https://5dok.org/document/yr3de0k7-divisionoffluidandmechatronicsystemsdepartmentofmanagementandengineeringlinköpinguniversity-se-linköping-swedenlinköping-conceptualdesignofcomplexhydromechanicaltransmissionskarluebel-linköpingstudiesinscienceandtechnologydissertationsno.html