Following the experimental program at BNL RHIC, we perform a similar energy scan using 3+1D viscous hydrodynamics coupled to the UrQMD hadron cascade, and study the collision energy dependence of pion and kaon rapidity distributions and $m_T$-spectra, as well as charged hadron elliptic flow. To this aim the equation of state for finite baryon density from a Chiral model coupled to the Polyakov loop is employed for hydrodynamic stage. 3D initial conditions from UrQMD are used to study gradual deviation from boost-invariant scaling flow. We find that the inclusion of shear viscosity in the hydrodynamic stage of evolution consistently improves the description of the data for Pb-Pb collisions at CERN SPS, as well as of the elliptic flow measurements for Au-Au collisions in the Beam Energy Scan (BES) program at BNL RHIC. The suggested value of shear viscosity is $eta/sge0.2$ for $sqrt{s_{NN}}=6.3dots39$ GeV.
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