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Effect of mechanical activation on carbothermic reduction and nitridation of titanomagnetite concentrates

Wen Xiaojin, Yu Wen, Zeng Danliang, Zhu Liang Liang, Chen Jiangan

Physicochemical Problems of Mineral Processing

2021

Vol. 57, iss. 5

33--45

The carbothermic reduction and nitridation process of titanomagnetite concentrates with the help of mechanical activation were investigated by particle size analysis, thermodynamic calculation, thermogravimetric analysis, X-ray diffraction analysis, scanning electron microscopy, and energy-dispersive spectroscopy analysis. The thermogravimetric and X-ray diffraction results indicated that either the reduction of iron oxide or the reduction and nitridation of M3O5 to TiN could be promoted significantly with the increase in activation time. The results obtained from scanning electron microscopy and energy-dispersive spectroscopy showed that, when samples were not activated, chunks of and thin M3O5 were derived from the reduction of ilmenite and titanomagnetite. They were severely sintered with impurities to form a dense structure. As a result, M3O5 was difficult to be converted to TiN, especially chunks of M3O5. However, when samples were activated, the sintering degrees of the impurity and M3O5 were mitigated, and the particle size of the iron as a medium for delivering C to M3O5 was decreased in the roasted product. This condition enhanced the diffusion of C to the surface of M3O5. Meanwhile, the bulk of ilmenite was broken in the activation process, which prevented the formation of chunks of M3O5. Thus, the conversion of M3O5 to TiN was promoted.

Stability and transparency of delayed bilateral teleoperation with haptic feedback

Estrada Edgar, Yu Wen, Li Xiaoou

International Journal of Applied Mathematics and Computer Science

2019

Vol. 29, no. 4

681--692

Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems. In this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays, the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave system are proven with the Lyapunov–Krasovskii method. Numerical simulations illustrate the efficiency of the proposed control methods.