https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FOMAE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FOMAE2015-41232%2F4433313%2Fv05bt04a001-omae2015-41232.pdf