https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FIMECE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FIMECE2020-23134%2F6637190%2Fv005t05a005-imece2020-23134.pdf