A system for verifying a connection, the system comprising: an audio transducer ; and an electronic processor communicatively coupled to the audio transducer ; characterized in that the electronic processor is configured to: determine, using data received from a velocity sensor , a velocity of a first connector when the first connector passes a set point when the first connector is moved to a second connector to form a coupling, the coupling generating a sound; determine, from signals received from a position sensor , a location of the second connector ; calculate a time interval to formation of the coupling, the time interval based on the velocity detected at the set point and the position of the second connector ; receive, from the audio transducer , an audio signal during the time interval, the audio signal including the sound generated when the coupling is formed; filter the audio signal a first time in a frequency domain; filter the audio signal a second time in a time domain, the filtering resulting in a filtered audio signal; compare the filtered audio signal to a predetermined sound pattern to generate a comparison; and determine if the first connector and the second connector are properly coupled based on the comparison. an audio transducer ; and an electronic processor communicatively coupled to the audio transducer ; characterized in that the electronic processor is configured to: determine, using data received from a velocity sensor , a velocity of a first connector when the first connector passes a set point when the first connector is moved to a second connector to form a coupling, the coupling generating a sound; determine, from signals received from a position sensor , a location of the second connector ; calculate a time interval to formation of the coupling, the time interval based on the velocity detected at the set point and the position of the second connector ; receive, from the audio transducer , an audio signal during the time interval, the audio signal including the sound generated when the coupling is formed; filter the audio signal a first time in a frequency domain; filter the audio signal a second time in a time domain, the filtering resulting in a filtered audio signal; compare the filtered audio signal to a predetermined sound pattern to generate a comparison; and determine if the first connector and the second connector are properly coupled based on the comparison. determine, using data received from a velocity sensor , a velocity of a first connector when the first connector passes a set point when the first connector is moved to a second connector to form a coupling, the coupling generating a sound; determine, from signals received from a position sensor , a location of the second connector ; calculate a time interval to formation of the coupling, the time interval based on the velocity detected at the set point and the position of the second connector ; receive, from the audio transducer , an audio signal during the time interval, the audio signal including the sound generated when the coupling is formed; filter the audio signal a first time in a frequency domain; filter the audio signal a second time in a time domain, the filtering resulting in a filtered audio signal; compare the filtered audio signal to a predetermined sound pattern to generate a comparison; and determine if the first connector and the second connector are properly coupled based on the comparison. <EOS>