Model-based robust online fault detection for mating process of electric connectors in robotic wiring harness assembly systems

Jian Huang; Pei Di; Toshio Fukuda; Takayuki Matsuno

doi:10.1109/MHS.2007.4420916

Model-based robust online fault detection for mating process of electric connectors in robotic wiring harness assembly systems

Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets (FPS) is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The effectiveness of these methods is finally confirmed through experiments.

Original language	English
Title of host publication	2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS
Pages	556-563
Number of pages	8
DOIs	https://doi.org/10.1109/MHS.2007.4420916
Publication status	Published - 2007
Externally published	Yes
Event	2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS - Nagoya, Japan Duration: Nov 11 2007 → Nov 14 2007

Publication series

Name	2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS

Other

Other	2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS
Country/Territory	Japan
City	Nagoya
Period	11/11/07 → 11/14/07

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Human-Computer Interaction
Electrical and Electronic Engineering

Access to Document

10.1109/MHS.2007.4420916

Cite this

Huang, J., Di, P., Fukuda, T., & Matsuno, T. (2007). Model-based robust online fault detection for mating process of electric connectors in robotic wiring harness assembly systems. In 2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS (pp. 556-563). [4420916] (2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS). https://doi.org/10.1109/MHS.2007.4420916

Model-based robust online fault detection for mating process of electric connectors in robotic wiring harness assembly systems. / Huang, Jian; Di, Pei; Fukuda, Toshio et al.
2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS. 2007. p. 556-563 4420916 (2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Huang, J, Di, P, Fukuda, T & Matsuno, T 2007, Model-based robust online fault detection for mating process of electric connectors in robotic wiring harness assembly systems. in 2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS., 4420916, 2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS, pp. 556-563, 2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS, Nagoya, Japan, 11/11/07. https://doi.org/10.1109/MHS.2007.4420916

Huang J, Di P, Fukuda T, Matsuno T. Model-based robust online fault detection for mating process of electric connectors in robotic wiring harness assembly systems. In 2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS. 2007. p. 556-563. 4420916. (2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS). doi: 10.1109/MHS.2007.4420916

@inproceedings{9280dfbb7cf74ad2a81a30292657e86d,

title = "Model-based robust online fault detection for mating process of electric connectors in robotic wiring harness assembly systems",

abstract = "Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets (FPS) is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The effectiveness of these methods is finally confirmed through experiments.",

author = "Jian Huang and Pei Di and Toshio Fukuda and Takayuki Matsuno",

year = "2007",

doi = "10.1109/MHS.2007.4420916",

language = "English",

isbn = "9781424418589",

series = "2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS",

pages = "556--563",

booktitle = "2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS",

note = "2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS ; Conference date: 11-11-2007 Through 14-11-2007",

}

TY - GEN

T1 - Model-based robust online fault detection for mating process of electric connectors in robotic wiring harness assembly systems

AU - Huang, Jian

AU - Di, Pei

AU - Fukuda, Toshio

AU - Matsuno, Takayuki

PY - 2007

Y1 - 2007

N2 - Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets (FPS) is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The effectiveness of these methods is finally confirmed through experiments.

AB - Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets (FPS) is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The effectiveness of these methods is finally confirmed through experiments.

UR - http://www.scopus.com/inward/record.url?scp=50149106533&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=50149106533&partnerID=8YFLogxK

U2 - 10.1109/MHS.2007.4420916

DO - 10.1109/MHS.2007.4420916

M3 - Conference contribution

AN - SCOPUS:50149106533

SN - 9781424418589

T3 - 2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS

SP - 556

EP - 563

BT - 2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS

T2 - 2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS

Y2 - 11 November 2007 through 14 November 2007

ER -

Model-based robust online fault detection for mating process of electric connectors in robotic wiring harness assembly systems

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this