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ABSTRACT: We are developing a theory for human control of robot teams based on considering how control varies across different task allocations. Our current work focuses on domains such as foraging in which robots perform largely independent tasks. The present study addresses the interaction between automation and organization of human teams in controlling large robot teams performing an Urban Search and Rescue (USAR) task. We identify three subtasks: perceptual search-visual search for victims, assistance-teleoperation to assist robot, and navigation-path planning and coordination. For the studies reported here, navigation was selected for automation because it involves weak dependencies among robots making it more complex and because it was shown in an earlier experiment to be the most difficult. Two possible ways to organize operators were identified as assignment of robots to particular operators or as a shared pool in which operators service robots from the population as needed. The experiment compares two member teams of operators controlling teams of 12 robots each in the assigned robots conditions or sharing control of 24 robots in the shared pool conditions using either waypoint control or autonomous path planning. We identify three self organizing team strategies in the shared pool condition: joint control operators share full authority over robots, mixed control in which one operator takes primary control while the other acts as an assistant, and split control in which operators divide the robots with each controlling a subteam. Automating path planning improved system performance. Effects of team organization favored operator teams who shared authority for the pool of robots.
Systems Man and Cybernetics (SMC), 2010 IEEE International Conference on; 11/2010
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ABSTRACT: A two-year prospective study compared individual and group models of support for foster parents. Results showed greater foster parent satisfaction with the group model. An independent critique identified methodological flaws that would preclude further differentiation of the models and suggested that clinical impressions and trends in favor of the group model be given credibility. Operation of the group model is described, and reasons for the differences between clinical and experimental findings are discussed.
American Journal of Orthopsychiatry 03/2010; 59(3):430 - 441. · 1.29 Impact Factor
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ABSTRACT: A two-year prospective study compared individual and group models of support for foster parents. Results showed greater foster parent satisfaction with the group model. An independent critique identified methodological flaws that would preclude further differentiation of the models and suggested that clinical impressions and trends in favor of the group model be given credibility. Operation of the group model is described, and reasons for the differences between clinical and experimental findings are discussed.
American Journal of Orthopsychiatry 08/1989; 59(3):430-41. · 1.29 Impact Factor
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ABSTRACT: This paper analyzes and summarizes five more detailed papers describing the Foster Care Research Project (F.C.R.P.). This compared two (individual and group) models of foster care as to their effects on foster parent satisfaction, placement breakdowns and several indices of children's adjustment in care. The group model is described and contrasted with other "extended family" models, and the results of the project, which were mixed, are summarized. A critique of the experimental design suggests why clinical gains noted in the children were not borne out experimentally. Following a clinician's analysis of the process by which the group model operated (illustrated by clinical vignettes), the paper ends by describing the content and process of two support groups for the natural children of the foster parents.
Canadian journal of psychiatry. Revue canadienne de psychiatrie 09/1988; 33(6):509-16. · 2.42 Impact Factor
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ABSTRACT: Two serious limitations of present memory systems by using ferrite cores have been their relative bulk and narrow operating temperature range. A marked reduction in size has been achieved by use of a “continuous wire” method of inserting drive lines through memory planes and then folding the planes. This method eliminates the conventional frames and all solder connections between planes. By greatly reducing the number of solder connections, the new method increases reliability and facilitates assembly of stacked memory planes. A typical folded stack of memory planes occupies as little as 2% of the volume of its conventional counterpart. The new miniature memory stacks perform as well as conventional units. The development of ferrite memory cores operable at ambients as high as 85°C, 100°C, and 125°C (together with the greatly reduced volume of the memory stack) allows operation under extreme environmental conditions with a minimum of space and power requirements. The folded memory planes are packaged with a heating element and control circuit which maintain the temperature of the cores at the maximum ambient. A tested prototype of twelve (12) 16×16 memory planes, along with the heating element and control circuit, measures 2 in. ×2 1 2 in.×2 1 2 in. and has been successfully operated in the temperature range -55° to +125°C. Ferrite cores have been perfected of both the “fast” relatively high drive and relatively “slow” lower drive type. They are Mg-Mn ferrites with possible minor additions of other bivalent oxides.
Journal of Applied Physics 06/1960; · 2.17 Impact Factor
