https://www.universitycube.net/urlref/https%3A%2F%2Fasmedigitalcollection.asme.org%2FIMECE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FIMECE2001%2FBED-23101%2F6792880%2F203_1_imece2001-bed-23101.pdf