https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FSMASIS%2Fproceedings-pdf%2Fdoi%2F10.1115%2FSMASIS2020-2283%2F6588144%2Fv001t05a005-smasis2020-2283.pdf