In addition to the shock collars there are also the ultrasound versions that emit a loud (to animals) beep when the dog barks.
Positive and negative reinforcement of rules is something that nature does all the time. A mother dog will teach hep pups correct behavior using these methods.
Arbitrarily Zapping your pet however when they do something that you dont like is not the way forward perhaps the original poster would consider wearing one so that his dogs can zap him when they are hungry or want a walk
I am the keeper of a Great Dane he wears a remote bleeper. when he was a pup i would reinforce my instruction with a bleep from the collar. Now if he start to get a little unruly all it takes is a little bleep and he sits and behaves. No shocking required.