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Submitted Papers

​Journal  Papers

  1. 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, Under Review.

  2. Teng Li, Yujie Jiang, Xiang Fu, Zhenhuan Sun, Yiheng Yan, and Song Liu* (Corresponding Author), "Nanorobot-based Direct Implantation of Neural Electrode for BCI", IEEE Transactions on Biomedical Engineering, Under Review.

  3. 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, Under Review.

  4. 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, Under Review.

  5. Hu Su, Yuhao Zhao, Jiabin Zhang, Yuxin Guo, Chengxi Zhong, Wei Zou, Youfu Li, and Song Liu* (Corresponding Author), "Shape-aware Defect Detection Network", IEEE Transactions on Image Processing, Under Review.

  6. 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, Major Revision. 

  7. Qing Liu, Chengxi Zhong, Zhenhuan Sun, Teng Li, Youfu Li, Fellow, IEEE, Hu Su, and Song Liu* (Corresponding Author), "Acoustic propagation guided deep learning for binary amplitude-only hologram generation", Phyical Review Applied, Under Review.

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Conference Papers​

  1. Chengxi Zhong, Hu Su, Wei Zou, Ying Li, and Song Liu* (Corresponding Author), "How does Physics Model Affect the Training of Convolutional Neural Networks?", 37th Conference on Neural Information Processing Systems (NeurIPS 2023), submitted.

  2. 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 International Conference on Robotics and Automation (ICRA 2024), submitted.

  3. Chengxi Zhong, Qilong Zhang, Guanqi He, Song Liu* (co-Corresponding Author), Yang Wang, "Switching-based Adaptive Active Control for Periodic Noises in Unknown 3D Environment", IEEE International Conference on Robotics and Automation (ICRA 2024), submitted.

  4. 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", IEEE International Conference on Robotics and Automation (ICRA 2024), submitted.

  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), submitted.

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Papers submited by Feb. 2023​​​

  1. Chengxi Zhong, Qing Liu, Teng Li, 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.

Peer Reviewed Papers

  1. Heng Zhang, Xiang Fu, Song Liu* (Corresponding Author), and Yang Wang, "Iterative Learning Embedded Model Reference Adaptive Control (IL-MRAC) for Off-axis In-situ Rotation in Nanorobotic Manipulation",  IEEE Control Systems Letters, Accepted.

  2. 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.

  3. Chengxi Zhong, Jiaqi Li, Zhenhuan Sun, Teng Li, Yao Guo, 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.

  4. 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 .

  5. 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.

  6. 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..

  7. 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..

  8. 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..

  9. 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..

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. 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 .

  15. 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.

  16. 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.

  17. 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.

  18. Yuting Yang, Xiang Fu, and Song Liu* (Corresponding Author), "​Real-time SEM image denoising based on Kalman filtering", AMC International Conference on Nanomaterials & Nanotechnolegy (ICNano 2022), Accepted, Stockholm, Sweden, Aug. 28 -31, 2022.

  19. 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.

  20. 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.

Publications before 2021

  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.

  18. 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).

  19. 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).

  20. 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.

  21. 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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