https://iopscience.iop.org/article/10.1088/1742-6596/1549/5/052032
https://onlinelibrary.wiley.com/doi/10.1049/iet-bmt.2016.0075
https://linkinghub.elsevier.com/retrieve/pii/S1434841116309037
https://linkinghub.elsevier.com/retrieve/pii/S014193311200124X