Miroslav Pajic

Journal article JAMA Ophthalmol · July 1, 2026 IMPORTANCE: If noninvasive optical coherence tomography (OCT) retinal imaging could predict 2-year neurodevelopment of very preterm (VPT; <32 weeks' gestational age) infants in neonatal intensive care, it might help to guide management. OBJECTIVE: To evalu ... Full text Link to item Cite

LIO-VisionAR: Intelligence-enabled augmented reality guidance for laser indirect ophthalmoscope-based retinal laser therapy

Journal article Intelligence Based Medicine · March 1, 2026 Objective Laser indirect ophthalmoscope (LIO) retinal therapy is a complex procedure that demands precision. We present LIO-VisionAR, an intelligence-enabled augmented reality (AR) guidance system designed to support safer and more effective training for L ... Full text Cite

Artificial intelligence in age-related macular degeneration: Advancing diagnosis, prognosis, and treatment.

Journal article Surv Ophthalmol · 2026 Age-related macular degeneration (AMD) is a leading cause of irreversible vision loss in older adults. While anti-vascular endothelial growth factor (anti-VEGF) therapy and novel treatments for geographic atrophy have improved management, timely diagnosis ... Full text Link to item Cite

Bot Blitz: A Scalable Hands-On Workshop for Teaching AI and Robotics Concepts Through Narrative-Driven Problem Solving

Journal article Proceedings of the Aaai Conference on Artificial Intelligence · January 1, 2026 As artificial intelligence (AI) becomes increasingly prevalent in society, there is a critical need for accessible K-12 educational resources that introduce students to AI and robotics concepts through engaging, hands-on experiences. In this paper, we pres ... Full text Cite

Message from the Program Chairs

Journal article Proceedings 17th ACM IEEE International Conference on Cyber Physical Systems Iccps 2026 · January 1, 2026 Full text Cite

Ten years later: how is AI impacting retina care today?

Journal article Curr Opin Ophthalmol · August 27, 2025 PURPOSE OF REVIEW: Artificial intelligence (AI) is transforming retina care, with deep learning (DL) models shaping a new era of improved screening accessibility, diagnostic precision, and personalized disease monitoring. This review highlights recent AI-p ... Full text Link to item Cite

Proceedings of the 12th annual deep brain stimulation think tank: cutting edge technology meets novel applications.

Journal article Front Hum Neurosci · 2025 The Deep Brain Stimulation (DBS) Think Tank XII was held on August 21st to 23rd. This year we showcased groundbreaking advancements in neuromodulation technology, focusing heavily on the novel uses of existing technology as well as next-generation technolo ... Full text Link to item Cite

How Foundational Is the Retina Foundation Model? Estimating RETFound's Label Efficiency on Binary Classification of Normal versus Abnormal OCT Images.

Journal article Ophthalmol Sci · 2025 OBJECTIVE: While the availability of public internet-scale datasets of images and language has catalyzed remarkable progress in machine learning, medical datasets are constrained by regulations protecting patient privacy and the time and cost required for ... Full text Link to item Cite

Corrigendum: Proceedings of the 12th annual deep brain stimulation think tank: cutting edge technology meets novel applications.

Journal article Front Hum Neurosci · 2025 [This corrects the article DOI: 10.3389/fnhum.2025.1544994.]. ... Full text Link to item Cite

Neuro-Symbolic Computing: Advancements and Challenges in Hardware-Software Co-Design

Journal article IEEE Transactions on Circuits and Systems II Express Briefs · March 1, 2024 The rapid progress of artificial intelligence (AI) has led to the emergence of a highly promising field known as neuro-symbolic (NeSy) computing. This approach combines the strengths of neural networks, which excel at data-driven learning, with the reasoni ... Full text Cite

At home adaptive dual target deep brain stimulation in Parkinson's disease with proportional control.

Journal article Brain · March 1, 2024 Continuous deep brain stimulation (cDBS) of the subthalamic nucleus (STN) or globus pallidus is an effective treatment for the motor symptoms of Parkinson's disease. The relative benefit of one region over the other is of great interest but cannot usually ... Full text Link to item Cite

Athena – The NSF AI Institute for Edge Computing

Journal article AI Magazine · March 1, 2024 The National Science Foundation (NSF) Artificial Intelligence (AI) Institute for Edge Computing Leveraging Next Generation Networks (Athena) seeks to foment a transformation in modern edge computing by advancing AI foundations, computing paradigms, network ... Full text Cite

Learning Optimal Strategies for Temporal Tasks in Stochastic Games

Journal article IEEE Transactions on Automatic Control · January 1, 2024 Synthesis from linear temporal logic (LTL) specifications provides assured controllers for systems operating in stochastic and potentially adversarial environments. Automatic synthesis tools, however, require a model of the environment to construct control ... Full text Cite

Attacks on Perception-Based Control Systems: Modeling and Fundamental Limits

Journal article IEEE Transactions on Automatic Control · January 1, 2024 We study the performance of perception-based control systems in the presence of attacks and provide methods for modeling and analysis of their resiliency to stealthy attacks on both physical and perception-based sensing. Specifically, we consider a general ... Full text Cite

Determining Novice and Expert Status in Human–Automation Interaction Through Hidden Markov Models

Journal article Applied Artificial Intelligence · January 1, 2024 Detecting when operators achieve expert proficiency is critical for organizations that employ human–automation interaction (HAI) in operations, particularly in safety-critical settings. Training operators for complex systems demand substantial time and res ... Full text Cite

Deep Reinforcement Learning-Based Approach for Efficient and Reliable Droplet Routing on MEDA Biochips

Journal article IEEE Transactions on Computer Aided Design of Integrated Circuits and Systems · April 1, 2023 The micro-electrode-dot-array (MEDA) architecture provides precise droplet control and real-time sensing in digital microfluidic biochips. Previous work has shown that trapped charge under microelectrodes (MCs) leads to droplets being stuck and failures in ... Full text Cite

Offline Learning of Closed-Loop Deep Brain Stimulation Controllers for Parkinson Disease Treatment.

Journal article ArXiv · March 16, 2023 Deep brain stimulation (DBS) has shown great promise toward treating motor symptoms caused by Parkinson's disease (PD), by delivering electrical pulses to the Basal Ganglia (BG) region of the brain. However, DBS devices approved by the U.S. Food and Drug A ... Link to item Cite

IoT-Enabled Motion Control: Architectural Design Challenges and Solutions

Journal article IEEE Transactions on Industrial Informatics · March 1, 2023 Ever-increasing demands for highly-efficient customized manufacturing are driving the development of Industry 4.0. Reconfigurable manufacturing systems based on modular, convertible, and interoperable equipment present a key enabler of the fourth industria ... Full text Cite

Attack-Resilient Supervisory Control of Discrete-Event Systems: A Finite-State Transducer Approach

Journal article IEEE Open Journal of Control Systems · January 1, 2023 Resilience to sensor and actuator attacks is a major concern in the supervisory control of discrete events in cyber-physical systems (CPS). In this work, we propose a new framework to design supervisors for CPS under attacks using finite-state transducers ... Full text Cite

Security Analysis for Distributed IoT-Based Industrial Automation

Journal article IEEE Transactions on Automation Science and Engineering · October 1, 2022 Internet of Things (IoT) technologies enable development of reconfigurable manufacturing systems-a new generation of modularized industrial equipment suitable for highly customized manufacturing. Sequential control in these systems is largely based on disc ... Full text Cite

Formal Synthesis of Adaptive Droplet Routing for MEDA Biochips

Journal article IEEE Transactions on Computer Aided Design of Integrated Circuits and Systems · August 1, 2022 A digital microfluidic biochip (DMFB) enables the miniaturization of immunoassays, point-of-care clinical diagnostics, and DNA sequencing. A recent generation of DMFBs uses a microelectrode-dot-array (MEDA) architecture, which provides fine-grained control ... Full text Cite

A comparison of an implanted accelerometer with a wearable accelerometer for closed-loop DBS.

Journal article Annu Int Conf IEEE Eng Med Biol Soc · July 2022 Sensing technology, as well as cloud communication, is enabling the development of closed-loop deep brain stimulation (DBS) for Parkinson's disease. The accelerometer is a practical sensor that can provide information about the disease/health state of the ... Full text Link to item Cite

Evaluation of a deep learning supported remote diagnosis model for identification of diabetic retinopathy using wide-field Optomap

Journal article Annals of Eye Science · June 1, 2022 Background: We test a deep learning (DL) supported remote diagnosis approach to detect diabetic retinopathy (DR) and other referable retinal pathologies using ultra-wide-field (UWF) Optomap. Methods: Prospective, non-randomized study involving diabetic pat ... Full text Cite

Attack-resilient state estimation with intermittent data authentication

Journal article Automatica · April 1, 2022 Network-based attacks on control systems may alter sensor data delivered to the controller, effectively causing degradation in control performance. As a result, having access to accurate state estimates, even in the presence of attacks on sensor measuremen ... Full text Cite

Formal Verification of Stochastic Systems with ReLU Neural Network Controllers

Journal article Proceedings IEEE International Conference on Robotics and Automation · January 1, 2022 In this work, we address the problem of formal safety verification for stochastic cyber-physical systems (CPS) equipped with ReLU neural network (NN) controllers. Our goal is to find the set of initial states from where, with a predetermined confidence, th ... Full text Cite

Learning-Based Vulnerability Analysis of Cyber-Physical Systems

Journal article Proceedings 13th ACM IEEE International Conference on Cyber Physical Systems Iccps 2022 · January 1, 2022 This work focuses on the use of deep learning for vulnerability analysis of cyber-physical systems (CPS). Specifically, we consider a control architecture widely used in CPS, where the low-level control is based on a feedback controller and an observer (e. ... Full text Cite

Security Analysis of Camera-LiDAR Fusion Against Black-Box Attacks on Autonomous Vehicles

Journal article Proceedings of the 31st Usenix Security Symposium Security 2022 · January 1, 2022 To enable safe and reliable decision-making, autonomous vehicles (AVs) feed sensor data to perception algorithms to understand the environment. Sensor fusion with multi-frame tracking is becoming increasingly popular for detecting 3D objects. Thus, in this ... Cite

Probabilistic conformance for cyber-physical systems

Journal article Iccps 2021 Proceedings of the 2021 ACM IEEE 12th International Conference on Cyber Physical Systems with Cps Iot Week 2021 · May 19, 2021 In system analysis, conformance indicates that two systems simultaneously satisfy the same set of specifications of interest; thus, the results from analyzing one system automatically transfer to the other, or one system can safely replace the other in pra ... Full text Cite

Automated Identification of Referable Retinal Pathology in Teleophthalmology Setting.

Journal article Transl Vis Sci Technol · May 3, 2021 PURPOSE: This study aims to meet a growing need for a fully automated, learning-based interpretation tool for retinal images obtained remotely (e.g. teleophthalmology) through different imaging modalities that may include imperfect (uninterpretable) images ... Full text Link to item Cite

Attacks on Distributed Sequential Control in Manufacturing Automation

Journal article IEEE Transactions on Industrial Informatics · February 1, 2021 Industrial Internet of Things (IIoT) represents a backbone of modern reconfigurable manufacturing systems (RMS), which enable manufacturing of a high product variety through rapid and easy reconfiguration of manufacturing equipment. In IIoT-enabled RMS, mo ... Full text Cite

Model-Free Reinforcement Learning for Stochastic Games with Linear Temporal Logic Objectives

Journal article Proceedings IEEE International Conference on Robotics and Automation · January 1, 2021 We study synthesis of control strategies from linear temporal logic (LTL) objectives in unknown environments. We model this problem as a turn-based zero-sum stochastic game between the controller and the environment, where the transition probabilities and ... Full text Cite

Secure Planning Against Stealthy Attacks via Model-Free Reinforcement Learning

Journal article Proceedings IEEE International Conference on Robotics and Automation · January 1, 2021 We consider the problem of security-aware planning in an unknown stochastic environment, in the presence of attacks on control signals (i.e., actuators) of the robot. We model the attacker as an agent who has the full knowledge of the controller as well as ... Full text Cite

An optimal graph-search method for secure state estimation

Journal article Automatica · January 1, 2021 The growing complexity of modern Cyber–Physical Systems (CPS) and the frequent communication between their components make them vulnerable to malicious attacks. As a result, secure state estimation is a critical requirement for the control of these systems ... Full text Cite

Model-Free Learning of Safe yet Effective Controllers

Journal article Proceedings of the IEEE Conference on Decision and Control · January 1, 2021 We study the problem of learning safe control policies that are also effective; i.e., maximizing the probability of satisfying a linear temporal logic (LTL) specification of a task, and the discounted reward capturing the (classic) control performance. We ... Full text Cite

Extending the Lifetime of MEDA Biochips by Selective Sensing on Microelectrodes

Journal article IEEE Transactions on Computer Aided Design of Integrated Circuits and Systems · November 1, 2020 A digital microfluidic biochip (DMFB) enables miniaturization of immunoassays, point-of-care clinical diagnostics, and DNA sequencing. A recent generation of DMFBs uses a micro-electrode-dot-array (MEDA) architecture, which provides fine-grained control of ... Full text Cite

Distributing Sequential Control for Manufacturing Automation Systems

Journal article IEEE Transactions on Control Systems Technology · July 1, 2020 Recent trends in manufacturing require the use of reconfigurable equipment that facilitates rapid and cost-effective change of functionality through modular design, which supports fast integration. Intelligent devices (e.g., sensors, actuators) with integr ... Full text Cite

Automated Recognition of Retinal Pigment Epithelium Cells on Limited Training Samples Using Neural Networks.

Journal article Transl Vis Sci Technol · June 2020 PURPOSE: To develop a neural network (NN)-based approach, with limited training resources, that identifies and counts the number of retinal pigment epithelium (RPE) cells in confocal microscopy images obtained from cell culture or mice RPE/choroid flat-mou ... Full text Link to item Cite

Integrating Security in Resource-Constrained Cyber-Physical Systems

Journal article ACM Transactions on Cyber Physical Systems · May 1, 2020 Defense mechanisms against network-level attacks are commonly based on the use of cryptographic techniques, such as lengthy message authentication codes (MAC) that provide data integrity guarantees. However, such mechanisms require significant resources (b ... Full text Cite

Control Synthesis from Linear Temporal Logic Specifications using Model-Free Reinforcement Learning

Journal article Proceedings IEEE International Conference on Robotics and Automation · May 1, 2020 We present a reinforcement learning (RL) frame-work to synthesize a control policy from a given linear temporal logic (LTL) specification in an unknown stochastic environment that can be modeled as a Markov Decision Process (MDP). Specifically, we learn a ... Full text Cite

Hyperproperties for Robotics: Planning via HyperLTL

Journal article Proceedings IEEE International Conference on Robotics and Automation · May 1, 2020 There is a growing interest on formal methods-based robotic planning for temporal logic objectives. In this work, we extend the scope of existing synthesis methods to hyper-temporal logics. We are motivated by the fact that important planning objectives, s ... Full text Cite

Context-Aware Temporal Logic for Probabilistic Systems

Journal article Lecture Notes in Computer Science Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics · January 1, 2020 In this paper, we introduce the context-aware probabilistic temporal logic (CAPTL) that provides an intuitive way to formalize system requirements by a set of PCTL objectives with a context-based priority structure. We formally present the syntax and seman ... Full text Cite

Detection of Cyber-attacks in Systems with Distributed Control based on Support Vector Regression

Journal article Telfor Journal · January 1, 2020 Concept of Industry 4.0 and implementation of Cyber Physical Systems (CPS) and Internet of Things (IoT) in industrial plants are changing the way we manufacture. Introduction of industrial IoT leads to ubiquitous communication (usually wireless) between de ... Full text Cite

Relaxing Integrity Requirements for Attack-Resilient Cyber-Physical Systems

Journal article IEEE Transactions on Automatic Control · December 1, 2019 The increase in network connectivity has also resulted in several high-profile attacks on cyber-physical systems. An attacker that manages to access a local network could remotely affect control performance by tampering with sensor measurements delivered t ... Full text Cite

Operator Strategy Model Development in UAV Hacking Detection

Journal article IEEE Transactions on Human Machine Systems · December 1, 2019 An increasingly relevant security issue for unmanned aerial vehicles (UAVs, also known as drones) is the possibility of a global positioning system (GPS) spoofing attack. Given the existing problems in current GPS spoofing detection techniques and human vi ... Full text Cite

Continuous estimation using context-dependent discrete measurements

Journal article IEEE Transactions on Automatic Control · January 1, 2019 This paper considers the problem of continuous state estimation from discrete context-based measurements. Context measurements provide binary information as obtained from the system's environment, e.g., a medical alarm indicating that a vital sign is above ... Full text Cite

Guest editorial: Special issue on medical cyber-physical systems

Journal article ACM Transactions on Cyber Physical Systems · August 1, 2018 Full text Cite

A hybrid stochastic game for secure control of cyber-physical systems

Journal article Automatica · July 1, 2018 In this paper, we establish a zero-sum, hybrid state stochastic game model for designing defense policies for cyber-physical systems against different types of attacks. With the increasingly integrated properties of cyber-physical systems (CPS) today, secu ... Full text Cite

Efficient and Adaptive Error Recovery in a Micro-Electrode-Dot-Array Digital Microfluidic Biochip

Journal article IEEE Transactions on Computer Aided Design of Integrated Circuits and Systems · March 1, 2018 A digital microfluidic biochip (DMFB) is an attractive technology platform for automating laboratory procedures in biochemistry. In recent years, DMFBs based on a micro-electrode-dot-array (MEDA) architecture have been proposed. MEDA biochips can provide a ... Full text Cite

Design and Implementation of Attack-Resilient Cyberphysical Systems: With a Focus on Attack-Resilient State Estimators

Journal article IEEE Control Systems · April 1, 2017 Recent years have witnessed a significant increase in the number of securityrelated incidents in control systems. These include high-profile attacks in a wide range of application domains, from attacks on critical infrastructure, as in the case of the Maro ... Full text Cite

Coding Schemes for Securing Cyber-Physical Systems Against Stealthy Data Injection Attacks

Journal article IEEE Transactions on Control of Network Systems · March 1, 2017 This paper considers a method of coding the sensor outputs in order to detect stealthy false data injection attacks. An intelligent attacker can design a sequence of data injection to sensors and actuators that pass the state estimator and statistical faul ... Full text Cite

Attack-resilient state estimation for noisy dynamical systems

Journal article IEEE Transactions on Control of Network Systems · March 1, 2017 Several recent incidents have clearly illustrated the susceptibility of cyberphysical systems (CPS) to attacks, raising attention to security challenges in these systems. The tight interaction between information technology and the physical world has intro ... Full text Cite

Cyber physical production systems-an IEC 61499 perspective

Journal article Lecture Notes in Mechanical Engineering · January 1, 2017 Recent developments in the field of cyber physical systems (CPS) and internet of things (IoT) open up new possibilities in manufacturing. CPS and IoT represent enabling means for facilitating the companies’ adaptation to the ever-changing market needs and ... Full text Cite

Cyber-physical manufacturing systems (CPMS)

Journal article Lecture Notes in Mechanical Engineering · January 1, 2017 Increased product variety that market needs impose to manufacturers, requires high level adaptability of manufacturing systems that can be achieved through introduction of reconfigurable manufacturing systems composed of interoperable devices with ever-cha ... Full text Cite

Security of cyber-physical systems in the presence of transient sensor faults

Journal article ACM Transactions on Cyber Physical Systems · January 1, 2017 This article is concerned with the security of modern Cyber-Physical Systems in the presence of transient sensor faults.We consider a system with multiple sensors measuring the same physical variable, where each sensor provides an interval with all possibl ... Full text Cite

Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions

Journal article Assembly Automation · April 7, 2015 Featured Publication Purpose The purpose of this paper is to provide a method for the generation of information machines for part mating process diagnosis. Recognition of contact states between parts during robotized part mating represents a significant element of the system f ... Full text Cite

Recognition of Planar Segments in Point Cloud based on Wavelet Transform

Journal article IEEE Transactions on Industrial Informatics · April 2015 Featured Publication Full text Open Access Cite

Opportunistic Control Over Shared Wireless Channels

Journal article IEEE Transactions on Automatic Control · March 2015 Featured Publication Full text Open Access Cite

Closed-loop verification of medical devices with model abstraction and refinement

Journal article International Journal on Software Tools for Technology Transfer · April 1, 2014 Featured Publication The design and implementation of software for medical devices is challenging due to the closed-loop interaction with the patient, which is a stochastic physical environment. The safety-critical nature and the lack of existing industry standards for verific ... Full text Cite

Safety-critical medical device development using the UPP2SF model translation tool

Journal article Transactions on Embedded Computing Systems · January 1, 2014 Featured Publication Software-based control of life-critical embedded systems has become increasingly complex, and to a large extent has come to determine the safety of the human being. For example, implantable cardiac pacemakers have over 80,000 lines of code which are respon ... Full text Open Access Cite

Fuzzy inference mechanism for recognition of contact states in intelligent robotic assembly

Journal article Journal of Intelligent Manufacturing · January 1, 2014 This paper presents a methodology for generating a fuzzy inference mechanism (FIM) for recognizing contact states within robotic part mating using active compliant motion. In the part mating process, significant uncertainties are inherently present. As a r ... Full text Cite

Distributed control for cyber-physical systems

Journal article Journal of the Indian Institute of Science · July 1, 2013 Networked Cyber-Physical Systems (CPS) are fundamentally constrained by the tight coupling and closed-loop control and actuation of physical processes. To address actuation in such closed-loop wireless control systems there is a strong need to re-think the ... Cite

Topological conditions for in-network stabilization of dynamical systems

Journal article IEEE Journal on Selected Areas in Communications · April 4, 2013 Featured Publication We study the problem of stabilizing a linear system over a wireless network using a simple in-network computation method. Specifically, we study an architecture called the Wireless Control Network (WCN), where each wireless node maintains a state, and peri ... Full text Open Access Cite

Robust architectures for embedded wireless network control and actuation

Journal article Transactions on Embedded Computing Systems · December 1, 2012 Featured Publication Networked cyber-physical systems are fundamentally constrained by the tight coupling and closed-loop control of physical processes. To address actuation in such closed-loop wireless control systems there is a strong need to rethink the communication archit ... Full text Cite

Model-Driven Safety Analysis of Closed-Loop Medical Systems.

Journal article IEEE transactions on industrial informatics · October 2012 Featured Publication In modern hospitals, patients are treated using a wide array of medical devices that are increasingly interacting with each other over the network, thus offering a perfect example of a cyber-physical system. We study the safety of a medical device system f ... Full text Open Access Cite

The Oral Iron Chelator Deferiprone Protects Against Retinal Degeneration Induced through Diverse Mechanisms.

Journal article Transl Vis Sci Technol · 2012 PURPOSE: To investigate the effect of the iron chelator deferiprone (DFP) on sodium iodate (NaIO3)-induced retinal degeneration and on the hereditary retinal degeneration caused by the rd6 mutation. METHODS: Retinas from NaIO3-treated C57BL/6J mice, with o ... Full text Link to item Cite

Cyber-Physical Modeling of Implantable Cardiac Medical Devices

Journal article Proceedings of the IEEE · January 2012 Featured Publication Full text Cite

The wireless control network: A new approach for control over networks

Journal article IEEE Transactions on Automatic Control · October 1, 2011 Featured Publication We present a method to stabilize a plant with a network of resource constrained wireless nodes. As opposed to traditional networked control schemes where the nodes simply route information to and from a dedicated controller (perhaps performing some encodin ... Full text Open Access Cite

Spatio-temporal techniques for anti-jamming in embedded wireless networks

Journal article Eurasip Journal on Wireless Communications and Networking · June 18, 2010 Electromagnetic jamming results in a loss of link reliability, increased energy consumption and packet delays. In the context of energy-constrained wireless networks, nodes are scheduled to maximize the common sleep duration and coordinate communication to ... Full text Cite

Attack-Resilient Sensor Fusion for Safety-Critical Cyber-Physical Systems

Journal article ACM Transactions on Embedded Computing Systems Featured Publication Open Access Cite