In this work, the approach to the manipulation of alginate artificial cell soft-microrobots, both individually and in swarms is shown. Fabrication of these artificial cells were completed through centrifugation, producing large volumes of artificial cells, encapsulated with superparamagnetic iron oxide nanoparticles; these artificial cells can be then externally stimulated by an applied magnetic field. The construction of a Permeant Magnet Stage (PMS) was produced to manipulate the artificial cells individually and in swarms. The stage functionalizes the permanent magnet in the 2D xy-plane. Once the PMS was completed, Parallel self-assembly (Object Particle Computation) using swarms of artificial cells in complex environments, controlled not by individual navigation, but by a global, external magnetic force with the same effect on each artificial cell to produce miroassemblies. A 2D grid world factory, in which all obstacles and particles are unit squares, and for each actuation, artificial cells move maximally until they collide with an obstacle or another artificial cell. Based on the design of an arbitrary 2D structure, this 2D grid world layout, will produce continuous microassemblies.

Degree Date

Spring 5-19-2018

Document Type


Degree Name



Mechanical Engineering


MinJun Kim

Second Advisor

Ali Beskok

Third Advisor

Yildirim Hurmuzlu

Subject Area

Mechanical Engineering

Number of Pages




Creative Commons License

Creative Commons Attribution-Noncommercial 4.0 License
This work is licensed under a Creative Commons Attribution-Noncommercial 4.0 License