https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FIDETC-CIE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FDETC99%2FDTM-8758%2F6629721%2F163_1_detc99-dtm-8758.pdf