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discussions, stats, and author profiles for this publication at: http://www.researchgate.net/publication/270569329

Dynamic Properties of Air-Jet Yarns Compared

to Rotor-Spun Yarns
ARTICLE in TEXTILE RESEARCH JOURNAL FEBRUARY 2015
Impact Factor: 1.33 DOI: 10.1177/0040517514563726

3 AUTHORS, INCLUDING:
Mohamed Eldessouki

Ramsis Farag

Technical University of Liberec

Auburn University

31 PUBLICATIONS 5 CITATIONS

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Original article

Dynamic properties of air-jet yarns

compared to rotor spinning

Textile Research Journal

0(00) 111
! The Author(s) 2014
Reprints and permissions:
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DOI: 10.1177/0040517514563726
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Mohamed Eldessouki1,2, Sayed Ibrahim3 and Ramsis Farag2,4

Abstract
In yarn production, the mechanism of twist insertion is a major factor that affects the structure and ultimately the
properties and characteristics of the produced yarn. Moreover, the differences within the same spinning technique may
have a similar effect where, for instance, the properties of yarns produced using Murata Vortex Spinning (MVS) and
Reiter air-jet spinning (J20) will differ, although both technologies are just varieties of the same twist insertion principle of
using a stream of air. In this work, the structure and properties of Murata vortex, Reiter, and rotor-spun yarns are
compared with more emphasis on their mechanical behavior under dynamic stresses. Unlike the dynamic mechanical
analysis of materials that presumes linear viscoelastic behavior and is only valid under small strains, this work suggests a
cyclic loading with larger strains as a means of the dynamic evaluation of the yarns. Results show no significant difference
between the technologies in terms of their initial modulus and maximum elongation, while a significant difference
between the technologies is observed in the maximum loading and, to some extent, the work of rupture. The dynamic
sonic modulus is compared to the results of the standard mechanical and the suggested cyclic loading tests, and a high
correlation between the values was observed.

Keywords
air-jet yarns, dynamic modulus, Rieter jet-spinning, Murata vortex-spinning, viscoelastic properties of yarn

Introduction
There is a direct relation between the yarn forming process, structure, properties, and performance. Yarn
production technology identies the yarn forming
process term in this series of relations, where ringspinning, rotor spinning, air-jet spinning, friction spinning, etc., are found to have dierent eects on the
produced yarns. Each production technology has its
own advantages and disadvantages, as determined
within a certain application window. Air-jet spinning,
for instance, was found to be successful in producing
yarns with reasonable tenacity (Figure 1(a)) at a relatively much higher speed than the ring spinning and the
rotor spinning (Figure 1(b)).1 The Murata Jet Spinner,
MJS 801, was rst exhibited at ATME-International in
1982 as a modication of the fasciated spinning system
introduced by Du Pont in 1956.2 At that stage, the
system had some constraints on producing yarns of
100% cotton or cotton-rich blends, which was then
solved by introducing the Murata Vortex Spinning
(MVS) that allows processing these bers and producing ne yarn counts.

In 2003, the Rieter Group introduced its own J10

air-jet spinning technology that was updated in 2008
with J20, which was commercialized with 200 spinning
units and up to 500 m/min delivery speed. The jets used
in Murata and Rieter are dierent in design and construction but produce jet yarns based on the same principle of twist insertion by the stream of air. In both

1
Department of Materials Engineering, Technical University of Liberec,
Czech Republic
2
Department of Textile Engineering, Mansoura University, Egypt
3
Department of Textile Technology, Technical University of Liberec,
Czech Republic
4
Department of Polymer and Fiber Engineering, Auburn University, USA

Corresponding author:
Mohamed Eldessouki, Department Materials Engineering, Technical
University of Liberec, Studentska 2 461 17 Liberec 1 Liberec, Czech
Republic.
Email: eldesmo@auburn.edu

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Figure 1. (a) Relationship between the tenacity and the yarn counts for ring-spun, Murata Vortex Spinning (MVS), and open-end
(OE) yarns. (b) Comparative production speeds for different yarn counts produced on ring-spinning, MVS, and OE systems.1

systems (MVS and Reiter), bers leave the front roller

of the drafting device and are drawn into the ber
strand passage by air suction created at the nozzle.
The distance between the nozzle tip and the drafting
roller is crucial in generating the free ber ends and
this distance should be slightly shorter than the average
length of the bers being processed, because bers
shorter than this distance are usually lost and directed
to the waste.3 According to the air pressure, the vortex
can revolve at speeds of 1,000,000 rpm, which allows a
twist of bers with a rotation speed of 300,000 rpm
where the speed dierence is attributed to the mechanical friction.3 The vortex stream focuses the leading
ends of the bers at the yarn center and directs the
trailing ends to form the outer layer that wraps the
yarn. This action results in a yarn structure with
bers at the core with a very low twist and are almost
parallel, while the twist level grows with increasing yarn
diameter (yarn build up). Due to the vortex forces and
the twist of the surface bers, a certain torque is generated in the yarn being formed. This torque has the
tendency to twist the ber bundle between the drafting
unit and spindle. This kind of twist must be avoided to
prevent interference with the generation of the necessary free ber ends. Therefore, the two systems adopted
two solutions for this problem, where Murata used a
needle in the nozzle block, as illustrated in Figure 2(a),
and Reiter used a curved path of the bers at the nozzle
tip with an arc shape, as shown in Figure 2(b). The ber
path is another dierence in the design of the nozzles of
the two systems. In the Murata system, the drafting
system is located above the spinning nozzle and yarns
are delivered at the bottom. For space eciency reasons, Rieter reversed the setup and the sliver is fed from
the bottom and delivered yarn is wound up at the top
after passing the air-jet twist insertion.
Air-jet yarns were compared with other spinning systems in the literature,58 where Soe et al.4 produced

cotton yarns spun on the MVS system and compared

them with yarns spun on ring and open-end rotor systems. Their work focused on the structure of the yarns
and the dierences in ber pitch, arrangement, and
angles, as well as some yarn parameters such as the
yarn diameter, helix angle, hairiness, evenness, and tenacity. The study found MVS yarns to be the bulkiest
among the three yarns, with more parallel bers at the
core (with almost no twist) and wrapped by other
bers. MVS yarns were also found to be stier than
ring and rotor-spun yarns, while the ring-spun yarn
showed the highest tenacity values. Another comparative study for the MVS system with ring and rotor-spun
yarns was performed by Erdumlu et al.,6 where the
performance of these yarns from dierent materials
and dierent counts was compared after transforming
to knitted nished fabrics. MVS yarns showed the least
hairiness and the highest pilling resistance among the
three systems. The dimensional stability and the bursting strength of the Vortex knitted fabrics were close to
those of the fabrics from ring spinning and outperform
the fabrics of rotor spinning. The VORTEX website by
Murata-Machinery7 demonstrates some structural and
property dierences between the Vortex, the ring, and
the rotor-spinning systems. Figure 3 shows the twist
distribution across the cross-sections of the three
yarns where twists are almost constant in ring-spun
yarns. The gure also shows the possibility of wrapping
bers to change their twist direction at the surface of
rotor yarns, while a monotonic increase in twist intensity is observed in vortex yarns with more parallel bers
at the yarn core.
In this work, we are trying to go beyond the comparison of dierent systems to compare yarns of the
same family that are produced using the same production principle with more emphasis on physical properties of the yarns under dynamic loading. This paper
tries to investigate the relatively new air-jet system

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Figure 2. Illustrations for the Murata Vortex Spinning system (a)3 and the Rieter jet spinning (b).4

using Scanning Electron Microscopy (SEM) and proceeds with physical properties of the studied yarns.
Mechanical testing of the yarns was performed using
the commonly used single-end strength tests at constant
rate of extension (CRE) as well as cyclic loading/
unloading. The sonic modulus of the yarns was investigated using the Dynamic Modulus Tester (DMT).

Methods
Cyclic modulus

Figure 3. Twist distribution through the cross-section of yarns

produced on different spinning systems (color online only).6

Testing of yarn behavior under dynamic loading/

unloading is required to simulate the actual loading
scenarios during the end use of the yarn. This kind of
testing is necessary for certain applications, such as tire
threads and carpet pile yarns9 (where yarn resilience
can be measured before the production of the end
product). Warp threads are also subjected to dynamic
loading during the weaving process.10 The dynamic
loading of yarns is usually studied within the viscoelastic properties of the material, where a sinusoidal strain
e (sinusoidal stress is applied in some experiments) with
certain amplitude em is applied to the yarn in the form
e em sin!t

developed by Rieter and compares its properties to

other systems of the same family (e.g. MVS) as well
as other systems (e.g. rotor spinning). The study
begins with the structure of the yarns as observed

where ! 2:F is the angular frequency (radian/

second), F is the frequency in Hertz, and t is the time
of application. At steady-state conditions, the developed stress f in the bers material will also have a

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sinusoidal shape and will be related in phase to the

imposed extension as
f fm sin!t 

where fm is the stress amplitude and d is the angular

phase dierence between the applied extension and the
resulting stress. According to this relation, and using
the trigonometric identities, the stress can be rewritten
in the form
f fm cos: sin!t sin: cos!t

Therefore, the stress can be considered as two components: one that is in-phase with the strain and equals
fm : cos, and another that is 90 out-of-phase and
equals fm : sin. These values are used to dene the
dynamic modulus of the material as
E

in  phase stress amplitude fm : cos

strain amplitude
em

dynamic loading cycles.9,12 The calculation of this

modulus is slightly modied from the chord modulus
by considering the slope of a tted trend line (instead
of the chord line itself) for the loading portion of the
cycle. The yarns delayed recovery was not considered
during the unloading cycle and the calculation of the
tting line excludes the unloading portion of the cycle,
because this portion mainly depends on the viscoelastic
properties of the bers, their relaxation time, and the
unloading speed. Figure 4 shows a typical dynamic loading of a vortex yarn that goes under 40 loading cycles
and the inset of the gure shows an example for the rst
cycle, where the loading and unloading portions were
identied and the modulus of this cycle is calculated as
the slope of the demonstrated dotted trend line.
The resilience (R) of the yarn at each cycle is calculated by the numerical integration of the yarn load
(P) as a function of its elongation (x) to calculate the
area under the curve (W). This can be expressed mathematically as
Z

Also, the dissipation or loss factor of the material (w)

can be calculated as
out  of  phase stress amplitude

in  phase stress amplitude

fm  sin sin
tan

fm  cos cos

These parameters are commonly used in evaluating

the dynamic behavior of textile materials, but it should
be noted that these parameters, according to the above
listed equations, are only valid for materials that obey
the laws of linear viscoelasticity. Most textile bers,
however, are known for their nonlinear behavior,
which means that these parameters can only be applied
at very small strains, otherwise they might be considered as approximates to the material behavior.11
Therefore, this study suggests the cyclic loading in a
way that simulates the actual loading scenarios by
applying higher strains on the yarn. However, the
applied strain is limited to have loading cycles within
the region around the approximated yarns yield point,
where the slope modulus of the loadelongation curve
changes signicantly. The maximum load during loading cycles was about 3040% from the strength of these
yarns, then the yarn was unloaded without reaching a
stress value of zero to keep an initial or a static load on
the yarn at the beginning of each cycle. Some parameters were extracted from each curve; among them the
cyclic modulus and the resilience were examined during
the study of these yarns.
The cyclic modulus can be expressed as the chord
modulus of the loadelongation curve at dierent

xmax

pxdx

xmin

The resilience of the ith cycle (Ri) represents the hysteresis during that cycle and can be calculated as the
dierence between the loading and the unloading portions of the cycle as follows:
Ri Wloadi  Wunloadi

Sonic modulus
The dynamic (sonic) modulus is based on a principle of
the pulse propagation and its speed in the material. To
measure the sonic speed, an apparatus with two transducers (transmitter and receiver) that touch the yarn
specimen and the time interval for the pulse to travel
from one to the other is measured. By knowing the distance between the transducers and the measured time,
the sonic speed C through the material can be measured,
and this speed can then be used in calculating the
sonic modulus of the yarn according to the relation
E :C2

where E is the sonic modulus in GPa, C is the sonic

speed in the material in km/s, and  is the material
density in (g/cm3). This relation can be reformulated to
E k:C2

where E is the sonic modulus in cN/denier, C is the

sonic speed in the material in km/s, and k is a constant

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Figure 4. Loadelongation behavior of vortex yarn under cyclic loading. The inset is an example for the calculation of the modulus in
the first cycle (the blue curve represents the unloading, the red curve represents the loading, and the black dotted line represents the
fitted trend line for the loading cycle). (Color online only.)

conversion factor that accounts for the material

volumetric and linear densities, which was found to
be 11.3.12

under a pre-tension of 0.5 cN/tex. Thirdly, the DMT by

Lawson-Hemphill was used to measure the velocity of
the sonic pulses in the yarns at 5 kHz.13

Experimental setup

Results and discussion

Three yarns of similar counts (20 tex) made from 100%

viscose were produced on dierent systems. MVS and
Reiter (J20) yarns were produced at production speed
of 375 m/min and an air pressure level of 6 bars. Rotorspun yarn was prepared using a similar sliver as the one
used with the other systems. Viscose bers used in the
production were obtained from Lenzing Technik
Company with 38 mm average staple length, neness
of 1.52  0.39 dtex and a tenacity of 20.65  3.72 cN/
tex, as measured using the Vibroscope for 50 ber
samples.
Yarn samples were analyzed for their structure using
a TESCAN VEGA TS 5130 scanning electron microscope (TESCAN s.r.o., Czech Republic). Yarn samples
were coated with gold using an SCD 030 auto sputter
coating device (Balzers Union FL 9496 Balzers).
Yarn mechanical properties were studied using three
tests; rstly, the common load/elongation response
was performed according to the ASTM standard
D 2256 0214 on a universal testing machine of the
Labortech Tiratest instrument. Secondly, the same
instrument was used for applying a cyclic loading
unloading on the yarn. Yarn samples were loaded for
40 cycles at levels between 0.2 and 1 N, followed by a
continuous extension until the yarn breakage. All yarn
samples were tested at a gauge length of 250 mm and

The yarns produced on the three dierent systems were

examined under the scanning electron microscope for
their structures. As depicted in Figure 5, air-jet yarns
(both Rieter and Murata) show a structure where the
strand of the input bers is divided into two groups of
relatively parallel bers in the core and wrapping bers
at the sheath. The amount of wrapping bers is aected
by the air pressure in the nozzle, the nozzle design parameters, and the delivery speed. Rotor yarns, on the
other hand, show wildly entangled wrapping bers,
which do not make a helical shape as the sheath
bers of the air-jet yarns. Yarns produced on Rieter
show hairiness and fuzziness that are relatively higher
than that for Murata spun yarns, as indicated in
Figure 5. Although the twist factor and its measurement are questionable for air-jet yarns, the pitch of
the twists and the twist angle are qualitatively higher
in the case of Murata yarns compared to Rieter yarns.
On the other hand, rotor-spun yarns show the belt
bers that wrap the other twisted bers in a way that
is characteristic for rotor spinning.
The mechanical properties of the yarns were evaluated using the stressstrain response of yarns. Graphs
are shown in Figure 6 with the individual curves for
samples of Rieter yarns in Figure 6(a), Vortex yarns
in Figure 6(b), and rotor-spun yarns in Figure 6(c).

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Figure 5. Scanning electron microscope pictures for the longitudinal view of Rieter, Murata Vortex Spinning, and rotor yarns,
respectively.

Figure 6. Forceextension relations for the Rieter, Murata Vortex Spinning, and rotor yarns: (a)(c) individual curves.

The initial modulus, the maximum load, the maximum

elongation, and the work of rupture were extracted and
analyzed to dierentiate between these curves. Identical
values for these four parameters with their statistics are
shown in Table 1 for the dierent yarns. Studying these
results shows that Rieter yarns have an elastic modulus
slightly higher than that of rotor yarns, while Vortex

yarns have a lower modulus value. A trend similar to

that for the modulus can be observed for the maximum
elongation property while the other yarn parameters,
such as the maximum load and the work of rupture,
have a slightly dierent trend where Rieter yarns have
the highest values followed by Vortex then rotor yarns.
It is important to note that this ranking in properties

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Table 1. Mechanical properties of the different yarns

Youngs modulus [g/denier]

Maximum force [N]

Maximum elongation [mm]

Work of rupture [mJ]

Sample number Rieter

Vortex

Rotor

Rieter Vortex Rotor Rieter

Vortex

Rotor

Rieter

Vortex Rotor

1
2
3
4
5
6
7
8
9
10
Average
Stand. dev.

54.7
57.3
55.3
63.7
57.6
82.0
66.5
54.9
64.0
54.9
61.092
8.547

44.0
61.3
70.8
54.5
60.7
90.5
66.1
57.8
69.0
66.3
64.086
12.156

2.932
3.262
2.853
2.730
2.645
2.664
3.214
1.438
1.438
2.549
2.573
0.642

7.420
10.220
14.507
10.696
7.492
14.163
10.239
11.431
11.706
11.353
10.923
2.344

12.256
10.240
6.801
10.441
12.430
7.375
13.575
13.714
14.816
12.500
11.415
2.674

25.473
28.006
21.214
23.421
20.467
20.940
29.689
6.198
6.198
17.267
19.887
8.100

8.462
12.955
24.020
15.997
8.120
25.009
14.874
17.146
19.846
14.469
16.090
5.709

69.8
63.9
64.7
55.5
53.5
54.1
74.0
70.8
70.8
73.4
65.060
8.050

1.688
1.973
2.613
2.316
1.635
2.750
2.276
2.164
2.658
1.995
2.207
0.391

2.020
1.484
1.342
1.745
2.075
2.029
2.070
2.123
2.057
2.084
1.903
0.280

14.154
14.184
11.557
13.644
12.529
12.737
15.206
6.226
6.226
10.774
11.724
3.177

15.337
9.481
5.835
11.633
17.031
9.839
17.910
18.583
18.986
16.488
14.112
4.573

Table 2. Analysis of variance for the mechanical properties of the different yarns

Modulus

Maximum force

Maximum strain

Work of rupture

Source of variation

SS

df

MS

P-value

F crit

Between groups
Within groups
Total
Between groups
Within groups
Total
Between groups
Within groups
Total
Between groups
Within groups
Total

85.5115
2570.6440
2656.1555
2.2482
5.7930
8.0412
3.2639
204.6553
207.9193
172.2703
1072.0674
1244.3377

2
27
29
2
27
29
2
27
29
2
27
29

42.7558
95.2090

0.4491

0.6429

3.3541

1.1241
0.2146

5.2392

0.0120

3.3541

1.6320
7.5798

0.2153

0.8077

3.3541

86.1351
39.7062

2.1693

0.1338

3.3541

does not give absolute superiority to a system over the

other where the values of the yarn properties are usually related to the required end products performance.
The analyses of variance (ANOVAs) for these
parameters are indicated in Table 2, which shows no
signicant dierence between the yarn production technologies in terms of their initial modulus and maximum
elongation while a signicant dierence between these
technologies in terms of their maximum loading is
observed, which is also reected on the work of rupture
with some degree of signicance. The signicant dierence between the maximum load for each yarn can be
attributed to the dierent arrangement of bers inside
the yarn, where more parallel bers were observed in
the Rieter production technology as demonstrated earlier in the SEM pictures.

The mechanical behavior of the yarns under cyclic

loading is shown in Figure 7 for the dierent types of
yarns. The calculated dynamic moduli as well as the
resilience of the yarns at dierent loading cycles are
shown in Figures 8 and 9, respectively. It can be seen
from Figure 8 that the yarn modulus increases with the
increase in the number of loading cycles. This behavior
can be explained by increasing the alignment of bers
to the yarn axis every time the load is applied on the
yarn. This alignment increases the helical angle of the
bers and allows more bers to resist the applied load,
which consequently increases the measured modulus.
Increasing the orientation of bers results in increasing
their utilization factor in the yarn and allows stier
behavior of the yarn at higher numbers of loading
cycles. The cyclic modulus increased after 40 cycles by

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Figure 7. Loadelongation behavior of the Rieter, Murata Vortex Spinning, and rotor yarns under cyclic loading.

about 25.7%, 25.9%, and 29.4% from its value at the

rst cycle for Rieter, Vortex, and rotor yarns, respectively. Also, the rate of change in the cyclic modulus
with the number of cycles is almost the same for all
yarns produced on dierent technologies, which might
be attributed to the use of the same ber material in all
yarns. On the other hand, the relatively higher increase
in the cyclic modulus of the rotor-spun yarn reveals
higher rearrangement of the bers, which is expected,
because those yarns are known to be bulkier and have
highly random orientation.
The resilience of the yarns is demonstrated by their
hysteresis, which was found to decrease after the application of the cyclic loading with a tendency of the loading and unloading curves to get closer until being
nearly identical after a certain number of cycles. The
continuous shift of the hysteresis loops is due to the
creep properties of the material and a permanent

deformation was found to form in the material after

certain number of cycles. The rate of change in yarn
resilience (the slope of the curves in Figure 9) is similar
in all yarns, which can be attributed to the characteristics of the viscose bers used in all these yarns.
The calculation of the sonic modulus is based on the
sonic speed in the yarn material, as indicated earlier.
Sonic speed is the relation of the distance between sending and receiving probes to the traveling time of the
sonic pulses, as shown in Figure 10 for individual
yarn samples. The dynamic sonic moduli, as calculated
from sonic speeds in the yarns material, are listed in
Table 3 with their ANOVAs shown in Table 4. It can
be noticed that the dynamic moduli calculated from the
sonic test are correlated to the Youngs moduli
obtained from the standard test (as shown in
Figure 11) and, therefore, the sonic tester can be preferred as a non-destructive way of measuring the

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Figure 8. Change in yarn modulus after many cycles of loading.

0.4
0.35

Yarn Resilience [N.mm]

0.3
0.25
0.2
Rieter

0.15

Vortex
Rotor

0.1
0.05
0
0

10

15

20

25

30

35

40

45

-0.05
No. of loading cycle

Figure 9. Change in yarn resilience after many cycles of loading (color online only).

Youngs modulus of the material. The sonic tester is

also more sensitive to many of the material parameters,
especially at the microscopic and molecular levels.
Sonic modulus, for instance, is sensitive to the ber
crystallinity, the ber orientation, and the packing
density of bers inside the yarn (where the eect of
porosity and pulse transfer across dierent media is
considered). According to these sensitivity issues, the
modulus measured with the sonic test might be lower

than that measured with the standard test, as shown in

Figure 11. Further investigations might be required to
take one or more of these parameters in account to
increase the precision of the sonic testing method.

Conclusion
Staple ber yarns were produced on dierent systems of
twist insertion mechanisms. All yarns were made of

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10

Textile Research Journal 0(00)

22

Reiter 1
Reiter 2

20

Reiter 3
Reiter 4

18

Reiter 5

Distance [cm]

Rotor 2
16

Rotor 3
Rotor 4

14

Rotor 5
Rotor 1

12

Vortex 2
Vortex 3

10

Vortex 4
Vortex 5
Vortex 1

8
60

70

80

90
100
Time [microseconds]

110

120

130

Figure 10. Plot of the individual readings of sonic pulse times at different probe distances used to calculate the sonic speed (color
online only).

Table 3. Sonic (dynamic) modulus [g/denier]

Average
Stand. dev.

Reiter

Vortex

Rotor

62.09
55.63
68.56
52.75
55.18
58.84
6.44

49.88
52.01
46.05
46.69
53.60
49.65
3.28

66.54
49.12
62.80
53.71
45.89
55.61
8.82

Table 4. Analysis of variance for the sonic modulus

Source of variation

SS

df

MS

P-value

F crit

Between groups
Within groups
Total

217.762
520.137
737.899

2
12
14

108.881
43.345

2.511974

0.122666

3.885294

viscose bers. Results show that the tested yarns have

no signicant dierence in terms of their initial modulus and maximum elongation, while a signicant dierence between the technologies is observed in the
maximum loading and, to some extent, the work of
rupture. The cyclic modulus of all yarns increased
with the same rate by increasing the number of loading
cycles due to the better orientation of the bers inside
the yarns, while a slightly higher increase in cyclic

modulus was observed with rotor yarns as their initial

ber orientation is more randomized. The dynamic
modulus, calculated through the sonic speed in the
yarn material, was found to be highly correlated to
the Youngs modulus, calculated from the regular
yarn breaking test, which gives an indication as to the
validity of using such a non-destructive test for evaluating the yarn materials. This work will extend to investigate the physical properties of air-jet yarns with the

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Eldessouki et al.

11

70
60

Modulus [g/denier]

50
40

Sonic
Standard

30
20
10
0
Reiter

Vortex

Rotor

Figure 11. Average moduli of different yarns as measured using the sonic tester and the standard tension test.

interaction between machine parameters (e.g. nozzle

diameter, air pressure, delivery speed, etc.) and internal
yarn structure (e.g. core-to-sheath ratio, amount of
twist inserted, etc.) for dierent ber materials and
yarn counts.

Funding
This work was supported by the ESF operational program
Education for Competitiveness in the Czech Republic in
the framework of project Support of engineering of excellent
research and development teams at the Technical University
of Liberec No. CZ.1.07/2.3.00/30.0065.

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