https://www.universitycube.net/urlref/https%3A%2F%2Fasmedigitalcollection.asme.org%2FOMAE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FOMAE2023-107853%2F7041607%2Fv008t09a059-omae2023-107853.pdf