The use of teams of coordinated mobile robots in industrial settings such as underground mining, toxic waste cleanup and material storage and handling, is a viable and reliable approach to solving such problems that require or involve automation. In this thesis, abilities a team of mobile robots should demonstrate in order to successfully perform a mission in industrial settings are identified as a set of functional components. These components are related to navigation and obstacle avoidance, localization, task achieving behaviors and mission planning. The thesis focuses on designing and developing functional components applicable to diverse missions involving teams of mobile robots; in detail, the following are presented: 1. A navigation and obstacle avoidance technique to safely navigate the robot in an unknown environment. The technique relies on information retrieved by the robot's vision system and sonar sensors to identify and avoid surrounding obstacles. 2. A localization method based on Kalman filtering and Fuzzy logic to estimate the robot's position. The method uses information derived by multiple robot sensors such as vision system, odometer, laser range finder, GPS and IMU. 3. A target tracking and collision avoidance technique based on information derived by a vision system and a laser range finder. The technique is applicable in scenarios where an intruder is identified in the patrolling area. 4. A limited lookahead control methodology responsible for mission planning. The methodology is based on supervisory control theory and it is responsible for task allocation between the robots of the team. The control methodology considers situations where a robot may fail during operation. The performance of each functional component has been verified through extensive experimentation in indoor and outdoor environments. As a case study, a warehouse patrolling application is considered to demonstrate the effectiveness of the mission planning component.

A Workflow is an automation of a business process. In general, it consists of processes and activities, which are represented by well-defined tasks. These include 'Office Automation,' 'Health Care' and service-oriented processes such as 'Online Reservations,' 'Online Bookstores' and 'Insurance Claims,' etc. The entities that execute these tasks are humans, application programs or database management systems. These tasks are related and dependent on one another based on business policies and rules. With rapid increases in application domains that use workflow management systems, there is a need for a framework that can be used to implement these applications. In particular, it is essential to provide a formal technique for defining a problem that can be used by various workflow software product developers. In this work, a formal framework based on finite state automata that facilitate modeling and analysis of workflows is presented. The workflow and its specifications are modeled separately as finite state automata models. We provide a general framework for specifying control flow dependencies in the context of supervisory control theory. We also identify several properties of supervisory control theory and demonstrate their use for conducting the analysis of the workflows.

This report describes a docking system to allow autonomous battery charging of a mobile robot, and a Web interface that allows long-term unaided use of a sophisticated mobile robot by untrained Web users around the world. The docking system and Web interface are applied to the biologically inspired RatSLAM system as a foundation for testing both its long-term stability and its practicality for real-world applications. While there are existing battery charging and Web interface systems for mobile robots, the developed solution combines the two, resulting in a self-sufficient robot that can recharge its own batteries and stay accessible from the Web. Existing mobile robots on the Internet require manual charging by a human operator, leading to significant periods when the robot is offline. Furthermore, since the robot may be operational for extended periods without powering down, it may perform learning operations that require significantly longer operation than a single battery-recharge cycle would allow. The implemented Web interface makes use of the RatSLAM navigation system. RatSLAM provides the onboard intelligence for the robot to navigate to the user-supplied goal locations (such as “go to location X”), despite long paths or obstacles in the environment. The majority of the existing robot interfaces on the Internet provide direct control of the robot (such as “drive forward”) and therefore the users suffer greatly from the inherent delays of the Internet due to the time lag between performing an action and seeing the feedback. Instead, the robot in this study uses an onboard intelligent navigation system to generate all low-level commands. Due to the minimal input required to give high-level commands to the robot, the system is robust to the long and highly unpredictable delays of Internet communication. Traditional methods of autonomous battery charging for mobile robots have had limited reliability, often due to the mechanical docking system requiring a highly precise connection. Therefore, the mechanical design of the implemented battery charging system improves reliability by allowing for a significantly larger navigation error. In addition, the robot uses a standard vision sensor for both the long-range and short-range stages of navigation to the battery charger, compared to the many systems that require an omnidirectional camera and a high-resolution Laser range finder for this process. The result of this study is a public web interface at "http://ratslam.itee.uq.edu.au/robot.html" (currently offline), where any Web user in the world can watch and control the live mobile robot that is using RatSLAM for navigation, as it drives in its laboratory environment without human assistance.

Perfectionism in the counselor trainee has the potential to undermine counseling self-efficacy and relationships with client and supervisor (Arkowitz, 1990). Perfectionism is defined as “a predilection for setting extremely high standards and being displeased with anything less” (Webster’s II New College Dictionary, 1995, p. 816). In this study, 143 counselor trainees and 46 supervisors (46 supervisor-trainee dyads) completed surveys designed to assess the relationships between adaptive and maladaptive perfectionism and counseling self-efficacy, the working alliance between supervisor and trainee, as well as the working alliance between trainee and client. Trainee participants completed the Almost Perfect Scale – Revised (Slaney, Rice, Mobley, Trippi, & Ashby, 2001), the Self-Efficacy Inventory (Friedlander & Snyder, 1983), the Supervisory Working Alliance Inventory – Trainee Version (Efstation, Patton & Kardash, 1990) and the Working Alliance Inventory – Short Form Therapist Version (Horvath, 1991). Supervisor participants completed the Supervisory Working Alliance Inventory – Supervisor Version (Efstation, Patton & Kardash, 1990). Results indicated that maladaptive perfectionism was positively correlated with working alliance between trainee and client (r = -.261, p = .002) and positively correlated with the working alliance between supervisor and trainee (from the perspective of the supervisor, r = -.345, p = .019). Results also demonstrated evidence for counseling self-efficacy as a significant moderator between adaptive perfectionism and the supervisory working alliance (from the perspective of the trainee) and between maladaptive perfectionism and the supervisory working alliance (from the perspective of the supervisor). Supervisors should consider perfectionism in counselor trainees as this may affect counseling self-efficacy and working alliances between supervisor and trainee as well as between trainee and client.

Counselor trainees’ stress and coping resources have the potential to influence the relationships formed with supervisors and clients. Two hundred thirty two (N = 232) Master-level counselor trainees completed surveys designed to measure perceived stress, coping resources, the working alliance, and the supervisory working alliance. Participants completed a demographic questionnaire, the Working Alliance Inventory – Short Form Therapist Version (WAI-S; Tracey & Kokotovic, 1989), the Supervisory Working Alliance Inventory – Trainee Version (SWAI-T; Efstation, Patton, & Kardash, 1990), the Perceived Stress Scale – Short Form (PSS; Cohen, Kamarck, & Mermelstein, 1983), and the Coping Resources Inventory for Stress – Short Form (CRIS; Curlette & Matheny, 2008). The working alliance was negatively correlated with Perceived Stress (r = -.25, p < .01) and positively correlated with the coping resources Situational Control, (r = .23, p < .01), Emotional Control (r = .18, p = .01), Social Support From Family (r = .19, p < .01), Mental Tension Control (r = .18, p < .01), and Making Plans (r = .15, p < .05). The supervisory working alliance was negatively correlated with Perceived Stress (r = -.23, p < .01) and positively correlated with the coping resources Situational Control (r = .17, p < .01), Emotional Control (r = .18, p < .01), Social Support From Friends (r = .14, p < .05), Mental Tension Control (r = .22, p < .01), Asserting One’s Rights (r = .13, p < .05), and Trusting Oneself (r = .14, p < .05). After controlling for the primary internship setting, Stress (∆R2 = .055, â = -.21, p < .001) and Social Support from Family (∆R2 = .021, â = -.21, p < .025) explained 7.6% of the variance in the working alliance, F (10, 221) = 3.71, p < .001. After controlling for the number of counseling sessions and total number of weekly individual counseling hours, Perceived Stress (∆R2 = .047, â = -.14, p < .10) and Situational Control (∆R2 = .026, â = .18, p < .025) explained 7.3% of the variance in the supervisory working alliance, F (4, 170) = 7.73, p < .001. Implications for counselor training and implications for research are discussed.

This work presents the application of a cognitive engineering design method to the design of operational procedures and ground control station interfaces for uninhabited aerial vehicles (UAVs). Designing for UAV systems presents novel challenges, both in terms of selecting and presenting adequate information for effective teleoperation, and in creating operational procedures and ground control station interfaces that are robust to a range of UAV platforms and missions. Creating a coherent set of operating procedures, automatic functions and operator interfaces requires a systematic design approach that considers the system and the mission at different levels of abstraction and integrates the different element of the system. Several models are developed through the application of this cognitive engineering method. An analysis of the work of operating a UAV creates an abstraction decomposition space (ADS) model. The ADS helps identify the control tasks needed to operate the system. A strategies analysis then identifies methods for implementing these control tasks. The distribution of activities and roles between the human and automated components in the system is then considered in a social organization and cooperation analysis. These insights are applied to the design of coherent sets of operational procedures, ground control station interfaces and automatic functions for a specific UAV in support of a continuous target surveillance (CTS) mission. The importance of the coherence provided by the selected design method in the design of UAV operational procedures and ground control station interfaces is analyzed through a human in the loop simulation experiment for this mission. The results of the simulation experiment indicate that UAV controllers using coherently designed elements achieve significantly higher mission performance and experience lower workloads than those that when using incoherently matched elements.

The purpose of this study was to investigate the effect of transformational and transactional leaderships on Y generation ¡]Was born between 1977 to 1995¡^ employee to turnover intention, and also use the perceived supervisory support as the mediator¡Borganizational identification as the moderator. This research targeted samples were the Y generation employee from domestic companies. Total of 243 questionnaires were issued¡Aand 205 valid samples were returned with responding rate at 84.36%. Statistical analysis¡Asuch as Reliability¡BDescriptive Statistical¡BIndependent t-Test¡BOne-way ANOVA¡BCorrelation and regression, is conducted with SPSS 12.0 software. The results could be summarized as follows¡R 1. Transformational leadership show significant negative effects on Y generation employee to Turnover intention. 2. Transactional leadership show significant negative effects on Y generation employee to Turnover intention. 3. Perceived supervisory support show significant negative effects on Y generation employee to Turnover intention. 4. On Y generation employee to perceived supervisory support has the mediated effect between transformational leadership and turnover intention. 5. On Y generation employee to perceived supervisory support has the full mediated effect between transactional leadership and turnover intention.

Academic researchers and marketing practitioners are exploring methods to improve salesperson training. Recently, self-directed learning projects were proposed as a new paradigm for learning to take place in the sales domain (Artis & Harris, 2007). Current conceptual work provides a strong foundation for understanding salesperson self-directed learning; however, prior to quantitatively testing proposed models, scales must be created and modified to address salesperson specific learning endeavors. The purpose of this dissertation is: 1) to develop scales to measure salesperson willingness to use self-directed learning projects (SDLP's), 2) to develop a conceptual model of salesperson self-directed learning, 3) to modify current scales to specifically examine salesperson self-directed learning, and 4) to test this model empirically. To accomplish this, the relevant theories and literature were analyzed to create a theoretical model that would test the following research questions: 1.What factors contribute to salesperson willingness to use SDLP's? 2.What is the relationship between salesperson willingness to use SDLP's and salesperson use of SDLP's? 3.What is the relationship between salesperson use of SDLP's and salesperson performance? Two conceptual models were created to account for two categories of learning projects, induced and synergistic SDLP's. The following variables reflect the conceptual models: willingness to use induced/synergistic SDLP's, use of induced/ synergistic SDLP's, perceived supervisor/organizational support for induced/synergistic SDLP's, and self-regulation training and performance. Data from 392 salespeople within the financial services industry fit the measurement model and suggest that use of synergistic (non-mandatory) SDLP's positively impacts performance (.396) and use of induced (mandatory) SDLP's does not impact performance. Willingness to use synergistic SDLP's positively impacts use of synergistic SDLP's. Support from the organization and supervisor positively impact willingness to use induced and synergistic SDLP's. Surprisingly, training in self-regulation did not positively impact salesperson willingness to use induced or synergistic SDLP's. The new measures for all constructs exhibit Cronbach's alpha reliability statistics over .7 and acceptable confirmatory factor analysis results. The study provides reliable measurement scales and empirical support for the future study of self-directed learning in a sales context.

A collective case study is the study of more than one case (Stake, 1995). One therapist supervisor and three therapist supervisees from a child and adolescent residential foster care facility were observed during their individual clinical supervision and interviewed post-supervision. Currently, the literature on clinical supervision seldom addresses the supervision of working professional counselors; particularly those who are child and adolescent counselors (CACs). Using a qualitative approach, two fundamental questions guided this inquiry: (a) what is the nature of clinical supervision involving a supervisor who provides clinical supervision to counselors in a child and adolescent residential foster care center that provides mental health treatment? and (b) within the clinical supervision experience, what issues involving children and adolescents does the supervisor explore?Participants provided detailed demographic information about their work and educational experience. During the post-supervision interviews participants recalled the content of the clinical supervision, discussed their thoughts and feelings about the supervision experience, explored how the supervision met their supervisory needs and expanded on their beliefs about the process of supervision in general. Constant comparative analyses, both within-case and cross-case, were conducted and themes emerged from the interviews. Various themes emerged that were associated with: administrative supervision, best practices, case specific discussion, developmental understanding, ethical dilemmas, the personal issues of the supervisor and supervisees, supervision practices, treatment modalities, treatment planning, and working with various systems. Within the clinical supervision of CACs in residential foster care the nature of supervision is related to discussing specific cases in the facility, the supervision practice as it is experienced within each supervisor supervisee relationship, and a general desire to explore the best approaches when working with the children and adolescents at the facility. Collectively the supervisor and supervisees explored issues related to children and adolescents specific to individual cases consistent with generic supervision. Implications for practice and research are also discussed.

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