What is an example of present perfect tense of sense?

Present perfect is formed with - have/has + past participle.

Sense is a regular verb so the past participle is verb + -ed = sensed.

I have sensed the dog is angry. -- I as subject

They have sensed the dog is angry. -- plural pronoun subject

He has sensed the dog is angry. -- singular pronoun subject

The cat has sensed the dog is angry. -- singular noun subject