Particle Swarm Optimization Based Source Seeking

Signal source seeking using autonomous vehicles is a complex problem. The complexity increases manifold when signal intensities captured by physical sensors onboard are noisy and unreliable. Added to the fact that signal strength decays with distance, noisy environments make it extremely difficult to describe and model a decay function. This paper addresses our work with seeking maximum signal strength in a continuous electromagnetic signal source with mobile robots, using Particle Swarm Optimization (PSO). A one to one correspondence with swarm members in a PSO and physical Mobile robots is established and the positions of the robots are iteratively updated as the PSO algorithm proceeds forward. Since physical robots are responsive to swarm position updates, modifications were required to implement the interaction between real robots and the PSO algorithm. The development of modifications necessary to implement PSO on mobile robots, and strategies to adapt to real life environments such as obstacles and collision objects are presented in this paper. Our findings are also validated using experimental testbeds.Comment: 13 pages, 12 figure

Assessing Importance and Satisfaction Judgments of Intermodal Work Commuters with Electronic Survey Methodology, MTI Report WP 12-01

Recent advances in multivariate methodology provide an opportunity to further the assessment of service offerings in public transportation for work commuting. We offer methodologies that are alternative to direct rating scale and have advantages in the quality and precision of measurement. The alternative of methodology for adaptive conjoint analysis for the measurement of the importance of attributes in service offering is implemented. Rasch scaling methodology is used for the measurement of satisfaction with these attributes. Advantages that these methodologies introduce for assessment of the respective constructs and use of the assessment are discussed. In a first study, the conjoint derived weights were shown to have predictive capabilities in applications to respondent distributions of a fixed total budget to improve overall service offerings. Results with the Rasch model indicate that the attribute measures are reliable and can adequately constitute a composite measure of satisfaction. The Rasch items were also shown to provide a basis to discriminate between privately owned vehicles (POVs) and public transport commuters. Dissatisfaction with uncertainty in travel time and income level of respondents were the best predictors of POV commuting

Critical Collapse of the Massless Scalar Field in Axisymmetry

We present results from a numerical study of critical gravitational collapse of axisymmetric distributions of massless scalar field energy. We find threshold behavior that can be described by the spherically symmetric critical solution with axisymmetric perturbations. However, we see indications of a growing, non-spherical mode about the spherically symmetric critical solution. The effect of this instability is that the small asymmetry present in what would otherwise be a spherically symmetric self-similar solution grows. This growth continues until a bifurcation occurs and two distinct regions form on the axis, each resembling the spherically symmetric self-similar solution. The existence of a non-spherical unstable mode is in conflict with previous perturbative results, and we therefore discuss whether such a mode exists in the continuum limit, or whether we are instead seeing a marginally stable mode that is rendered unstable by numerical approximation.Comment: 11 pages, 8 figure

Critical Collapse of the Massless Scalar Field in Axisymmetry

We present results from a numerical study of critical gravitational collapse of axisymmetric distributions of massless scalar field energy. We find threshold behavior that can be described by the spherically symmetric critical solution with axisymmetric perturbations. However, we see indications of a growing, non-spherical mode about the spherically symmetric critical solution. The effect of this instability is that the small asymmetry present in what would otherwise be a spherically symmetric self-similar solution grows. This growth continues until a bifurcation occurs and two distinct regions form on the axis, each resembling the spherically symmetric self-similar solution. The existence of a non-spherical unstable mode is in conflict with previous perturbative results, and we therefore discuss whether such a mode exists in the continuum limit, or whether we are instead seeing a marginally stable mode that is rendered unstable by numerical approximation.Comment: 11 pages, 8 figure

Managerial Segmentation of Service Offerings in Work Commuting, MTI Report WP 12-02

Methodology to efficiently segment markets for public transportation offerings has been introduced and exemplified in an application to an urban travel corridor in which high tech companies predominate. The principal objective has been to introduce and apply multivariate methodology to efficiently identify segments of work commuters and their demographic identifiers. A set of attributes in terms of which service offerings could be defined was derived from background studies and focus groups of work commuters in the county. Adaptive choice conjoint analysis was used to derive the importance weights of these attributes in available service offering to these commuters. A two-stage clustering procedure was then used to explore the grouping of individual’s subsets into homogeneous sub-groups of the sample. These subsets are commonly a basis for differentiation in service offerings that can increase total ridership in public transportation while approximating cost neutrality in service delivery. Recursive partitioning identified interactions between demographic predictors that significantly contributed to the discrimination of segments in demographics. Implementation of the results is discussed