Combining task and motion planning:challenges and guidelines

Combined Task and Motion Planning (TAMP) is an area where no one-fits-all solution can exist. Many aspects of the domain, as well as operational requirements, have an effect on how algorithms and representations are designed. Frequently, trade-offs have to be made to build a system that is effective. We propose five research questions that we believe need to be answered to solve real-world problems that involve combined TAMP. We show which decisions and trade-offs should be made with respect to these research questions, and illustrate these on examples of existing application domains. By doing so, this article aims to provide a guideline for designing combined TAMP solutions that are adequate and effective in the target scenario

The Social Support Networks of Indochinese Refugees

Refugee sponsors and social service staff of agencies serving Indochinese refugees in Utah were surveyed to determine the relationship between social support and economic self-sufficiency among refugees. Agency staff and refugee sponsors rated contacts by family, work, school, and sponsors who are family members as most useful, with differences emerging between the two groups regarding other sources of social support. Respondents who had been refugees rated some forms of social support higher than nonrefugee respondents. Mutual Assistance Associations were seen as underutilized resources for helping Indochinese refugees build and maintain networks of social support

Implementing Intensive Family Preservation Services: A Case of Infidelity

The importance of treatment fidelity in evaluations of all human service programs, including intensive family preservation services (IFPS), is examined in this article. Special attention is focused on the issue of treatment fidelity in IFPS programs attempting to adhere to a specific program model (Homebuilders©), and on the problems that lack of treatment fidelity has caused for research that has been conducted on this and other program models. Attempts to address the issue of treatment fidelity in other program areas offer models for constructing treatment fidelity assessment tools for IFPS. The authors suggest a schema for assessing treatment fidelity in evaluations of IFPS programs that should help to explore relationships among different approaches to IFPS, the consistency with which they are being implemented, and the outcomes that result

Can Public Child Welfare Help to Prevent Child Maltreatment? Promising Findings from Los Angeles

This article describes promising findings from the Los Angeles County Prevention Initiative Demonstration Project, a systems change approach to developing relationships between public child welfare, allied public agencies, and community-based networks that offer family-centered services, economic assistance and capacity building to support all kinds of families. It describes the conceptual underpinnings and unique structure of the initiative, the evaluation methods used to assess results, and a pattern of promising results

Pathways to Economic Outcomes and the Impact of Health: Comparing Hispanic and Non-Hispanic Adults after Foster Care

Abstract This study examines the financial outcomes in adulthood of Hispanics (N = 87) and White (Non-Hispanic, N = 498) persons placed in foster care during childhood. It uses the Casey Family Programs National Alumni Study (CFPNAS) database. Path models including predictors such as gender, education, having a partner, preparation for leaving care, and problem characteristics yielded predominantly similar effects for Hispanic and White Non-Hispanic respondents. The direct effect of physical and mental health conditions such as physical or learning disability, visual or hearing impairments, or DSM disorders more strongly predicted negative outcomes for White (Non-Hispanic) respondents than for Hispanic ones

Counseling Troubled Adolescents: An Evaluation of a Statewide Training Program

Susanne Mitchell was a graduate student at the School of Social Work, University of Utah. Anne White, M.S.W, is a staff social worker at the Diabetes Health Center, Salt Lake City, Utah. Wynn S. Wright, M.S.W., was the Project Coordinator of the Utah Child Welfare Training Project, Graduate School of Social Work, University of Utah; and currently is psychiatric social worker at Primary Children\u27s Medical Center, Salt Lake City, Utah. Peter 1. Pecora, Ph.D., is Associate Professor and Principal Investigator of the Child Welfare Training Project at the Graduate School of Social Work, University of Utah. The research for this article was supported by Grant No. 08-CT0054101 from the Administration of Children, Youth, and Families. The authors thank Mr. Paul Bestock for providing an exceptional training experience to the social service staff. This article describes the methods and results of a training evaluation project that assessed behavioral change following training. Child welfare workers were trained in counseling methods for working with adolescents who behave in ways that challenge conventional therapeutic techniques. As part of the training, participants developed action plans, which were lists of behaviors they wanted to implement in their counseling. Training participants were interviewed by telephone two months after the training. Results indicated that a number of action items were successfully implemented and that workers found the action process to be helpful in this regard. Results also indicate that success could have been enhanced if certain supports had been included in the training or in a follow-up session

Technical Reviewing for the Family First Prevention Services Act: Strategies and Recommendations

The Family First Prevention Services Act (FFPSA) has compelled states to expand their priorities to implement evidence-based practices (EBPs) as a means to prevent foster care placement. While the states may opt to include EBPs already approved by the Administration for Children and Families (ACF), some state leaders are opting to commission an independent technical review for the EBP they would prefer to implement as part of their FFPSA plan. While the goal is for ACF to approve their plan and issue a temporary license, little guidance is provided on how to conduct technical reviews. Relying upon the expectations that ACF has outlined for each state, we illustrate the process for conducting reviews of SafeCare in Iowa and Utah and of Family-Centered Treatment in Arkansas. Despite FFPSA and ACF guidance, rendering an evidence rating was difficult given the variability in how some studies measured baseline equivalence, lack of robust testing methods, and conflicting findings across studies. We conclude with recommendations on addressing these challenges and strategies for conducting high-quality technical reviews. The review process offers an opportunity to synthesize a large body of research to inform child welfare practice

Synchronization of Coupled Systems with Spatiotemporal Chaos

We argue that the synchronization transition of stochastically coupled cellular automata, discovered recently by L.G. Morelli {\it et al.} (Phys. Rev. {\bf 58 E}, R8 (1998)), is generically in the directed percolation universality class. In particular, this holds numerically for the specific example studied by these authors, in contrast to their claim. For real-valued systems with spatiotemporal chaos such as coupled map lattices, we claim that the synchronization transition is generically in the universality class of the Kardar-Parisi-Zhang equation with a nonlinear growth limiting term.Comment: 4 pages, including 3 figures; submitted to Phys. Rev.

The results of a management redesign: A case study of a private child welfare agency

This paper reports on the restructuring of a large, private nonprofit, child welfare agency, and includes a description of the change objectives, the process of planning and implementing the changes, and the impact of the changes. The findings discussed here focus on changes in staff turnover and performance as well as staff perceptions of the continuation or reduction of identified organizational problems. The overall goal of the management redesign was to devolve decision-making closer to the point of service delivery. A survey with a response rate of 60.3% was the main source of information for the study. Almost 90% of the respondents reported that the redesign generated benefits, and approximately 74% identified negative consequences. The redesign was perceived by staff to reduce organizational problems related to communication, decision-making, leadership, and agency mission. Staff turnover increased during the redesign, but staff performance remained at a relatively high level