https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FIMECE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FIMECE2019-11707%2F6513156%2Fv006t06a096-imece2019-11707.pdf