沈恆華 博士
Dr. Henghua, SHEN

Assistant Professor
Director of the Social Robotics & Digital Living Lab

Dr. Henghua Shen received his PhD in Mechanical Engineering from Dalhousie University (Halifax, Canada). He was previously an Assistant Professor at Macau Millennium College and conducted postdoctoral research at The Hong Kong Polytechnic University and Concordia University (Montréal, Canada). He has published numerous papers in top-tier journals and conferences, including IEEE/ASME Transactions on Mechatronics, IEEE Transactions on Industrial Electronics, the American Control Conference (ACC), and the IFAC World Congress. He serves as a member of the IEEE IES Young Professionals Committee.

Courses Taught

• ADS130 Probability and Statistics
• ADS261 Calculus and Linear Algebra
• ADS330 Social Media Data Analytics
• GED220 Becoming Computational Thinkers: Solving Problems in Arts and Humanities
• GDM513 Artificial Intelligence for Gaming and Robotics

Funded Projects

• 2026: Principal Investigator (PI)
  • “Feasible Strategies for Cross-Border Low-Altitude UAV Operations in Macau-Zhuhai-Hengqin” (Grant No. 1865/DGAF/2026)
• 2026: Principal Investigator (PI)
  • “AI-Based Recognition and Geolocation of Non-Standard Address Plates in Macau” (Grant No. MMCIRB-PR-002)

Publication

Journal Papers

1. Z.H. Tan, H.H. Shen*, and Y.Y. Wu, “RoboNavGuard: Lightweight Deformable Obstacle Segmentation and 3D Visual Grounding for Indoor Robot Navigation”, Machine Vision and Applications, Vol. 37, No. 4, 2026.
2. Z.H. Tan and H.H. Shen*, “Lyapunov-based emotion-aware switching in hybrid human artificial intelligence customer service systems.” Information Sciences, Vol. 739, 123172, 2026.
3. R. Chen*, J. Xie, Y. Liu, H Chen, S. Tang, J. Cheng, H.H. Shen, Z. Tan, “A novel complex network framework: Multi-span transition network with Riemann similarity measure”, Engineering Applications of Artificial Intelligence, Vol. 165, Part B, 2026
4. H.H. Shen, W.-F. Xie* and N.Y. Zhu, “Degeneracy-Aware Full-Pose Path Planning Strategy for Robot Manipulator”, IEEE Transactions on Systems, Man and Cybernetics: Systems, Vol. 54, No. 8, pp. 4955-4965, 2024. 
5. N.Y. Zhu, W.F. Xie*, and H.H. Shen, “Trajectory planning of cooperative robotic system for automated fiber placement in a leader-follower formation”, The International Journal of Advanced Manufacturing Technology, Vol.130.(1-2), pp. 575-588, 2024.
6. H.H. Shen, W.-F. Xie *, J.Y Tang and T. Zhou, “Adaptive Manipulability-Based Path Planning Strategy for Industrial Robot Manipulators”, IEEE/ASME Transactions on Mechatronics, Vol. 28, No. 3, pp. 1742-1753, 2023.
7. H.H. Shen and Y.J. Pan*, “Nonlinear State Estimation and Online Neighbor Selection for Multi-Manipulator Systems”, IEEE/ASME Transactions on Mechatronics, Vol. 27, No. 6, pp. 4373–4383, 2022.
8. L. Wan, Y.J. Pan* and H.H. Shen, “Improving Synchronization Performance of Multiple Euler-Lagrange Systems using Non-Singular Terminal Sliding Mode Control with Fuzzy Logic”, in IEEE/ASME Transactions on Mechatronics, Vol. 27, No. 4, pp. 2312–2321, 2022.
9. H.H. Shen and Y.J. Pan*, “Tracking Synchronization Improvement of Networked Manipulators Using Novel Adaptive Non-Singular Terminal Sliding Mode Control”, IEEE Transactions on Industrial Electronics, Vol.68, No.5, pp. 4279-4287, 2021.
10. U. Ahmad, Y.J. Pan* and H.H. Shen, “Robust Control Design for Teleoperation of Multiple Mobile Manipulators under Time Delays”, International Journal of Robust and Nonlinear Control, Vol.30, No.16, pp. 6454-6472, 2020.
11. H.H. Shen, Y.J. Pan*, U. Ahmad and B.W. He, “Pose Synchronization of Multiple Networked Manipulators using Non-singular Terminal Sliding Mode Control”, IEEE/ASME Transactions on Systems, Man and Cybernetics: Systems, Vol. 51, No.12, pp. 7497-7509, 2020.
12. H.H. Shen and Y.J. Pan*, “Improving Tracking Performance of Nonlinear Uncertain Bilateral Teleoperation Systems with Time-Varying Delays and Disturbances”, IEEE/ASME Transactions on Mechatronics, Vol.25, No.03, pp.1171-1181, 2020.
13. Y.Q. Liu, S.Y. Huang, B. He*, L.G. Yao, A. Lv, H.H. Shen, M.W. Chen, W.Y. Hong, “Preliminary Application of 3D Printing Technology in the Surgical Treatment of Falx Meningioma”, Chinese General Practice, Vol.19, No.24, pp.2953-2956, 2016.
14. H.H. Shen, B. He*, J. Zhang, S. Chen, “Obtaining four-dimensional vibration information for vibrating surfaces with a Kinect sensor”, Measurement, Vol. 65, pp.149-165, 2015.
15. L. Huang, C. Chen, H.H. Shen, B. He*, “Adaptive registration algorithm of color images based on SURF”, Measurement, Vol. 66, pp.118-124, 2015.
16. S.S. Dong, B. He*, C. Lin, Q. Zhao, H.H. Shen, “Calibration method for a structured light measurement system with two different focal length cameras”, Measurement, Vol. 73, pp.462-472, 2015.
17. X. Zhou*, H.H. Shen, B. He, “Birth Intensity Estimation Method for Multi-target Video Tracking”, Journal of Computer Aided Design & Computer Graphics, Vol. 26, No.12, pp. 2223-2231, 2014.

1. H.H. Shen*, Z.H. Tan and Y.J. Pan, Lyapunov-Based Stability and Region-of-Attraction Analysis of a Multistable Neural Mass Model, The 2026 International Symposium on Industrial Electronics (ISIE 2026), Nagoya, Japan, June 23-26, 2026.
2. S.Y. Zhang, H.Y. Song, Q.X. Wang*, H.H. Shen, Y. Pei, “A Test Oracle for Reinforcement Learning Software Based on Lyapunov Stability Control Theory”, in Proceedings of the IEEE/ACM 47th International Conference on Software Engineering (ICSE '25), April 27-May 3 2025, Ottawa, Canada, pp. 502-513 (Distinguished Paper Awards).
3. N.Y. Zhu, W.F. Xie*, and H.H. Shen, “A Leader-Follower Trajectory Planning Approach for Cooperative Robotic System in Automated Fiber Placement”, In Proceedings of 2023 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2023), IEEE, 2023.
4. N.Y. Zhu, W.F. Xie*, and H.H. Shen, “Adaptive Sliding Mode Control with RBF Neural Network-Based Tuning Method for Parallel Robot”, In Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society (IECON 2022). IEEE, 2022.
5. R. Adderson, Y.J. Pan* and H.H. Shen, “Application of Sliding Mode Control for the Formation of Heterogeneous Multi-Agent Systems”, In Proceedings of the 5th IEEE Conference on Control Technology and Applications (CCTA), August 9-11, 2021, San Diego, USA, pp. 777-782.
6. H.H. Shen, Y.J. Pan* and L. Wan, “Teleoperated Single-Master-Multiple-Slave System for Cooperative Manipulations in Task Space”, In Proceedings of the IEEE International Conference on Industrial Cyber-Physical Systems (ICPS 2021), May 2021, Victoria, BC, Canada, pp. 864-869. (Best Presentation Award).
7. H.H. Shen, Y.J. Pan* and G. Bauer, “Online Noise-Estimation-based Neighbor Selection for Multi-Manipulator Systems”, In Proceedings of the 21st IFAC World Congress (IFAC-WC), July 2020, Berlin, Germany, Vol 53, No.2, pp. 9802-9807. 
8. G. Bauer, Y.J. Pan and H.H. Shen, “Adaptive Impedance Control in Bilateral Telerehabilitation with Robotic Exoskeletons”, In Proceedings of the 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2020), October 2020, Toronto, Canada, pp. 719-725.
9. H.H. Shen and Y.J. Pan*, “Adaptive Robust Control of Networked Multi-Manipulators with Time-Varying Delays”, In Proceedings of the 2019 IEEE American Control Conference (ACC), July 2019, Philadelphia, USA, pp. 3670-3675. 
10. H.H. Shen, Y.J. Pan*, U. Ahmad, S. Liu, M, Wu and Y. He, “Tracking Performance Evaluations on the Robust Teleoperative Control of Multiple Manipulators”, In Proceedings of the 28th IEEE International Symposium on Industrial Electronics (IEEE-ISIE 2019), June 2019, Vancouver, Canada, pp.1268-1273.
11. H.H. Shen, Y.J. Pan* and G. Bauer, “Manipulability-based Load Application and Kinematic Decoupling in Cooperative Manipulations”, In Proceedings of the 28th IEEE International Symposium on Industrial Electronics (IEEE-ISIE 2019), June 2019, Vancouver, Canada, pp.1168-1173.
12. U. Ahmad, Y.J. Pan*, H.H. Shen and S. Liu, “Cooperative Control of Mobile Manipulators Transporting an Object based on an Adaptive Backstepping Approach”, In Proceedings of the 14th IEEE International Conference on Control and Automation (ICCA), June 2018, Anchorage, Alaska, USA, pp.198-203.
13. H.H. Shen, Y.J. Pan* and B. He, “Teleoperation of Multiple Cooperative Slave Manipulators Using Graph-based Non-singular Terminal Sliding-Mode Control”, In Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), December 2017, Macau, China, pp.1430-1435.
14. H.H. Shen, A.T. Lei, B. He*, “Fusing Salient Region Features and Depth Data for Real-time Multi-target Searching and Humanoid Navigation”, In Proceedings of the 1st IEEE International Conference on Real-time Computing and Robotics (RCAR 2015), June 2015, Changsha, China.

1. Measurement method for acquiring four-dimensional vibration information in real time, Patent Number: CN103971409B, 2014.
2. A Measuring Method for Three-Dimensional Foot Surface information with Multiple RGB-D Sensors (Patent Number: CN104126989B), 2016.
3. A Method for Foot Three-Dimensional Measurement and Reconstruction with an RGB-D Sensor (Patent Number: CN103971409B), 2017.

Professional Experiences

• Assistant Professor, Macau Millennium College, 2025–2026
• Director of Educational Development Center, Macau Millennium College, 2025–2026
• Director of Library (Administrative Center), Macau Millennium College, 2025–2026
• Postdoctoral Fellow, The Hong Kong Polytechnic University, 2024
• Postdoctoral Fellow, Concordia University (Canada), 2021–2023
• Research Assistant, Dalhousie University (Canada), 2020