Aggregation of Magnetic Particles in a Triangular Oscillating Magnetic Field

Peiran Zhao, Liang Yan, Xiaoshan Gao, Suwan Bu, Chris Gerada

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review


The existing vascular microrobots are mainly individual robots because of the limitations of size. Aiming at the existing problems of vascular swarm robot, this paper focuses on the aggregation of magnetic particles. Through theoretical analysis, the formula of magnetic interaction force between particles is derived. Then the mechanism is verified and a ribbon-like swarm is generated by the numerical simulation. The simulation results show that the main factors affect the aggregation are the amplitude ratio γ, the frequency f and the constant component B0. γ and f are positively and negatively correlated with the aspect ratio of swarm respectively. The constant component affects the direction of swarm. In conclusion, the magnetic interaction force is the fundamental reason for the aggregation of magnetic particles and the particles can aggregate into swarm in a triangular oscillating field.

Original languageEnglish
Title of host publicationAdvances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
EditorsLiang Yan, Haibin Duan, Yimin Deng, Liang Yan
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages9
ISBN (Print)9789811966125
Publication statusPublished - 2023
EventInternational Conference on Guidance, Navigation and Control, ICGNC 2022 - Harbin, China
Duration: 5 Aug 20227 Aug 2022

Publication series

NameLecture Notes in Electrical Engineering
Volume845 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


ConferenceInternational Conference on Guidance, Navigation and Control, ICGNC 2022


  • Magnetic control
  • Magnetic particles
  • Swarm control

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering


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