https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FOMAE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FOMAE2018-77162%2F2536111%2Fv005t04a003-omae2018-77162.pdf