https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FIMECE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FIMECE2013-66383%2F4265250%2Fv009t10a054-imece2013-66383.pdf