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By M. Stachowiak, M. Nowicki, K. Walas, A. Skoczylas, P. Stefaniak

In this paper the authors present a walking robot dedicated to the inspection of a belt conveyor’s transportation system in an underground mine. The developed robot can independently diagnose all of the key rotating elements of the belt conveyor (pulleys, bearings, drums, gears, engines) based on vibration and acoustic signals as well as typical RGB (red, green, blue) and thermal images. The article presents key diagnostic procedures applied to real industrial data obtained during robot testing.The work was developed as part of the ‘THING–subTerranean Haptic INvestiGator’ project. The authors presented the main assumptions of the research methodology developed for the needs of technical diagnostics of conveyor elements typical of inspection work performed by mining staff. Based on industrial data, the use of algorithms for elements such as rollers, drive stations, and the conveyor belt were shown. The main assumption of the research is to develop a robot adapted to the conditions of a deep mine, capable of carrying out an autonomous inspection of mining infrastructure. The conducted tests and the developed fault detection algorithms were aimed at preparing the robot for underground tests in the operating conditions of the mine.

Sep 1, 2021

By I. Kaabachi, F. Meunier, N. Morales

In open pit mining, ore and waste are hauled outside of the excavation area by trucks that move along a system of ramps. The design of these ramps must be carefully addressed because they have to comply with geomechanical constraints to ensure the stability of the pit walls, provide access to the different levels and phases, but also maximise the value of the extracted ore and reduce the extraction of waste. Because an optimisation approach able to deal with the design of the full ramp system seems to be out of reach at the moment, this paper addresses the problem of designing one ramp providing access to a single pushback, which has been determined beforehand. The optimisation objective is therefore to find a ramp that gives access to one given potential volume, while minimising its impact on the economic value of the volume. Two versions of the problem are formalised. One version allows the extraction of ore and waste only if this extraction is necessary for the ramp system. This version somehow minimises the intrinsic value of the ramp system. In the second version, it is possible to extract more than is needed by the ramp system. For instance, this takes into account the possibility of attaining ore on the wall opposite to the ramp as soon as the ramp reaches its level. In the setting mentioned above, the contribution of this work is three-fold. First, the computational complexity of the two different versions of the problem is presented and discussed; in particular, they are shown to be NP-hard. Second, compact integer programs modelling these two versions are proposed. Third, an efficient GRASP algorithm able to cope with the large instances of the problem is proposed. To assess the proposed approaches, the models and algorithms are applied to real instances with an off-the-shelf solver, illustrating and discussing their potential and relevance for the two versions of the problem. They are also compared with other approaches from the literature in terms of value and resulting designs.

Sep 1, 2021

By M. M. Ali, C. Musingwini, R. A. Phillips

The long-term open-pit mine production scheduling problem (OPMPSP) is typically solved in two broad stages. The first stage entails optimisation of the ultimate pit limit, which delimits the economical final pit and maximises the undiscounted value of the deposit. The second stage entails optimisation of the long-term open-pit mine production scheduling, which maximises the discounted value of the deposit. The long-term OPMPSP is a type of an NP-hard problem, such as the travelling salesman problem (TSP), because it is intrinsically complex to solve since it incorporates both hard and soft constraints. Therefore, metaheuristic approaches have been used to find global optimum solutions to the long-term OPMPSP. This paper presents a metaheuristic approach utilising a dual interchange algorithm (DIA) to solve the long-term OPMPSP. The DIA is a parent algorithm which supervises two subservient algorithms, namely, simulated annealing (SA) and Tabu search (TS). The DIA selects the better solution generated in each run from the two algorithms, and simultaneously penalises the algorithm that produced an inferior solution, while rewarding the one that produced a better solution. The DIA was tested on the three-dimensional Arizona Copper Deposit (KD) dataset, which is publicly available for research purposes from the online MineLib repository. It was set to generate net present values (NPVs) in five-minute intervals and the solution improved until it plateaued at about 30 minutes of runtime. The NPVs compared favourably to those obtained on the same KD dataset but obtained over 24-hour runtimes, when solved using simulated annealing and Tabu search algorithms, and the NPV generated from the work of Muñoz (2012) using the modified TopoSort as found on the MineLib repository at the time of this study. Therefore, this paper demonstrates that DIAs can be developed and used to solve the three-dimensional long-term OPMPSP.

Sep 1, 2021

By J. Saunders, N. Pretorius, G. Krafft, T. P. Katakwa

Imagine being able to see all the future planned mining activities in real time. This is exactly what SIMS (Short Interval Management System) will enable you to do. SIMS is a real time short interval control system that continuously measures and sets optimised plans for mining production processes. The system utilises algorithm-based software that takes resources (people, equipment, tasks, and workplaces) and gives you the best achievable plan. The algorithm was developed using methods found in the field of metaheuristics. A metaheuristic is a strategy to designed to efficiently search for optimal or near optimal solutions to problems that are very complex computationally. (Glover, 1986) There are several algorithms that have been developed to solve optimisation problems which are difficult to solve using traditional techniques. This has given rise to a field called evolutionary computing. (Simon, 2013) Examples of these techniques are genetic algorithms, particle swarm optimisation, and ant colony optimisation. These methods are used to solve problems in a variety of fields. As an example, Kok and Lane (2012) used particle swarm optimisation for equipment allocation in a mechanised underground mining environment. The first SIMS deployment took place in a platinum underground tabular mechanised mine near Burgersfort (province?) from 2017-2019. This included the development from a paper-based system to a fully operational online system. SIMS then moved to a second site and is currently being tested in a second platinum underground tabular mechanised mine in South Africa. Full deployment of the system is currently being phased in. SIMS was built in response to issues that have been plaguing the mining industry for years. These issues are all aligned into one major problem statement: how can we optimise mining production processes without compromising safety? This product was developed by combining years of mining experience with software development. SIMS is based on a four-pillar concept. Safety, productivity, accountability, and business improvement. SIMS uses a set of pre-configured mining and production rules, and with the resources that are available, to determine valid short term production plans. A background algorithm then determines the optimum plan to be executed. The system continuously produces a set of job cards that are pushed to respective operators on their allocated tablets. The management portal component allows you to view and manage all current and planned work on any connected device available. This allows real time visibility of completed, current, and planned work to operators, service departments and management, i.e., seeing into the future.

Sep 1, 2021

By I. O. Flores, A. Anani, H. Li

Current technological advancement has increased the exploitation of deeper ore bodies using underground methods. In certain cases, the mineral deposit starts near the surface and continues deep within the earth's crust. Such deposits are best mined with both underground and surface methods. Two main techniques are used to determine the optimal transition depth from surface to underground - a disintegrated approach and an integrated approach. Both methods have limitations in their use to determine the optimal transition depth. The objective of this research is to investigate the conditions in which an integrated approach to the transition depth problem is superior to a disintegrated approach. Three binary integer linear programming models are developed for this purpose: a surface and underground model for the disintegrated instance and an integrated model. A case study is performed to validate the models, with a comparative sensitivity analysis to obtain operational insights.

Sep 1, 2021

By E. Emami, J. Valencia, J. Sattarvand

The knowledge of the final location of a drillhole is critical in obtaining the expected blasting results. This paper proposes a new methodology to control the drilling accuracy in open-pit mines using aerial images and machine learning. Specifically, it investigates how support vector machines (SVM) and convolutional neural networks (CNN) are useful for automatically detecting blastholes over drone images captured in blasting patterns. Several datasets were obtained from different mines in Nevada (USA) and were used to train and test models. We then processed those images to create orthomosaic and digital elevation representations of the patterns. Thousands of patches were then extracted and augmented to develop SVM and CNN models. The results demonstrate that machine learning is useful for drillhole detection and, in this way, to control the drilling accuracy and use the explosive energy more efficiently.

Sep 1, 2021

By M. Balamurali, K. M. Seiler

Modelling stockpiles is a key factor of a project’s economics and operation in mining, because not all the mined ores are not able to mill for many reasons. Furthermore, the financial value of the ore in the stockpile needs to be reflected on the balance sheet. Therefore, automatically tracking the boundaries of the stockpile facilitates the mine scheduling engineers to calculate the tonnage of the ore remaining in the stockpile. This paper suggests how the dynamic of stockpile shape changes caused by dumping and reclaiming operations can be inferred using polygon models. The paper also demonstrates how the geometry of stockpiles can be inferred in the absence of reclaimed bucket information, in which case the reclaim polygons are established using the digger’s global positioning system (GPS) positional data at the time of truck loading. This work further compares two polygon models for creating 2D shapes.

Sep 1, 2021

By J. Githiria, D. Wachira

The conventional truck and shovel haulage system has become expensive to operate in most mines due to current strict environmental conditions, increase in depth and size of open-pit mines, increase in labour costs, and fuel costs. These factors have motivated the search for alternative material haulage options in open-pit mines. In-pit crushing and conveying (IPCC) system has been regarded as a plausible alternative in material haulage systems. However, usage of IPCC has been limited to a few mines due to limited knowledge of IPCC performance, and other technical factors of the system. This paper investigates, and evaluates the productivity performance of four types of IPCC systems (fixed, semi-fixed, semi-mobile, and fully mobile IPCCs) using mine productivity index (MPi). Using a model developed by MATLAB, the MPi for the four systems is computed using input variables such as availability, utilisation, performance and number of trucks and shovels in a limestone quarry. The mine productivity index for fixed, semi-fixed, semi-mobile, and fully mobile IPCC is obtained as 67.13%, 69.02%, 70.52%, and 71.52% respectively. In conclusion, the fully mobile in-pit crushing and conveying system is the most appropriate IPCC in the quarry, due to its better productivity performance compared to the other three IPCC systems and the truck and shovel system currently in use.

Sep 1, 2021

By M. S. Shishvan, J. R. van Duijvenbode, L. M. Cloete, M. W. N. Buxton

Geochemical and mineralogical datasets from Tropicana Gold Mine, Australia, have been used to define ore fingerprints. VNIR/SWIR spectral data were represented by four normalised wavelength regions and were clustered to form spectral classes. Sequentially, these spectral class proportions within a block and collocated XRF data were clustered to form material types (fingerprints). The material types were related to an Equotip-BWi correlation. These correlations can be used to extrapolate a hardness signature and generate a BWi proxy for different blocks. The combined fingerprints and BWi proxy can assist as a tool for enhancing the prediction of comminution behaviour. They can explain specific domain-related hardness variations. For example, one material type could be separated into a softer (~15-18 kWh/t), and harder (>20 kWh/t) material blend. This was accomplished using the commonly overlooked VNIR region at 605 nm. This outcome has significance for blending strategies.

Sep 1, 2021

By L. Pretorius, S. Uludağ

This paper explores how to apply system dynamics principles to surface mining problems towards understanding the consequences of mining efficiencies. Some simulation examples related to machine and people performance have been used to demonstrate systems engineering concepts to mining engineers. The simulation tool used is Vensim, which is widely used in industrial engineering applicable to systems thinking, and systems dynamics. The science and mathematics behind the system dynamics as well as benefits and typical challenges are discussed to explore the applicability to mining problems. The benefit of having one less drill is easily quantifiable with the developed model which is one of many other measurable benefits, using the developed model. Some of the benefits of the improved quality of drill holes are not fully quantified as this depends on the mine specific inputs. There are examples of quantifying this in the other industries using system dynamics tools.

Sep 1, 2021

By J. P. De Carvalho, R. Dimitrakopoulos

This paper presents an actor-critic reinforcement learning (RL) method to allocate trucks and shovels in open-pit mines, while defining short-term production scheduling of an industrial mining complex, given new information collected during operations. This new data obtained from sensors update the uncertainty of the orebody models. The RL agents interact with the mining complex environment; exploring the solution space, learning actions to improve metal production and equipment utilisation. A case study is presented at a copper mining complex, highlighting the method’s ability to adapt and make informed decisions while collecting new information.

Sep 1, 2021

By C. Musingwini, A. S. Nhleko, P. M. Muke

Open-pit mine planning includes the determination of a long-term open-pit mine production scheduling (OMPS) plan. The OMPS plan is generally a three-dimensional (3D) block extraction sequence that seeks to maximise the net present value (NPV) of future cash flows, while complying with technical and operational constraints. The OMPS problem is computationally complex because it involves the analysis of large datasets, while simultaneously incorporating both multiple hard and soft constraints. The OMPS problem has been solved using deterministic or exact approaches, heuristic, and metaheuristic models. When compared to heuristic and metaheuristic models, deterministic approaches tend to take much longer to solve the OMPS problem when the number of constraints increases. Therefore, this paper presents a metaheuristic model which utilises a genetic algorithm (GA) framework to solve the OMPS problem. The GA-based model was applied to the Newman1 and Zuck Small mining instances, which are publicly available from the online MineLib database. The NPVs for the OMPS plan generated using the GA-based model for the two case studies were compared to the best-known published MineLib solutions obtained using the TopoSort heuristic model at the time of this study. For the Newman1 instance the equivalent annual NPVs were approximately US$6.6 million for the GA-based solution and US$5.1 million for the TopoSort solution. For the Zuck Small mining instance, the equivalent annual NPVs were approximately US$99.8 million for the GA-based solution and US$102.5 mil for the TopoSort solution. These results show that the GA-based model produced comparable solutions to some of the best-known solutions, thus, indicating strong potential application of GA-based models to solve OMPS problems.

Sep 1, 2021

By J .. F. Brownrigg

In the mining method used at O'Okiep Copper Company (OCC), vertical crater retreat, the prime requirement for the fill is that it should be sufficiently strong to be free-standing to a height of 150 m. Other requirements are minimal decant and drainage water, and high pulp density to allow large tonnages to be placed quickly and alleviate transport problems. The excessively high cost of cement precluded the use of a cement-based fill, and after three years of extensive investigations a backfill based on the smelter slag was produced. Currently a fill with a uniaxial compressive strength of greater than 1 000 kPa after one month is being produced. This is in excess of the design specification of 850 kPa after 2 - 3 months. The research and development which went into the slagfill is briefly covered; the production of the fill from the various raw materials is described; and the design and control systems of the backfill plant, the reticulation system and its monitoring are examined. Finally, the implications of this high- quality fill for the mining programme are assessed.

Jan 1, 1988

By N. B. Strydom

I have read with interest all the papers dealing with heat transfer and the setting of heat stress limits that have appeared during the past two decades. Scientifically speaking, most of them can be rated as being of a high standard, and some of them have been acclaimed internationally as masterpieces of logical and calculated reasoning. Weathering of ore minerals A short course on 'The Weathering of Ore Minerals and the Textural Evaluation of Base Metal Gossans' is to be given by Dr I.M. Reynolds in Grahamstown from 4th to 6th October, 1982.

Jan 1, 1982

By R. P. King

Held on the 22nd March 1972 at Kelvin House. Four papers were presented at this colloquium, which was attended by approximately 120 people. The first paper, 'Flotation Research Work at the N.I.M. research group, University of Natal on the modelling of a Flotation Process' was presented by Dr R. P. King, the leader of the N.I.M. Research Group in the Department of Chemical Engineering at the University of Natal. A discussion panel, under the chairmanship of Dr R. E. Robinson with Mr M. Dawson (PMC), Mr E. Roux (FOSKOR), and Dr B. K. Loveday (NIM), discussed the potential application of the theoretical work on flotation modelling to industrial processes, and alternative approaches to providing a way of control of flotation plants. The second paper, 'Fundamental Studies of the Flotation Process the Work of the National Institute) for Metallurgy', was presented by Dr N. P. Finkelstein. The discussion panel for this paper was under the chairmanship of Professor D. D. Howat,and had as its members Mr H. P. Carlisle (JCI), Professor D. le Roux (University of Pretoria), and Mr E. Rudolph (Anglo American Research Laboratories). A lively discussion on this paper ensued, with several contributions from the floor. After lunch, Mr S. K. de Kok, Assistant Consulting Metallurgist, Anglo Vaal, presented a paper on 'The Flotation of Copper and Zinc Sulphide from Prieska Ore'. The paper was discussed by a panel comprising Dr V. C. Lovell (NIM), Mr A. Gilbert (General Mining), and Dr D. Legge (Anglo Vaal), under the chairmanship of Dr L. Bushell. This discussion, in which many members of the audience participated, revolved around the difficulties associated with the production of copper and zinc concentrates and the lack of fundamental information on the behaviour of copper and zinc sulphides in flotation. The final presentati0n was a paper, 'The Recovery by Flotation of Cassiterite contained in Gravity Concentration Plant Tailings', presented by Mr E. B. Viljoen (Metallurgy Department, Goldfields South Africa Limited). The discussion, led by a panel consisting of Mr O. Tant (Goldfields Laboratories), Mr J. Levin (NIM), and Mr R. I. Shanks (NIM), under the chairmanship of Mr H. Cross (Goldfields South Africa Limited) referred particularly to the use of new reagents for the flotation of tin, with particular emphasis on the fundamental relationship between reagent composition and its ability to float this type of mineral.

Jan 4, 1972

By E. M. Sacris

The semi-autogenous grinding mill is the bottleneck whenever treating hard and finely fragmented ore at Benguet Corporation's Kaline Concentrator. Low milling rates result from very high and fluctuating mill power draw. Attempts to use a mill horsepower control loop to regulate feed rate were unsuccessful because of operational upsets caused by fluctuations in feed rate on downstream operations. The objective of the computer control was to maximize tonnage throughput by stabilizing the power draw at a high but safe level without upsetting subsequent operations. The semi-autogenous mill is operated in closed circuit with a stationary screen. Instrumentation consists of a feed weightometer, a power transmitter to measure mill load, a headwater flowmeter and an ultrasonic level sensor to measure the mill discharge sump level. A 64 k-byte FOX-3 Foxboro computer processes field data from various sensors and manipulates the input control variables. These variables are the fresh feed rate and the headwater flowrate. Feed rate is controlled through a supervisor-type computer program aimed at maximizing and stabilizing power draw. The control scheme was according to how the operators responded during an operator-directed automatic control mode. Mill dilution is similarly controlled. Results achieved reflect a 3% increase in tonnage milled because of the reduction in control variability that ensued.

Jan 1, 1987

By R. Koen, H. Visser, A. Roodt

"SynopsisThe tetraethylammonium salt of the mono-anionic coordination compound mer-oxidotrichlorido(thenoyltrifluoroacetylacetonato- K2O,O’)niobate(V) (NEt4)[NbOCl3](ttfa)], has been prepared under aerobic conditions and characterized by single-crystal X-ray diffraction. (NEt4)[NbOCl3](ttfa)] crystallized in the monoclinic P21/c space group, with a = 11.483 (5), b = 12.563 (5), c = 17.110(5) Å, and ß = 100.838 (5)o. The complex structure exists in a 50.0% (NbA) : 50.0% (NbB) positional disorder ratio.IntroductionComplexes containing organometallic type ß- diketone ligands with O,O and O,N donor atoms are used widely in coordination chemistry and have applications in catalysis, radiopharmaceuticals, etc. (Schutte et al., 2011; Roodt, Visser and Brink, 2011; Brink et al., 2010; Otto et al., 1998). These ligand systems are very useful because of their highly coordinative nature, high solubility, and also due to their ability to be functionalized with various substituents on the carbonyl carbon atoms (Schutte et al., 2011).Only a small number of ß-diketonate ligands have successfully been coordinated to a Nb(V) metal centre, with only a select few being characterized by X-ray crystallography (Viljoen, 2009; Bullen, Mason and Pauling, 1965; Preuss, Lamding and Mueller-Becker, 1994; Funk, 1934; Davies, Leedlam and Jones, 1999; Allen, 2002. The synthesis and crystal structure determination at room temperature of mer-oxidotrichlorido (thenoyltrifluoroacetylacetonato- k2O,O’)niobate(V) {(NEt4)[NbOCl3(ttfa)]} was first reported by Daran et al. in 1979. Accordingly, for this current investigation, (NEt4)[NbOCl3(ttfa)] was re-evaluated at 100 K to determine if the structural features might change with temperature."

Jan 1, 2015

The Iscor Board has given its Mining Division the authority to proceed with detail engineering and design for a Heavy Minerals Project which comprises a mine in Northern Province near Gravelote, a mine in KwaZulu/Natal near Richards Bay and a central processing complex with a beneficiation plant and smelter which will be located near Richards Bay and Empangeni.

Jan 1, 1996

By D. G. Krige

D. G. Krige: The stimulating contributions from Messrs Cooke, Curtis, Martus, Johnston, Van Wyk, Van Rensburg and Wroth are appreciated by the author and provide clear evidence of the importance not only of the principle of assistance to gold mines, but also of its scope and form. In general all the arguments, raised by Messrs Cooke, Martus and Johnston in favour of extending the scope of the new assistance scheme can be accepted as sound.

A decision by joint-venture partners Anglo American, Gencor, and the Industrial Development Corporation to proceed with the expansion of the Columbus Stainless Steel plant in Middelburg will contribute significantly towards the economic growth that South Africa needs so desperately. The expanded facility, expected to come on-line in 1995, will be the largest single-plant producer of stainless steel in the world, and the company will rank sixth overall in world production.

Jan 1, 1993