Professional Documents
Culture Documents
net/publication/313904803
CITATIONS READS
69 4,615
1 author:
Mohsen Attaran
California State University, Bakersfield
120 PUBLICATIONS 1,556 CITATIONS
SEE PROFILE
Some of the authors of this publication are also working on these related projects:
All content following this page was uploaded by Mohsen Attaran on 29 June 2017.
ScienceDirect
www.elsevier.com/locate/bushor
0007-6813/$ — see front matter # 2017 Kelley School of Business, Indiana University. Published by Elsevier Inc. All rights reserved.
http://dx.doi.org/10.1016/j.bushor.2017.05.011
BUSHOR-1399; No. of Pages 12
2 M. Attaran
(RP), direct digital manufacturing (DDM), layered 2016, $12.08 billion by 2018, and exceed $21 billion
manufacturing, and additive fabrication. by 2020. These figures depict an AM market that
Additive manufacturing–—the industrial version is growing robustly. Drivers for the rapid growth
of 3-D printing–—is already used to make some niche are the reduction in cost to access the technology
items in many industries. The terms 3-D printing and as well as an increase in applications (Wohlers
additive manufacturing have become interchange- Associates Inc., 2014) (See Figure 1).
able. The term additive manufacturing refers to the
technology–—or additive process–—of depositing suc-
cessive thin layers of material upon each other, 2. Evolving technologies and trends
producing a final three-dimensional product. Each
layer is approximately 0.001 to 0.1 inches in thick- 2.1. Status of technologies
ness (Wohlers Associates Inc., 2013). A wide variety
of materials can be utilized, namely: plastics, res- AM has existed for over 30 years, but only recently
ins, rubbers, ceramics, glass, concretes, and metals has this technology risen in popularity and captured
(Bogue, 2013). Rapid prototyping refers to the the interest of both technology experts and the
application of the technology. This was the first public. After 2009 when the last major patent for
application for AM, which assisted in the increase fused deposition modeling (FDM) expired, printers
of time-to-market and innovation. It can be could be produced without infringing on intellectual
referred to as the process of quickly creating a property, which bred a newfound interest and
model/prototype of a part or finished good. This investment in AM technologies (Van Lancker,
part or finished good will be further tested and 2015) (See Figure 2). The industry is still very young
scrutinized before mass production occurs. Most and technological advancements in AM, as well as
commercial 3-D printers have similar functionality. the discovery of new applications of the technology,
The printer uses a computer-aided design (CAD) are still in development. It may be a number of
to translate the design into a three-dimensional years before AM truly revolutionizes manufacturing
object. The design is then sliced into several two- and other industries in a considerable way.
dimensional plans, which instruct the 3-D printer 3-D printers all use additive manufacturing pro-
where to deposit the layers of material. cesses, but they use different technologies to build
In the past few years, many companies have the layers that form the final object. Melting or
embraced AM technologies and are beginning to softening material is used to produce the layers.
enjoy real business benefits from the investment. The two most common 3-D printing technologies are
The technology is maturing and has worked its way selective laser sintering (SLS) and FDM. SLS utilizes
into a number of markets. It is now used in proto- a high-powered laser to fuse small particles of
typing and distributed manufacturing, helping the plastic, metal, ceramic, or glass powders into
next generation of users adopt AM. The technology a mass that has the desired three-dimensional
is slowly reemerging as a valuable way to improve shape (see Figure 2). FDM employs thermoplastic
internal efficiencies. It is now one of the hottest and materials injected through indexing nozzles onto a
most interesting advancements in the design and platform. Another method uses a UV laser or similar
marketing world today. power source to cure a photo-reactive resin one
According to a 2014 report by Wohlers, the world-
wide revenues from AM was $3.07 billion in 2013; Figure 2. A diagram of the SLS build process
the industry is expected to increase to $5 billion by
The rise of 3-D printing: The advantages of additive manufacturing over traditional manufacturing 3
Figure 3. A diagram of SLA build process a lower price. However, during the past few years,
the gap between these two classifications has begun
to narrow. Now, some printers have more high-end
capabilities but come at a lower cost than they have
in the past; one of these printers can be purchased
for less than $5,000 (Curran & Baya, 2016). The
continued availability and affordability of more
capable printers is expected to continue as the
3-D printing industry continues to grow and progress.
4 M. Attaran
eventually be entirely autonomous and ensure interest and support of 3-D printing, it is only
accurate designs without human involvement. a matter of time before printers become more
affordable.
The printers are not the only expensive feature of
3. Obstacles to rapid growth 3-D printing, however; the materials required for
printing are expensive as well. The plastic filament
While AM is a breakout technology poised to change used in 3-D printing can range from $25 to $45 per
manufacturing and a variety of other industries, kilogram (Covert, 2014). Some 3-D printing compa-
implementation of the technology is only in its nies want to force the cost of filament down by
infancy and there are numerous challenges to creating competition in the market. Other compa-
applying AM in a way that would allow for its nies have turned to other means to find more rea-
significant and rapid growth. The major obstacles sonably priced filament. Protoprint, based in India,
of implementing AM technologies are summarized in makes filament out of used plastic bottles. The
the following subsections. company has partnered with garbage collectors in
order to collect and recycle the plastic bottles
3.1. Size restrictions (Covert, 2014). Just as the price of printers is
expected to decrease over the coming years, it
3-D printers are only capable of producing an object can also be expected that the cost of filament used
that is smaller than the size of the printer casing. to print will also decrease as companies find inno-
This places restrictions of the size of objects that vative ways to access and/or manufacture filament
can be manufactured. Although larger printers do and sell it for a lower cost.
exist, they need to be housed somewhere big
enough to accommodate their size. Without a large 3.4. Regulations
enough printer, sometimes a product’s parts are
manufactured in segments; however, this requires The growth and adaption of 3-D printing could have
additional time to assemble the parts of the finished colossal social and commercial implications if not
good, which starts to deter from the advantages. regulated effectively. With new technology, often
the rules and regulations do not move at the pace of
3.2. Production time innovation. Regulation of 3-D printing has already
been brought into question. In 2013, the design for a
In comparison to traditional mass production, AM is plastic handgun was freely available on the internet
relatively slow. Although the change time between (Bogue, 2013). Essentially, if a CAD design is avail-
production runs in AM does not exist, the production able and there is a printer available large enough to
output trails in comparison to conventional mass print the item, then the product can be easily, and
production run times (King, 2012). Unless the pro- without restriction, brought into existence. The 3-D
duction times of the printers can be improved when printed gun was especially concerning as it could
large quantities are demanded, conventional not be detected by metal detectors and, if printed
manufacturing will be the preferred mechanism by someone with malicious intent, could be a
of production. AM technologies are more likely to threat to public safety. As the limits of 3-D printing
be used in mass customization manufacturing, as it continue to be tested and new issues become
offers the ability to create highly customized prod- known, regulations and government intervention
ucts in limited inventory. could restrict who can perform 3-D printing and
what can be printed.
3.3. Cost
One barrier to entry that currently exists is the 4. Advantages of AM over traditional
cost of the printing equipment. However, this will manufacturing
not be a reality for much longer. With increases in
technical developments, coupled with more manu- AM is truly innovative; it opens up new opportunities
facturers entering the industry, the price of 3-D and lends itself to many possibilities for companies
printers will decrease. The commitment to advanc- looking to improve manufacturing efficiency. AM
ing 3-D printing technology is substantial. The Chi- significantly streamlines traditional methods and
nese government has set out to be the largest player has the potential to become the norm over the
in the 3-D printing industry and in June of 2013, it decade to come. According to several academic
committed approximately $245 million to drive studies, AM is a powerful tool to reduce complexity
advancements in 3-D printing. With this continued in the supply chain in a variety of approaches
BUSHOR-1399; No. of Pages 12
The rise of 3-D printing: The advantages of additive manufacturing over traditional manufacturing 5
Figure 4. Five key benefits of AM over traditional revolutionized by 3-D printing technology. 3-D printing
manufacturing would make it possible for consumers to print their
own parts for fixing their purchased products.
Simple spare parts will primarily be sold globally
by downloading a 3-D printing file. Consumers can
become micro-manufacturers.
(e.g., Cohen, Sargeant, & Somers, 2014; Huang, Liu, 4.3. On-demand manufacturing
Mokasdar, & Hou, 2013; Janssen, Blankers, Moolen-
burgh, & Posthumus, 2014; Nyman & Sarlin, 2014; Additive manufacturing facilitates easy, on-demand
Petrick & Simpson, 2013). manufacturing of replacement parts. The technol-
There are five key benefits that AM has over ogy makes it possible to have parts printed in
traditional manufacturing: Cost, speed, quality, remote locations by local distributors and service
innovation/transformation, and impact (See providers. Therefore, the delivery of goods is no
Figure 4). AM will not replace existing conventional longer a restriction. This results in the shortening
production methods. However, it is expected to of the supply chain and saving as shipping and
revolutionize many niche areas. Exponential growth stockpiling inventory is not necessary. The need
is expected to be on the horizon. Savings in cost for large bulk inventories will be a thing of the past.
and speed have been predicted in the literature.
Production savings for AM with metal for the next 4.4. Decentralized manufacturing
5 years is shown in Figure 5.
In the following sections, I summarize AM’s great- The technology could potentially reduce the need
est potential and its capability to challenge many for logistics as designs could be transferred digital-
traditional manufacturing constraints. Advantages ly, leading to a decentralization of manufacturing.
of AM over traditional manufacturing is also sum- By manufacturing items closer to the end destina-
marized in Table 1. tion, we reduce logistical costs and environmental
impact. This also reduces the time from production
4.1. Industrial efficiency to sale. In terms of environmental impact analysis,
I recommend a study by Paris, Mokhtarian, Coatané,
3-D printing of parts available to the consumer Museau, and Ituarte (2016) that compared and
could be an additional aspect of the industry evaluated AM technologies with traditional
Figure 5. Production savings in cost and speed for AM: Facts and forecast
6 M. Attaran
manufacturing processes using life cycle assess- will help since most finished products are made
ment (LCA) method. from more than one material. Other areas being
worked on include materials, printing methods,
4.5. Component manufacturing and combining additive and traditional methods
of manufacturing.
The production of component parts is the other
main application of AM. Industries that most utilize 4.7. Quality improvement
this technology require low quantities of parts that
must be printed to certain specifications with little The technology has the potential for improving
tolerance. Over 20% of the AM market is made up of quality. For example, through 3-D printed implants
component part production for the aerospace and and prosthetics patients around the world are
automotive industries (King, 2012). In 2013, the experiencing improved quality of care. The tech-
aerospace industry had in excess of 22,000 parts nology will also help companies enhance their
in use (Royte, 2013). The level of success and aftermarket services. As manufacturing is moving
growth of AM in these sectors is an indicator that closer to the consumers, the consumer is fast trans-
the level of quality arising from AM parts is satis- forming into a producer-consumer.
factory against tough industry standards.
4.8. Modifications and redesigns without
4.6. Printing complete systems penalties
The technology has the ability to print complete AM is not just about the physical creation of a part.
systems or subsystems. This multimaterial capability It facilitates design and innovation without time or
BUSHOR-1399; No. of Pages 12
The rise of 3-D printing: The advantages of additive manufacturing over traditional manufacturing 7
cost penalties. This is so important when you con- the consumer experience, the way that businesses
sider that over 60% of designs submitted for tooling manufacture and distribute goods, and how indus-
are modified while in production. This can quickly tries function.
lead to significant increases in cost and time delays.
AM enables engineers to try multiple iterations 5.1. Small-volume manufacturing
simultaneously with minimal additional costs.
Small-volume manufacturing in the AM industry is
4.9. Increased supply chain proficiency expected to increase due to the use of AM in auto-
mobile parts and aerospace engine production. This
AM could enable the creation parts at a digital factory increase will result in a $1.1 billion for the AM
near the manufacturing facility when and where they industry in 2025. As small volume production in-
are needed, eliminating lost time and costs associ- creases, the cost of 3-D printing materials is also
ated with shipping parts globally. Additionally, AM expected to come down in price. The increase in
allows for real-time visibility to production and re- production will mark an 18% increase to 9,700 tons
ceipt of parts. General manufacturing time and cost in the amount of 3-D printing materials sold. The
are minimized through the process. entry of new suppliers into the market will result in
an 11% decrease in materials cost, making 3-D
4.10. Sustainable manufacturing printing more economically feasible (Lux Research,
initiatives 2013).
8 M. Attaran
The rise of 3-D printing: The advantages of additive manufacturing over traditional manufacturing 9
10 M. Attaran
pound of material into space amounts to approxi- unique needs. The custom-made implants reduce
mately $10,000 (King, 2012). Not only could this be surgery time and cost as well as reduce the risk of
used to make repairs on the international space post-operative complications (Bogue, 2013). Lead
station, but could also allow deep-space crew mis- time is also greatly reduced. Before AM, patients
sions, as parts could simply be manufactured on would have to have molds made, which would then
the shuttle. Having the ability to print on-demand be fabricated–—a process that could take months.
decreases the amount of cargo space needed and AM allows prosthetics to be fabricated in only a day,
the need for spare parts, thus circumventing the sometimes even in a few hours (Berman, 2012).
weight restrictions on spacecraft (NASA, 2014). Prosthetics were only the first step in the com-
Boeing and Airbus are both active in component ponent production for the human body. Practi-
parts AM. Across 10 different models of military and tioners have been able to print organs that
commercial jets, there are 200 component parts function properly. Most notably, a team led by
being used (Crandall, 2013). There have been no Anthony Atala printed a human bladder using 3-D
reported failures on these parts (King, 2012). Airbus printing of biocompatible materials. Layers of living
has AM components parts on their A380, namely cells are deposited onto a gel medium and slowly
their cabin brackets (Bogue, 2013). Component built up to form three-dimensional structures. 3-D
parts produced by AM allow for designs that are bioprinting has been used for generating and trans-
more efficient and lighter. A lighter aircraft has planting several types of tissue, including skin,
significant cost savings; a reduction in one kilogram bone, vascular grafts, heart tissues, other vital
equates to a savings of $1,300 in fuel per year (King, tissues, and organs (Murphy & Atala, 2014).
2012). Another application in the medical sector is 3-D
printed dental copings. Dental copings are used in
6.2. Automotive dental crowns and bridges. These items can be
quickly printed, are durable, and can be fitted
One of the first applications of 3-D printing was in to the exact specifications of the patient’s mouth.
the automotive industry. General Motors has been This application of 3-D printing has already been
using AM to make prototypes for over 20 years in implemented as a way to enhance the patient
order to speed up time-to-market and to reduce the experience by creating a range of dental and or-
cost involved in product development (Fish, 2011). thodontic appliances (Bogue, 2013). Related appli-
Prototyping is not the only application of AM in the cations of 3-D printing include reconstructing
automotive industry. In 2011, Kor Ecologic unveiled bones, body parts, and heavily damaged evidence
the Urbee. The Urbee is the first car to have its acquired from crime scene investigations in foren-
exterior and interior completely printed. This sic pathology.
helped eliminate excess parts that cause drag and
add weight. While the car is currently a prototype 6.4. Architectural
for developing efficient vehicles, the company
hopes to release the Urbee 2 for consumer use. Computer simulations and wood models have tradi-
The use of AM for automotive manufacturing could tionally been used to review designs, but AM brings
effectively change the way cars will look and func- realistic and unequaled detail and precision to the
tion in the future (Bargmann, 2013). routine practice. Once an architect has designed a
The manufacturing of tools and parts is also building, it is now possible to load those drawings
another benefit applicable to the automotive indus- into a printer and get an exact scale model of the
try. BMW uses the technology to print handheld tools building. This is an effective tool for architects as it
that are used to attach bumpers and license plates allows improvements to be made on the design on a
(Bogue, 2013). smaller scale, thus refining the architecture plan.
The ability to review a model saves valuable time
6.3. Medical and money caused by rework.
Models are not the only way that AM benefits the
The medical industry has found revolutionary ways architectural industry. The construction industry
to implement AM. Fabricating custom implants such can benefit from this technology in terms of reduced
as hearing aids and prosthetics was one of the first construction time, manpower, and cost, while also
ways that AM transformed the medical industry allowing for increased customization. Various re-
(Berman, 2012). Practitioners are now able to scan search groups across the globe are making progress
a patient using CAD software, produce a custom toward printing houses. A group of Dutch scientists
implant or prosthetic, and fit the individual with a has built the KramerMaker, which is a 6-meter
custom component that is specified to the patient’s printer. This printer is capable of printing plastic
BUSHOR-1399; No. of Pages 12
The rise of 3-D printing: The advantages of additive manufacturing over traditional manufacturing 11
parts with dimensions of 2.2 2.2 3.5 m. A re- opportunities in a variety of industries, ranging
search group in the UK is working at printing con- from industrial to retail, for AM technologies to
crete component parts of a similar size. Researchers make a substantial impact on the way products
have managed to demonstrate the capability of are made and the way companies do business.
printing components from cement mortar (Bogue, The world is ready to hop on to a decentralized
2013). The ability to print housing components industrial revolution.
could be an effective means of providing low-cost However, experts do not expect AM to replace
housing to poverty-stricken areas and could poten- conventional manufacturing processes. It is not
tially revolutionize the way houses are built. going to revolutionize the manufacturing sector,
rendering traditional factories obsolete. Instead,
6.5. Retail we should see it as a complement and exploit its
unique capabilities. The technology will establish
3-D printed shoes, clothing, and consumer goods itself in niche sectors involving similar parts with
have already made their way into the market as AM minimal differences. The technology is opening up
enters the retail industry. Retail is poised to gain new opportunities for manufacturing and global
some major advantages from innovations in 3-D supply chain. It makes existing products better as
printing. According to John Hauer, co-founder and well as enabling firms to manufacture entirely new
CEO of 3-DLT, 3-D printing's rapid prototyping ones that were previously impossible to make.
abilities will create localized manufacturing, thus Almost every sector of the industry is riding on
reducing supply chain costs and creating overall the AM opportunity to bring innovations to reality in
better products. Hauer stated: “Products are get- industries like automotive, aerospace, and medical.
ting to market quicker, arguably as better-designed While AM started mainly as a means to create
products with more end-user feedback because prototypes, recent technological advancements
they are able to play with a working model of the and applications of AM technologies suggest that
product” (Honigman, 2014). The time and money the technology has potential to revolutionize many
that goes into forecasting what consumers may facets of everyday life.
want to buy in the future and how much of the
product should be made can cost companies bil-
lions. 3-D printers could allow retailers to create References
and deliver products in small quantities in real time,
providing actionable insight into which products Attaran, M. (2007). RFID: An enabler of supply chain manage-
will actually drive demand. For example, if a 3-D ment. Supply Chain Management: An International Journal,
model is well received, it can then be mass-produced 12(4), 249—257.
Attaran, M. (2011). Strategic implications of RFID implementations
through traditional manufacturing channels to meet in the retail industry supply chain. International Journal of RF
higher demand (Honigman, 2014). Technologies Research and Applications, 2(3/4), 155—171.
Bargmann, J. (2013, November 4). Urbee 2, the 3-D-printed car
that will drive across the country. Popular Mechanics. Avail-
7. The future of AM able at http://www.popularmechanics.com/cars/a9645/
urbee-2-the-3-D-printed-car-that-will- drive-across-the-
country-16119485/
The terms 3-D printing and AM have become inter- Berman, B. (2012). 3-D printing: The new industrial revolution.
changeable. 3-D printing technology has been in Business Horizons, 55(2), 155—162.
existence for over 30 years, but after the expiration Bogue, R. (2013). 3-D printing: The dawn of a new era in
manufacturing? Assembly Automation, 33(4), 307—311.
of one of the technology’s last patents in 2009,
Cohen, D., Sargeant, M., & Somers, K. (2014, January). 3-D
there has been tremendous industry growth as well printing takes shape. McKinsey Quarterly. Available at
as huge steps in advancing the technology to make it http://www.mckinsey.com/business-functions/operations/
more efficient and cost effective. 3-D printing tech- our-insights/3-d-printing-takes-shape
nology is still in its infancy and will require further Covert, A. (2014, February 20). 3-D printing ‘ink’ is way too
advancements in technology including reducing expensive. CNNMoney. Available at http://money.cnn.com/
2014/02/20/technology/innovation/3-D-printer-filament
costs of printers and printer material and increasing Crandall, R. E. (2013, January/February). Where will additive
printer capabilities to be faster, more accurate, and manufacturing take us? APICS. Available at http://www.
work autonomously. apics.org/apics-for-individuals/apics-magazine-home/
MIT Technology Review categorized additive magazine-detail-page/2013/01/28/where-will-additive-
manufacturing as one of the 2013’s 10 seminal manufacturing-take-us-
Curran, C., & Baya, V. (2016, August 19). The road ahead for 3-D
technologies. AM technologies are opening new printing. PricewaterhouseCoopers. Available at http://
opportunities in term of production paradigm and usblogs.pwc.com/emerging-technology/the-road-ahead-
manufacturing possibilities. There are tremendous for-3-D-printing/
BUSHOR-1399; No. of Pages 12
12 M. Attaran
DTS Bromsgrove Ltd. (n.d.). Modelling service. Available at Paris, H., Mokhtarian, H., Coatanéa, E., Museau, M., & Ituarte, I.
http://www.dtsbromsgrove.com/models/4533529057 F. (2016). Comparative environmental impacts of additive
Fish, E. (2011). Rapid prototyping how it’s done at GM: Additive and subtractive manufacturing technologies. CIRP Annals —
manufacturing technology is helping the automaker reduce Manufacturing Technology, 65(1), 29—32.
product development times and costs. Automotive Design Petrick, I. J., & Simpson, T. W. (2013). 3-D printing disrupts
and Production, 123(5), 46—48. manufacturing: How economies of one create new rules of
Honigman, B. (2014, June 3). How 3-D printing is reinventing competition. Research-Technology Management, 56(6), 12—16.
retail. Forbes. Available at https://www.forbes.com/sites/ Rifkin, J. (2012, March 3). The third industrial revolution:
centurylink/2014/06/03/how-3-D-printing-is-reinventing- How the internet, green electricity, and 3-D printing are
retail/#4735b573795d ushering in a sustainable era of distributed capitalism.
Huang, S. H., Liu, P., Mokasdar, A., & Hou, L. (2013). Additive The World Financial Review. Available at http://www.
manufacturing and its societal impact: A literature review. worldfinancialreview.com/?p=2271
The International Journal of Advanced Manufacturing Tech- Royte, E. (2013, May). What lies ahead for 3-D printing? Smith-
nology, 67(5), 1191—1203. sonian.com. Available at http://www.smithsonianmag.com/
Janssen, G. R., Blankers, I. J., Moolenburgh, E. A., & Posthumus, science-nature/what-lies-ahead-for-3-d-printing-37498558/
A. L. (2014, April). The impact of 3-D printing on supply chain Siemens. (2017a). Additive manufacturing: Facts and forecasts.
management. The Hague, Netherlands: TNO. Available at Available at https://www.siemens.com/innovation/en/
http://3-Din.nl/wp-content/uploads/2014/02/TNO- home/pictures-of-the-future/industry-and-automation/
Whitepaper-3-D-Printing-and-Supply-Chain-Management- Additive-manufacturing-facts-and-forecasts.html
April-2014-web.pdf Siemens. (2017b). Additive manufacturing (3-D-printing) of
King, R. (2012, January 9). 3-D printing coming to the spare parts for industrial gas turbines. Available at http://
manufacturing space –— and outer space. Bloomberg. Avail- www.energy.siemens.com/hq/en/services/industrial-
able at https://www.bloomberg.com/news/articles/ applications/additive-manufacturing.htm
2012-01-09/3-D-printing-coming-to-the-manufacturing- Top Max Technology. (2017). Types of 3-D printers or 3-D printing
space-and-outer-space technologies overview. Available at http://en.topmaxtech.
Lux Research (2013). Building the future: Assessing 3-D print- net/reviews/2015/12/27/types-of-3-D-printers-or-3-D-
ing’s opportunities and challenges. Boston: Lux Research Inc. printing-technologies-overview/279.html
Murphy, S. V., & Atala, A. (2014). 3-D bioprinting of tissues and Van Lancker, P. (2015, August 12). The influence of IP on the 3-D
organs. Nature Biotechnology, 32(8), 773—785. printing evolution. CREAX. Available at https://www.creax.
NASA. (2014, fall). Space tools on demand: 3-D printing in zero com/en/our-work/the-3-D-printing-evolution-insights-
g. Available at https://www.nasa.gov/sites/default/files/ on-the- influence-of-ip-on-technology-dev
files/3-D_Printing-v3.pdf Wohlers Associates Inc. (2013). Wohlers report. Fort Collins, CO:
Nyman, H. J., & Sarlin, P. (2014). From bits to atoms: 3-D printing Wohlers.
in the context of supply chain strategies. IEEE. Available at Wohlers Associates Inc. (2014). Wohlers report. Fort Collins, CO:
http://ieeexplore.ieee.org/document/6759120/ Wohlers.