This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved 2nd and 1st place, respectively. We also discuss CoSTAR's demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning; (iv) global motion planning and exploration behavior; (i) risk-aware mission planning; (vi) networking and decentralized reasoning; and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g. wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.
Families caring for children with autism spectrum disorder (ASD) have reported poorer family functioning. Social support might strengthen family functioning, but limited research to date has focused on this association in China. This study conducted a cross-sectional survey of Chinese families that have children with ASD to examine the relationship between social support and family functioning. Caregivers of children with ASD from Sichuan province in China (N = 167) were surveyed concerning their perceived social support and family functioning. The Social Support Rating Scale was used to investigate caregivers’ perceived social support from three dimensions: subjective support, objective support, and the utilization of support. A Chinese version of the Family Adaptability and Cohesion Scale was used to investigate their perceptions of family cohesion and adaptability. The Pearson correlation coefficient and stepwise multiple regression were used for analyses. The results suggested that social support was positively related to family cohesion and adaptability. Of the three sub-domains of social support, both subjective support and the utilization of support were positively associated with family cohesion and adaptability. The study’s findings evidenced the importance of different types of social support and could be used to develop a targeted support service for families that have children with ASD to improve their family functioning and sustain the family unit.
<p><em>The present study aimed at exploring the status of family cohesion, adaptability and quality of life of caregivers of children with ASD, as well as the relationship between family cohesion </em><em>and </em><em>adaptability, and quality of life. One hundred and sixty-three caregivers of children with ASD from Sichuan province </em><em>in China </em><em>were investigated by the </em><em>Chinese vision of </em><em>Family Adaptability and Cohesion Scale and Beach Center Family Quality of Life Scale</em><em>. The results showed that: (1) The score on family cohesion of caregivers of children with ASD was higher than the national norm, and the score on family adaptability was lower than the national norm; (2) The satisfaction of quality of life </em><em>wa</em><em>s between general level and satisfactory level, and </em><em>the </em><em>score</em><em> on </em><em>satisfaction </em><em>in e</em><em>ach dimension</em><em> </em><em>from high to low was </em><em>Family Interaction, Parenting, Disability-Related Support, Emotional Well-Being and Physical/Material Well-Being</em><em>; (3) Family </em><em>cohesion and quality of life were significantly correlated, and adaptability and quality of life were also significantly correlated; </em><em>(4) Caregivers with higher family cohesion and adaptability showed higher quality of life than the caregivers with lower family cohesion and adaptability; (5) Family cohesion and adaptability had a positive </em><em>impact on</em><em> quality of life.</em><em></em></p>
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