arXiv subjects

Kefeng Huang

Publications and source records attributed to Kefeng Huang.

9 recordsLinked to original sources

arXiv2026

Measured LWC-Specific Fog Attenuation and Frequency Scaling in Low-THz Channels

Fog can reduce the link margin of terahertz (THz) wireless systems. Earlier channel measurements mainly relied on visibility, and almost no liquid water content (LWC) referenced attenuation coefficients have been reported. This letter reports controlled fog measurements at low-THz frequencies (120, 140, and 160 GHz) over a 22 m channel. LWC is retrieved from a time-aligned droplet size distribution (DSD) and paired with the fog-induced attenuation to obtain the relationship between attenuation and LWC at each frequency. The comparison with ITU-R P.840 is posed as an errors-in-variables problem. This separates the absolute coefficient from its frequency dependence - how the coefficient grows with frequency. Expressed as a power law of frequency, the measured exponent is 1.347, matching the value of 1.343 implied by P.840 at 20 oC. The results provide reference data and a compact scaling law for fog link budgeting at low-THz frequencies.

physics.app-ph↗

arXiv2026

Sub-Terahertz Channel Performance under Snowfall

The terahertz (THz) band promises terabit-per-second links but is highly sensitive to snowfall. Natural snowflakes are non-spherical. Yet existing THz studies treat them as spheres under Mie theory, and no ITU-R model covers THz snow attenuation. This work combines line-of-sight measurements at 120, 140, and 160 GHz with physics-based scattering modeling. The measured loss is compared against the ITU-R P.1817-1 optical model, Mie models, and a discrete dipole approximation (DDA) for randomly oriented hexagonal-plate ice crystals, each with the Scott and Gunn-Marshall size distributions. Over the measured band, ITU-R P.1817-1 overestimates and the Mie models underestimate the loss. The shape-aware DDA-Scott model agrees best, with the lowest RMSE at every frequency. From DDA-Scott, we derive a compact modified ITU-R expression in carrier frequency and liquid-water-equivalent (LWE) rate. It reproduces the reference to within 2.5 dB/km over 100-500 GHz and 0-3 mm/h. A Rician K-factor analysis shows the channel stays LoS-dominated, so snowfall degrades the link mainly through attenuation, not multipath fading. A QPSK/16-QAM link-budget analysis then quantifies the cost of the spherical assumption. Mie-based margins overestimate the tolerable snowfall rate by 3.4 across 120-160 GHz, rising toward 5.8 in the upper transparency windows by model extrapolation. The model is further mapped into snow-limited range and adaptive-modulation switching boundaries. These results support future ITU-R recommendations for THz channels under snowfall.

physics.app-ph↗

arXiv2026

Opportunistic Lower-Terahertz Rainfall Estimation with DSD-Constrained Channel Characterization

Rain-induced attenuation and scattering become significant at terahertz (THz) frequencies, and exploiting this rain sensitivity is necessary both to safeguard link reliability and to enable opportunistic environmental sensing without dedicated instrumentation, a capability that remains largely unvalidated on real outdoor channels above 100 GHz. This article investigates opportunistic rainfall estimation using measured lower-terahertz (THz) channels at 140 and 229 GHz. Outdoor measurements over a 41.5-m rain-exposed path are used to characterize rain-induced attenuation and the rainfall dependence of an effective Rician K-factor. Because the path-representative drop-size distribution (DSD) is unavailable, several propagation-model scenarios based on ITU-R P.838-3 and Mie theory with canonical DSDs are employed to quantify model-form sensitivity. These channel characteristics are then used to generate physics-constrained synthetic received-power sequences for training RainFormer, a compact attention-convolution regression network that combines temporal features with explicit attenuation and fluctuation statistics. Under matched synthetic conditions, RainFormer achieves RMSEs of 0.1782 and 0.2925 mm/h at 140 and 229 GHz, respectively, and outperforms the investigated convolutional and Transformer baselines in most metric-frequency combinations. Direct application to the independent measured dataset produces physically consistent rainfall estimates at 140 GHz and demonstrates that received-power fluctuations provide useful information beyond mean attenuation. The results establish a measurement-informed framework for evaluating lower-THz links as opportunistic rainfall sensors while explicitly accounting for propagation-model uncertainty.

physics.app-ph↗

arXiv2026

Frequency-Selective Rain Attenuation on Terahertz Channels

Rain introduces broadband and frequency-selective attenuation in wideband terahertz (THz) links, making it necessary to identify a compact spectral descriptor that captures how the dominant loss region evolves with rainfall conditions. This article investigates the peak-frequency behavior of rain attenuation by combining Mie theory calculations with one separable laboratory Gaussian drop-size distribution (DSD) and eight outdoor empirical DSD models whose spectral shapes vary with rainfall rate. The analysis compares total loss, absorption, and scattering components, examines the roles of the characteristic DSD scale and representative drop size statistics, and evaluates the effect of temperature on the peak location. The results show that, unlike the fixed-shape laboratory case where the peak frequency remains unchanged with rainfall rate, all outdoor empirical DSD models exhibit a monotonic migration of the attenuation peak toward lower frequencies as rainfall rate increases. This migration follows a quasi-exact inverse scaling with the rainfall-dependent DSD characteristic scale, follows a family-specific asymptotic power law in rainfall rate, and is governed mainly by characteristic drop size, while fixed-temperature dielectric dispersion contributes only secondary corrections in the broad-peak, low-rainfall regime.

physics.app-ph↗

arXiv2026

Near-Field Coupling of Polypropylene Dielectric Waveguide Routed Near PCB Board at Terahertz Frequencies

The growing demand for high-capacity, low-loss short-reach links in highly integrated electronic systems makes it necessary to understand how terahertz (THz) dielectric waveguides behave in realistic PCB-level packaging environments. In this article, we investigate the channel transmission of a 3D-printed polypropylene dielectric waveguide placed near representative PCB substrates. Continuous-wave THz measurements are carried out for bare, fully copper-clad, and periodic copper-trTerahertz (THz) dielectric waveguides are promising physical channels for short-reach interconnects, but their air-clad guided fields may interact with nearby printed-circuit-board (PCB) structures in compact packages. In this work, we experimentally and numerically investigate PCB-proximity-induced excess transmission loss in 3D-printed polypropylene rectangular dielectric waveguides over 220-325 GHz. Continuous-wave transmission measurements are performed for bare FR4, continuous waveguide-facing copper, and periodic copper-trace PCB configurations under controlled clearance and alignment conditions. The results show that direct contact with bare FR4 can induce a frequency-selective high-loss band, which is attributed to phase-matched leakage from the guided waveguide mode into a substrate-supported leaky branch. This finding highlights PCB proximity as a critical layout factor and provides practical guidance for clearance control and metallization design in compact THz dielectric-waveguide packages.ace PCBs with different waveguide-PCB separations, while terahertz time-domain spectroscopy is used to characterize the dielectric properties of the substrate materials.

physics.app-ph↗

arXiv2025

TARMAC: A Taxonomy for Robot Manipulation in Chemistry

Chemistry laboratory automation aims to increase throughput, reproducibility, and safety, yet many existing systems still depend on frequent human intervention. Advances in robotics have reduced this dependency, but without a structured representation of the required skills, autonomy remains limited to bespoke, task-specific solutions with little capacity to transfer beyond their initial design. Current experiment abstractions typically describe protocol-level steps without specifying the robotic actions needed to execute them. This highlights the lack of a systematic account of the manipulation skills required for robots in chemistry laboratories. To address this gap, we introduce TARMAC - a Taxonomy for Robot Manipulation in Chemistry - a domain-specific framework that defines and organizes the core manipulations needed in laboratory practice. Based on annotated teaching-lab demonstrations and supported by experimental validation, TARMAC categorizes actions according to their functional role and physical execution requirements. Beyond serving as a descriptive vocabulary, TARMAC can be instantiated as robot-executable primitives and composed into higher-level macros, enabling skill reuse and supporting scalable integration into long-horizon workflows. These contributions provide a structured foundation for more flexible and autonomous laboratory automation. More information is available at https://tarmac-paper.github.io/

cs.RO↗

arXiv2025

Rise of the Robochemist

Chemistry, a long-standing discipline, has historically relied on manual and often time-consuming processes. While some automation exists, the field is now on the cusp of a significant evolution driven by the integration of robotics and artificial intelligence (AI), giving rise to the concept of the robochemist: a new paradigm where autonomous systems assist in designing, executing, and analyzing experiments. Robochemists integrate mobile manipulators, advanced perception, teleoperation, and data-driven protocols to execute experiments with greater adaptability, reproducibility, and safety. Rather than a fully automated replacement for human chemists, we envisioned the robochemist as a complementary partner that works collaboratively to enhance discovery, enabling a more efficient exploration of chemical space and accelerating innovation in pharmaceuticals, materials science, and sustainable manufacturing. This article traces the technologies, applications, and challenges that define this transformation, highlighting both the opportunities and the responsibilities that accompany the emergence of the robochemist. Ultimately, the future of chemistry is argued to lie in a symbiotic partnership where human intuition and expertise is amplified by robotic precision and AI-driven insight.

cs.RO↗

arXiv2025

Experimental Characterization and Dynamic Modeling of THz Channels Under Fog Conditions

The terahertz (THz) band is a promising candidate for sixth-generation wireless networks, but its deploymen in outdoor environments is challenged by meteorological phenomena, particularly fog, which imposes variable and difficult-to-predict channel degradation. This article introduces dynamic channel model for the THz band explicitly driven by the time-evolving droplet size distribution (DSD) of fog, integrating real-time microphysical sensing to capture variations in the fog microstructure. Experimental measurements were conducted at 220 GHz and 320 GHz in a controlled fog chamber to achieve quasi-stationary states, and a larger room-scale setup to characterize dynamic, non-stationary fog evolution. The results confirm that channel power loss is overwhelmingly dominated by absorption rather than scattering, validating the use of the computationally efficient Rayleigh approximation below 1 THz. Statistical analysis revealed exceptionally high Rician K-factors, demonstrating that THz channels maintain strong line-of-sight stability even in dense fog. System-level performance analysis shows that degradation in bit error rate is driven by the slow, gradual evolution of the DSD, rather than fast multipath fading. This finding enables the reliable simplification of the THz fog channel into a near-Gaussian channel model with time-varying signal-to-noise ratio. This microphysics-aware approach established here provides the necessary foundation for developing adaptive system designs centered on SNR tracking for robust future THz networks.

physics.app-ph↗

arXiv2025

VLM-TDP: VLM-guided Trajectory-conditioned Diffusion Policy for Robust Long-Horizon Manipulation

Diffusion policy has demonstrated promising performance in the field of robotic manipulation. However, its effectiveness has been primarily limited in short-horizon tasks, and its performance significantly degrades in the presence of image noise. To address these limitations, we propose a VLM-guided trajectory-conditioned diffusion policy (VLM-TDP) for robust and long-horizon manipulation. Specifically, the proposed method leverages state-of-the-art vision-language models (VLMs) to decompose long-horizon tasks into concise, manageable sub-tasks, while also innovatively generating voxel-based trajectories for each sub-task. The generated trajectories serve as a crucial conditioning factor, effectively steering the diffusion policy and substantially enhancing its performance. The proposed Trajectory-conditioned Diffusion Policy (TDP) is trained on trajectories derived from demonstration data and validated using the trajectories generated by the VLM. Simulation experimental results indicate that our method significantly outperforms classical diffusion policies, achieving an average 44% increase in success rate, over 100% improvement in long-horizon tasks, and a 20% reduction in performance degradation in challenging conditions, such as noisy images or altered environments. These findings are further reinforced by our real-world experiments, where the performance gap becomes even more pronounced in long-horizon tasks. Videos are available on https://youtu.be/g0T6h32OSC8

cs.RO↗