodies can then be brought back to the starting point, for example by gravity or by rotating the tubes in the presence of a third magnet outside the tubes, together with the cabin. In another preferred embodiment, the system of the invention is configured as a vehicle for transporting a load, wherein at least one rotatable magnetic body is incorporated in a driving wheel and is positioned within a magnetic field of a fixed magnet, the magnetization axis of the fixed magnet being oriented towards the magnetization axis of the rotatable magnetic body, and wherein the rotatable magnetic body is in contact with the outer surface of a movable driving element, the movable driving element being a curved body, the curved body being rotatable around its central axis, and wherein rotation of the curved body causes rotation of the driving wheel incorporating the magnetic body. In a preferred embodiment the curved body is a curved hollow body, preferably a cylindrical hollow body. In an embodiment where the curved body is a hollow body, for example a cylindrical hollow body, the fixed magnet is preferably arranged within the hollow body and directed with its magnetization axis along the normal to the inner lateral surface of the hollow body, and the rotatable magnetic body is in contact with the outer lateral surface of the hollow body.

The system according to this embodiment is configured as a vehicle for transporting a load. Rotatable magnetic bodies are placed in driving wheels for translational movement of the vehicle. The wheels are rotated by rotating the incorporated magnetic bodies, which in turn are rotated using the revolution-up effect by rotating a hollow cylindrical body contacting the magnetic bodies. To achieve the revolution-up effect the hollow cylindrical bodies rotate in a field of associated fixed magnets. The wheels can be attached, e.g. via the magnetic fields of associated fixed magnets or via an additional axis, to a housing including one or more motors. A cabin for passengers can, for example, be placed on top and be decoupled from rotating parts by suitable means.

In a further embodiment of the system of the invention, the system is configured as a sensor for sensing a relative inclination between a plane and an axis. In this embodiment, the system comprises a) a rotatable magnetic body being arranged on the plane, b) a second magnet being arranged beneath the plane and being oriented towards the rotatable magnetic body and magnetically holding the magnetic body on the plane, c) and means for moving the second magnet in relation to the plane or the plane in relation to the second magnet, wherein the axis is the magnetization axis of the second magnet. As already mentioned above, the sense of rotation of a magnetic body rotating according to the revolution-up effect of the invention switches with the angle between the magnetization axis of a magnetic body and a surface normal of a plane.

In a still further embodiment of the system of the invention, the system is configured as a fluid valve. In this embodiment, the system comprises a) at least two movable driving elements, the movable driving elements being curved hollow bodies each being rotatable around its central axis, and each containing a rotatable magnetic body being in contact with the inner surface of the wall of the curved hollow body, wherein the curved hollow bodies are essentially arranged vertically in parallel along their rotation axes, and wherein the rotatable magnetic bodies magnetically attract each other, and b) at least one plunger comprising a restriction element restricting the flow of a fluid through a flow passage, wherein at least one of the rotatable magnetic bodies is in contact with and supporting the at least one plunger via a decoupling element, and wherein the at least one plunger is movable by means of rotating the two movable driving elements such that the restriction element at least partially closes or opens the flow passage. This embodiment uses a similar arrangement of two tube-like movable driving elements as described above in relation to the system for lifting a load. Two essentially cylindrical tubes that are rotatable around their central axis can be used to lift two magnetic bodies magnetically attracting each other and contacting the inner walls of the cylindrical tubes with friction. Instead of a load the magnetic bodies support at least one plunger that can be moved with the magnetic bodies in order to at partially close or open the flow passage.

In a further embodiment of the system of the invention, the system is configured as an energy storing device, and comprises a) at least two movable driving elements, the movable driving elements being curved hollow bodies each being rotatable around an axis, and each containing a rotatable magnetic body being in contact with the inner wall of the curved hollow body, wherein the curved hollow bodies are essentially arranged vertically in parallel along their rotation axes, and wherein the rotatable magnetic bodies magnetically attract each other, b) energy storing areas for storing at least two magnetic bodies arranged above the movable driving elements, c) electromagnets so arranged to magnetically attract and fix the at least two magnetic bodies in the energy storing areas, d) ducts arranged and configured for returning the magnetic bodies by gravity from the energy storing areas to an opening of the movable driving elements. Again, a lifting component comprising preferably essentially cylindrical tubes that are rotatable around their central axis is used to lift magnetic bodies against gravity. The magnetic bodies can be stored in energy storing areas in an upper part of the energy storing device. Electromagnets are used in this embodiment for holding the magnetic bodies within the energy storing area. The potential energy stored in this manner can be regained by letting the magnetic bodies fall, by gravity, through ducts past, for example, induction coils arranged along the ducts. The ducts are designed and connected to the lifting component in a manner that the magnetic bodies are returned back to the lifting component in order to be lifted and stored again.

In the following, the invention is described by way of the attached figures and examples for illustration purposes only.

Figure 1. Gyroscopic, gyromagnetic and magnetic revolution effects, (a) Schematic representation of a mechanical gyroscope according to the prior art, which can be controlled by external rotation (1 to align the spinning axis (l _s with (1. (b) Schematic representation of a gyromagnetic effect known from the prior art, in which magnetization can be controlled by - > - > external rotation Q to align magnetization M with (1. (c) Schematic illustration of the magnetic revolution-up effect according to the invention, showing a side view of a magnetic sphere rolling down an incline with emerging revolution up of the sphere due to competing torques. Initially, the magnetized sphere is at rest (left part of figure 1c) and its magnetization orients along the magnetic field B. When the sphere starts to roll down the inclined plane (middle of figure 1c), M departs from its initial orientation, relaxes to a direction R ensuring minimal components of the total torque to the rolling axis T _rolling — 0 and starts to revolve about this axis with angular velocity (1 _R . (d) Schematic illustration of the additional intrinsic torque T _R collinear to M _eq and causing the magnetic revolution-up effect emerging without any externally forced rotation about the axis B | \M _eq . R _Fs = radius from the center of mass to the contact point, F _s = friction force, M = Magnetization, B = magnetic field, x, y, z = Cartesian coordinates, P = inclination angle, h = height, v = velocity of the center of mass of the sphere, 9 _eq = equilibrium - > - > > — > - > angle between Mand B, (1 _R = angular velocity around axis R due to the revolution-up effect, = angular velocity due to the magnetic torque, (l _Fs = angular velocity due to the mechanical torque based on the friction force F _s , r = the distance from the contact point to the axis R. It should be noted that, in the figures, vectorial variables used in the text are set in bold face instead of using vector signs.

Figure 2. Schematic illustration of the magnetic revolution-up effect according to the invention with a magnetic sphere in a non-magnetic tube. A mechanical torque is acting on the sphere due to a rotation of the tube around its central axis with an angular velocity Q. _v . A magnetic torque is acting on the sphere due to the Earth’s magnetic field B _Earth . Both torques are causing revolution of the sphere around its magnetization axis. Because of this revolution . _R the sphere inside the tube is deflected perpendicularly to the applied force (in this case friction force), which leads to a horizontal motion of the sphere. An inclination of the tube is not necessary, because the mechanical torque comes from the angular velocity Q. _v .

Figure 3. Illustration of the revolution-up effect according to the invention, showing two projections of a magnetic sphere moved by an external field B (t) » /Aani, with the velocity v. Solid and long-dashed black lines correspond to the magnetization orientation and sense of - > — > - > magnetic revolution. Change in M or in B (t) cause change in fl _R .

Figure 4. Illustration of the magnetic revolution-up effect according to the invention showing an immobile magnet situated near a moving non-magnetic surface. This set-up leads to magnetic revolution of a sphere without its lateral displacement.

Figure 5. Side-view of an arrangement illustrating a lifting force associated with the rotation-up effect of the invention. Solid and dashed round arrows show the rotation direction of tubes fl _t ube ^ar| d corresponding direction of sphere’s revolution fl _R . When the inner parts of the tubes rotate from an observer, the upper parts of the spheres revolve towards the observer (solid round arrows) and vice versa (dashed round arrows). Bold line-arrows show magnetic moment of the spheres.

Figure 6. Top view of an arrangement comprising two magnetic spheres inside two nonmagnetic tubes and forces acting on spheres. Short-dashed arrows show magnetic moments M of the spheres, dotted lines show the rolling planes, small crossed circles show orientation of rolling friction F _sR (t), larger crossed circles denote the gravitational force mg. Dash-dotted arrows show time dependent magnetic fields B(t). Solid arrows show static friction F _s (t), the normal force N(t), and the magnetic attractive force F _m (t) respectively. Round arrows show the angular velocity of revolution . _R of the two spheres.

Figure 7. Simplified illustration of an embodiment of the system according to the invention. In this embodiment, the system is configured as an elevator lifting a load.

Figure 8. Simplified illustration of a further embodiment of the system according to the invention. In this embodiment, the system is configured as a vehicle moving a load. Figure 8A, Cross-sectional side view, Figure 8B, top view on a cross-section along A-A of figure 8A.

Figure 9. Simplified illustration of a further embodiment of the system according to the invention, the system being configured as a vehicle moving a load. Figure 9A, Cross-sectional side view, Figure 9B, top view on a cross-section along A-A of figure 9A.

Figure 10. Illustration of a different state of the embodiment shown in Figure 9. The figure shows a top view on a cross-section along A-A in figure 9, but with changes reflecting the different state of the embodiment.

Figure 11. Part of a further embodiment of a system according to the invention configured as a vehicle moving a load.

Figure 12. Side view of a further embodiment of the system according to the invention configured as a sensor of relative inclination between a surface and an axis.

Figure 13. Schematic illustration of a further embodiment of the system according to the invention configured as a fluid valve. Figure 14. Cross-sectional side view of a further embodiment of the system according to the invention configured as an energy storing device.

Figure 1 illustrates the physical principle underlying the rotation-up effect (Fig. 1c, d) used in the present invention in comparison to known effects, i.e. gyroscopic motion (Fig. la) and gyromagnetic motion (Fig. lb).

State of the art gyroscopic motion considers motion of spinning objects. A spinning axis can be — > - > defined by its mechanical angular momentum L _s and angular velocity £l _s . A spinning object can be controlled or manipulated by another external rotation with angular velocity £1 to align the spinning axis with external rotation axis (£l _s II £1) due to the Coriolis force as shown in Fig. la (L. D. Landau and E. M. Lifshitz, Mechanics, Pergamon, New York, 1969). State of the art gyromagnetic motion considers motion of the spinning magnetic objects. In this case, the magnetic moment M = VM _s e _M (V is the volume of an object, M _s is the saturation magnetization and e _M the magnetization’s unit vector) stemming from the spin angular momentum S can be controlled or manipulated by external rotation 1 to align the magnetization - > - > with this external rotation (M || £1) via the spin-rotation coupling as shown in Fig.1 (b) (M. Matsuo, E. Saitoh, S. Maekawa, Spin-Mechatronics, J. Phys. Soc. Jpn. 86, 011011 (2017); S. J. Barnett, Phys. Rev. 6, 239 (1915); A. Einstein and W. J. de Haas, Verh. Dtsch. Phys. Ges. 17, 152 (1915)). In all cases described above, an object subject to manipulation is initially spinning around a well-defined axis £l _s .

For illustrating the revolution-up effect of the invention we consider a solid rotatable magnetic object 2 (or a solid object with an embedded (electro)magnet) having macroscopic magnetic moment M = V M _s e _M that does not spin initially, but rather rests at an equilibrium position (see Fig.lc). In the next step, the equilibrium is disturbed by several torques, for example a mechanical torque _Fs arising due to rolling down an inclined plane 5 and a magnetic torque T _M . Looking at the characteristics of movement of such an object 2 (e.g. a magnetic sphere) close to equilibrium, it can be observed that combination of a rolling motion with a magnetic - > — > torque forces the object 2 to revolve with angular velocity fl _R about an axis R. In contrast to other gyroscopic effects, this revolution emerges without application of any rotation about the axis R forced by external means, but rather corresponds to the rolling motion with fixed - > - > inclined axis. Orientation of 1 _R coincides with that of M _eq and corresponds to the direction ensuring vanishing component of the total torque onto the rolling axis, that is, T _rolling (t) = ^=1 T-iroiiing ( ^mni resulting in conservation of the magnetization direction -> 0). In the left part of figure 1c, the sphere 2 is shown on a plane 5 of an incline 3 at rest position (equilibrium position, initial velocity v = 0). At this position, its magnetization vector coincides with that of the magnetic field B. In the next step (figure 1c, middle) the sphere 2 starts to roll in positive x-direction and the equilibrium is disturbed by application of two or more competing driving torques, here a mechanical torque due to the friction force and a magnetic torque with corresponding driving angular velocities (£l _Fs ,£l _M ). The magnetization departs from its initial orientation and stops at an equilibrium position corresponding to the angle z[M, B] = 6 _eq and M = M _eq , for which the component of total driving torque onto the rolling axis is minimal. If M _eq makes an angle with the normal to the surface corresponding with the z-axis in figure Id the sphere 2 revolves up (right side of figure 1c and Id) about this orientation R || M _eq due to the emerging torque T _R = F _s X f .

Figure 2 schematically illustrates a situation where a magnetic sphere 2 is placed in a nonmagnetic tube 4 that rotates around its central axis with angular velocity Q. _v . A mechanical torque acting on the sphere 2 due to the rotation of the tube 4 together with the magnetic torque acting on the sphere 2 due to the Earth’s magnetic field B _Earth , cause the rotation-up of the sphere 2 around its magnetization axis. Due to this rotation-up, the sphere 2 inside the tube 4 performs a rolling motion with inclined axis inside of the tube. Because the revolution axis is inclined, the sphere is laterally deflected leading to a horizontal motion similarly to a bicycle that has to be inclined in order to turn left or right. An inclination of the tube 4 is not necessary. The rotation of the tube 4 is sufficient to cause the rotation-up effect.

Another illustration of the rotation-up effect is given in figure 3. Here, a magnetic sphere 2 is placed on a non-magnetic horizontal plane 5 beneath which another strong magnet 6 with magnetic moment M _m is arranged with or without contact to the plane 5. Initially, both magnets 2, 6 are perfectly aligned (M || M _m ) due to magnetic attraction. Then, the bottom magnet 6 is moved by any means with velocity v. Figure 3a and b give two different projections of such a movement. As a result, the sphere 2 moves alongside and, at the same time, revolves with angular velocity Q _R about its magnetization axis, which in turn is oriented along the direction of minimal torque along the rolling axis M _eq || R. Similarly to the previous case, M _eq is determined by competition of a mechanical torque caused by the friction force F _s and magnetic torques. However, in this set-up the applied field B(t), velocity v and, hence, M _eq and (1 _R can be easily controlled. Additionally, one can change the sense of rotation-up by changing orientation of the bottom magnet 6 (solid and dashed linear arrows for M _m and solid and dashed round arrows for 1 _R respectively).

Figure 4 schematically illustrates one possible reciprocal version of the revolution-up effect. In this set-up the magnet 6 with magnetic moment M _m does not move, but rather remains fixed by suitable means on top, beneath or sidewise of a magnetic sphere 2, which is separated from the fixed magnet 6 by a surface of a curved non-magnetic object, for example a wall of a hollow cylindrical tube 4. In this set-up the tube 4 is moving instead of the magnet 6, i.e. the tube rotates around its central axis, leading to the revolution-up effect of the magnetic body (sphere) 2 with angular velocity Q _R about its equilibrium magnetization axis.. In contrast to the direct version of the revolution-up effect, in its reciprocal version the revolved-up sphere 2 does not move but revolves at initial position.

Figure 5 shows a two-magnetic-body version of the revolution-up effect leading to a variant of the lift-effect. In this version, two magnetic spheres 2 are positioned in two vertical nonmagnetic tubes 4. The tubes 4 are put close enough to one another for the spheres 2 arranging themselves closest to one another at the inner side walls of the tubes due to the magnetic attraction. When the tubes 4 are rotated about their vertical central axis with angular velocity Q _tube , both spheres 2 revolve-up with angular velocity Q _R and start to lift synchronously along the inner side of the tubes 4 with velocity The change in the rotation direction of any or of the both tubes 4 leads to the change in the direction of rotation of the magnetic spheres 2 (represented by the solid and dashed round arrows respectively). The lifting force, however, remains unaffected by the reversal of Q _tube . Figure 6 gives schematic top-view of the lift-effect caused by the revolution-up effect and summarizes the forces acting on the two magnetic spheres 2 described in Figure 5. Initially, the two magnetic spheres 2 rotate together with the tubes 4 due to the friction F _s (t). At a critical angle [J the sum of gravitational (mg) and magnetic (F _m (t)) forces overcome the F _s (t) and the spheres 2 revolve-up with the angular velocity (1 _R1 and (1 _R2 due to the competition between the mechanical and magnetic torques. The mechanical torque comes from the friction F _s (t), while the magnetic torque stems from the magnetic field of one sphere 2 acting on the other one — > - > - >

Bi2(2i) ( - The magnitudes of (1 _R1 and (1 _R2 are identical, while their orientations are different. However, as in previous cases M^ ₂ ) II Ri(2) for each sphere 2 individually. Because of this different orientation of rotational axes the only possibility for the spheres 2 to attract each other (in other words to decrease the distance to one another) is to roll up-hill revolving in the corresponding rotational planes (dotted lines). While the sign of revolution depends on the magnetic polarization of the spheres 2 and on the tubes 4 angular velocity, the lifting force persists for any of these parameters or their combinations and spheres 2 can be lifted to any tubes 4 height.

Figure 7 shows an embodiment of a system 1 of the invention based on the lifting effect the physical basis of which is illustrated in Figures 5, 6 (see above). The system 1 is configured to function as a lifting ramp or an elevator for lifting loads, e.g. people or other objects. The figure depicts a cross-section through two movable driving elements 7, which, in this embodiment, are non-magnetic generally cylindrical hollow bodies (“tubes” in the following) vertically arranged in parallel at a distance d to each other. The tubes are rotatable around their longitudinal (central) axes 21 via means not depicted here. The tubes may be divided into different sections in vertical direction, e.g. a lower and an upper section. In figure 7 this is indicated by the dashed double line A-A, dividing a lower section 28 and an upper section 29. There may also be more than two tube sections stacked vertically upon each other. Within each of the tubes a cabin 24 is arranged for carrying a load 27. Both cabins 24 are essentially arranged at the same height within the tubes, i.e. at the same vertical position. A part of the cabin 24 is separated by a separation 23 from the rest of the cabin 24. The cabin 24 includes magnetic bodies 2 that are rotatably mounted in such a manner, that the magnetic bodies 2 are allowed to rotate around their magnetization axis 30, the axis 30 being oriented radially (horizontally), i.e. transversely to the central axis 21 of the tube. For this purpose, the magnetic bodies are mounted on bearings 22, decoupling the magnetic bodies 2 from the cabin 24. The magnetic bodies 2 can be solid magnetic objects or paramagnetic bodies or electromagnetic coils wounded in such a way that the objects are magnetized along their horizontal axis 30. The magnetic bodies 2 are directed to each other and separated by the tube walls 26, but are arranged so close together that they magnetically attract each other. The magnetic bodies 2 are each in contact with the inner surface 31 of the wall 26 of the respective tube with a rounded part 32 protruding through openings in the cabin 24 from the wall of the cabin 24 in radial direction, i.e. in the direction of the tube wall 26. The openings in the cabin walls face each other and have bearings 22 in their lining for rotatably mounting the magnetic bodies 2 and separating the rotating magnetic bodies 2 from the non-rotating cabin 24. The tubes are separated by a distance d small enough for the magnetic bodies 2 to attract each other magnetically, such that the magnetic bodies 2 are pressed with their rounded parts 32 against the inner surfaces 31 of the tubes. When the tubes are rotated in any direction along their central axes 21 a mechanical torque is exerted on the magnetic bodies 2 via friction forces between the inner surfaces 31 of the tubes and the magnetic bodies 2, and, as a consequence of the resulting competing torques (mechanic and magnetic) leading to the revolution-up effect described in more detail above, the magnetic bodies 2 rotate around their axes 30 and lift, thus lifting the non-rotating cabins 24 to which they are connected vertically, together with their loads 27. It is not necessary for the tubes to be 360° rotatable around their longitudinal axis 21. It is sufficient for the tubes to be able to be rotated around their longitudinal axis 21 by several degrees. The distance d between the tubes is variable. Several tubes of length L can be stacked onto each other and be rotated separately.

It should be noted here that it would suffice to arrange one of the magnetic bodies 2 in one of the tubes without any cabin 24 or the like being mounted thereon. It is thus not necessary to have two cabins 24, i.e. a cabin 24 in each of the tubes. Embodiments comprising, for example, two tubes, one of which including only a first rotatable magnetic body 2 and the other having a cabin connected in a suitable manner to a second rotatable magnetic body 2, would also be encompassed by the invention. If the system 1 comprises more than one set of tubes stacked upon each other in the vertical direction, e.g. a lower tube pair and an upper tube pair (as schematically indicated in figure 7 by the line A-A), only the set of tubes incorporating the cabin 24 may be rotated. If, for example, the cabins 24 are located in the lower tube pair, and the lower tube pair is rotating while the upper tube pair is immobile, the cabins 24 will be lifted into the upper tubes above the line A-A. As soon as this happens, only the upper tubes may be rotated for further lifting the cabins 24, while the lower tubes can rest. To lift off the cabin 24 the magnetic attraction force can be reduced, for example by the application of a local magnetic field, which is antiparallel to the magnetization and rotating the tubes in specific direction, or by increasing the distance between the tubes.

Figures 8 to 10 show two different embodiments of another system 1 of the invention configured as a vehicle for the transportation of a load 27, e.g. people or objects. Figure 8 shows a very simplified system 1 intended for this purpose. Figure 8a shows a cross-sectional side view, Figure 8b a cross-section along the line A-A in Figure 8a. A central motor M 42 is arranged in a non-magnetic essentially cylindrical hollow body functioning as movable driving element 7. The motor 42 can be an electric motor connected to a power source 50, e.g. a battery, or can be any other type of motor. The movable driving element 7 (the term “housing” may also be used in the context of this embodiment) is mounted on a vertical axis 51 and can be rotated around this axis 51 by means of the motor 42. A cabin 44 for carrying a load 27, e.g. a vehicle passenger, is mounted above the movable driving element 7, the cabin 44 being decoupled by a bearing 47 from the movable driving element 7 such that the cabin 44 does not rotate when the movable driving element 7 rotates. The mounting of the motor 42 is also decoupled from the rotatable movable driving element 7 by bearings 48 so that the motor 42 does not rotate with the movable driving element 7. Fixed (non-rotating) magnets 45, e.g. solid magnets or electromagnets, are attached to the motor via fixations 46, and are oriented with their magnetization axis in radial direction, pointing to rotatable magnetic bodies 2 outside the movable driving element 7. The rotatable magnetic bodies 2 are arranged in the vicinity of the fixed magnets 45 such that the magnetic bodies 2 are magnetically attracted to the fixed magnets 45 and pressed at least partly by magnetic forces to the outer wall 52 (here the cylinder mantle) of the rotatable housing, i.e. the movable driving element 7. The magnetic bodies 2, e.g. magnetic spheres, are partly incorporated in driving wheels 40 with non-magnetic tires 41 fixed to the magnetic bodies 2. The magnetic bodies 2 are magnetized along the axis 30 as indicated by the horizontal arrows. The magnetic bodies 2 are in direct contact with the outer wall 52 of the movable driving element 7 such that a mechanical torque (via rolling friction) can be exerted on the magnetic bodies 2 by the rotating movable driving element 7, effecting the rotation of the magnetic bodies 2 around the axis 30. In this embodiment, the motor rotates the movable driving element 7 around the axis 51, the movable driving element 7 exerting a mechanical torque on the magnetic bodies 2 in the driving wheels 40. In combination with the fixed magnets 45 the magnetic bodies 2 start to rotate around their magnetization axis 30, such that the driving wheels 40 also rotate as a whole, leading to a movement of the system 1. In this embodiment, non-driving wheels 49, i.e. wheels without a magnetic body 2 inside, are additionally present. They may be mounted via axis as is known from the prior art. In the simplified drawing of figure 8, each magnetic body 2 is essentially arranged in the center of a driving wheel 40, the driving wheel 40 having an aperture in the direction of the movable driving element 7 through which part of the magnetic body 2 stays in contact with the rotatable movable driving element 7. It should be noted, however, that the magnetic bodies 2 could also be arranged in an offset manner such that part of the magnetic bodies 2 projects from the wheels 40 enabling, for example, the magnetic bodies 2 to engage a groove 55 in the movable driving element 7 (see Fig. 11).

Figure 9 shows another embodiment of a system 1 configured as a vehicle for the transportation of a load 27. Figure 9a shows a cross-sectional side view, Figure 9b a cross-section along the line A-A in Figure 9a. In this embodiment, all four wheels are driving wheels 40. Further, each of the driving wheels 40 is coupled to its own driving unit 53, comprising a motor 42, a rotatable movable driving element 7 and a fixed magnet 45. The driving units 53 are arranged in a common housing 52. Each of the wheels 40 may be separately driven.

Figure 10 shows the embodiment depicted in figure 9 in a different state. As is shown in the figure, the position of the driving wheels 40 along the periphery of the common housing 52 can be changed by changing the position of the fixed magnets 45. In this case, the fixed magnets 45 have been rotated by about 90°. Due to the magnetic forces between the magnetic particles 2 of the driving wheels 40 and the fixed magnets 45 the wheels 40 can be moved towards any other orientation. Figure 11 shows part of a further embodiment of a system according to the invention configured as a vehicle moving a load. Here, the magnetic bodies 2 are arranged in an offset manner within a wheel 40 such that part of the magnetic bodies 2 projects from the wheels 40 and engages a groove 55 in the movable driving element 7.

Figure 12 illustrates an embodiment of a system 1 according to the invention configured as a sensor. The figure schematically shows how the revolution-up effect can, for example, be used for sensing an inclination between a plane, e.g. a surface, and an axis. In the embodiment shown, a spherical magnetic body 2 having a magnetic moment M (symbolized as arrow 62) is placed on a non-magnetic horizontal plane 5, beneath which a second magnet 6, with a preferably strong magnetic moment M _m (symbolized here by arrow 61) is arranged with or without contact to the plane 5. The magnetic body 2 is magnetically attracted and held on the plane 5 by the second (bottom) magnet 6. The bottom magnet 6 is moved by suitable means (not shown in Fig. 12) with velocity v along the underside of the plane 5 and in a direction perpendicular to the M _m axis 61 in order to induce the revolution-up effect of the invention. Figure 12 a) and b) show two different relative orientations of M axis 64 and M _m axis 60, corresponding to the relative inclination of the plane 5 with respect to the M _m axis 62, i.e. the axis of the magnetic moment M _m . Depending on the sign of the inclination, leading to either a negative angle between M axis 64 and M _m axis 63 (Fig. 12b) or a positive angle between M axis 64 and M _m axis 63 (Fig. 12a), the revolution-up effect leads to clockwise (Fig. 12 a) or counter-clockwise (Fig. 12 b) revolution of the magnetic body 2 about its magnetization axis with angular velocity Q _R , for the same velocity v of the magnet 6. In a reciprocal version of this embodiment the plane 5 could be moved instead of the magnet 6. The system 1 according to this embodiment also comprises means (not shown here) for detecting the sense of rotation of the magnetic body 2, e.g. a camera or CCD sensor. Another possibility is to create a quadrature decoder attaching a slotted wheel 65 (Fig. 12a) to the rotatable magnetic element 2 (magnetically or by any other means) and posing a light emitter 66 and a photodetector 67 beneath and above the slotted wheel 65, respectively (like in computer mouse). The degree of inclination can be detected measuring the amplitude of the revolution velocity (1 _R using the same quadrature decoder: the stronger the inclination is, the larger is (1 _R . Still another possibility (shown in Fig. 12b) for detecting the sense of rotation of the magnetic body 2 is to make the magnetic body 2 from conducting material, e.g. NdFeB, and measure a voltage U between a point at the pole and a point at the equator of the magnetic body 2 using the wiring 68 and voltage detector 69. Due to the homopolar induction this voltage will have different signs for the two senses of rotation.

Figure 13 shows an embodiment of the system 1 of the invention configured as a fluid valve 70, i.e. a device for controlling the flow of a fluid 73, for example a gas or liquid. The fluid valve 70 comprises a flow passage 72, the flow passage 72 being a hollow body, for example a part of a pipe, duct or tube, having an inlet opening 76 and outlet opening 77 for the fluid flow. The inner cross-section of the flow passage 72 can be partially or completely closed by means of a movable restriction element 75, the restriction element 75 being movable in the direction perpendicular to the fluid flow through the flow passage 72 such that the inner cross-section of the, for example cylindrical, flow passage 72 can be at least partially closed in order to reduce or block the flow of the fluid 73 through the flow passage 72. The restriction element 75 can be a part, e.g. shaft, of at least one plunger 71. In the embodiment shown here, the system 1 is configured to lift or lower two plungers 71 of equal or different length or shape to control fluid or gas flow rate by at least partially opening or closing the flow passage 72. Similar to the system 1 described in figure 7, this arrangement utilizes hollow, preferentially cylindrical, bodies as non-magnetic driving elements 7 for lifting or lowering the plungers 71. Two magnetic bodies 2 function as an actuator for variable positioning of the plunger 71. The figure depicts a cross-section through two non-magnetic driving elements 7 configured as generally cylindrical hollow bodies (“tubes” in the following) vertically arranged in parallel at a distance d to each other. The tubes are rotatable around their longitudinal (central) axes 21 via means not depicted here. Rotation of the tubes brings about the rotation of the magnetic bodies 2 about their magnetization axis (symbolized with arrows drawn within the bodies) and a lifting (or lowering) of the magnetic bodies 2 in the direction of the arrows denoted with v. Each of the plungers 71 is in contact with and supports one of the magnetic bodies 2, but decoupled from the magnetic bodies by decoupling elements 74, such that the plungers are lifted together with the magnetic bodies 2 but do not rotate with the magnetic bodies 2. In this manner, rotation of the tubes brings about the lifting of the plungers 71 and the restriction elements 75. Both plungers 71 are arranged at the same height within the tubes, i.e. at the same vertical position. The shafts of the plungers 71 form the restriction elements 75 and enter the flow passage 72 via openings in the flow passage 72 and stop the flow partially (Fig. 13 a) or completely (Fig. 13 b).

Figure 14 shows a cross-sectional side view of a further embodiment of the system 1 according to the invention. In this embodiment, the system 1 is configured as an energy storing device 80. The system 1 shown here is configured to lift at least two magnetic bodies 2 into energy storing areas 81. As already described in relation to other embodiments of the invention (see Fig. 7, Fig. 13), lifting of the magnetic bodies 2 is brought about by the rotation of two non-magnetic driving elements 7 configured as generally cylindrical hollow bodies (“tubes”) vertically arranged in parallel at a distance d to each other and rotatable around their longitudinal (central) axes 21. The energy storing areas 81 are arranged in an upper part of the energy storing device 80, above the non-magnetic driving elements 7, i.e. the rotatable cylindrical hollow bodies. In order to separate the magnetic bodies 2 from one another and fix them for energy storage in the energy storing areas 81, two electromagnets 82 are used, which are arranged in a manner that the magnetic field generated by the electromagnets 82 when operated is able to attract the magnetic bodies 2. The electromagnets 82 attract the magnetic bodies 2 and place them in equilibrium positions within the energy storing areas 81. The (potential) energy stored can later be released on demand, e.g. by letting the magnetic bodies 2 fall down (by gravity) along a duct 83, which can, for example, be a pipe- or tube-like element, guiding the magnetic bodies 2 to a lower area of the energy storing device and returning them back to the lifting components, comprising the two tubes, of the energy storing device 80. In the embodiment depicted here, each of the ducts 83 is essentially u-shaped in cross-section, but it is to be noted that the ducts 83 can have any suitable shape. In this embodiment, each of the u-shaped ducts 83 has two legs 87, 88, at its end. The first leg 87 is open to the energy storing area 81, and the second leg 88 is open to the tube-like non-magnetic driving elements 7. The tube-like driving elements 7 each have an opening 85, here a side opening, directed to the second (lower) leg 88. The magnetic bodies 2 may be detached from the electromagnets 82 via a pulse-like reversal of polarity of the electromagnets 82 leading to a short repulsion. The energy can be harvested by any known means. For example, using the electromagnetic induction of a voltage U in coils 84 having electrical connections 86 due to the Faraday effect. This arrangement again utilizes two preferably cylindrical tube-like hollow elements as non-magnetic driving elements 7 for eliciting a revolution of two magnetic bodies around their magnetization axes and for lifting the magnetic bodies 2. Furthermore, it utilizes two energy storing areas 81 of suitable shape and two electromagnets 82 positioned above the energy storing areas 81 in order to temporarily store the magnetic bodies 2. Furthermore, it utilizes two tube-like hollow elements 83 through which the magnetic bodies fall down.

The circulation of the two magnetic bodies 2 through the energy storing device 80 is illustrated by circles with dashed outlines. It should be noted, however, that the energy storing device 80 could also be used with more than only two magnetic bodies 2, e.g. 4, 6, 8 or more magnetic bodies 2. The total number of magnetic bodies would preferably be divisible by 2.