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Robust model-based online fault detection for mating process of electric connectors in robotic wiring harness asembly systems / Jian Huang in IEEE Transactions on control systems technology, Vol. 18 N° 5 (Septembre 2010) 

Public ISBD [article]  in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1207-1215 Titre : Robust model-based online fault detection for mating process of electric connectors in robotic wiring harness asembly systems Type de document : texte imprimé Auteurs : Jian Huang, Auteur ; Pei Di, Auteur ; Toshio Fukuda, Auteur Année de publication : 2011 Article en page(s) : pp. 1207-1215 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Fault  detection  Hybrid  systems  Piecewise  affine  (PWA)  systems  Robotic  wiring  harness  assembly  Set-membership  approach Index. décimale : 629.1 Résumé : 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 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 robustness and sensitivity of the algorithm are analyzed. The effectiveness of these methods is finally confirmed through experiments. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325651 [article] Robust model-based online fault detection for mating process of electric connectors in robotic wiring harness asembly systems [texte imprimé] / Jian Huang, Auteur ; Pei Di, Auteur ; Toshio Fukuda, Auteur . - 2011 . - pp. 1207-1215. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1207-1215 Mots-clés : Fault  detection  Hybrid  systems  Piecewise  affine  (PWA)  systems  Robotic  wiring  harness  assembly  Set-membership  approach Index. décimale : 629.1 Résumé : 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 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 robustness and sensitivity of the algorithm are analyzed. The effectiveness of these methods is finally confirmed through experiments. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325651