https://www.universitycube.net/urlref/https%3A%2F%2Fasmedigitalcollection.asme.org%2FSMASIS%2Fproceedings-pdf%2Fdoi%2F10.1115%2FSMASIS2024-139955%2F7392340%2Fv001t01a001-smasis2024-139955.pdf