Showing papers presented at "Field and Service Robotics in 2010"

Cooperative AUV Navigation Using a Single Surface Craft

Abstract: Maintaining accurate localization of an autonomous underwater vehicle (AUV) is difficult because electronic signals such as GPS are highly attenuated by water making established land-based localization systems, such as GPS, useless underwater. Instead we propose an alternative approach which integrates position information of other vehicles to reduce the error and uncertainty of the on-board position estimates of the AUV. This approach uses the WHOI Acoustic Modem to exchange vehicle localization estimates—albeit at low transmission rates—while simultaneously estimating inter-vehicle range. The performance capabilities of the system were tested using Oceanserver’s Iver2 and the MIT Scout kayaks.

Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths

Abstract: As mobile robots venture into more difficult environments, more complex state-space paths are required to move safely and efficiently. The difference between mission success and failure can be determined by a mobile robots capacity to effectively navigate such paths in the presence of disturbances. This paper describes a technique for mobile robot model predictive control that utilizes the structure of a regionalmotion plan to effectively search the local continuum for an improved solution. The contribution, a receding horizon model-predictive control (RHMPC) technique, specifically addresses the problem of path following and obstacle avoidance through geometric singularities and discontinuities such as cusps, turn-in-place, and multi-point turn maneuvers in environments where terrain shape and vehicle mobility effects are non-negligible. The technique is formulated as an optimal controller that utilizes a model-predictive trajectory generator to relax parameterized control inputs initialized from a regional motion planner to navigate safely through the environment. Experimental results are presented for a six-wheeled skid-steered field robot in natural terrain.

Radar Scan Matching SLAM Using the Fourier-Mellin Transform

Abstract: This paper is concerned with the Simultaneous Localization And Mapping (SLAM) problem using data obtained from a microwave radar sensor. The radar scanner is based on Frequency Modulated Continuous Wave (FMCW) technology. In order to meet the needs of radar image analysis complexity, a trajectoryoriented EKF-SLAM technique using data from a 360. field of view radar sensor has been developed. This process makes no landmark assumptions and avoids the data association problem. The method of egomotion estimation makes use of the Fourier-Mellin Transform for registering radar images in a sequence, from which the rotation and translation of the sensor motion can be estimated. In the context of the scan-matching SLAM, the use of the Fourier-Mellin Transform is original and provides an accurate and efficient way of computing the rigid transformation between consecutive scans. Experimental results on real-world data are presented.

AUV Benthic Habitat Mapping in South Eastern Tasmania

Abstract: This paper describes a two week deployment of the Autonomous Underwater Vehicle (AUV) Sirius on the Tasman Peninsula in SE Tasmania and in the Huon Marine Protected Area (MPA) to the South West of Hobart. The objective of the deployments described in this work were to document biological assemblages associated with rocky reef systems in shelf waters beyond normal diving depths. At each location, multiple reefs were surveyed at a range of depths from approximately 50 m to 100 m depth.We illustrate how the AUV based imaging complements benthic habitat assessments to be made based on the ship-borne swath bathymetry.Over the course of the 10 days of operation, 19 dives were undertaken with the AUV covering in excess of 70 linear kilometers of survey and returning nearly 160,000 geo-referenced high resolution stereo image pairs. These are now being analysed to describe the distribution of benthic habitats in more detail.

Image and Sparse Laser Fusion for Dense Scene Reconstruction

Abstract: This paper is concerned with reconstructing the metric geometry of a scene imaged with a single camera and a scanning laser. Our aim is to assign each image pixel with a range value using both image appearance and sparse laser data. We pose the problem as an optimization of a cost function encapsulating a spatially varying smoothness cost and measurement compatibility. In particular we introduce a second order smoothness term. We derive cues for discontinuities in range from changes in image appearance and reflect this in the objective function.We show that our formulation distills down to solving a large linear system which can be solved swiftly using direct methods. Results are presented and analyzed using synthetic cases to demonstrate salient behaviours and on real data to highlight real-world applicability.

Passive, Long-Range Detection of Aircraft: Towards a Field Deployable Sense and Avoid System

Abstract: Unmanned Aerial Vehicles (UAVs) typically fly blind with operators in distant locations. Most UAVs are too small to carry a traffic collision avoidance system (TCAS) payload or transponder. Collision avoidance is currently done by flight planning, use of ground or air based human observers and segregated air spaces. US lawmakers propose commercial unmanned aerial systems access to national airspace (NAS) by 30th September 2013. UAVs must not degrade the existing safety of the NAS, but the metrics that determine this have to be fully determined yet. It is still possible to state functional requirements and determine some performance minimums. For both manned and unmanned aircraft to fly safely in the same airspace UAVs will need to detect other aircraft and follow the same rules as human pilots.

Outdoor Downward-facing Optical Flow Odometry with Commodity Sensors

Abstract: Positioning is a key task in most field robotics applications but can be very challenging in GPS-denied or high-slip environments. A common tactic in such cases is to position visually, and we present a visual odometry implementa- tion with the unusual reliance on optical mouse sensors to report vehicle velocity. Using multiple kilometers of data from a lunar rover prototype, we demonstrate that, in conjunction with a moderate-grade inertial measurement unit, such a sensor can provide an integrated pose stream that is at times more accurate than that achievable by wheel odometry and visibly more desirable for perception purposes than that provided by a high-end GPS-INS system. A discussion of the sensor's limitations and several drift mitigating strategies attempted are presented.

Leap-Frog Path Design for Multi-Robot Cooperative Localization

Abstract: We present a “leap-frog” path designed for a team of three robots performing cooperative localization. Two robots act as stationary measurement beacons while the third moves in a path that provides informative measurements. After completing the move, the roles of each robot are switched and the path is repeated. We demonstrate accurate localization using this path via a coverage experiment in which three robots successfully cover a 20m x 30m area. We report an approximate positional drift of 1.1m per robot over a travel distance of 140m. To our knowledge, this is one of the largest successful GPS-denied coverage experiments to date.

A Simple Reactive Obstacle Avoidance Algorithm and Its Application in Singapore Harbor

Abstract: Autonomous surface craft (ASC) are increasingly attractive as a means for performing harbor operations including monitoring and inspection. However, due to the presence of many fixed and moving structures such as pilings, moorings, and vessels, harbor environments are extremely dynamic and cluttered. In order to move autonomously in such conditions ASC’s must be capable of detecting stationary and moving objects and plan their paths accordingly. We propose a simple and scalable online navigation scheme, wherein the relative motion of surrounding obstacles is estimated by the ASC, and the motion plan is modified accordingly at each time step. Since the approach is model-free and its decisions are made at a high frequency, the system is able to deal with highly dynamic scenarios. We deployed ASC’s in the Selat Pauh region of Singapore Harbor to test the technique using a short-range 2-D laser sensor; detection in the rough waters we encountered was quite poor. Nonetheless, the ASC’s were able to avoid both stationary as well as mobile obstacles, the motions of which were unknown a priori. The successful demonstration of obstacle avoidance in the field validates our fast online approach.

Place Recognition Using Regional Point Descriptors for 3D Mapping

Abstract: In order to operate in unstructured outdoor environments, globally consistent 3D maps are often required. In the absence of a absolute position sensor such as GPS or modifications to the environment, the ability to recognize previously observed locations is necessary to identify loop closures. Regional point or keypoint descriptors are a way to encode the structure within a small local region as a fixedsized vector, though individually do not include enough context to fully identify a previously seen place. Multiple queries to a database of descriptor vectors can quickly identify similar features, and places can be recognized from a consistent set of descriptor matches.We investigate the problem of designing informative keypoint descriptors for 3D laser maps. Several models are considered and evaluated, with a particular focus on the optimal descriptor scale and keypoint sampling density. The approach is evaluated on 3D laser point cloud data collected from a vehicle driving in unstructured off-road environments. Consistent 3D maps constructed from this data without assistance from any other sensor (such as wheel encoders, GPS, or IMU) demonstrate the effectiveness of our approach.

Towards Autonomous Wheelchair Systems in Urban Environments

Abstract: In this paper, we explore the use of synthesized landmark maps for absolute localization of a smart wheelchair system outdoors. In this paradigm, three-dimensional map data are acquired by an automobile equipped with high precision inertial/GPS systems, in conjunction with light detection and ranging (LIDAR) systems, whose range measurements are subsequently registered to a global coordinate frame. The resulting map data are then synthesized a priori to identify robust, salient features for use as landmarks in localization. By leveraging such maps with landmark meta-data, robots possessing far lower cost sensor suites gain many of the benefits obtained from the higher fidelity sensors, but without the cost.We show that by using such a map-based localization approach, a smart wheelchair system outfitted only with a 2-D LIDAR and encoders was able to maintain accurate, global pose estimates outdoors over almost 1 km paths.

Long Term Learning and Online Robot Behavior Adaptation for Individuals with Physical and Cognitive Impairments

Abstract: In this paper, we present an online adaptation approach and a long-term learning approach for socially assistive robotic (SAR) systems that aim to provide customized help protocols through motivation, encouragements, and companionship to users suffering from physical and/or cognitive changes related to stroke, aging and Alzheimer’s disease.

Expliner – Toward a Practical Robot for Inspection of High-Voltage Lines

Abstract: Preventive maintenance of high-voltage transmission power lines is a dangerous task, but the obstacles mounted on the lines have so far prevented the automation of this task. Expliner aims to overcome such obstacles by controlling actively the position of its center of mass, thus changing its configuration as needed when moving on the power lines. This work presents the design of Expliner and results of field experiments performed with very high voltages to prove the effectiveness of the proposed concept.

The Development of a Telerobotic Rock Breaker

Abstract: This paper describes the development of a tele-robotic rock breaker deployed at a mine over 1000kms from the remote operations centre. This distance introduces a number of technical and cognitive challenges to the design of the system, which have been addressed with the development of shared autonomy in the control system and a mixed reality user interface. A number of trials were conducted, culminating in a production field trial, which demonstrated that the system is safe, productive (sometimes faster) and integrates seamlessly with mine operations.

A Communication Framework for Cost-Effective Operation of AUVs in Coastal Regions

Abstract: Autonomous Underwater Vehicles (AUVs) are revolutionizing oceanography. Most high-endurance and long-range AUVs rely on satellite phones as their primary communications interface during missions for data/command telemetry due to its global coverage. Satellite phone (e.g., Iridium) expenses can make up a significant portion of an AUV’s operating budget during long missions. Slocum gliders are a type of AUV that provide unprecedented longevity in scientific missions for data collection. Here we describe a minimally-intrusive modification to the existing hardware and an accompanying software system that provides an alternative robust disruption-tolerant communications framework enabling cost-effective glider operation in coastal regions. Our framework is specifically designed to address multiple-AUV operations in a region covered by multiple networked base-stations equipped with radio modems. We provide a system overview and preliminary evaluation results from three field deployments using a glider.We believe that this framework can be extended to reduce operational costs for other AUVs during coastal operations.

Active SLAM and Loop Prediction with the Segmented Map Using Simplified Models

Abstract: We previously introduced the SegSLAM algorithm, an approach to the simultaneous localization and mapping (SLAM) problem that divides the environment up into segments, or submaps, using heuristic methods.We investigate a realtime method for Active SLAM with SegSLAM, in which actions are selected in order to reduce uncertainty in both the local metric submap and the global topological map. Recent work in the area of Active SLAM has been built on the theoretical basis of information entropy. Due to the complexity of the SegSLAM belief state, as encoded in the SegMap representation, it is not feasible to estimate the expected entropy of the full belief state. Instead, we use a simplified model to heuristically select entropy-reducing actions without explicitly evaluating the full belief state.We discuss the relation of this heuristic method to the full entropy estimation method, and present results from applying our planning method in real-time onboard a mobile robot.

Trajectory Design for Autonomous Underwater Vehicles Based on Ocean Model Predictions for Feature Tracking

Abstract: Trajectory design for Autonomous Underwater Vehicles (AUVs) is of great importance to the oceanographic research community. Intelligent planning is required to maneuver a vehicle to high-valued locations for data collection.We consider the use of ocean model predictions to determine the locations to be visited by an AUV, which then provides near-real time, in situ measurements back to themodel to increase the skill of future predictions. The motion planning problem of steering the vehicle between the computed waypoints is not considered here. Our focus is on the algorithm to determine relevant points of interest for a chosen oceanographic feature. This represents a first approach to an end to end autonomous prediction and tasking system for aquatic, mobile sensor networks.We design a sampling plan and present experimental results with AUV retasking in the Southern California Bight (SCB) off the coast of Los Angeles.

Multi-Robot Collaboration with Range-Limited Communication: Experiments with Two Underactuated ASVs

Abstract: We present a collaborative team of two under-actuated autonomous surface vessels (ASVs) that performs a cooperative navigation task while satisfying a communication constraint. Our approach is based on the use of a hierarchical control structure where a supervisory module commands each vessel to perform prioritized elementary tasks, a behavior-based controller generates motion directives to achieve the assigned tasks, and a maneuvering controller generates the actuator commands to follow the motion directives. The control technique has been tested in a mission where a set of target locations spread across a planar environment has to be visited once by either of the two ASVs while maintaining a relative separation less than a given maximum distance (to guarantee inter-ASV wireless communication). Experiments were carried out in the field with a team of two ASVs visiting 22 locations on a lake surface (approximately 30000m 2) with static obstacles. Results show a 30% improvement in mission time over the single-robot case.

Applied Imitation Learning for Autonomous Navigation in Complex Natural Terrain

Abstract: Rough terrain autonomous navigation continues to pose a challenge to the robotics community. Robust navigation by a mobile robot depends not only on the individual performance of perception and planning systems, but on how well these systems are coupled.When traversing rough terrain, this coupling (in the form of a cost function) has a large impact on robot performance, necessitating a robust design. This paper explores the application of Imitation Learning to this task for the Crusher autonomous navigation platform. Using expert examples of proper navigation behavior, mappings from both online and offline perceptual data to planning costs are learned. Challenges in adapting existing techniques to complex online planning systems are addressed, along with additional practical considerations. The benefits to autonomous performance of this approach are examined, as well as the decrease in necessary designer interaction. Experimental results are presented from autonomous traverses through complex natural terrains.

Field Experiments in Mobility and Navigation with a Lunar Rover Prototype

Abstract: Scarab is a prototype rover for lunar missions to survey resources, particularly water ice, in polar craters. It is designed as a prospector that would use a deep coring drill and apply soil analysis instruments. Its chassis can transform to stabilize its drill in contact with the ground and can also adjust posture to ascend and descent steep slopes. Scarab has undergone field testing at lunar analogue sites in Washington and Hawaii in an effort to quantify and validate its mobility and navigation capabilities. We report on results of experiments in slope ascent and descent and in autonomous kilometer-distance navigation in darkness.

Relative Motion Threshold for Rejection in ICP Registration

Abstract: Simultaneous Localization and Mapping (SLAM) iteratively builds a map of the environment by putting each new observation in relation with the current map. This relation is usually done by scan matching algorithms such as Iterative Closest Point (ICP) where two sets of features are paired. However as ICP is sensitive to outliers, methods have been proposed to reject them. In this article, we present a new rejection technique called Relative Motion Threshold (RMT). In combination with multiple pairing rejection, RMT identifies outliers based on error produced by paired points instead of a distance measurement, which makes it more applicable to pointto- plane error. The rejection threshold is calculated with a simulated annealing ratio which follows the convergence rate of the algorithm. Experiments demonstrate that RMT performs better than former techniques with outliers created by dynamical obstacles. Those results were achieved without reducing convergence speed of the overall ICP algorithm.

New Measurement Concept for Forest Harvester Head

Abstract: A new measurement concept for cut-to-length forest harvesters is presented in this paper. The cut-to-length method means that the trees are felled, delimbed and cut-to-length by the single-grip harvester before logs are transported to the roadside. The concept includes measurements done to standing trees before felling to calculate optimal length of logs. The modern forest harvesters use mechanical measurements for diameter and length.

Field Experiment on Multiple Mobile Robots Conducted in an Underground Mall

Abstract: Rapid information gathering during the initial stage of investigation is an important process in case of disasters. However this task could be very risky, or even impossible for human rescue crews, when the environment has contaminated by nuclear, biological, or chemical weapons. We developed the information gathering system using multiple mobile robots teleoperated from the safe place, to be deployed in such situation. In this paper, we described functions of the system and report the field experiment conducted in a real underground mall to validate its usability, limitation, and requirements for future developments.

Marriage Education with Hispanic Couples: Evaluation of a Communication Workshop

Abstract: The Hispanic population is the fastest growing ethnic group in the U.S. It is also a young population that faces a number of challenges including high rates of divorce and teenage pregnancy. Although marriage, or relationship, education is certainly not new, it is relatively unstudied among Hispanic couples. The Hispanic Active Relationships Project (HARP) was an initiative specifically designed as an outreach effort to Hispanic couples. This initiative was designed to provide participants with relationship and communication tools to increase relationship satisfaction, improve communication and conflict resolution skills, decrease negative interactions, and increase commitment to the relationship. The present study reports findings on the effectiveness of the HARP program based on data gathered from 550 individuals (275 couples) over a two and half year period. Participants were primarily Spanish speaking and at least half were first or second generation immigrants.

Camera and LIDAR Fusion for Mapping of Actively Illuminated Subterranean Voids

Abstract: A method is developed that improves the accuracy of super-resolution range maps over interpolation by fusing actively illuminated HDR camera imagery with LIDAR data in dark subterranean environments. The key approach is shape recovery from estimation of the illumination function and integration in a Markov Random Field (MRF) framework. A virtual reconstruction using data collected from the Bruceton Research Mine is presented.

A Location-Based Algorithm for Multi-hopping State Estimates within a Distributed Robot Team

Abstract: Mutual knowledge of state information among robots is a crucial requirement for solving distributed control problems, such as coverage control of mobile sensing networks. This paper presents a strategy for exchanging state estimates within a robot team. We introduce a deterministic algorithm that broadcasts estimates of nearby robots more frequently than distant ones. We argue that this frequency should be exponentially proportional to an importance function that monotonically decreases with distance between robots. The resulting location-based algorithm increases propagation rates of state estimates in local neighborhoods when compared to simple flooding schemes.

Advocacy as Service-Learning

Abstract: Service-learning has been used in a variety of educational settings and is a valued aspect of education. Advocacy as service-learning, on the other hand, is not as widely known or utilized. Advocacy is “the pursuit of influencing outcomes—including public-policy and resource-allocation decisions within political, economic, and social systems and institutions— that directly affect people’s lives” (Cohen, de la Vega, & Watson, 2001, p. 8). Thus, when doing advocacy, individuals engage in “a deliberate process of speaking out on issues of concern in order to exert some influence on behalf of ideas or persons” (Rengasamy, 2009, p. 1). This paper bridges the gap that exists between advocacy and service-learning, and, through a case study of a family policy class using an advocacy as service-learning assignment, explains the advantages of integrating them. The results indicate that, when combined, the two work simultaneously to give students a beneficial and positive learning experience. In this paper we will define advocacy and service-learning and describe how they have been used in higher education, particularly family science courses. Next, we discuss how advocacy and service-learning can be used in specific family science courses such as family policy courses. We end with lessons learned from designing an advocacy assignment as a servicelearning experience in a family policy course. Advocacy Typically, advocacy is defined as working with individuals, groups, or community clients to systematically address decisions and policies that are unjust or agencies and organizations that are unresponsive. The underlying principle of advocacy is a desire to make a difference by improving policies and practices as well as specific behaviors (Ezell, 2001). This “requires one to speak up, ask questions, work with and empower others, resolve differences, be assertive, and build a shared vision” (Spicuzza, 2003, p. 50). Advocacy has also been described as the pursuit of influencing outcomes—including public policy and resource allocation decisions within political, economic, and social systems and institutions—that This paper is based on a presentation at the National Council on Family Relations Annual Conference, Little Rock, AK, November 8, 2008. For additional information, contact the first author at: Debra L. Berke, Wilmington University, College of Social and Behavioral Sciences, 320 N. DuPont Highway, New Castle, DE 19720; 302-356-6760; debra.l.berke@wilmu.edu. Family Science Review, Volume 15, Issue 1, 2010 © 2010 by the Family Science Association. All rights reserved. Advocacy as Service-Learning 14 directly affect people’s current lives (Cohen et al., 2001). Thus, advocacy is a deliberate process of speaking out on issues of concern in order to exert some influence on behalf of ideas or persons (Cohen et al., 2001). It “aims to help powerless groups...improve their resources and opportunities” (Jansson, 2001, p. 451). For example, one could promote a particular piece of legislation or “campaign for an underrepresented group or policy alternative that could enhance family well-being” (Anderson, Walker & Braun, 2005, p. 63). Another option is to influence debate by taking a side surrounding an issue and educating key individuals about the position taken. Advocacy can occur on many levels, including personal, community, or legislative levels (“Not Without Us!,” 2009). Advocacy has been addressed in family life education with grandparent caregivers (Cox, 2008) and family caregivers (Glang, McLaughlin, & Schroeder, 2007; Moore, 2008), in undergraduate educational programs such as gerontology (Huber, Nelson, Netting, & Borders, 2008), physical therapy (Michaels & Billek-Sawhney, 2006), psychology (Greene, 2008), health education (Galer-Unti, 2006), social work (Spicuzza, 2003; Wolfer & Gray, 2007), and even in graduate programs such as counseling psychology and counselor education (Pieterse, Evans, Risner-Butner, Collins, & Mason, 2009; Steele, 2008), but advocacy does not appear to have been a skill widely taught, particularly at the undergraduate college/university level. However, engaging undergraduate students in advocacy introduces them to macro-level issues and macro-level practice skills. Macro-level practice “has been usually conceptualized as intervention related to changing societal institutions to make them less rigid and more compatible with current or evolving human need” (Tully, 2000, p. 110) as compared to micro-level issues/skills (e.g., working one-onone with an individual or family). Because family science graduates working in human services will often be called to advocate for their client(s) at individual, local, state, or federal levels (macro levels), advocacy is an important skill for family scientists (Anderson et al., 2005; Berke & Geissinger, 2003). Service-Learning Service-learning is a teaching and learning strategy that integrates meaningful community service with instruction and reflection to enrich the learning experience, teaches civic responsibility, and strengthens communities. Service-learning combines service objectives with learning objectives with the intent that the activity changes both the recipient and the provider of the service. This is accomplished by combining service tasks with structured opportunities that link the task to self-reflection, self-discovery, and the acquisition and comprehension of values, skills, and knowledge content. Service-learning courses are utilized in a wide range of educational settings, including K12 classes (Kraft & Billig, 1997; McCarthy, 2008; Terry, Bohnenberger, Renzulli, Cramond, & Sisk, 2008), as well as in college and university classes. In a survey conducted in 2000 on 349 college campuses, more than 700,000 students reported that they had taken a course in which they had been required to complete a service-learning assignment (Campus Compact, 2001). Another study reported that at the end of the 2000-2001 school year more than 13 million students were involved in service-learning (Fiske, 2001). Therefore, it appears that many faculty members see the benefits of using service-learning as a pedagogical tool in their courses. Social science disciplines such as social work (e.g., Sather, Weitz, & Carlson, 2007), gerontology (e.g., Karasik, & Berke, 2001, Vandsberger, & Wakefield, 2005), sociology Advocacy as Service-Learning 15 (e.g., Mobley, 2007, Roberts, Mason, & Marler, 1999), criminal justice (e.g., Lim, & Hellenga, 2006, Nurse, & Krain, 2006), and family science (e.g., Christiansen, Amby, & Bowers, 2001; Galbraith, 2002; Hamon, & Way, 2001; Toews, & Cerny, 2005) have only recently begun to use service-learning in student coursework. In fact, the first publications on service-learning relative to family science occurred in 2001 with a special issue of the Journal of Teaching Marriage and Family (now the Family Science Review) devoted to using service-learning in family science courses. In addition, positive outcomes of servicelearning have been identified in aiding student development in the following areas: personal (e.g., increased self-efficacy), professional (e.g., increased communication skills), interpersonal (e.g., better understanding of other cultures), social (e.g., increased social responsibility), and academic (e.g., improvement in academic performance) (Toews, & Cerny, 2005, p. 80). Acknowledging these benefits, family science faculty have used service-learning in courses on family diversity (Toews & Cerny, 2005) and aging (Hamon & Way, 2001) in order to expose students to those who are different from themselves. In doing so, family science professors seek to enhance students’ understanding of course content and social issues, while fostering the development of tolerance, empathy, and a sense of civic responsibility (Astin & Sax, 1998; Burnett, Hamel, & Long, 2004; Eyler & Giles, 1999; Sedlak, Doheny, Panthofer, & Anaya, 2003). Family Policy When teaching skills and knowledge related to policy, studies indicate that “hands-on” activities are important (Giles & Eyler, 1998; Rocha, 2000). Active learning strategies, including service-learning advocacy projects, enable students to engage in critical thinking, evaluation, and reflection (Karasik & Berke, 2001). The majority of research on the use of service-learning in a policy course, and, more specifically, using service-learning to teach advocacy, has occurred in the social work field (e.g., Butler & Coleman, 1997; Rocha, 2000), which has long had a focus on policy; “the ability to carry out policy-related tasks is an important part of social work practice” (Rocha, 2000, p. 62). The focus on policy in family science is relatively new (within last 20 years) and in many ways driven by the Certified Family Life Educator (CFLE) program because all CFLE-designated family science programs must include courses that address family policy. Two recent studies have examined pedagogical strategies designed to boost family science students’ interests and skills in family policy (Anderson, Braun & Walker,2005; Bogenschneider, 2006). One strategy that can be used to introduce students to the family policy arena is an advocacy assignment. In this article, we present a case study of a service-learning advocacy assignment in a course—HDFS 253 Community Services for Individuals and Families—which is required for human development and family science and family and consumer sciences education majors at Messiah College, located in Grantham, Pennsylvania. Although it is not unusual to have juniors and seniors in this course, most students are enrolled as sophomores. The course has been taught by the first author for a number of years. In order to be a successful pedagogical tool, a service-learning activity must be directly linked to the course and its objectives and must be carefully interwoven into the learning process set out in the course (Hepburn, Neimi, & Chapman 2000; Weigert, 1998). One componen

Turning Efficiency Prediction for Skid Steer Robots Using Single Wheel Testing

Abstract: To date, most field robots use wheels as their means of locomotion (especially true of planetary exploration robots). In many cases these robots are required to travel significant distances, with limited power, and over rough terrain. All of which make wheels a major component contributing to their performance. It is through experimentation and iteration that effective wheel design, for a given rover in a given mission, can be achieved. To do this, the SWEET (Suspension andWheel Evaluation and Experimentation Testbed) simulates the rover environment using a single wheel methodology. The wheels currently being tested belong to the SR2 skid steer Mars rover designed and built at the University of Oklahoma. Simulating a skid steer turn with SWEET is achieved by varying the spinning rate of the platform under the wheel, which is rotating at a certain rate, and recording the forces incurred. These forces interact in such a way that the relevantmobility properties for a rover can be predicted. This experimentation method allows for cheap and timely iterative single wheel design.

Field and Service Robotics: Results of the 6th International Conference

Abstract: This books presents the results of the 6th edition of "Field and Service Robotics" FSR03, held in Chamonix, France, July 2007. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience. This book offers a collection of a broad range of topics including: Underwater Robots and Systems, Autonomous Navigation for Unmanned Aerial Vehicles, Simultaneous Localization and Mapping, and Climbing Robotics.

A Parent-Developed Parent Training Program

Abstract: Previous research has found that parental empowerment is associated with a variety of positive and negative outcomes for parents, their children and parent/child relationships. Interestingly, most parent training programs do not directly address parents’ lack of confidence, feelings of incompetence and reluctance to assume the role of parenting. Instead, programs attempt to improve the skills of parents, which, in turn, is presumed to result in improved perceptions of competence by participants. The parenting training program described here attempted to address and boost parental empowerment directly by taking a “bottom-up” rather than “top down” approach to program development and implementation. In conceptualizing the approach, the project drew upon three bodies of theoretical work: 1) it considered the role and distribution of power between participant and service provider, 2) it utilized a group process model to facilitate group cohesion and productivity, and 3) it drew upon the pragmatic nature of adult learners to engage participants and foster ownership. This article describes the first phase of a project to develop a parent-developed, parent-run parent training program in which a diverse group of parents were brought together to develop a training curriculum. The article describes the approach by which responsibility for developing the curriculum was vested with parents rather than professionals, the empowerment formula the parents incorporated into the resulting curriculum, and the influence of participating in the process on participating parents. Implications for practice are discussed. Over the past four decades, hundreds of parenting programs have been developed. Maughan, Christiansen, Jenson, Olympia and Clark (2005:268) note that “over 400 published reports of data-based research on parent training have been published.” Programs vary considerably in content (e.g. parent/child communications, effective and appropriate discipline techniques and appropriate expectations depending on child development stages), delivery setting (e.g. clinicbased, group training sessions or home-based), teaching techniques (e.g. parent discussions, practice with child, or role play) and characteristics of families served (e.g. general, select or indicated populations) (Kaminski, Valle, Filene & Boyle, 2008:568). However, it is generally accepted that parent training is effective. Programs that stress the development of positive parent/child relationships, encourage positive discipline methods, enhance monitoring and supervision, promote reduced family conflict, and advance effective communication of family expectations and prosocial values have been shown to improve family functioning and, in turn, to prevent or reduce the incidence of problematic behavior among children and youth. Direct correspondence to Dr. Kevin Wright at wright@binghamton.edu. Parent Training Program 42 The success of these parent and family focused prevention and treatment efforts are documented in several reviews of the literature and meta-analyses (Brestan & Eybert, 1998; Kaminski, Valle, Filene & Boyle, 2008; Kazdin, 1993, 1995; Kumpfer, 2002; Kumpfer and Alder, 2003; Liddle, Santiseban, Levant, & Bray, 2002; Lochman & van den Steenhoven, 2002; Lundahl, Nimer & Parsons, 2006a; Maughan, Christiansen, Jenson, Olympia, & Clark, 2005; Taylor & Biglan, 1998; Webser-Strattton & Taylor, 2001). Parent training has been shown to enhance self esteem, to reduce critical remarks and commands, to decrease the use of harsh discipline, and to increase parenting competence (see Brestan & Eybert, 1998; Kazdin, 1993, 1995; Kumpfer, 2002; Kumpfer and Alder, 2003; Liddle, Santiseban, Levant, & Bray, 2002; Taylor & Biglan, 1998; Webser-Strattton & Taylor, 2001 for comprehensive reviews). Affected outcomes for young and adolescent children include decreased conduct disorders; prevented or delayed use of alcohol, other drugs and delinquent behavior; improved school performance and behavior; and lower rates of teenage pregnancies (Kumpfer & Alvarado, 2000). These results have been observed for a variety of different parent training programs. The three individuals (one of whom is a co-author of this article) who conceptualized the program reported here have extensive backgrounds in working with families and youth and with providing parenting training; combined they have more than 50 years of experience in the field. Over the years, these three professionals heard parents express something much more basic about their roles as parents than lacking skills. Parents to varying degrees convey attitudes in which they feel inadequate to assume the role of parent. These feelings seem to intensify for some parents as their children approach and enter adolescence. It is not simply a matter of lacking knowledge or skills to parent; it is a struggle to accept that they have the authority, power and responsibility to do so. They fear that they may not be able to help, support and guide their children. Interestingly, most parent training programs do not directly address parents’ reluctance to assume the role of parenting. Instead, programs attempt to improve the skills of parents which, in turn, are presumed to result in improved perceptions of competence by participants. Across various programs, content tends to emphasize parental reinforcement of positive child behaviors as opposed to more coercive and harsh approaches; consistency; healthy parent/child communication; responsiveness, sensitive and nurturing parenting; and appropriate and effective discipline (see Kaminski, Valle, Filene & Boyle, 2008 and Lundahl, Risser & Lovejoy, 2006b for reviews). The logic is that as parents gain skills there will a concomitant increase in confidence and an improved ability to influence the child’s behavior in positive ways. What appears to missing from existing curricula is direct and explicit attention to the struggles that many parents experience and express regarding feeling empowered as parents. While the concept and issue of empowerment has not been a central or direct focus of most parent skill training programs, it has figured prominently in the clinical literature (Nachshen & Minnes, 2005). In both clinical and school settings, Nachshen and Minnes (2005) stress the importance of encouraging empowerment by “clarifying the parent’s rights and responsibilities, including the parent in planning and decision making, respecting their knowledge as caregivers and supporting their hopes for their child.” This sentiment seems to apply equally to parent strengthening programming. A variety of studies have demonstrated a positive association between parent empowerment and treatment outcomes. Taub, Tighe and Burchard (2001) observed a positive influence of parent empowerment on the externalizing behaviors of children receiving comprehensive mental health services. In a longitudinal study, Resendez, Quist, and Matshazi (2000) found that increased empowerment was associated with improved client outcomes for youth receiving mental health treatment. In a study of Australian and American samples, Dempsey and Dunst Parent Training Program 43 (2004) discovered that a strong association between empowerment and care giving among parents with young children attending early intervention programs held across cultural groups. The developers of the HOPE (Helping Our Parents to be Educators) Project set out to develop a parent training program that directly addressed and sought to empower parents to parent. In considering how to design a program that focuses on empowering parents, the program developers drew upon three bodies of theoretical work. First, they considered the role and distribution of power between “client” and “service provider” within the program setting. Next, they drew upon a group process model to gain the collective strength of a diverse parent group. Lastly, they reviewed the literature on adult learning to guide the design of program structure and pedagogy. The Role of Power in the Program Setting Existing parent training programs have been developed via a “top-down” strategy and method. Experts including both scholars and practitioners in the fields of child development, family relations and parenting have conceptualized, designed and written the curricula. Many have field-tested their models and sought parent input, but the content and structure ultimately rested with the experts. Implementation of programming also is allocated to experts. Trainers guide each session and are responsible for the curricular materials covered. Several writers (Ferguson, 1984; Fraser, 1989) have argued that clients of social service agencies are positioned by organizational structure and discourse to be “passive, deficient, depoliticized recipients of predefined services” (Trethewey, 1997, p. 281). This positioning of power seems to equally apply to programs designed to increase parenting capacity and family functioning. In a study of the role of parents in the special education of their children, Fylling and Sandvin (1999) found that parents are often alienated by the process. They feel that their input into their child’s education is “not appreciated, heard or taken serious” (p. 152). Parents report that they are not given enough information. They are reluctant to criticize the process out of feelings of inferiority or for fear that their actions may harm their child’s situation at school. Ruffolo, Kuhn, and Evans (2006) observed similar feelings among parents of children with significant behavioral and emotional problems who were involved in professional-led interventions. Parents reported being angry and frustrated with the mental health specialists working with them to support their children. They were made to feel guilty, scared and responsible for their child’s problems. Parents reported feeling isolated, struggling to cope and needing information about to how to address their children’s behaviors yet