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* represents correspongding author
Journal Papers
J. Wang, H. Zhu*, H. Guo, A. A. Mamun, C. Xiang, C. W. de Silva, T. H. Lee, SDSimPoint:
Shallow-Deep Similarity Learning for Few-Shot Point Cloud Semantic Segmentation, IEEE
Transactions on Neural Networks and Learning Systems, 2025 W. Wang, H. Zhu*, M. H. Ang Jr, SGSIN: Simultaneous Grasp and Suction Inference Network
via Attention-Based Affordance Learning, IEEE Transactions on Industrial Electronics, 2024
F. Zhang, H. Zhu*, Y. Cen, S. Kan, L. Zhang, P. Vadakkepat, T. H. Lee, Low-Shot
Unsupervised Visual Anomaly Detection via Sparse Feature Representation, IEEE Transactions on
Neural Networks and Learning Systems, 2024 H. Guo, H. Zhu*, J. Wang, V. Prahlad, W. K. Ho, C. W. de Silva, T. H. Lee, Remaining
Useful Life Prediction via Frequency Emphasizing Mix-Up and Masked Reconstruction, IEEE
Transactions on Artificial Intelligence, 2024 Y. Li, H. Zhu, S. Tian, J. Ma, C. Xiang, P. Vadakkepat, Bilateral-Head Region-Based
Convolutional Neural Networks: A Unified Approach for Incremental Few-Shot Object Detection, IEEE
Transactions on Artificial Intelligence, 2024 Y. Li, H. Zhu, J. Ma, C. Xiang, P. Vadakkepat, Incremental few-shot learning via
implanting and consolidating, Neurocomputing, 2023 S. Zhang, X. He, H. Zhu, Barrier function-based adaptive antisway control for
underactuated
overhead cranes, Nonlinear Dynamics, 2023
S. Zhang, X. He, H. Zhu, X. Li, X. Liu, PID-Like Coupling Control of Underactuated
Overhead Cranes
with Input Constraints, Mechanical Systems and Signal Processing, 2022
J. Ma, H. Zhu*, X. Li, W. Wang, C. W. de Silva, T. H. Lee, Robust Fixed-Order Controller
Design
for Uncertain Systems With Generalized Common Lyapunov Strictly Positive Realness Characterization,
IEEE
Transactions on Systems, Man, and Cybernetics: Systems, 2022
X. Li, H. Zhu*, J. Ma, W. Wang, T. J. Teo, C. S. Teo, Learning-Based High-Precision
Tracking
Control: Development, Synthesis, and Verification on Spiral Scanning With a Flexure-Based
Nanopositioner,
IEEE/ASME Transactions on Mechatronics, 2024 H. Zhu, X. Li, W. Chen, X. Li, J. Ma, C. S. Teo, T. J. Teo, W. Lin, Weight Imprinting
Classification-Based Force Grasping With a Variable-Stiffness Robotic Gripper, IEEE Transactions
on Automation Science and Engineering, 2021 S. Zhang, H. Zhu*, X. He, Y. Feng, C.K. Pang, Passivity-based Coupling Control for
Underactuated
Three-Dimensional Overhead Cranes, ISA transactions, 2021
J. Ma, Z. Cheng, H. Zhu*, X. Li, M. Tomizuka, T. H. Lee, Convex Parameterization and
Optimization
for Robust Tracking of a Magnetically Levitated Planar Positioning System, IEEE Transactions on
Industrial Electronics, 2021
J. Ma, Z. Cheng, W. Wang, X. Li, H. Zhu*, C.W. De Silva, T. H. Lee, Convex Inner
Approximation for
Mixed H2/H-Infinity Control with Application to a 2-DoF Flexure-Based Nano-Positioning System, IEEE
Transactions on Industrial Electronics, 2021
J. Ma, H. Zhu*, M. Tomizuka, T. H. Lee, On robust stability and performance with a
fixed-order
controller design for uncertain systems, IEEE Transactions on Systems, Man, and Cybernetics:
Systems,
2021
X. Li, H. Zhu(co-first author), W. Lin, W. Chen, K.H. Low, Structure-Controlled Variable
Stiness
Robotic Joint Based on Multiple Rotary Flexure Hinges, IEEE Transactions on Industrial
Electronics,
2021
W. Wang, J. Ma*, X. Li, Z. Cheng, H. Zhu, C. S. Teo, T. H. Lee, Iterative super-twisting
sliding
mode control for tray indexing system with unknown dynamics, IEEE Transactions on Industrial
Electronics, 2020
X. Li, H. Zhu*, J. Ma, T. J. Teo, C. S. Teo, M. Tomizuka, T. H. Lee, Data-Driven
Multiobjective
Controller Optimization for a Magnetically Levitated Nanopositioning System, IEEE/ASME
Transactions on
Mechatronics, 2020
S. Zhang, X. He*, H. Zhu, Q. Chen, Y. Feng, Partially Saturated Coupled-Dissipation
Control for
Underactuated Overhead Cranes, Mechanical Systems and Signal Processing, 2020
H. Zhu, T. J. Teo, C. K. Pang, Magnetically levitated Parallel Actuated Dual-Stage
(Maglev-PAD)
System for Six-Axis Precision Positioning IEEE/ASME Transactions on Mechatronics, 2019
H. Zhu, C. K. Pang, T. J. Teo, Dual-Axis Control of Flexure-Based Motion System for
Optical Fibre
Transceiver Assembly Using Fixed-Order Controller, ISA transactions, 2019
H. Zhu, T. J. Teo, C. K. Pang, Flexure-Based Magnetically Levitated Dual-Stage System for
High-Bandwidth Positioning, IEEE Transactions on Industrial Informatics, 2019
H. Zhu, T. J. Teo, C. K. Pang, Analytical Model-Based Multiphysics Optimization of a
Nanopositioning Electromagnetic Actuator, IEEE Transactions on Industrial Electronics, 2018
H. Zhu, C. K. Pang, T. J. Teo, Analysis and Control of a 6 DOF Maglev Positioning System
with
Characteristics of End-Effects and Eddy Current Damping, Mechatronics, 2017
H. Zhu, C. K. Pang, T. J. Teo, A Flexure-Based Parallel Actuation Dual-Stage System for
Large-Stroke Nanopositioning, IEEE Transactions on Industrial Electronics, 2017
H. Zhu, T. J. Teo, C. K. Pang, Design and Modeling of a Six-Degree-of-Freedom Magnetically
Levitated Positioner using Square Coils and 1-D Halbach Arrays, IEEE Transactions on Industrial
Electronics, 2016
T. J. Teo, H. Zhu, S.L. Chen, G. Yang, C. Pang, Principle and Modeling of A Novel Moving
Coil
Linear-Rotary Electromagnetic Actuator, IEEE Transactions on Industrial Electronics, 2016
H. Zhu, C. K. Pang, T. J. Teo, Integrated Servo-Mechanical Design of a Fine Stage for a
Coarse/Fine Dual-Stage Positioning System, IEEE/ASME Transactions on Mechatronics, 2015
T. J. Teo, H. Zhu, C. K. Pang, Modeling of a Two Degrees-of-Freedom Moving Magnet Linear
Motor for
Magnetically Levitated Positioners, IEEE Transactions on Magnetics, 2014
Conference Papers
H. Guo, H. Zhu*, J. Wang, P. Vadakkepat, W. K. Ho, T. H. Lee, Enhancing Multivariate
Time-Series Domain Adaptation via Contrastive Frequency Graph Discovery and Language-Guided
Adversary Alignment, The Thirty-Ninth AAAI Conference on Artificial Intelligence (AAAI),
2025 S. Liu, T. J. Teo, Z. Lin, H. Zhu*, RelationGrasp: Object-Oriented Prompt Learning for
Simultaneously Grasp Detection and Manipulation Relationship in Open Vocabulary, IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS), 2024 W. Wang, H. Zhu*, M. H. Ang, GraspContrast: Self-supervised Contrastive Learning with
False Negative Elimination for 6-DoF Grasp Detection, IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS), 2024 S. Liu, Z. Lei, H. Zhu*, J. Ma, Z. Lin, SegmentAnything-Based Approach to Scene
Understanding and Grasp Generation, International Conference on Social Robotics (ICSR), 2024
H. Liu, J. Tan, Y. Cheng, Y. Chen, H. Zhu, M. H. Ang, Solving Challenging Tasks with
Manipulation Policy with Limited Demonstrations, 2024 IEEE International Conference on Advanced
Intelligent Mechatronics (AIM), 2024 J. Karhade, H. Zhu*, K.-S. Chung, R. K. Tripathy, W. Lin, M. H. Ang, Multi-Frequency-Aware
Patch Adversarial Learning for Neural Point Cloud Rendering, IEEE International Conference on
Advanced Intelligent Mechatronics (AIM), 2024 A. Cheng, Z. Yang, H. Zhu, K. Mao, GAM-Depth: Self-Supervised Indoor Depth Estimation
Leveraging a
Gradient-Aware Mask and Semantic Constraints, IEEE International Conference on Robotics and
Automation
(ICRA), 2024 J. Wang, H. Zhu*, H. Guo, A. Al Mamun, C. W. De Silva, T. H. Lee, Few-Shot Point Cloud
Semantic
Segmentation for CAM-CAD via Feature Enhancement and Efficient Dual Attention, Annual Conference
of the IEEE
Industrial Electronics Society (IECON), 2023
J. Wang, H. Zhu*, H. Guo, A. Al Mamun, C. W. De Silva, T. H. Lee, Few-Shot Point Cloud
Semantic
Segmentation for CAM-CAD via Feature Enhancement and Efficient Dual Attention, Annual Conference
of the IEEE
Industrial Electronics Society (IECON), 2023
H. Guo, H. Zhu*, J. Wang, V. Prahlad, W.K. Ho, C. W. de Silva, T. H. Lee, Lightweight
Compressed
Temporal and Compressed Spatial Attention with Augmentation Fusion in Remaining Useful Life
Prediction, Annual
Conference of the IEEE Industrial Electronics Society (IECON), 2023
J. Wang, H. Zhu*, H. Guo, A. Al Mamun, C. Xiang, T. H. Lee, Few-shot point cloud semantic
segmentation
via contrastive self-supervision and multi-resolution attention, IEEE International Conference on
Robotics
and Automation (ICRA), 2023
J. Wang, H. Zhu*, H. Guo, A. Al Mamun, P. Vadakkepat, T. H. Lee, CAM-CAD Point Cloud Part
Segmentation
via Few-Shot Learning, IEEE 20th International Conference on Industrial Informatics (INDIN),
2022
H. Guo, H. Zhu*, J. Wang, P. Vadakkcpat, W. K. Ho, T. H. Lee, Masked Self-Supervision for
Remaining
Useful Lifetime Prediction in Machine Tools, IEEE 20th International Conference on Industrial
Informatics
(INDIN), 2022
Y. Li, H. Zhu*, S. Tian, F. Feng, J. Ma, C. S. Teo, C. Xiang, P. Vadakkepat, T. H. Lee,
Incremental
Few-Shot Object Detection for Robotics, IEEE Conference on Robotics and Automation (ICRA),
2022
Y. Li, H. Zhu*, Y. Cheng, W. Wang, C. S. Teo, C. Xiang, P. Vadakkepat, T. H. Lee, Few-Shot
Object
Detection via Classification Refinement and Distractor Retreatment, IEEE/CVF Conference on
Computer Vision
and Pattern Recognition (CVPR), 2021
H. Zhu, Y. Li, F. Bai, W. Chen, X. Li, J. Ma, C. S. Teo, P. Y. Tao, W. Lin, Grasping
Detection Network
with Uncertainty Estimation for Confidence-Driven Semi-Supervised Domain Adaptation, International
Conference
on Intelligent Robots and Systems (IROS), 2020
X. Li, H. Zhu*, J. Ma, T. J. Teo, C. S. Teo, M Tomizuka, T. H. Lee, Learning-Based
Controller
Optimization for Repetitive Robotic Tasks, International Conference on Intelligent Robots and
Systems
(IROS), 2020
S. Zhang, X. He*, H. Zhu, Y. Feng, Q. Chen, Z. Zhu, X. Li, Adaptive SMC-based Trajectory
Tracking
Control of Underactuated Overhead Cranes, 2020 IEEE 9th Data Driven Control and Learning Systems
Conference (DDCLS), 2020
W. Wang, J. Ma*, X. Li, H. Zhu, C. S. Teo, T. H. Lee, Iterative Super-Twisting Sliding
Mode
Control: A Case Study on Tray Indexing, IEEE/ASME International Conference on Advanced
Intelligent
Mechatronics (AIM), 2020
H. Zhu, X. Li, W Chen, C Zhang, Flexure-Based Variable Stiffness Gripper for Large-Scale
Grasping
Force Regulation with Vision, International Conference on Intelligent Robotics and
Applications, 2019
D. Liu, W. Liang, H. Zhu, C. S. Teo, K. K. Tan, Development of a Distributed Bernoulli
Gripper for
Ultra-Thin Wafer Handling, IEEE International Conference on Advanced Intelligent Mechatronics
(AIM),
2017
H. Zhu, T. J. Teo, C. K. Pang, W Liang, Integrated Design of a Secondary Stage for
Magnetically
Levitated Dual-Stage Positioning System, IEEE International Conference on Advanced Intelligent
Mechatronics (AIM), 2017
H. Zhu, C. K. Pang, T. L. Law, T. J. Teo, Design and Control of a Six Degrees-of-Freedom
Magnetically Levitated Positioning System, IFAC-PapersOnLine, 2016
H. Zhu, T. J. Teo, C. K. Pang, Analysis of Force Harmonics and Eddy Current Damping for 2
DOF
Moving Magnet Linear Motor, Annual Conference of the IEEE Industrial Electronics Society
(IECON),
2015
H. Zhu, C. K. Pang, T. J. Teo, L. T. Marek, Modeling and Design of a Size and Mass Reduced
Magnetically Levitated Planar Positioner, Annual Conference of the IEEE Industrial Electronics
Society
(IECON), 2014
H. Zhu, T. J. Teo, C. K. Pang, Conceptual Design and Modeling of a Six Degrees-Of-Freedom
Unlimited Stroke Magnetically Levitated Positioner, IEEE/ASME International Conference on
Advanced
Intelligent Mechatronics (AIM), 2014
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