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A Multifunctional Tool For The Electrokinetic Manipulation And Characterization Of Cells, Devin Monroe Keck May 2021

A Multifunctional Tool For The Electrokinetic Manipulation And Characterization Of Cells, Devin Monroe Keck

All Dissertations

In a field dominated by risk assessment, diagnostics could greatly benefit from the use of electric characterization tools. Electric field based diagnostic tools are low risk to the patient, offer high throughputs, and are versatile in the diseases they can diagnose. Even if electrical characterization tools, aren’t yet equal in the diagnostic confidence level produced compared to more established FDA approved techniques like the agar plate, when a patients symptoms indicate the necessity for time efficient treatment, electrical characterization could provide a rapid, safe alternative diagnostic tool to be used in tandem with other existing techniques. The work presented in …


Exploring Alternatives To Quantum Nonlocality, Indrajit Sen May 2021

Exploring Alternatives To Quantum Nonlocality, Indrajit Sen

All Dissertations

In this dissertation, we explore two alternatives to quantum nonlocality in a single-universe framework: superdeterminism and retrocausality. These models circumvent Bell's theorem by violating the assumption that the hidden variables are uncorrelated with the measurement settings.

In Chapter 1, we introduce superdeterminism and prepare the groundwork for our results in Chapter 2. We start from a review of the topic, focussing on the various qualitative criticisms raised against superdeterminism in the literature. We identify the criticism of 'superdeterministic conspiracy' by Bell as the most serious, and introduce nonequilibrium extensions of superdeterministic models in an attempt to formalise the criticism. We …


Spatial Planning To Examine Regional Racial And Ethnic Disparities In Obesity And Diabetes By Analyzing The Supplemental Nutrition Assistance Program (Snap) Retail Environment: Applying A Machine Learning Approach, Michelle Eichinger May 2021

Spatial Planning To Examine Regional Racial And Ethnic Disparities In Obesity And Diabetes By Analyzing The Supplemental Nutrition Assistance Program (Snap) Retail Environment: Applying A Machine Learning Approach, Michelle Eichinger

All Dissertations

In the United States, food insecurity has been an ongoing concern nationwide, with over 17.4 million Americans affected. The United States Department of Agriculture (USDA) Supplemental Nutrition Assistance Program (SNAP), commonly known as “food stamps,” aims to improve food security by providing financial assistance on food purchases to income-eligible households. SNAP participants redeem their benefits at SNAP-authorized retailers, including supermarkets, small discount stores, convenience stores, corner stores, and pharmacies. The retail food environment influences food purchasing behavior, thus contributing to poor diet. In the United States, low-income residents, including SNAP participants and minority residents, are more likely to have diet-related …


Advancing Waterfowl Ecology And Management: Assessments Of An Online Course, Professional Credentials, And Graduate Student Publication Performance, Lauren Hernandez-Rubio May 2021

Advancing Waterfowl Ecology And Management: Assessments Of An Online Course, Professional Credentials, And Graduate Student Publication Performance, Lauren Hernandez-Rubio

All Dissertations

University programs with waterfowl teaching, research, and outreach in the United States and Canada have decreased from approximately 55 to 33 programs (~40%). A reduction in these programs may lead to a loss in professional capacity of waterfowl and wetlands specialists working for science and conservation of these resources. Three research projects were conducted: (1) the creation and assessment of inaugural online course in waterfowl ecology and management, (2) identifying academic and experiential credentials perceived important for a successful career in the waterfowl profession by professionals and current students, and (3) identifying waterfowl graduate students’ performance in publishing in peer-review …


Science, Technology, And Irish Modernism, Edited By Kathryn Conrad, Cóilín Parsons, And Julie Mccormick Weng, Lloyd (Meadhbh) Houston Apr 2021

Science, Technology, And Irish Modernism, Edited By Kathryn Conrad, Cóilín Parsons, And Julie Mccormick Weng, Lloyd (Meadhbh) Houston

International Yeats Studies

No abstract provided.


Disciplinary Literacy: Successes And Challenges Of Professional Development, Emily Howell, Wendy Barlow, Jeanne Dyches Apr 2021

Disciplinary Literacy: Successes And Challenges Of Professional Development, Emily Howell, Wendy Barlow, Jeanne Dyches

Publications

Literacy research has investigated disciplinary literacy for over a decade. The focus on disciplines as cultures of distinct literacy practice has been integrated into national standards and classroom implementation. Yet, research exploring the professional development in-service teachers receive specific to delivering disciplinary literacy instruction remains limited. This systematic literature review addresses this gap by analyzing 58 articles using the search terms professional development, disciplinary literacy, and content area literacy. The researchers discuss four focused themes that have emerged in disciplinary literacy research in relation to professional development (PD): disciplinary literacy as strategy instruction, differentiation and disciplinary literacy, measures of disciplinary …


Clemson Chronicle, Spring 2021, Clemson University Apr 2021

Clemson Chronicle, Spring 2021, Clemson University

Clemson Chronicle

Clemson University's twice-yearly literary magazine, featuring creative prose, poetry, features, art and photography.


Soil Biogeochemistry Across Central And South American Tropical Dry Forests, Bonnie G. Waring, Mark E. De Guzman, Dan V. Du, Juan M. Dupuy, Maga Gei, Jessica Gutknecht, Catherine Hulshof, Nicolas Jelinski, Andrew J. Margenot, David Medvigy, Camila Pizano, Beatriz Salgado-Negret, Naomi B. Schwartz, Annette M. Trierweiler, Skip Van Bloem Mar 2021

Soil Biogeochemistry Across Central And South American Tropical Dry Forests, Bonnie G. Waring, Mark E. De Guzman, Dan V. Du, Juan M. Dupuy, Maga Gei, Jessica Gutknecht, Catherine Hulshof, Nicolas Jelinski, Andrew J. Margenot, David Medvigy, Camila Pizano, Beatriz Salgado-Negret, Naomi B. Schwartz, Annette M. Trierweiler, Skip Van Bloem

Publications

The availability of nitrogen (N) and phosphorus (P) controls the flow of carbon (C) among plants, soils, and the atmosphere, thereby shaping terrestrial ecosystem responses to global change. Soil C, N, and P cycles are linked by drivers operating at multiple spatial and temporal scales: landscape-level variation in macroclimate and soil geochemistry, stand-scale heterogeneity in forest composition, and microbial community dynamics at the soil pore scale. Yet in many biomes, we do not know at which scales most of the biogeochemical variation emerges, nor which processes drive cross-scale feedbacks. Here, we examined the drivers and spatial/temporal scales of variation in …


Hemodynamic Response To Device Titration In The Shunted Single Ventricle Circulation - A Patient Cohort Modeling Study, Chet Villa, Farha Zafar, Angela Lorts, Ethan Kung Mar 2021

Hemodynamic Response To Device Titration In The Shunted Single Ventricle Circulation - A Patient Cohort Modeling Study, Chet Villa, Farha Zafar, Angela Lorts, Ethan Kung

Publications

Clinical outcomes of ventricular assist device (VAD) support for shunted single ventricle patients trail the larger population due in part to the challenges in optimizing VAD support and balancing systemic and pulmonary circulations. We sought to understand the response to VAD titration in the shunted circulation using a lumped-parameter network modeling six patient-specific clinical cases. Hemodynamic data from six patients (mean body surface area = 0.30 m2) with a systemic-to-pulmonary shunt was used to construct simulated cases of heart failure and hemodynamic response to increasing VAD flow from 5 to 10 L/min/m2. With increasing VAD flow, …


Airbags As Real-Life Applications For Science, Carly A. Rock, Brooke A. Whitworth Mar 2021

Airbags As Real-Life Applications For Science, Carly A. Rock, Brooke A. Whitworth

Publications

At the core of an effective model-based inquiry (MBI) unit is a scientifically rich, complex phenomenon that serves as the reason for engagement and drives student sensemaking and investigations throughout the unit. Engaging in iterative attempts to explain phenomena over the course of an MBI unit allows the opportunity for students to construct evidence-based explanations that are refined over time with various science practices. We provide an example of using MBI as an instructional model to facilitate students’ conceptual understanding of chemical reactions.


Annotated Bibliography Of Research In The Teaching Of English, Anne Crampton, Lisa Ortmann, Amy Frederick, Bridget Kelley, Kate Brodeur, Stephanie M. Madison, Candace Doerr-Stevens, Madeleine Israelson, Anne Ittner, Robin Jocius, Lauren Aimonette Liang, Tracey Murphy, Ian O'Byrne, Jeff Share, Sara K. Sterner, Erin Stutelberg, Mark Sulzer, Amanda Haertling Thein, Stephanie Rollag Yoon Feb 2021

Annotated Bibliography Of Research In The Teaching Of English, Anne Crampton, Lisa Ortmann, Amy Frederick, Bridget Kelley, Kate Brodeur, Stephanie M. Madison, Candace Doerr-Stevens, Madeleine Israelson, Anne Ittner, Robin Jocius, Lauren Aimonette Liang, Tracey Murphy, Ian O'Byrne, Jeff Share, Sara K. Sterner, Erin Stutelberg, Mark Sulzer, Amanda Haertling Thein, Stephanie Rollag Yoon

Publications

Since 2003, RTE has published the annual “Annotated Bibliography of Research in the Teaching of English,” and we are proud to share these curated and annotated citations once again. The goal of the annual bibliography is to offer a synthesis of the research published in the area of English language arts within the past year that may be of interest to RTE readers. Abstracted citations and those featured in the “Other Related Research” sections were published, either in print or online, between June 2019 and June 2020. The bibliography is divided into nine subject area sections. A three-person team of …


Investigating The Impacts Of Crash Prediction Models On Quantifying Safety Effectiveness Of Adaptive Signal Control Systems, Weimin Jin, Mashrur Chowdhury, Sakib Mahmud Khan, Patrick Gerard Feb 2021

Investigating The Impacts Of Crash Prediction Models On Quantifying Safety Effectiveness Of Adaptive Signal Control Systems, Weimin Jin, Mashrur Chowdhury, Sakib Mahmud Khan, Patrick Gerard

Publications

Introduction: Adaptive Signal Control System (ASCS) can improve both operational and safety benefits at signalized corridors. Methods: This paper develops a series of models accounting for model forms and possible predictors and implements these models in Empirical Bayes (EB) and Fully Bayesian (FB) frameworks for ASCS safety evaluation studies. Different models are validated in terms of the ability to reduce the potential bias and variance of prediction and improve the safety effectiveness estimation accuracy using real-world crash data from non-ASCS sites. This paper then develops the safety effectiveness of ASCS at six different corridors with a total of 65 signalized …


Adaptive Signal System Safety Impacts Final Report, Mashrur Chowdhury, Weiman Jin, M. Sabbir Salek, Sakib Mahmud Khan, Katherine Brunk, Patrick Gerard, Nathan Huynh, Mohammad Torkjazi Feb 2021

Adaptive Signal System Safety Impacts Final Report, Mashrur Chowdhury, Weiman Jin, M. Sabbir Salek, Sakib Mahmud Khan, Katherine Brunk, Patrick Gerard, Nathan Huynh, Mohammad Torkjazi

Publications

The research team conducted a literature review and a nation-wide survey at the beginning of the research. The literature review revealed that Adaptive Signal Control System (ASCS) was effective in reducing crashes in some studies, while in other studies, the crash reduction due to ASCS was not statistically significant. Twenty-eight states participated in the nation-wide survey and helped the research team identify corridor characteristics, such as the design speed and Annual Average Daily Traffic (AADT) of an ASCS corridor, which would allow for the best operational and safety outcomes. Then, to determine the safety effects of ASCS, the research team …


What Scientists Do: Engaging In Science Practices Through A Wonderframed Nature Study, Steph N. Dean, Andrew Gilbert Jan 2021

What Scientists Do: Engaging In Science Practices Through A Wonderframed Nature Study, Steph N. Dean, Andrew Gilbert

Publications

Despite recent reforms concerning how students engage in science, there have been significant challenges for educators seeking to consistently implement science practices within the classroom. This study considered science practices within a wonder-framed nature study as one possible way for educators to support students as they take on the role of scientists. We interviewed twenty students in Grades 3 through 5 who had participated in wonder journaling sessions outdoors that led to an investigative project and presentation. The evidence suggests that students strongly engaged in investigative science practices, and that they also experienced opportunities for sensemaking and critiquing practices. Through …


Alternative Practicum Experiences For Early Childhood Preservice Teachers, Qianyi Gao, Sandra Linder, Anna H. Hall Jan 2021

Alternative Practicum Experiences For Early Childhood Preservice Teachers, Qianyi Gao, Sandra Linder, Anna H. Hall

Publications

Practicum experiences are an integral part of teacher education programs. The current study drew on perceptions of various stakeholders (preservice teachers, cooperating teachers, and university professors) to examine two practicum models of an early childhood teacher education program. The study focused on the structure of a senior-level practicum and highlighted the strengths and weaknesses of two specific models. Findings showed that both cohorts of preservice teachers experienced stress and confidence boosts during the practicum, but each cohort underwent different learning experiences due to variances in the practicum structures. Cooperating teachers and university professors preferred the new model which allowed preservice …


The Motion Of Trees In The Wind: A Data Synthesis, Toby D. Jackson, Sarab Sethi, Ebba Dellwik, Nikolas Angelou, Amanda Bunce, Tim Van Emmerik, Marine Duperat, Jean-Claude Ruel, Axel Wellpott, Skip Van Bloem Jan 2021

The Motion Of Trees In The Wind: A Data Synthesis, Toby D. Jackson, Sarab Sethi, Ebba Dellwik, Nikolas Angelou, Amanda Bunce, Tim Van Emmerik, Marine Duperat, Jean-Claude Ruel, Axel Wellpott, Skip Van Bloem

Publications

Interactions between wind and trees control energy exchanges between the atmosphere and forest canopies. This energy exchange can lead to the widespread damage of trees, and wind is a key disturbance agent in many of the world's forests. However, most research on this topic has focused on conifer plantations, where risk management is economically important, rather than broadleaf forests, which dominate the forest carbon cycle. This study brings together tree motion time-series data to systematically evaluate the factors influencing tree responses to wind loading, including data from both broadleaf and coniferous trees in forests and open environments.

We found that …


Scoping The Emerging Field Of Quantitative Ethnography: Opportunities, Challenges And Future Directions, Rogers Kaliisa, Kamila Misiejuk, Golnaz Arastoopour Irgens, Morten Misfeldt Jan 2021

Scoping The Emerging Field Of Quantitative Ethnography: Opportunities, Challenges And Future Directions, Rogers Kaliisa, Kamila Misiejuk, Golnaz Arastoopour Irgens, Morten Misfeldt

Publications

Quantitative Ethnography (QE) is an emerging methodological approach that combines ethnographic and statistical tools to analyze both Big Data and smaller data to study human behavior and interactions. This paper presents a methodological scoping review of 60 studies employing QE approaches with an intention to characterize and establish where the boundaries of QE might and should be in order to establish the identity of the field. The key finding is that QE researchers have enough commonality in their approach to the analysis of human behavior with a strong focus on grounded analysis, the validity of codes and consistency between quantitative …


Design, Development And Temporal Evaluation Of An Mri-Compatible In-Vitro Circulation Model Using A Compliant Aaa Phantom, Mirunalini Thirugnanasambandam, Tejas Canchi, Senol Piskin, Christof Karmonik, Ethan Kung, Prahlad Menon, Stephanie Avril, Ender A. Finol Jan 2021

Design, Development And Temporal Evaluation Of An Mri-Compatible In-Vitro Circulation Model Using A Compliant Aaa Phantom, Mirunalini Thirugnanasambandam, Tejas Canchi, Senol Piskin, Christof Karmonik, Ethan Kung, Prahlad Menon, Stephanie Avril, Ender A. Finol

Publications

Biomechanical characterization of abdominal aortic aneurysms (AAA) has become commonplace in rupture risk assessment studies. However, its translation to the clinic has been greatly limited due to the complexity associated with its tools and their implementation. The unattainability of patient-specific tissue properties leads to the use of generalized population-averaged material models in finite element analyses, which adds a degree of uncertainty to the wall mechanics quantification. In addition, computational fluid dynamics modeling of AAA typically lacks the patient-specific inflow and outflow boundary conditions that should be obtained by non-standard of care clinical imaging. An alternative approach for analyzing AAA flow …


Scaling Professional Development: Integrity Of Implementation As A Measurement Approach, Brooke A. Whitworth, Lori Rubino-Hare, Nena E. Bloom Jan 2021

Scaling Professional Development: Integrity Of Implementation As A Measurement Approach, Brooke A. Whitworth, Lori Rubino-Hare, Nena E. Bloom

Publications

Professional learning about an innovative teaching method is a demonstrated way to improve teacher practices, and ultimately impact student learning. One way to scale up professional learning is a facilitator development model, in which professional learning and development (PLD) designers prepare facilitators to understand the innovation and they in turn, teach teachers. To understand the effectiveness of this model, identifying how facilitators implement the model with teachers is critical. As such, the Power of Data (POD) team scaled-up effective PLD by providing Facilitation Academies to teach others to facilitate POD Teacher Workshops (TWs). The expectation was that changes based on …


Examining Teacher Leadership As A Model For Improvement In Science Education, Brooke A. Whitworth, Shunderla Wilson, Shelby Watson Jan 2021

Examining Teacher Leadership As A Model For Improvement In Science Education, Brooke A. Whitworth, Shunderla Wilson, Shelby Watson

Publications

The current mixed method study examined a Teacher Leadership Program (TLP) to determine to what extent participating teachers had changes in content knowledge (CK), practices, leadership skills, and leadership knowledge. The purpose was to determine if this program could be utilized to suggest a sustainable model for improving science education by utilizing teacher leaders to influence changes in their classrooms and at the school level. Participants included 65 K-8 participating teachers and 70 K-8 comparison teachers. Surveys, CK assessments, lessons, observations, and artifacts were analyzed using a-priori coding and descriptive statistics. Participating teachers had statistically significant gains over comparison groups …


National Park Interpretation And Place-Based Education: An Integrative Literature Review, Steph N. Dean Dec 2020

National Park Interpretation And Place-Based Education: An Integrative Literature Review, Steph N. Dean

Publications

Background: Both national park (NP) interpretation and place-based education (PBE) approach learning by applying the unique attributes of a place to facilitate meaning-making experiences within learners. Despite the similarities between these two place-centered pedagogies, there is a limited amount of collaboration between NP interpretative services and school systems engaged with PBE. Purpose: Within this integrative review, my purpose is to fully consider both NP interpretation and PBE to present a comprehensive understanding of the two types of pedagogies. Methodology/Approach: Following an integrative review methodology, I use three different databases to access relevant empirical and theoretical articles. I evaluate and analyze …


Clemson Commencement Program, December 2020, Clemson University Dec 2020

Clemson Commencement Program, December 2020, Clemson University

Clemson Commencement Programs

No abstract provided.


Cosmogenesis, Complexity, And Neo-Natural Faith In The Context Of Astrobiology, Kelly C. Smith Dec 2020

Cosmogenesis, Complexity, And Neo-Natural Faith In The Context Of Astrobiology, Kelly C. Smith

Publications

It is fair to say that religion, and in particular the ways in which some Christian and Islamic thinkers have again begun to encroach on the domain of science (e.g., global warming, the teaching of evolution), has caused a great deal of consternation within the scientific and philosophical communities. An understandable reaction to these developments is to reject out of hand even the slightest taint of religion in these fields—a position that has now attained the status of orthodoxy, at least in the western world. This is curious on its face, given the fact that religion has clearly provided a …


Creating Order Out Of Chaos? Development Of A Measure Of Perceived Effects Of Communication On The Crisis Organizing Process, Ryan Patrick Fuller, Andrew S. Pyle, Laura Riolli, Amy Mickel Dec 2020

Creating Order Out Of Chaos? Development Of A Measure Of Perceived Effects Of Communication On The Crisis Organizing Process, Ryan Patrick Fuller, Andrew S. Pyle, Laura Riolli, Amy Mickel

Publications

Organizations are important sources of communication during natural-hazard crises. How members of an organization perceive these communications (e.g., creating confusion, causing disorder, providing clarity, and restoring order) influences response and recovery from such a crisis. Using Chaos Theory as a guiding framework, the authors developed a new instrument measuring the perceived effects of an organization’s communication on crisis-organizing processes. Three distinct studies were conducted to assess the reliability and validity of this new instrument: the “Perceived Effects of Communication on the Crisis-organizing Process (PEC-COP)” scale. This one-factor scale can be used by both scholars and practitioners to assess the effects …


Mixed Poisson Modeling Of Claim Counts, Yidan Guo Dec 2020

Mixed Poisson Modeling Of Claim Counts, Yidan Guo

All Theses

This thesis introduces two estimation mechanisms to estimate risk premium; namely, Bayesian premium and Bühlmann-Straub credibility premium. To implement the two models, we use a data set from Singapore Driving Experience in 1993. We estimate the average claim counts of each insured when weighted by their exposure of risk, i.e., given the record of claim counts and exposure weights, we build a model to estimate the claimcounts of the insured by means of Bayesian premium and Bühlmann-Straub credibility premium.


Detection Of Delaminations In Carbon Fiber Reinforced Polymers Embedded With Terfenol-D Particles Using Machine Learning, Christopher Nelon Dec 2020

Detection Of Delaminations In Carbon Fiber Reinforced Polymers Embedded With Terfenol-D Particles Using Machine Learning, Christopher Nelon

All Theses

The characterization of the damage state of a system provides insight into its performance and safety during operation. In composite materials, specifically, fiber-reinforced polymers, delaminations form from the evolution of cracks in a matrix that leads to adhesion failure between adjacent laminae. Nondestructive evaluation (NDE) seeks to characterize the state of a material or system during non-operational times. A previously proposed NDE method employs embedded magnetostrictive particles between laminae of carbon fiber reinforced polymer (CFRP) for damage sensing. The phenomenon of magnetostriction couples the mechanical state of a material with its magnetic state so that a change in the local …


Coordination And Privacy Preservation In Multi-Agent Systems, Huan Gao Dec 2020

Coordination And Privacy Preservation In Multi-Agent Systems, Huan Gao

All Dissertations

This dissertation considers two key problems in multi-agent systems: coordination (including both synchronization and desynchronization) and privacy preservation.

For coordination in multi-agent systems, we focus on synchronization/desynchronization of distributed pulse-coupled oscillator (PCO) networks and their applications in collective motion coordination. Pulse-coupled oscillators were originally proposed to model synchronization in biological systems such as flashing fireflies and firing neurons. In recent years, with proven scalability, simplicity, accuracy, and robustness, the PCO based synchronization strategy has become a powerful clock synchronization primitive for wireless sensor networks. Driven by these increased applications in biological networks and wireless sensor networks, synchronization of pulse-coupled oscillators …


A New Family Of Fault Tolerant Quantum Reed-Muller Codes, Harrison Beam Eggers Dec 2020

A New Family Of Fault Tolerant Quantum Reed-Muller Codes, Harrison Beam Eggers

All Theses

Fault tolerant quantum computation is a critical step in the development of practical quantum computers. Unfortunately, not every quantum error correcting code can be used for fault tolerant computation. Rengaswamy et. al. define CSS-T codes, which are CSS codes that admit the transversal application of the T gate, which is a key step in achieving fault tolerant computation. They then present a family of quantum Reed-Muller fault tolerant codes. Their family of codes admits a transversal T gate, but the asymptotic rate of the family is zero. We build on their work by reframing their CSS-T conditions using the concept …


Use Of A Signing Bioscience Dictionary In Increasing Student Interpreters’ American Sign Language Life Science Vocabulary, Judy Vesel, Diane Clark, Tara Robillard Dec 2020

Use Of A Signing Bioscience Dictionary In Increasing Student Interpreters’ American Sign Language Life Science Vocabulary, Judy Vesel, Diane Clark, Tara Robillard

International Journal of Interpreter Education

Interpreters who are skilled in academic ASL content, such as the vocabulary needed to interpret postsecondary science courses, are rare. This is not surprising, because interpreting training programs focus on developing the skills to fluently interpret from sign to voice as well as voice to sign, not on the specialized vocabulary for more specialized content. This study examined the impact of training interpreting students on the use of a Signing Bioscience Dictionary (SBD). Research involved incorporating terms found in undergraduate biology courses into the SBD, conducting an evaluation, and soliciting recommendations for improvement of the SBD. Key findings showed that …


Optimal Control Of Image Based Visual Servoing (Ibvs) For High Precision Visual Inspection Applications, Mark S. Allen Dec 2020

Optimal Control Of Image Based Visual Servoing (Ibvs) For High Precision Visual Inspection Applications, Mark S. Allen

All Theses

Visual servoing is a control technique that uses image data as feedback in a motion control loop. This technique is useful in tasks that require robots or other automated motion systems to automatically inspect parts or structures in motion. One specific method of visual servoing is Image Based Visual Servoing (IBVS), a method that simply minimizes the differences between an observed image orientation and a desired one. This method works well for orientations where the differences are small, but in the case where the desired orientation is more difficult to reach, the system can become unstable, either driving to infinity …