https://www.universitycube.net/urlref/https%3A%2F%2Fasmedigitalcollection.asme.org%2FSMASIS%2Fproceedings-pdf%2Fdoi%2F10.1115%2FSMASIS2023-111036%2F7063509%2Fv001t01a008-smasis2023-111036.pdf