https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FOMAE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FOMAE2014-24080%2F4432129%2Fv08bt06a028-omae2014-24080.pdf