https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FIMECE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FIMECE2013-66371%2F4230515%2Fv07at08a069-imece2013-66371.pdf