Abstract-High-resolution 3D scanning can improve the performance of object detection and door opening, two tasks critical to the operation of mobile manipulators in cluttered homes and workplaces. We discuss how high-resolution depth information can be combined with visual imagery to improve the performance of object detection beyond what is (currently) achievable with 2D images alone, and we present door-opening and inventory-taking experiments. I. INTRODUCTIONIn this paper, we propose employing high-resolution 3D sensing on mobile manipulators. Just as the change from sonar-based sensing to laser-based sensing enabled drastic improvement of SLAM in mobile robotics, we propose that dramatically improving the quality of depth estimation on mobile manipulators can enable new classes of algorithms and higher levels of performance (Figure 1). In support of this idea, we present two scenarios where high-accuracy 3D data proves useful to large mobile manipulators operating in cluttered environments.The first scenario involves object detection. In many tasks, a mobile manipulator needs to search for an object class in a cluttered environment. This problem is challenging when only visual information is given to the system: variations in background, lighting, scene structure, and object orientation exacerbate an already-difficult problem. We demonstrate that augmenting state-of-the-art computer vision techniques with high-resolution 3D information results in higher precision and recall than is currently achievable by either modality alone.The second scenario involves manipulator trajectory planning. We demonstrate closed-loop perception and manipulation of door handles using information from both visual images and the 3D scanner. The high-resolution 3D information helps ensure that the trajectory planner keeps the manipulator clear of the door while still contacting the door handle.We then present an application experiment which combines these capabilities to perform a simple inventory-control task. The mobile manipulator enters several offices and searches for an object class, recording the detected locations.

Informed by the literature on prior problem-oriented policing evaluations, this study evaluated a response within a suburban public housing unit. Specifically, we examined the Crime Response Team (CRT), a multifaceted intervention, in relation to disaggregated calls for service and reported crime. We utilized a quasi-experimental design combining interrupted time-series analysis (ARIMAX) and series hazard models in order to assess the intervention's effect. A possible diffusion site and two pseudointervention sites were also included for comparison purposes. This investigation yielded largely negligible effects, which we primarily attributed to a mismatch between administrative-led initiatives and program execution.

Given the nature of unsolved homicide, a complicated dynamic exists between survivors of cold case homicides and law enforcement personnel. The current study utilizes interviews with 24 survivors to explore the perceptions associated with this relationship. Employing a grounded theory framework, we find several themes depicted within these narratives that guide survivors’ overall perceptions of their relationship with law enforcement, including investigative and communication efforts. Results indicate that the survivors universally perceive original detectives were incompetent or ineffective in their original investigation, thus leading to the unsolved status of their case. Over time, secondary and current investigators were also perceived as unable to properly investigate, due to challenges such as insufficient evidence or simply not conducting a comprehensive examination of the case. Regardless of this negative view of police activity on the case, relationships were defined by the level and nature of communication survivors had with their detective. Families who felt listened to, included, and/or valued reported a positive relationship with police that allowed them to trust their case was in good hands. Participants who perceived communication to be secretive, misleading, or completely absent noted strained relationships and further disappointment. Survivors may adopt roles, such as investigator, spokesperson, or advocate, to help compensate for their perception that the case is not properly cared for by police. With regard to grief progress and health of cold case homicide survivors, it is possible treatment by law enforcement outweighs the significant of case resolution years after the homicide. Recommendations for more productive survivor/police interactions are included.

Through data gathered from interviews with cold case homicide survivors, this article reveals the important role of religion and faith in the aftermath of an unsolved murder. Using qualitative methodology, the author highlights the lived experiences and personal journeys of cold case homicide surviving family members, who are often a forgotten and an overlooked segment of victims. Qualitative data suggests that these cold case homicide survivors found religion to be critical in the aftermath of their loved one's murder. Specifically, survivors indicated their faith was fundamental in coping with the homicide and provided hope for anticipating a resolution in their cases. From these intimate, personal survivor accounts, scholars and practitioners can begin to develop future research and programs that are specifically designed to highlight the role of religion in moving forward after an unsolved murder.

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