“Dear Sir, I am looking for a cutting machine to process 100mm-thick polyester foam packaging with a working size of 1200×1000mm. Best regards, Peter Goossens.” This inquiry email was sent to us by a customer from Belgium.
His required working dimension of 1200×1000mm is not a standard size for regular CNC equipment. After learning more about his production demands, we customized a fixed-table CNC oscillating knife foam cutting machine sized 1200×1000mm for him.
We then worked out a reasonable customized processing plan based on his requirements: an integrated tool head system fitted with a pneumatic oscillating knife (POT, 8mm amplitude and vibration frequency ≥150Hz) plus a 350W milling spindle for grooving work. The Z-axis was specially heightened to a minimum travel of 200mm, together with a 7.5kW zoned vacuum adsorption platform to fix lightweight foam and prevent shifting during cutting. This configuration controls edge vertical deviation within ≤0.5°, solves deformation and difficult grooving issues commonly seen when cutting extra-thick foam, and guarantees neat cutting edges.
Why Is a CNC Oscillating Knife Foam Cutting Machine Better Suited for the Polyester Foam Packaging Industry?
Demand for custom foam inserts keeps rising across the industrial packaging sector. Meanwhile, packaging factories face mounting pressures: stricter precision standards from clients, shorter delivery cycles, growing labor costs, and more small-batch diversified orders. Conventional cutting methods suffer from low efficiency, rough cut edges or severe thermal burning, which can no longer satisfy current market needs.
According to the industry research “The Future of Protective Packaging to 2028” released by Smithers, the global protective packaging market will keep expanding in the coming years, with customized packaging solutions as one of its fastest-growing segments. Source: https://www.smithers.com
Adopting a cold mechanical cutting principle, either a CNC oscillating knife cutter or CNC oscillating knife cutting machine can deliver dust-free, odor-free, vertical and high-precision cuts without damaging foam’s original physical properties, making them the top replacement option for most packaging manufacturers.
| Hot Wire / Laser Cutting | Manual / Band Saw Cutting | CNC Oscillating Knife Cutting |
| 1-2mm thermal shrinkage easily occursHarmful VOC gas releasedCarbonized and hardened cut cross-section | Poor dimensional consistencyCut bevel over 3°Cannot process blind grooves | Cold physical cutting with zero deformationVertical tolerance below 0.5°Combination of oscillating knife and milling cutter |
Drawbacks of Traditional Cutting Methods for Thick Foam Processing
When cutting 100mm-thick polyester foam, heat conduction from hot wire cutting and CO₂ laser cutting creates 1-2mm local thermal shrinkage at cut edges. This leaves carbonized hard cross-sections and releases harmful volatile organic compound (VOC) fumes.
Hand cutting or band saw cutting requires highly skilled operators, fails to maintain consistent cut sizes and runs at low efficiency. Uneven cutting force easily bends blades and creates side bevels larger than 3°, ruining positioning and shockproof performance of precision packaging inserts.
Complex formed structures are nearly impossible to produce via traditional cutting. Modern packaging inserts feature irregular outlines, multi-layer layouts, embedded slots and positioning holes. Manual machining is inefficient and inconsistent, driving more packaging companies to switch to digital cutting equipment.
Core Equipment Capability Requirements for Cutting 100mm-Thick Polyester Foam
Full Penetration Cutting Capacity
Tools need to slice fully through 100mm polyester foam in a single pass. Repeated cutting lowers working efficiency, reduces precision and causes uneven cut paths.
Cutting Edge Verticality
100mm thick foam frequently ends up with tapered cuts (wider top narrower bottom or vice versa), a common packaging production defect. Precision packaging normally limits vertical cutting error within 1°.
Vibration Stability
Cutting resistance rises sharply when blades sink deep into 100mm foam. Poor machine rigidity triggers blade offset, path deviation and uneven cutting surfaces.
Grooving Function
Packaging inserts need not only outline cutting but also cavities for product placement, cable routing and buffer padding, so equipment must support milling and grooving operations.
Why Oscillating Knife Cutting Technology Fits Packaging Foam Production
Oscillating knife cutting is a cold-cut process with no heat-affected zones, the biggest advantage over hot wire cutting.
Hot wire cutting regularly causes melted edges, burnt surfaces, dimensional shifts and toxic gas emissions. In contrast, an oscillating knife makes 10,000 to 15,000 vertical reciprocating strokes per minute to directly sever foam fiber structures for smooth, clean cuts, an obvious benefit for polyester foam processing.
Besides, both a CNC oscillating knife cutting machine and CNC oscillating knife cutter directly import CAD files. No extra mold fabrication is needed after design revisions, perfect for small-batch production, varied orders and customized packaging jobs.
Per digital manufacturing research published by VDMA (German Engineering Federation), flexible digital cutting equipment drastically shortens product development and model changeover time. Source: https://www.vdma.org
Packaging producers simply import different CAD drawings to start cutting without waiting for custom molds.
Key Machine Configurations for Processing 100mm-Thick Polyester Foam
To cut 100mm thick polyester foam well, machines require robust mechanical rigidity, precise transmission and reliable material fixing. Critical hardware includes heavy-duty welded machine frames for stable high-speed running, raised gantry frames for extended Z-axis stroke and high-power vacuum suction systems to secure lightweight foam sheets on worktables.
These core components avoid machine resonance and directly control finished product dimensional tolerance. Improper configuration leads to unsatisfactory cutting results no matter how premium the fitted tools are. Define your actual processing demands first before confirming machine specifications for purchase.
Applicable Packaging Products for 1200 × 1000mm Working Size
The compact 1200 × 1000mm footprint suits small and medium-sized manufacturers perfectly. It efficiently produces flight case liners, precision instrument positioning boards, anti-static electronic trays and custom hardware toolbox inserts. Entire foam sheets complete precision nesting and cutting on one unit without secondary blanking.
How Frame Structure Influences Thick Foam Cutting Precision
Deep blade penetration during 100mm foam cutting plus high-frequency reciprocating knife movement generates strong horizontal impact loads. All Trustercnc CNC oscillating knife foam cutting machines use heavy thick-wall steel tube welded frames processed under 600℃ high-temperature stress relief annealing, with built-in reinforcing ribs to boost frame tensile strength and minimize deformation. Poor frame rigidity creates severe body resonance once running speed hits 8000mm/min.
High-precision CNC path control relies on rigid machine construction to counteract physical shear force from frequent oscillating cuts; insufficient rigidity worsens surface finish and cutting accuracy. Related academic papers from Springer include “Fast and high precision control approach: polyline analysis and optimal NURBS interpolation for CNC machine tools” and “Accurate prediction of machining feedrate and cycle times considering interpolator dynamics”. These studies confirm optimized interpolation and frame rigidity greatly improve thick soft material cutting precision, available for review on Springer’s official research database.
Functions of Vacuum Adsorption Platform in Foam Processing
Polyester foam is lightweight, bulky, prone to compression deformation and easy to shift during cutting. A single 1200×1000mm foam panel covers 1.2 square meters, and lateral cutting force from high-speed oscillating knives easily displaces unsecured stock. Shifting material brings dimensional errors, misplaced grooves, tilted cuts and partial tearing. All Trustercnc CNC oscillating knife cutter models adopt zoned vacuum tables.
Standard 1600×2500mm machines split tables into 6~8 suction zones, while the compact 1200×1000mm platform divides into four independent suction areas: front-left, front-right, rear-left and rear-right, stabilizing vacuum pressure between -20kPa ~ -25kPa. Operators activate only needed suction zones according to raw material dimensions to save power and strengthen fixation.
A minimum 5.5kW vacuum pump is required for regular 100mm polyester foam cutting; dense polyester or oversized sheets need a 7.5kW or higher vacuum system (the Belgian client’s machine was fitted with a 7.5kW vacuum pump). Field data proves stable vacuum setup eliminates over 80% of material shifting problems and improves cutting consistency significantly.
Is Automatic Feeding System Necessary?
Auto feeding is unnecessary for thick solid polyester foam sheets and may damage cutting precision. Manual flat placement of foam onto the worktable works best, whereas automatic feeders are designed for rolled materials like fabric and leather.
Recommended Tool Combinations for Thick Polyester Foam Packaging Production
Polyester foam insert manufacturing covers outer contour cutting, embedded part slots, deep grooving and irregular forming tasks requiring different dedicated tools: pneumatic oscillating knives for fast regular cutting, 400W high-power servo oscillating knives for high-density hard foam such as dense EVA, plus milling cutters for all grooving work.
| Trustercnc Three-Head Integrated Tool Setup | ||
| Pneumatic Oscillating Knife (POT) | 400W Servo Oscillating Knife (EOT) | High-Speed Spindle Milling Cutter |
| 8mm large cutting stroke150-200Hz high-frequency impactRapid cutting for low-density foam | 400W closed-loop servo torque outputPrevents blade deflection on thick stockStable cuts for high-density foam | 350W rated power24000 RPM max speedSteps and layered groove machining for inserts |
How Pneumatic Knives Enable High-Speed Thick Foam Cutting
Pneumatic knives run on compressed air driving high-frequency blade reciprocation. They outperform 400W servo knives in cutting speed with vibration frequency ranging from 8,000 to 12,000 strokes per minute, ideal for medium & low-density polyester foam.
Fast cutting speed: On a Trustercnc CNC oscillating knife foam cutting machine, pneumatic knives cut outer outlines of 100mm polyester foam at 600~1500mm/s, varying with foam density, blade length and cutting path complexity.
Neat finished edges: Reciprocating shear cutting replaces brute compression for smoother cuts, better product fitting, upgraded packaging appearance and fewer reworks for packaging manufacturers.
Low maintenance cost: Simple pneumatic structure only needs regular blade replacement, air source inspection and seal checks to keep running with modest ongoing service expense.
Why 400W High-Power Servo Knives Suit 100mm-Thick Foam
Foam with density ≥50kg/m³ such as dense polyester, compact PE or high-hardness EVA features tight internal structures and heavy cutting resistance, which often causes stuck or broken blades when processed by pneumatic knives, making 400W servo oscillating knives the optimal solution.
Stable powerful cutting output: Compared with standard oscillating knives, the 400W servo unit maintains steady cutting force even deep inside 100mm-thick dense foam.
Superior edge verticality: Servo closed-loop motors deliver constant torque to avoid blade wobble during deep penetration, holding consistent stroke and feed speed for perfectly straight cut faces.
Premium high-value packaging choice: Medical equipment, precision optics and semiconductor devices demand near-perfect foam-to-product matching, so servo knife setups are preferred for these high-end packaging applications.
In modeling the shear resistance of hard polymeric materials, servo feedback is crucial for reducing tool deflection caused by uneven resistance. For related research findings, please refer to articles in Elsevier journals, such as “Cutting force prediction and analysis in machining of soft polymers using oscillating blades” and other studies on the prediction of mechanical cutting resistance in soft porous media.
This paper provides a mechanical basis for demonstrating how servo control improves the precision of cuts along complex trajectories. Details on related technological developments and literature can be found in Elsevier’s academic journal database.
Milling Cutter Applications for Grooving in Foam Packaging
Milling cutters specialize in all grooving jobs beyond basic outline cutting, including product embedded cavities, cable trenches, buffer recesses and multi-step layered structures common on custom packaging inserts.
1. Component embedding slots: Drone packaging needs precision-machined indentations for fuselage, batteries and remote controllers, all finished by milling cutters.
2. Multi-depth stepped buffer layers: Many medical device packages contain buffer recesses at 20mm, 40mm and 60mm depths, only achievable via controlled-depth milling.
3. Complex 3D wrap-around cavities: High-end industrial equipment packaging uses full-contour internal structures, completed layer by layer with milling tools.
How should pneumatic cutters, 400W servo cutters, and milling cutters be used in combination?
Option 1: Milling Cutter + Pneumatic Oscillating Knife
Applicable: Medium & low-density polyester foam, mass-volume packaging, strict cost control
Workflow:
1. Mill internal placement grooves first;
2. Cut outer contours with pneumatic knife
Advantages: Fast processing speed, low initial investment, perfect for bulk mass production.
Option 2: Milling Cutter + 400W Servo Oscillating Knife
Applicable: High-density polyester foam, medical packaging, precision instrument cases
Workflow:
1. Complete all internal structure milling;
2. High-precision outer cutting via servo knife
Advantages: Higher dimensional accuracy, straighter cut edges, suited for high-value finished packaging.
Option 3: Milling Cutter + Pneumatic Knife + 400W Servo Knife
Applicable: Comprehensive packaging factories, mixed-material processing, large custom order share
Advantages: Single CNC oscillating knife cutter covers polyester foam, EVA, EPE, XPE and PE foams to maximize equipment utilization, the best pick for factories handling diverse foam grades and variable thicknesses.
Applicable Custom Insert Industries for CNC Foam Cutting Machine
Modern packaging evolves from simple shock-absorb padding into an all-in-one solution combining product fixing, impact resistance and brand presentation, making custom insert cutting capacity a core benchmark for machine value.
Trustercnc CNC foam cutting machine handles all hardness and thickness grades of polyester foam for precision soft cushioning on optical parts and heavy-duty spacing for large industrial machinery alike, delivering burr-free, residue-free foam surfaces to upgrade overall packaging quality. Correct grooving and cutting on 100mm foam ensures accurate product positioning, lower transit damage rates, enhanced brand image and improved client satisfaction.
Electronic Product Foam Inserts
High-end servers, chip wafer containers and optical lenses require anti-static, dust-free foam packaging. Cold cutting with an oscillating knife eliminates loose foam particles, preventing short-circuit risks caused by residual burr contamination on delicate electronic components.
Suitable for industrial PCs, communication hardware, network switches, industrial displays, drone equipment and precision measuring instruments.
Medical Device Foam Inserts
Ventilators and precision patient monitoring gear demand ultra-clean, tight-tolerance foam inserts. The Trustercnc combined milling and oscillating knife setup produces custom trays with tolerance ≤±0.3mm to secure medical devices safely during sea and air shipping.
Suitable for ultrasound equipment, endoscopes, inspection analyzers and lab testing machinery.
Industrial Component Foam Inserts
Oversized gearboxes, heavy reducers and special valves usually need inserts thicker than 100mm made of dense load-bearing polyester foam which ordinary lightweight knives cannot cut. 400W servo oscillating knives deliver clean, distortion-free contours for irregular heavy-component spacing structures.
Suitable for reduction gears, servo motors, hydraulic valve blocks and automated module assemblies.
Toolcase Foam Inserts
Multi-layer laminated foam is widely used for hardware display boxes, premium safety cases and military anti-shock containers. Combined deep milling (for accurate cavity depth) plus servo knife peripheral cutting creates textured dual-color positioning boards for tool storage.
Suitable for aircraft maintenance shops, auto repair factories, military departments and power service enterprises.
Complete Production Flow of 1200 × 1000mm CNC Oscillating Knife Foam Cutting Machine
Understanding the full production cycle from digital drawing input to finished goods helps optimize workshop management and reduce human error. Whether a CNC oscillating knife cutting machine or CNC oscillating knife cutter runs on intelligent control software to convert digital drawings into physical foam parts in a few simple automated steps.
Operators avoid toxic fumes from traditional hot cutting processes while high auto path recognition and integrated tool heads shorten sampling lead times drastically. The step-by-step workflow for polyester foam insert production is listed below:
Step 1: Import CAD Design Files
Supported mainstream formats: DXF, DWG, AI and converted PDF files. Packaging designers finish drawings then operators import files into cutting software, eliminating costly custom mold production needed for conventional die cutting, shortening R&D cycles for frequent design revisions.
Step 2: Automatic Cutting Path Identification
Trustercnc control software automatically sorts outer cutting lines, grooving areas, milling sections and drill holes after file import, matching proper tools to each machining task: pneumatic or servo knife for outer outlines, milling cutter for internal grooving. Automatic programming reduces reliance on highly skilled technical operators for packaging factories.
Step 3: Milling for Internal Grooves
Grooving defines final product stability inside packaging inserts. Milling tools cut layer by layer to preset depths: for example, an 80mm-tall component inside 100mm foam uses a 60mm deep positioning recess with leftover top foam reserved for shock absorption during shipment.
Step 4: Oscillating Knife Outer Contour Cutting
After all slots and holes finish milling, the spindle retracts. Operators select pneumatic or 400W servo knives based on foam density to cut fully through 100mm stock along defined split lines. Trustercnc long tungsten carbide blades slice full foam thickness in one pass to avoid cumulative errors, holding overall cutting precision within ±0.1mm.
Step 5: Finished Part Unloading and Packaging
Once cutting completes, workers remove finished inserts, trim leftover scrap foam and run quality inspection before final packaging assembly. New operators master full operation after only 1~3 days’ training with minimal complicated coaching required, a key reason for widespread digital cutting adoption across packaging businesses.
Key Factors to Consider When Custom-Building a CNC Cutting Machine for Thick Polyester Foam
Every packaging plant differs in core production focus, raw material grades and output targets, so avoid blind standard-model purchases and tailor machine specs around your actual processing limits.
Define machine functional modules and power configuration according to your regular foam density, packaging part complexity and planned capacity expansion over the next 2~3 years. Arrange detailed communication with equipment suppliers and schedule factory site visits before placing formal orders if possible.
Foam Thickness and Density
Thickness decides required tool types while material density defines cutting load: regular 100mm low-density polyester foam works fine with pneumatic knives, but raw stock ≥40kg/m³ hard foam or multi-layer composite materials need extra 400W servo oscillating knives for sufficient cutting power. Always send actual material samples with thickness and density data to vendors for pre-production test cutting before purchase.
Product Size and Working Table Dimension
Many buyers ask if 1200 × 1000mm is sufficient: the working area should exceed your largest finished part dimension by 20%~30% to reserve nesting space, clamping allowance and machining margin. Upgrade to standard 1600 × 2500mm or larger frames if future large-format packaging production is planned.
Necessity of Grooving Function
Basic simple outline cutting only needs pneumatic knives, yet nearly all commercial packaging requires grooving for component fixation, accessory storage and buffer construction, which depends on milling cutters. Investing in integrated milling function from purchase avoids later capacity shortages.
Required Production Efficiency
Many factories prioritize upfront equipment cost, but long-term return on investment heavily depends on processing efficiency.
Case example: One packaging shop produces 50 insert sets daily (each set = 1 main foam body + 2 accessory pieces). Traditional manual cutting takes 15~20 minutes per set, requiring 2 full-time operators working 12.5~16.7 hours every day. Switching to a 1200×1000mm CNC oscillating knife foam cutting machine shortens single-set runtime to just 4~6 minutes, finishing all daily orders within 3.3~5 hours with a single machine.
Labor cost gaps are more prominent across European markets. Per Eurostat 2024 statistics, average EU hourly labor cost hits €31.8, exceeding €40 per hour in several Western European nations. Source: https://ec.europa.eu/eurostat
Calculation example: Saving one full-time staff working 8 hours/day for 220 working days yearly at €30/hour cuts annual labor expense by €52,800, explaining fast-growing European adoption of automated foam cutting equipment.
Customer Case Study: Belgian Client’s 1200 × 1000mm CNC Oscillating Knife Foam Cutting Machine for 100mm Polyester Packaging
Peter runs a custom packaging system integrator based in Belgium specializing in premium shockproof inserts for high-end European industrial machinery. Previously traditional die-cutting and hot wire processes failed to meet his demand for low-cost, high-precision 100mm flexible polyester foam parts. After detailed technical communication, he customized a multi-tool Trustercnc 1200 × 1000mm CNC oscillating knife foam cutting machine and achieved efficient high-precision insert production.
Client Detailed Requirements
Peter’s company manufactures custom cushion inserts for premium precision European measuring instruments. Specifications: 100mm flexible polyester foam forming, edge vertical deviation ≤ 0.5mm, zero toxic fume or thermal burning, plus dual-depth precision cavities (35mm and 50mm deep) machined within a single foam panel.
Customized Machine Configuration by Trustercnc Engineering Team
Tailored setup: 1200×1000mm honeycomb vacuum table split into four independent suction zones, raised gantry Z-axis travel of 230mm and three-in-one integrated tool holder system:
1. Pneumatic knife fitted with 130mm long tungsten carbide blades running at 400mm/s feed speed for odor-free straight-edged regular cuts;
2. 400W servo oscillating knife for full penetration cutting of dense 400g/L laminated hard edge protection sheets;
3. 350W high-speed precision spindle with single-flute foam milling cutters, depth-control programming ensuring stepped groove flatness within ±0.15mm tolerance.
Post-Installation Production Benefits
After machine deployment, Peter’s reject rate fell from original 15% down below 0.3%. Single dual-depth insert production time dropped from 20 minutes (manual + die cutting) to merely 4.5 minutes per piece.
He saves €8,000~€10,000 yearly on labor plus around €3,000 in raw material costs. Improved product quality helped secure multiple high-value orders across Belgium and neighboring countries, generating €5,000 extra profit within the first operating year while greatly improving workshop working conditions for staff. He visited Trustercnc’s China factory this April to purchase extra machines for business expansion and explore regional distributor cooperation.
Conclusion for 100mm Thick Polyester Foam Packaging Projects
When purchasing cutting equipment for thick polyester foam inserts, focus not only on basic full penetration capability but four core factors defining final output quality and productivity: working table design, machine frame rigidity, vacuum suction performance and matched tool combinations.
Based on Trustercnc’s 16 years of manufacturing experience, custom 1200×1000mm CNC oscillating knife cutter paired with milling cutter plus either pneumatic or 400W servo oscillating knife remains one of the most reliable solutions for thick polyester foam packaging processing.
FAQs
Do blades break easily cutting 100mm thick foam? How often do new blade replacements happen?
Cutting 100mm foam subjects blades to far stronger alternating bending stress than thin stock cutting. Blade lifespan mainly depends on blade material thickness and standardized operation procedures.
Regular soft polyester foam with density 22~35kg/m³ is non-abrasive so blades wear slowly. Trustercnc equips 1.2mm or 1.5mm thick customized ultra-hard tungsten carbide long blades (standard thin-cut blades only 0.6~1.0mm thick).
With stable 0.7MPa air pressure for pneumatic knives, each long blade lasts 7~10 working days on average. Follow official operation manuals to set proper cutting depth and feed speed to avoid unexpected blade breakage.
Oscillating knife cuts produce zero foam dust, but does milling create flying foam scraps during grooving?
No need for concern. All Trustercnc CNC oscillating knife foam cutting machines come with built-in dust extraction hoods to automatically collect milling waste foam particles. Compressed air blow guns installed alongside machine frames clear leftover table scrap after production completes.
If I select pneumatic knives, can my existing factory air compressor support normal operation? What air circuit maintenance rules apply?
Pneumatic POT oscillating knives consume continuous high air volume; insufficient air supply drastically reduces cutting speed and creates jagged saw-tooth cut edges. Check your existing compressor against below specs before installation:
Air displacement requirement: Single POT knife consumes 150~200L/min continuous air, so factory compressor minimum output ≥0.3m³/min (rated power ≥3kW) plus minimum 100L air storage tank to stabilize working pressure.
Critical air filtration setup: Tiny internal piston gaps inside pneumatic knives easily corrode or freeze from condensed moisture inside compressed air. Install refrigerated air dryer plus three-stage precision filters (min 0.01μm filtration accuracy) between compressor outlet and machine air inlet to supply fully dry clean air.
My future foam stock may upgrade from 100mm to 150mm thickness; can current machine adapt?
Yes. However 150mm marks the maximum practical cutting limit for standard oscillating knives; stock thicker than 150mm will lead to frequent unexpected blade fracture.
Can polyester foam, EVA, EPE and XPE all be processed on one single machine?
Absolutely, most packaging factories run mixed-material production. A single CNC oscillating knife cutting machine with pneumatic knife setup processes polyester foam, EVA, EPE, XPE and PE foam seamlessly as long as sheet thickness stays under 150mm.
As a packaging factory owner, should I pick pneumatic knife or 400W servo knife?
Choose pneumatic knives for mass-volume regular production focusing on standard polyester, EPE and XPE thanks to fast cutting speed, low price and simple maintenance.
Opt for 400W servo oscillating knives if your regular jobs cover high-density EVA, compact polyester foam and high-precision custom inserts for superior finished cutting quality.
References and Information Sources
Autodesk. (2024). Nesting and fabrication optimization for manufacturing. Retrieved from https://www.autodesk.com
Eurostat. (2024). Labour cost levels by economic activity. Retrieved from https://ec.europa.eu/eurostat
International Safe Transit Association (ISTA). (2024). ISTA Test Procedures and Standards. Retrieved from https://ista.org
Smithers. (2024). The Future of Protective Packaging to 2028. Retrieved from https://www.smithers.com
VDMA. (2024). Digitalization in Mechanical Engineering and Manufacturing. Retrieved from https://www.vdma.org
Xu, X., et al. (2012). Fast and high precision control approach: Polyline analysis and optimal NURBS interpolation for CNC machine tools. International Journal of Advanced Manufacturing Technology. Retrieved from https://link.springer.com/article/10.1007/s00170-012-4069-4
