https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FIMECE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FIMECE2015-52404%2F2495398%2Fv014t08a002-imece2015-52404.pdf