It might be a good idea to investigate from the point of view of engineers, what this guy [1] wrote some 15 years ago:<p>[0] <a href="https://dspace.mit.edu/bitstream/handle/1721.1/6706/AIM-2002-017.pdf?sequence=2" rel="nofollow">https://dspace.mit.edu/bitstream/handle/1721.1/6706/AIM-2002...</a><p>[1] <a href="https://en.wikipedia.org/wiki/Jack_Wisdom" rel="nofollow">https://en.wikipedia.org/wiki/Jack_Wisdom</a>