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The Impact of Heterogeneity on Operator Performance in Future Unmanned Vehicle Systems

Recent studies have shown that with appropriate operator decision support and with sufficient automation, inverting the multiple operators to single-unmanned vehicle control paradigm is possible. These studies, however, have generally focused on homogeneous teams of vehicles, and have not completely addressed either the manifestation of heterogeneity in vehicle teams, or the effects of heterogeneity on operator capacity. An important implication of heterogeneity in unmanned vehicle teams is an increase in the diversity of possible team configurations available for each operator, as well as an increase in the diversity of possible attention allocation schemes that can be utilized by operators. To this end, this paper introduces a discrete event simulation (DES) model as a means to model a single operator supervising multiple heterogeneous unmanned vehicles. The DES model can be used to understand the impact of varying both vehicle team design variables (such as team composition) and operator design variables (including attention allocation strategies). The model also highlights the sub-components of operator attention allocation schemes that can impact overall performance when supervising heterogeneous unmanned vehicle teams. Results from an experimental case study are then used to validate the model, and make predictions about operator performance for various heterogeneous team configurations.The research was supported by Charles River Analytics, the Office of Naval Research (ONR), and MIT Lincoln Laboratory

An overview of Viscosity Solutions of Path-Dependent PDEs

This paper provides an overview of the recently developed notion of viscosity solutions of path-dependent partial di erential equations. We start by a quick review of the Crandall- Ishii notion of viscosity solutions, so as to motivate the relevance of our de nition in the path-dependent case. We focus on the wellposedness theory of such equations. In partic- ular, we provide a simple presentation of the current existence and uniqueness arguments in the semilinear case. We also review the stability property of this notion of solutions, in- cluding the adaptation of the Barles-Souganidis monotonic scheme approximation method. Our results rely crucially on the theory of optimal stopping under nonlinear expectation. In the dominated case, we provide a self-contained presentation of all required results. The fully nonlinear case is more involved and is addressed in [12]

A differential method for bounding the ground state energy

For a wide class of Hamiltonians, a novel method to obtain lower and upper bounds for the lowest energy is presented. Unlike perturbative or variational techniques, this method does not involve the computation of any integral (a normalisation factor or a matrix element). It just requires the determination of the absolute minimum and maximum in the whole configuration space of the local energy associated with a normalisable trial function (the calculation of the norm is not needed). After a general introduction, the method is applied to three non-integrable systems: the asymmetric annular billiard, the many-body spinless Coulombian problem, the hydrogen atom in a constant and uniform magnetic field. Being more sensitive than the variational methods to any local perturbation of the trial function, this method can used to systematically improve the energy bounds with a local skilled analysis; an algorithm relying on this method can therefore be constructed and an explicit example for a one-dimensional problem is given.Comment: Accepted for publication in Journal of Physics

Binomial coefficients, Catalan numbers and Lucas quotients

Let $p$ be an odd prime and let $a,m$ be integers with $a>0$ and $m \not\equiv0\pmod p$. In this paper we determine $\sum_{k=0}^{p^a-1}\binom{2k}{k+d}/m^k$ mod $p^2$ for $d=0,1$; for example, $$\sum_{k=0}^{p^a-1}\frac{\binom{2k}k}{m^k}\equiv\left(\frac{m^2-4m}{p^a}\right)+\left(\frac{m^2-4m}{p^{a-1}}\right)u_{p-(\frac{m^2-4m}{p})}\pmod{p^2},$$ where $(-)$ is the Jacobi symbol, and $\{u_n\}_{n\geqslant0}$ is the Lucas sequence given by $u_0=0$, $u_1=1$ and $u_{n+1}=(m-2)u_n-u_{n-1}$ for $n=1,2,3,\ldots$. As an application, we determine $\sum_{0<k<p^a,\, k\equiv r\pmod{p-1}}C_k$ modulo $p^2$ for any integer $r$, where $C_k$ denotes the Catalan number $\binom{2k}k/(k+1)$. We also pose some related conjectures.Comment: 24 pages. Correct few typo

Dynamical response of the "GGG" rotor to test the Equivalence Principle: theory, simulation and experiment. Part I: the normal modes

Recent theoretical work suggests that violation of the Equivalence Principle might be revealed in a measurement of the fractional differential acceleration $\eta$ between two test bodies -of different composition, falling in the gravitational field of a source mass- if the measurement is made to the level of $\eta\simeq 10^{-13}$ or better. This being within the reach of ground based experiments, gives them a new impetus. However, while slowly rotating torsion balances in ground laboratories are close to reaching this level, only an experiment performed in low orbit around the Earth is likely to provide a much better accuracy. We report on the progress made with the "Galileo Galilei on the Ground" (GGG) experiment, which aims to compete with torsion balances using an instrument design also capable of being converted into a much higher sensitivity space test. In the present and following paper (Part I and Part II), we demonstrate that the dynamical response of the GGG differential accelerometer set into supercritical rotation -in particular its normal modes (Part I) and rejection of common mode effects (Part II)- can be predicted by means of a simple but effective model that embodies all the relevant physics. Analytical solutions are obtained under special limits, which provide the theoretical understanding. A simulation environment is set up, obtaining quantitative agreement with the available experimental data on the frequencies of the normal modes, and on the whirling behavior. This is a needed and reliable tool for controlling and separating perturbative effects from the expected signal, as well as for planning the optimization of the apparatus.Comment: Accepted for publication by "Review of Scientific Instruments" on Jan 16, 2006. 16 2-column pages, 9 figure

Predictive Model for Human-Unmanned Vehicle Systems

Advances in automation are making it possible for a single operator to control multiple unmanned vehicles. However, the complex nature of these teams presents a difficult and exciting challenge for designers of human–unmanned vehicle systems. To build such systems effectively, models must be developed that describe the behavior of the human–unmanned vehicle team and that predict how alterations in team composition and system design will affect the system’s overall performance. In this paper, we present a method for modeling human–unmanned vehicle systems consisting of a single operator and multiple independent unmanned vehicles. Via a case study, we demonstrate that the resulting models provide an accurate description of observed human-unmanned vehicle systems. Additionally, we demonstrate that the models can be used to predict how changes in the human-unmanned vehicle interface and the unmanned vehicles’ autonomy alter the system’s performance.Lincoln Laborator

The propagator for the step potential and delta function potential using the path decomposition expansion

We present a derivation of the propagator for a particle in the presence of the step and delta function potentials. These propagators are known, but we present a direct path integral derivation, based on the path decomposition expansion and the Brownian motion definition of the path integral. The derivation exploits properties of the Catalan numbers, which enumerate certain classes of lattice paths.Comment: 11 pages, 3 figure

Nonlinear Parabolic Equations arising in Mathematical Finance

This survey paper is focused on qualitative and numerical analyses of fully nonlinear partial differential equations of parabolic type arising in financial mathematics. The main purpose is to review various non-linear extensions of the classical Black-Scholes theory for pricing financial instruments, as well as models of stochastic dynamic portfolio optimization leading to the Hamilton-Jacobi-Bellman (HJB) equation. After suitable transformations, both problems can be represented by solutions to nonlinear parabolic equations. Qualitative analysis will be focused on issues concerning the existence and uniqueness of solutions. In the numerical part we discuss a stable finite-volume and finite difference schemes for solving fully nonlinear parabolic equations.Comment: arXiv admin note: substantial text overlap with arXiv:1603.0387