Peer Reviewed Papers

Journal Papers

  1. Song Liu* (Corresponding Author), Pengcheng Sun, Mingyue Wang, Yujie Jiang, Jiaqi Li, Yuyu Jia, Zhenhuan Sun, Yuting Yang, Hai Liu, Haojian Lu, Zuankai Wang, "Acousto-dewetting enables droplet microfluidics on superhydrophilic surfaces", Nature Physics, Vol. 21, pp. 808-816, 2025.
  2. Xin Mu, Qingyi Lu, Mingyue Wang, Yalin Shi, Song Liu* (Corresponding Author), "Morphological Manipulation of Particle Cluster Using Ultrasonic Phased Array System and Microscopic Vision", IEEE Robotics and Automation Letters, in Press.
  3. Xiang Fu, Heng Zhang, Yang Wang, and Song Liu* (Corresponding Author), "High Precision Control for Off-axis In-situ Rotation of Nanorobot inside SEM", IEEE Transactions on Mechatronics, in Press.
  4. Ying Li, Xiang Fu, Yanqin Ma, Hu Su, Song Liu* (Corresponding Author), "Template Matching-Based Nanoscale Visual Tracking for Out-of-Plane Rotations Inside SEM", IEEE Transactions on Automation Science and Engineering, Vol. 22, pp. 24532-24544, 2025.
  5. Qingyi Lu, Chengxi Zhong, Hu Su, and Song Liu* (Corresponding Author), "Reconfigurable Phase-Only Acoustic Holography with Surrogate Model Based on Soft-GAN", Applied Acoustics, Vol. 149, p. 107583, 2025.
  6. Qing Liu, Chengxi Zhong, Zhenhuan Sun, Youfu Li, Hu Su, and Song Liu* (Corresponding Author), "Low-Cost Acoustic Field Reconstruction with Physics-Incorporated Deep Learning for Binary Amplitude-Only Hologram", IEEE Transactions on Instrumentation and Measurement, Vol. 74, p. 2522011, 2025.
  7. Chengxi Zhong, Zhenhuan Sun, Jiaqi Li, Yujie Jiang, Hu Su, and Song Liu* (Corresponding Author), "Accurate and Real-Time Acoustic Holography Using Super-Resolution and Physics Combined Deep Learning", Applied Physics Letters, Vol. 126, no. 5, p. 054103, 2025.
  8. Qingyi Lu, Chengxi Zhong, Hu Su, and Song Liu* (Corresponding Author), "Physics-based Generative Adversarial Network for Real-time Acoustic Holography", Ultrasonics, Vol. 149, p. 107583, 2025.
  9. Yujie Jiang, Chengxi Zhong, Chao Qin, Zhenhuan Sun, and Song Liu* (Corresponding Author), "Synchronous Rotation-based Knot Tying on Mini-Incisions Using Dual-Arm Nanorobot", IEEE Transactions on Biomedical Engineering, Vol. 72, no. 6, pp. 1920-1930, 2025.
  10. 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, Vol. 41, pp. 887-904, 2025.
  11. 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, vol. 22, pp. 4063-4075, 2025.
  12. 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.
  13. 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.
  14. Mingyue Wang, Jiaqi Li, Yuyu Jia, Zhenhuan Sun, Hu Su, 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.
  15. 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.
  16. 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 Transactions on Instrumentation and Measurement, vol. 73, 5013310, 2024.
  17. 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.
  18. 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.
  19. 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, Vol. 21, no. 3 pp. 4155-4164, 2024.
  20. 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.
  21. 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 Transactions on Instrumentation and Measurement, vol. 72, pp. 1-12, 2023.
  22. 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.
  23. 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, Vol. 21, no. 3, pp. 3472-3482, 2023.
  24. 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.
  25. 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.
  26. Chengxi Zhong, Yuyu Jia, David C. Jeong, Yao Guo, and 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 at ICRA 2022, Philadelphia, US)

Submitted Journal Papers

Journal Papers submitted in 2025

  1. Yuhao Zhao, Hu Su, Lu Zhang, Wei Zou, Yonghao He, Shuangshuang Li, Song Liu* (Corresponding Author), "Cross-Instance Feature Recovery with Mimic Learning for Robust Object Detection in Degraded Scenarios", IEEE Transactions on Pattern Analysis and Machine Intelligence, Under review.
  2. Yuhao Zhao, Hongxuan Ma, Wei Zou, Xingkun Li, Ningbo Cheng, Hu Su, Song Liu* (Corresponding Author), "Shape-aware Defect Detection Network", IEEE Transactions on Circuits and Systems for Video Technology, under review.

Journal Papers submitted before 2025

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

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. Dengpeng Xing, 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. Dengpeng Xing, 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. Dengpeng Xing, 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. Dengpeng Xing, 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.