Feature selection for chemical sensor arrays using mutual information

We address the problem of feature selection for classifying a diverse set of chemicals using an array of metal oxide sensors. Our aim is to evaluate a filter approach to feature selection with reference to previous work, which used a wrapper approach on the same data set, and established best features and upper bounds on classification performance. We selected feature sets that exhibit the maximal mutual information with the identity of the chemicals. The selected features closely match those found to perform well in the previous study using a wrapper approach to conduct an exhaustive search of all permitted feature combinations. By comparing the classification performance of support vector machines (using features selected by mutual information) with the performance observed in the previous study, we found that while our approach does not always give the maximum possible classification performance, it always selects features that achieve classification performance approaching the optimum obtained by exhaustive search. We performed further classification using the selected feature set with some common classifiers and found that, for the selected features, Bayesian Networks gave the best performance. Finally, we compared the observed classification performances with the performance of classifiers using randomly selected features. We found that the selected features consistently outperformed randomly selected features for all tested classifiers. The mutual information filter approach is therefore a computationally efficient method for selecting near optimal features for chemical sensor arrays

Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing

Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive sensing technique that estimates the local pose of a human limb in real time. A key benefit of this sensing method is that it can sense the limb through opaque materials, including fabrics and wet cloth. Our method uses a multielectrode capacitive sensor mounted to a robot's end effector. A neural network model estimates the position of the closest point on a person's limb and the orientation of the limb's central axis relative to the sensor's frame of reference. These pose estimates enable the robot to move its end effector with respect to the limb using feedback control. We demonstrate that a PR2 robot can use this approach with a custom six electrode capacitive sensor to assist with two activities of daily living-dressing and bathing. The robot pulled the sleeve of a hospital gown onto able-bodied participants' right arms, while tracking human motion. When assisting with bathing, the robot moved a soft wet washcloth to follow the contours of able-bodied participants' limbs, cleaning their surfaces. Overall, we found that multidimensional capacitive sensing presents a promising approach for robots to sense and track the human body during assistive tasks that require physical human-robot interaction.Comment: 8 pages, 16 figures, International Conference on Rehabilitation Robotics 201