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Submitted Papers

​Journal  Papers

  1. Yujie Jiang, Chengxi Zhong, Zhenhuan Sun, and Song Liu* (Corresponding Author), "Synchronous Rotation-based Knot Tying on Mini-Incisions Using Dual-Arm Nanorobot", IEEE Transactions on Biomedical Engineering, Under Review.

  2. Yuhao Zhao, Hu Su, Chengxi Zhong , Wei Zou, Yuxin Guo, Song Liu* (Corresponding Author), "IAC: IoU-Aware Clustering for Anchor Configuration Determination in Efficient Defect Detection", Measurement, under review.

  3. ​Chengxi Zhong, Mingyue Wang, Zhenhuan Sun, Youfu Li, Hu Su, and Song Liu* (Corresponding Author), "Acoustic Holographic Display with Tactile Sensation using Physics-based Residual Learning", ACM Transactions on Graphics, Under Review.

  4. Chengxi Zhong, Zhenhuan Sun, Jiaqi Li, Yujie Jiang, Hu Su, and Song Liu* (Corresponding Author), "Super-Resolution Acoustic Holography Reaching the Diffraction Limit", Applied Physics Letters. Major Revision.

 

Conference  Papers

  1. Jiaqi Li, Zhenhuan Sun, Hai Liu, and Song Liu* (Corresponding Author), "MEMS Amplitude-gradient Acoustic Transducer for Controllable Particle Transportation",  International Conference on Micro Electro Mechanical System (IEEE MEMS 2024), Submitted.

  2. Qingyi Lu, Chengxi Zhong, You-Fu Li, hu su, and Song Liu* (Corresponding Author), "2.5D Acoustic Holography with Physics-Reinforced Deep Learning for Acoustic Micro-Robot End-Effector", IEEE International Conference on Robotics and Automation (ICRA 2025), submitted.

  3.  jieyun Zou, Siyuan An, Mingyue Wang, Jiaqi Li, You-Fu Li, and Song Liu* (Corresponding Author), "In-plane Manipulation of Soft Micro-Fiber with Ultrasonic Transducer Array and Microscope", IEEE International Conference on Robotics and Automation (ICRA 2025), submitted.

  4. Yujie Jiang, Chao Qin, Chengxi Zhong, Xiang Fu, You-Fu Li, and Song Liu* (Corresponding Author), "Automated in vivo Delivery of Miniature Adhesive Patch Using Dual-Arm Nanorobot under Stereo Microscope",  IEEE International Conference on Robotics and Automation (ICRA 2025), submitted.

  5. Yonghao He, hu su, Haiyong Yu, Cong Yang, Wei Sui, Cong Wang, and Song Liu* (Corresponding Author), "A Light-weight Framework for Open-Set Object Detection with Decoupled Feature Alignment in Joint Space",  IEEE International Conference on Robotics and Automation (ICRA 2025), submitted.

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Papers submited by Dec. 31. 2023

​Journal  Papers

  1. Qingyi Lu, Chengxi Zhong, Hu Su, and Song Liu* (Corresponding Author), "Physics-based Soft-GAN with Cooperation in Spatial and Frequency Domains for Ultrafast Acoustic Holography", Ultrasonics, Major Revision.​

  2. Xiang Fu, Heng Zhang, Yang Wang, and Song Liu* (Corresponding Author), "High-order Iterative Learning Control for Off-axis In-situ Rotation of Nanorobots inside SEM", IEEE Transactions on Robotics, Under Review.

  3. Hu Su, Yuhao Zhao, Shuangshuang Li, Yuan Xie, Wei Zou, and Song Liu* (Corresponding Author), "Shape-aware Object Detection Network for Surface Defect Inspection", IEEE Transactions on Systems, Mans and Cyberntics: Systems, Under Review.

  4. Qing Liu, Chengxi Zhong, Zhenhuan Sun, Youfu Li, Hu Su, and Song Liu* (Corresponding Author), "Binary Amplitude only Hologram for Active Acoustic Imaging Generated with Physics Incorporated Deep Learning", IEEE Transactions on Instrumentation and Measurement, Major Revision.

  5. Chengxi Zhong, Hu Su, Wei Zou, Ying Li, and Song Liu* (Corresponding Author), "Physics-intervened Self-Supervised Learning for Acoustic Waveform Reconstruction", Pattern Recognition, under review.

  6. Chengxi Zhong, Qing Liu, Wei Zou, You-Fu Li, Hu Su, and Song Liu* (Corresponding Author), "Unsupervised Learning with Physics Based Mutual Enhancement for Real-time Acoustic Holography", IEEE Transactions on Neural Networks and Learning Systems, Under Review.

  7. Qingyi Lu, Chengxi Zhong, Hu Su, and Song Liu* (Corresponding Author), "Acoustic Holography with Physics-Based Soft-GAN for Constructing Reconfigurable Acoustic Micro-Robot End-Effector", Applied Acoustics, under review.

  8. ​Yang Wang, Chengxi Zhong, Jiangkun Xu, and Song Liu* (Corresponding Author), "Switching-based Adaptive Active Control for Periodic Noises in Unknown 3D Environment", IEEE Signal Processing Letters, under review.

Peer Reviewed Papers

Journal Papers

  1. Mingyue Wang, Siyuan An, Zhenhuan Sun, Jiaqi Li, Yang Wang and Song Liu* (Corresponding Author), "Selective, Robust and Precision Manipulation of Particles in Complex Enviorenments with Ultrasonic Phased Transducer Array and Microscope", IEEE Transactions on Robotics, Accepted.

  2. Qingyi Lu, Chengxi Zhong, Qing Liu, Hu Su, and Song Liu* (Corresponding Author),  "Deep Learning-Based Super-Resolution Acoustic Holography for Phased Transducer Array", Journal of Applied Physics, 136(13), 2024.

  3. Hu Su, Ying Li, Yifan Xu, Xiang Fu, and Song Liu* (Corresponding Author), "A Review of Deep-learning-based Super-Resolution: from Methods to Applications", Pattern Recognition,  157: 110935, 2024.

  4. Mingyue Wang, Jiaqi Li, Yuyu Jia, Zhenhuan Sun, Teng Li, and Song Liu* (Corresponding Author), "3D Noncontact Micro-Particle Manipulation with Acoustic Robot End-Effector under Microscope", IEEE Robotics and Automation Letters, vol. 9, no. 9, pp. 7979-7986, 2024.

  5. Mingyue Wang, Jiaqi Li, Chengxi Zhong, Teng Li, Zhenhuan Sun, You Fu Li, Hu Su, and Song Liu* (Corresponding Author), "Vision-based Closed-loop Control with Spatiotemporal Multiplexing Strategy for Noncontact Trapping of Multiple Micro-particles", IEEE Transactions on Automation Science and Engineering, In Press.

  6. Teng Li, Yujie Jiang, Xiang Fu, Zhenhuan Sun, Yiheng Yan, and Song Liu* (Corresponding Author), "Nanorobot-Based Direct Implantation of Flexible Neural Electrode for BCI", IEEE Transactions on Biomedical Engineering, vol 71, no. 10, pp. 3014-3023, 2024.

  7. Yuhao Zhao, Qing Liu, Hu Su, Jiabin Zhang, Hongxuan Ma, Wei Zou, and Song Liu* (Corresponding Author), "Attention-based Multi-scale Feature Fusion for Efficient Surface Defect Detection", IEEE Transacitons on Instrumentation and Measurement, vol. 73, 5013310, 2024.

  8. Chengxi Zhong, Qingyi Lu, Teng Li, Hu Su, and Song Liu* (Corresponding Author), "Real-time Acoustic Holography with Physics-Reinforced Contrastive Learning for Acoustic Field Reconstruction", Journal of Applied Physics, vol.  135, no. 1 : 014902, 2024.

  9. Yuyu Jia, Mingyue Wang, Jiaqi Li, Siyuan An, Teng Li, and Song Liu* (Corresponding Author),  "Selective Acoustic Trapping, Translating, Rotating and Orienting of Organism from Heterogeneous Mixture", IEEE Transactions on Biomedical Engineering, Vol. 71, no. 5, pp. 1542 - 1551, 2024. 

  10. Heng Zhang, Xiang Fu, Song Liu* (Corresponding Author), and Yang Wang, "Iterative Learning Embedded Composite Model Reference Adaptive Control for Off-axis In-situ Rotation in Nanorobotic Manipulation",  IEEE Control Systems Letters, Vol. 8. pp. 291 - 296, 2023.

  11. Xiang Fu, Yuting Yang, Zhenhuan Sun, Youfu Li, Teng Li, and Song Liu* (Corresponding Author), "Visual Tracking with Motion Distortion Removal for Nanomanipulation inside SEM," IEEE Transacitons on Instrumentation and Measurement, vol. 72, pp. 1-12, 2023.

  12. Chengxi Zhong, Jiaqi Li, Zhenhuan Sun, Teng Li, Yao Guo, David C. Jeong, Hu Su, and Song Liu* (Corresponding Author), "Real-time Acoustic Holography with Physics-based Deep Learning for Robot Manipulation", IEEE Transactions on Automation Science and Engineering, In Press.

  13. Yuting Yang, Teng Li, Xiang Fu, Zhenhuan Sun, You Fu Li, and Song Liu* (Corresponding Author), "Zooming-Free Hand-Eye Self-Calibration for Nanorobotic Manipulation inside SEM", IEEE Transactions on Nanotechnology, Vol. 22, pp. 291-300, 2023.

  14. Teng Li, Yuting Yang, Xiang Fu, You-Fu Li, Song Liu* (Corresponding Author), "Visual Servo Control for Workspace Navigation of Nanorobot End-Effector Inside SEM", IEEE Transactions on Automation Science and Engineering, In press.

  15. Hai Liu, Matin Barekatain, Akash Roy, Song Liu, Yunqi Cao, Yongkui Tang, Anton Shkel, and Eun Sok Kim, "MEMS Piezoelectric Resonant Microphone Array for Lung Sound Classification", Journal of Micromechanics and Microengineering, 33(4): 004033, 2023.

  16. Yanqin Ma, Yonghua Xie, Wenjun Zhu, and Song Liu* (Corresponding Author), “An Efficient Robot Assembly Skill Learning Framework based on Several Demonstrations”, IEEE Transactions on Automation Science and Engineering, Vol. 20 No. 1, pp. 124-136, 2023.

  17. Chengxi Zhong, Yuyu Jia, David C. Jeong, Yao Guo, Song Liu* (Corresponding Author), “AcousNet: A Deep Learning based Approach to Dynamic 3D Holographic Acoustic Field Generation from Phased Transducer Array”, IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 666-673, 2021, also presented in IEEE International Conference on Robotics and Automation (ICRA 2022), Philadelphia, Pennsylvania, US.

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Conference Papers

  1.  Qing Liu, Hu Su, and Song Liu* (Corresponding Author), " Binary Amplitude-Only Hologram Design for Acoustic End-Effector Construction by Physics-based deep learning", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Accepted.

  2.  Siyuan An, Chengxi Zhong, Mingyue Wang, and Song Liu* (Corresponding Author), "Real-Time Particle Cluster Manipulation with Holographic Acoustic End-Effector under Microscope",  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Accepted.

  3.  Xiang Fu, Yifan Xu, Hu Su, and Song Liu* (Corresponding Author), "NanoNeRF: Robot-assisted Nanoscale 360 reconstruction with neural radiance field under scanning electron microscope", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Accepted.

  4. Jiaqi Li, Zhenhuan Sun, Hai Liu, and Song Liu* (Corresponding Author), "Obstacle-crossing Self Focused Acoustic Transducer based on Bessel Beams", IEEE Ultrasonics, Ferroelectrics, and Frequency Control Joint Symposium, (IEEE UFFC-JS 2024), IEEE International Ultrasonics Symposium (IUS 2024),  September 22 – 26, 2024, Taipei, Taiwan.

  5. Yujie Jiang, Xiang Fu, Chengxi Zhong, Teng Li, Haojian Lu, and Song Liu* (Corresponding Author),  "Automated Surgical Knot Tying on Mini-Incision with Micro-Suture based on Dual-Arm Nanorobot under Stereo Microscope", IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, May 13-17, 2024.​​​​

  6. Qingyi Lu, Chengxi Zhong, Qing Liu, Teng Li, Hu Su, and Song Liu* (Corresponding Author), "Ultrafast Acoustic Holography with Physics-Reinforced Self-Supervised Learning for Precise Robotic Manipulation", IEEE International Conference on Intelligent Robots and Systems (IROS 2023), Oct. 1-5, 2023, Deriot, USA .

  7. Jiaqi Li, Zhenhuan Sun, Hai Liu, Lurui Zhao, Teng Li, and Song Liu* (Corresponding Author), "Bottle trap acoustic transducer with PDMS Lens for Particle Trapping", IEEE International Ultrasonics Symposium (IUS 2023), Montreal, Canada, Sep. 3-8, 2023..

  8. Zhenhuan Sun, Jiaqi Li, Hai Liu, Lurui Zhao, Teng Li, and Song Liu* (Corresponding Author), "Rotation-free high order Bessel beam acoustic transducer for particle trapping", IEEE International Ultrasonics Symposium (IUS 2023), Montreal, Canada, Sep. 3-8, 2023..

  9. Jiaqi Li, Zhenhuan Sun, Hai Liu, Lurui Zhao, Teng Li, and Song Liu* (Corresponding Author), "Twin trap acoustic transducer with PDMS Fresnel Lens for Particle Trapping", IEEE International Ultrasonics Symposium (IUS 2023), Montreal, Canada, Sep. 3-8, 2023..

  10. Zhenhuan Sun, Jiaqi Li, Hai Liu, Lurui Zhao, Teng Li, and Song Liu* (Corresponding Author), "Ultrasonic Transducer encoding intersecting Bessel beams for particle patterning", IEEE International Ultrasonics Symposium (IUS 2023), Montreal, Canada, Sep. 3-8, 2023.

  11. Chengxi Zhong, Zhenhuan Sun, Teng Li, Hu Su, and Song Liu* (Correpsonding Author), "Real-time Acoustic Holography with Iterative Unsupervised Learning for Acoustic Robotic Manipulation," IEEE International Conference on Robotics and Automation (ICRA 2023), London, UK, May 29 - Jun. 2, 2023.

  12. Yexin Zhang, Jiaqi Li, Yuyu Jia, Teng Li, Yang Wang, David C. Jeong, Hu Su, and Song Liu* (Corresponding Author), "Noncontact Particle Manipulation on Water Surface With Ultrasonic Phased Array System and Microscopic Vision," IEEE International Conference on Robotics and Automation (ICRA 2023), London, UK, May 29-Jun. 2, 2023.

  13. Jiaqi Li, Zhenhuan Sun, Yuyu Jia, Teng Li, Haojian Lu, Lurui Zhao, Hai Liu, and Song Liu* (Corresponding Author), "MEMS First-order BESSEL BEAM ACOUSTIC TRANSDUCER FOR PARTICLE TRAPPING AND CONTROLLABLE ROTATING," IEEE International Conference on Micro Electro Mechanical Systems (MEMS 2023), Munich, Germany, 5-19 January 2023 .

  14. Zhenhuan Sun, Jiaqi Li, Yuyu Jia, Yuhang Liu, Kunyong Lyu, Hai Liu, Hu Su, Teng Li, Song Liu* (Corresponding Author), "Particle Trapping and Transportation with MEMS Zeroth-order Bessel Beam Acoustic Transducer (BBAT)", IEEE International Conference on Robotics and Biomimetics (ROBIO 2022), Xishuangbanna, China, Dec. 5-9, 2022.

  15. Chengxi Zhong, Zhenhuan Sun, Kunyong Lv, Yao Guo, and Song Liu* (Corresponding Author), “Real-time Acoustic Holography with Physics-based Deep Learning for Acoustic Robot Manipulation”, IEEE International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, Oct. 23-27, 2022.

  16. Yuyu Jia, Zhenhuan Sun, Jiaqi Li, Lurui Zhao, Hai Liu, Teng Li, Song Liu* (Corresponding Author), “MEMS Bessel Beam Acoustic Transducer (MEMS-BBAT) with Air Cavity Lens Based on Spiral Diffraction Grating for Particle Trapping”, IEEE International Ultrasonics Symposium (IUS 2022), Venice, Italy, Oct. 10-13, 2022.

Publications before joining ShanghaiTech

Journal Papers

  1. Song LIU, You-Fu Li and Xuewei Wang, “A Novel Dual-Probe based Micrograsping System Allowing Dexterous 3-D Orientation Adjustment”, IEEE Transactions on Automation Science and Engineering, Vol. 17, no. 4, pp. 2048-2062, 2020.

  2. Song LIU, You-Fu Li, and Dengpeng Xing, “Sensing and Control for Simultaneous Precision Peg-in-Hole Assembly of Multiple Objects”, IEEE Transactions on Automation Science and Engineering, vol. 17, no. 1, pp. 310-324, 2020.

  3. Song LIU, and You-Fu Li, “A High Precision Automatic Wire Wrapping Approach Based on Microscopic Vision and Force Information”, IEEE Transactions on Industrial Informatics, vol. 16, no. 1, pp. 161-170, 2020.

  4. Song LIU, Dengpeng Xing, You-Fu Li, Jianwei Zhang, and De Xu, “Robust Insertion Control for Precision Assembly with Passive Compliance Combining Vision and Force Information”, IEEE/ASME Transactions on Mechatronics, vol. 24, no. 5, pp. 1974-1985, 2019.

  5. Song LIU, and You-Fu Li, “Precision 3D Motion Tracking for Binocular Microscopic Vision System”, IEEE Transactions on Industrial Electronics, vol. 64, no. 12, pp. 9339-9349, 2019.

  6. Song LIU, You-Fu Li, De Xu, Dengpeng Xing and Hu Su, “An Efficient Insertion Control Method for Precision Assembly of Cylindrical Components”, IEEE Transactions on Industrial Electronics, vol. 64, no. 12, pp. 9355-9365, 2017.

  7. Song LIU, De Xu, You-Fu Li and Fei Shen, “Nano Liter Fluid Dispensing Based on Microscopic Vision and Laser Range Sensor”, IEEE Transactions on Industrial Electronics, vol. 64, no. 2, pp. 1292-1302, 2017.

  8. Song LIU, De Xu, Fangfang Liu, Dapeng Zhang and Zhengtao Zhang, “Relative Pose Estimation for Alignment of Long Cylindrical Components Based on Microscopic Vision”, IEEE/ASME Transactions on Mechatronics, vol. 21, no. 3, pp. 1388-1398, 2016.

  9. Song LIU, De Xu, Dapeng Zhang and Zhengtao Zhang, “High Precision Automatic Assembly Based on Microscopic Vision and Force Information”, IEEE Transactions on Automation Science and Engineering, vol. 13, no. 1, pp. 382–393, 2016.

  10. Hai Liu, Song LIU* (Co-first Author), and Eun Sok Kim, “Active Noise Cancellation with MEMS Resonant Microphone Array”, Journal of Microelectromechanical Systems (JMEMS), vol. 29, no. 5, pp. 839-845, 2020.

  11. Song LIU, De Xu, Dapeng Zhang and Zhengtao Zhang, “Fast and Accurate Circle Detection Algorithm for Porous Components”, International Journal of Electrical Engineering and Electronic Technology, 3:1, 2014.

  12. DengpengXing Fangfang Liu, Song LIU and De Xu, “Motion Control for Cylindrical Objects in Microscope's View Using a Projection Method: II. Collision Avoidance with Reduced Dimensional Guidance”, IEEE Transactions on Industrial Electronics, vol. 64, no. 7, pp. 5534-5544, 2017.

  13. DengpengXing Fangfang Liu, Song LIU and De Xu, “Motion Control for Cylindrical Objects in Microscope's View Using a Projection Method: I. Collision Detection and Detach Control”, IEEE Transactions on Industrial Electronics, vol. 64, no. 7, pp. 5524-5533, 2017.

  14. DengpengXing Fangfang Liu, Song LIU and De Xu, “Efficient Insertion of Partial Flexible Object in Precision Assembly”, IEEE Transactions on Automation Science and Engineering, vol.16, no. 2, pp. 706-715, 2019.

  15. DengpengXing Fangfang Liu, Song LIU and De Xu, “Collision Detection and Detach Control for Convex Prisms in Precision Alignment Using a Projection Method”, IEEE Transactions on Industrial Informatics, vol. 64, no. 12, pp. 5316-5326, 2018.

  16. Dapeng Zhang, Zhengtao Zhang, Qun Gao, De Xu and Song LIU, “Development of A Monolithic Compliant SPCA-Driven Micro-Gripper”, Mechatronics, Vol. 25, pp. 37-43, 2015.

  17. Song LIU* (Corresponding Author), Yu-Yu Jia, You-Fu Li, Yao Guo, and Haojian Lu, “Simultaneous Precision Assembly of Multiple Objects through Coordinated Micro-robot Manipulation”, IEEE International Conference on Robotics and Automation (ICRA 2021), pp. 6280-6286, May 30 – June 4, Xi’an, China, 2021.

 

Conference Papers

  1. Song LIU, De Xu, and You-Fu Li, “Relative Pose Estimation for Micro-components Based on Multi-microscopic Vision”, the IEEE International Conference on Real-time Computing and Robotics, June, 26-29, 2015, Chang Sha, China (Invited Speaker).

  2. Yongkui Tang, Song LIU* (Co-first Author), and Eun Sok Kim, “MEMS Focused Ultrasonic Transducer with Air-Cavity Lens Based on Polydimethylsiloxane (PDMS) Membrane”, IEEE International Conference on Micro Electro Mechanical Systems (MEMS 2020), Vancouver, Canada, Jan. 2020 (Oral Presentation 66 oral/274 post).

  3. Hai Liu, Song LIU, Anton A. Shkel, Yongkui Tang, and Eun Sok Kim, “MEMS Resonant Microphone Array for Lung Sound Classification”, IEEE International Electron Devices Meeting (IEDM), San Francisco, USA, Dec. 2019.

  4. Hai Liu, Song LIU, and Eun Sok Kim, “Multi-band MEMS Resonant Microphone Array for Continuous Lung-Sound Monitoring and Classification”, IEEE International Conference on Micro Electro Mechanical Systems (MEMS 2020), Vancouver, Canada, Jan. 2020.

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