This is a nice patent application https://patents.google.com/patent/CN106643287A/en https://patents.google.com/patent/CN106643287A/en but I really, really encou

This is a nice patent application https://patents.google.com/patent/CN106643287A/en https://patents.google.com/patent/CN106643287A/en but I really, really encourage you to read the cited papers from the 70's onwards(which is how I found that PA)