Search Documents

By A. K. Raji, E. F. Orumwense, M. O. Ojumu

The Fourth Industrial Revolution has driven significant advancements in autonomous robotic systems, particularly in subsea exploration and offshore mineral dredging. This review examines the latest developments in electrically powered quadrotor-track subsea robotic crawlers, highlighting their potential to enhance efficiency, mobility, and adaptability in challenging underwater environments. The integration of advanced automation, artificial intelligence, and real-time control systems has paved the way for more effective robotic solutions in offshore mining. This study explores the dynamic performance of hydraulic crawlers to quadrotortrack robotic dredgers, focusing on their propulsion, navigation, and stability under high hydrodynamic conditions. By leveraging state-of-the-art technologies such as lithium-ion battery power systems, intelligent microprocessors, and sensor-based control mechanisms, these robotic crawlers offer a promising alternative to conventional subsea excavation methods. Furthermore, the review analyses recent experimental and simulation-based studies that assess the feasibility and performance of these systems in real-world applications. The findings of this review provide valuable insights into the role of 4IR in transforming subsea robotics for offshore mineral dredging. By addressing existing limitations and identifying key technological advancements, this study contributes to the ongoing development of nextgeneration robotic systems capable of operating efficiently in extreme underwater conditions

Jan 30, 2026

By J. Persson, N. G. Bliss

Electric furnaces used for smelting and those used for scrap melting exhibit different performance profiles in terms of electrical characteristics. However, the underlying principles are the same for either case. The rationalization of these variables is a major concern for furnace operators and designers. This paper presents the results of a two year study of high speed real time data from a number of electric furnaces around the world, covering a very wide range of design philosophy and product manufacture, to provide a better mathematical insight into rationalizing the furnace operation.

Jan 1, 2004

By R. Heuberger

South Africa?s Mining Industry operates in an uncertain world. The industry is buffeted by problems regarding retrenchments, unemployment, low productivity, rising costs, volatile exchange rates, commodity prices and government regulations. With these uncertainties facing the decision makers, what does applied technology offer the industry?s management? Modelling languages with risk analysis have been available for decades, but in the past their use has been very expensive, requiring large mainframe computers and lots of computer time. Today, PCs and laptops have incredible power, which makes interactive risk analysis affordable and viable for all enterprises, whether small or large. ?What is risk analysis? ?What is Monte Carlo simulation? ?What kinds of computer models need to be created to use risk analysis and Monte Carlo simulation effectively? This paper addresses these questions and illustrates, with a practical example in the mining industry, how risk analysis techniques can be used to support decisions in the climate of uncertainty.

Jan 1, 2005

By Philippe Dumont

?Lay out of the tunnel section ?General ?Geology ?Tunnels methods ?Stations constraints ?Impacts on tunnels ?Design ?Programs

By D. Nyungu

Despite observations of spalling and damage of mine excavation wall rock in the Bushveld Complex (BC) over the passage of time, there have been very few time-dependent or creep tests carried out in South Africa on rock, particularly on BC rock types. The research described in this paper deals with the investigation of stress and strain conditions influencing spalling of wall rock in BC mine excavations, and the influence of time on the tensile strength of several BC rock types. Time-dependent laboratory testing of BC rocks was carried out in indirect tension. The results show that the magnitude of the tensile strength of BC rock types is approximately 5% of their uniaxial compressive strength magnitudes. The average long-term uniaxial compressive strength of the BC rocks, interpreted from the axial stress-volumetric strain graphs, is 56% of the UCS value. The long-term tensile strength is shown to be less than 70% of the normal tensile strength. Extension strains at tensile strength failure ranged between 0.16 and 0.21 millistrain. Values corresponding with the long-term tensile strength are less than 70% of this range, namely, 0.11 to 0.15 millistrain. These results represent new knowledge, since such rock testing and analysis does not appear to have been carried out previously on BC rock types. Elastic numerical modelling was carried out to illustrate the extents of tensile stress zones and extension zones around of typical BC mine excavations. The models showed that large zones of extension strain can occur around BC excavations, and that the magnitudes of the extension strain can substantially exceed the critical values determined from the laboratory testing. The implication of this is that there are substantial zones surrounding BC mine excavations that will be prone to time-dependent spalling conditions and perhaps more significant failure.

Jan 1, 2014

By L. L. Godirilwe, and A. Shibayama, G. Danha, K. Haga, Y. Takasaki

Selective extraction through leaching of an amorphous slag obtained from a base metal smelter plant in Botswana is investigated in this paper, where the main objective is to optimise the experimental variables that would result in the maximum selective extraction of the three base metals (Ni, Cu and Co) from the slag waste. Mineralogical tests showed that the sample is composed mainly of fayalite (Fe2SiO4), with a total entrapped metal sulphides content of about 1.0 wt.% occurring as fine occlusions in the fayalite phase. In our experimental program, we compare the effectiveness of two common leaching techniques. In the first method, we use sulphuric acid to carry out atmospheric beaker leaching tests, and in the second method we use high pressure oxidative leaching. The effects of acid concentration, oxidant addition/oxygen partial pressure and pulp density on metal dissolution rate are examined. The optimal Ni, Cu, Co extractions of 80.5%, 81.9 and 98% respectively were obtained under high pressure oxidative leaching conditions (150 oC, 0.6 M H2SO4, 0.5 MPa O2), with substantially low dissolved Fe of 9.6%, the majority of which was removed as jarosite in the residue. Atmospheric beaker leaching yielded poor extractions of Ni below 40% when sulphuric acid combined with hydrogen peroxide (1.0 M and 0.6 M respectively, 65 oC) were used for leaching, while Fe, Cu and Co dissolutions were each about 80%. Therefore, using high pressure oxidative leaching provides a possibility to effectively extract Ni, Cu and Co while producing an environmentally benign residue, thus alleviating the current adverse environmental issues associated with the abandoned smelter slag. Keywords: Slag, amorphous, fayalite, atmospheric beaker leaching, high-pressure oxidative leaching, extraction

Jan 1, 2020

The aim of this investigation was to study the influence that varying production rates have on iron sinter quality. This was done by performing sinter pot tests at different pressure drops over the sinter bed, namely 11 kPa and 15 kPa (for 500 mm total bed depths). During each of the sintering processes temperature-time profiles were recorded of the top, middle and bottom layers of the sinter bed. On completion of the sinter process the sinter cakes were divided into top, middle and bottom layers. The physical properties of each layer were subsequently characterized by performing a tumbler test and a sieve analysis. A comprehensive mineralogical study was also conducted on each layer. This study revealed that sinters of similar cold strength could be produced under the examined production rates. However, a higher production rate was accompanied by an increased amount of fines. The cold strengths of both sinters significantly increased from the top layer to the bottom layer of the sinter bed. This strength variation is not related in any simple way to the phase composition. Keywords: Sinter, sinter bed, production rate, phase composition, cold strength, tumbler index, sieve analysis, temperature-time profile

Jan 1, 2003

By R. A. Williams

Electrical impedance tomographic methods have been applied to a variety of mineral and chemical processes in the laboratory and on plant. This review paper surveys technical developments in measurement methods to enable quantitative extraction of key process information in the form of mapping of concentration profiles, mixture homogeneity and suspension velocity. The methods for determining velocity are summarized, since this is of especial interest when applied to opaque systems where most conventional optically based measurements fail. A recent significant development is the use of ultra-high speed measurement that now allows velocity vectors to be extracted for fast moving mixtures and fluids (up to several metres per second). New data are reported pertinent to low and high solids concentration flow in pipelines. Use of the methods offer improvements to design of such systems but also points to the use of tomographic electrical sensor as online flow measurement and fault detection. This offers new opportunities for applications and benefits in the design and monitoring of mineral slurries and sludges.

Jan 1, 2008

By D. F. Malan

This paper gives an overview of the difficulties associated with determining the strength of hard-rock pillars. Although a number of pillar design tools are available, pillar collapses still occur. Recent examples of large-scale pillar collapses in South Africa suggest that these were caused by weak partings that traversed the pillars. Currently two different methods are used to determine the strength of pillars, namely, empirical equations derived from back analyses of failed and stable cases, and numerical modelling tools using appropriate failure criteria. The paper illustrates that both techniques have their limitations and additional work is required to obtain a better understanding of pillar strength. Empirical methods based on observations of pillar behaviour in a given geotechnical setting are popular and easy to use, but care should be exercised that the results are not inappropriately extrapolated beyond the environment in which they are established. An example is the Hedley and Grant formula (derived for the Canadian uranium mines), which has been used for many years in the South African platinum and chrome mines (albeit with some adaptation of the K-value). Very few collapses have been reported in South Africa for layouts designed using this formula, suggesting that in some cases it might yield estimates of pillar strength that are too conservative. As an alternative, some engineers strongly advocate the use of numerical techniques to determine pillar strength. A close examination unfortunately reveals that these techniques also rely on many assumptions. An area where numerical modelling is invaluable, however, is in determining pillar stresses accurately and for studying specific pillar failure mechanisms, such as the influence of weak partings on pillar strength. In conclusion, it appears that neither empirical techniques nor numerical modelling can be used solely to provide a solid basis for conducting pillar design. It is therefore recommended that both these techniques should be utilized to obtain the best possible insight into a given design problem. Owing to the uncertainties regarding pillar strength and loading stiffness, monitoring in trial mining sections and in established mining areas is also an essential tool to test the stability of pillar layouts in particular geotechnical areas.

Jan 1, 2011

By B. C. Viljoen

"SynopsisCommencement of the next phase of the Lesotho Highlands Water Project is a year or so away from becoming reality. Some 50 km of tunnels in the form of access adits, shafts, diversion tunnels, and main waterways will be constructed. Sprayed concrete will form an integral part of the temporary and permanent rock support systems that will be installed. Furthermore, the use of sprayed concrete as a final tunnel lining solution was proposed as a viable alternative to concrete linings in the feasibility studies that preceded the forthcoming implementation phase.The aim of this paper is to make the reader aware of all the sprayed concrete related issues that engineers tend to grapple with during the design and construction of tunnel projects and other underground works. Primarily, these issues would include selection of applicable design parameters, technical specifications, construction application methods, quality control and, most importantly in the context of final or permanent linings, the durability of sprayed concrete.The International Tunnelling Association (ITA) Working Group (WG) 12 has been tasked specifically to publish a set of recommendations on the Quality and Control of the Application of Sprayed Concrete and the Testing of Sprayed Concrete for Durability. These tasks were also further explored at the recent World Tunnel Congress (WTC 2015) that was held in Dubrovnik, Croatia at the end of May 2015.IntroductionSprayed concrete is presented in a variety of shapes, designs, forms, application methods and accompanying terminologies including shotcrete, gunite, pneumatically applied concrete, and the like. The International Tunnelling Association (ITA) decided to standardize on a single terminology, namely ‘sprayed concrete’, in order to simplify specification, interpretation of guidelines, and codes of practice."

Jan 1, 2015

By C. W. P. Finn

On 14th April, 1980, 76 delegates from industry, universities, and research laboratories gathered at the University of the Witwatersrand to attend the Pyrometallurgy Vacation School. Professor H. B. Bell, Chairman of the Department of Metallurgy at the University of Strathclyde, Scotland, was there to lead the School, along with 12 local lecturers, who had gathered at the Hotel Devonshire at 07h30 for an Authors' Breakfast. Analytical chemistry Euroanalysis IV will be held in the town of Espoo, approximately 9 km from the centre of Helsinki, from Sunday, August 23rd, to Friday, August 28th, 1981.

Jan 1, 1980

By W. Biermann

All industrial processes are economically driven, resulting in the ever increasing need for process optimization in order to stay competitive and profitable. Numerous models has been published depicting the optimization of the raw material usage in an arc furnace, as well as the thermal and electrical efficiency; however, to obtain a holistic view of the cost-effectiveness of the process one needs to expand the model to include the cost of all the operational variables. This project therefore aimed to not only include the raw material feeds and power consumption as input variables, but also the labour, maintenance, and environmental costs to generate an all-inclusive financial balance. In the end, the model was able to mathematically optimize the ferrochrome (FeCr) production process through evaluating the effect of a specified combination of input parameters. It could therefore be used as a tool to aid in managerial decision-making; to appraise and correspondingly adjust certain operational variables in order to achieve a maximum return on investment. This paper fully describes the reasoning behind the choice of the essential model components, the assumptions made during the models development, the calculation approach, as well as the advantages, limitations, possible applications, and areas for expansion of the final model. Through running simulations with plant data, it was found that the accuracy of final model remained fairly constant when applied to stable furnace conditions, but was met with a number of limitations when applied to more complex situations. These limitations could, however, be overcome through further development and expansion of the existing model to include a larger number of process variables.

Jan 1, 2012

By M. Verri

[ ]

Jan 1, 2009

By J. -C. Trickett

The high-resolution three-dimensional (3-D) seismic reflection data acquired for Impala Platinum between 1998 and 2002 in the western Bushveld Igneous Complex form an integral part of Impala?s mine planning and development programme. These data are of sufficiently high quality to provide unprecedented 3-D models of the geological structure of the Merensky Reef and UG2 Chromitite Reef, from which the mine deduces the size, geometry and distribution of mineable blocks. Conversely, the seismic data details zones of un-mineable ground caused by structural disturbances in the form of potholes, fault zones and pegmatoid intrusions. Furthermore, variations in dip and strike are well imaged, allowing the mine planners to optimize the mine design and layout. Current interpretation work is focused on enhancing the accuracy of these geological models even further through the analysis of ?seismic trace attributes.? Preliminary testing on the Impala Platinum 3-D seismic volume has shown that attribute analysis has the potential to illuminate a number of geological reef disturbances that are otherwise ?invisible? in the original seismic time volume. Potential areas of improvement include inter alia: ?Improved definition of major fault zones ?Improved definition of zones of reef depression (?slumping?) ?Identification of reef terracing and/or reverse dip. Keywords: 3-D reflection seismics; Impala Platinum Ltd; seismic attribute analysis; seismic micro technology (SMT); rock solid attributes; dip-azimuth; instantaneous phase and similarity.

Jan 1, 2005

By H. Kotzé

Ticor SA began with a detailed feasibility study in 1995. The Hillendale mine (situated between Richards Bay and Empangeni) and mineral separation plant were approved in 2000. The smelter, just outside Empangeni, consists of two 36 MW DC arc furnaces that were commissioned in 2003. Experiences gained during the initial commissioning of the furnaces proved valuable in later commissioning work, as shown by the increase in ramp-up rates. The capacity of the plant is 250 kt/a TiO2slag and 145 kt/a of pig iron.

Jan 1, 2006

The current methodology to design stope support systems in South African gold and platinum mines is based upon the tributary area concept. The discontinuous nature of the hangingwall rock is not adequately addressed, and mechanisms leading to rock mass failures between adjacent support units are poorly understood. The work reported here aims to formulate a basis for quantifying support mechanisms and gain insights into the influence of rock discontinuities on stable hangingwall spans. Numerical models are used to qualitatively investigate the stress transfer from the support units to the discontinuous hangingwall. Stable hangingwall spans are quantified by considering two failure mechanisms, namely (i) beam buckling, and (ii) shear failure due to slip at the abutments. The output of the proposed design methodology is appropriate site specific support spacing, based on discontinuity spacing and orientation. The method is particularly suited to mines at intermediate and great depth, where typically the hangingwall is highly discontinuous due to face parallel mining induced fractures. Results of parametric studies show that with increasing in situ compressive hangingwall stress, beam thickness and friction angle, hangingwall stability is increased, leading to wider stable hangingwall spans between adjacent support units.

Jan 1, 2000

By D. Chetty

The characterization of platinum group minerals (PGMs) from concentrator flotation circuits provides valuable information towards understanding PGM recovery under given milling and flotation conditions. Additional mineralogical characterization also provides information on ore variability, which may affect recovery. Considering the low grades involved, automated scanning electron microscopy (SEM) characterization of PGMs has enabled relatively quick analyses, compared with older, time consuming and less accurate optical microscopy methods. Over the years, parameters, such as species, size distribution, liberation, gangue and base metal sulfide (BMS) associations, have been used to characterize the PGMs in a process mineralogical context, to aid metallurgical interpretation. This paper considers whether flotation indices determined for PGMs can be empirically validated, using initial results from analysis of PGMs in a concentrate bank from a South African concentrator treating UG2 ore from the western limb of the Bushveld Complex. The aim is to determine whether floatability is adequately described by these parameters, or whether other mineralogical factors must be considered when assessing PGM floatability, and hence accounting for recovery vs. losses to tails. The data obtained to date, show that flotation parameters (including liberation index, BMS/gangue relationships and size distribution) have merits where large changes in PGM concentration occur, as observed in the first four cells of the concentrate bank. Larger data sets, however, are required to assess floatability, particularly where concentrate cell grades are similar, as observed in the last six cells of the concentrate bank. Furthermore, the floatability indices could be enhanced by the incorporation of selected associated gangue mineral information, chief amongst these being the content and mode of occurrence of naturally floatable talc and associated orthopyroxene.

Jan 1, 2009

By Gaspard Devos

1. A NEW CONTEXT FOR METAL INDUSTRY Producers and owners of industrial extractive sites are living hard times due to Environmental pressure and liabilities. This is valid whatever the region in the world, it is just a question of time. On one hand, the normative environmental pressure is increasing through more severe regulations and controls on all pollution sources and production materials. [ ] Furthermore, more impurities are extracted and captured, more the volume of the related wastes is increasing. But disposal costs are increasing, disposal areas for wastes are restricted, markets for wastes are limited and technologies for waste treatment are, most of the time, not available. On the other hand, for most of the extractive industries, the costs required to get access to refine primary raw material are killing the profitability of the industry. Definitively, a technological and economical breakthrough is ongoing: extractive industries have to increase their feed from secondary material and to be involved more and more with the recycling business.

Jan 1, 2005

By P. J. Bartlett

Premier Diamond Mine exploits a kimberlite orebody using cave mining methods. A drilling level is established at the base of a block of ore to effect undercutting that leads to caving of the overlying ore. A second level is developed some 15 metres below the undercutting level to allow extraction of the ore once it has caved. As much as 45 per cent of the rock is removed on the extraction level creating a series of pillars. Undercutting creates abutment stresses, as high as 3 times the virgin stress, which affect the rock mass to a distance of 20 metres from the undercut face on the undercut level and on the extraction level 15 metres below. If the extraction level is completely developed prior to undercutting, where stress levels exceed 20 percent of the rock mass strength, extensive rock mass and support damage occurs as the undercut passes overhead. Rock mass damage takes the form of movement along existing joints and minor shear failure through intact rock. Support damage takes the form of cracking in rigid concrete linings. Where induced stresses exceed 50 per cent of the rock mass strength it is often impractical to keep excavations on the extraction level open. Rock mass damage takes the form of extensive failure of the rock in shear which evidences itself as propagation of the fracture zone around tunnels and footwall heave. Support damage results in destruction of shotcrete linings and concrete footwalls. As the interbolt support fails, badly fractured rock ravels around the steel tendons. Observation and monitoring at Premier Mine and on other cave mines has shown that induced stress levels and consequent damage are a function of :?the extraction ratio on the undercut and extraction level prior to undercutting ?the shape of the undercut face ?the rate of undercut advance ?the distance of leads and lags between adjacent tunnels on the undercut level. To ensure the stability of excavations, all of the above parameters must be carefully planned and the planned mining sequence rigidly enforced. The minimum of development is completed on the extraction level prior to the undercut passing overhead. Required development is then rapidly completed once the area has been de-stressed. Support is installed in three phases: ?Rockbolts are installed as soon as excavations are developed ?Wire mesh, steel tendon straps and a layer of shotcrete sufficient to protect the mesh and straps from damage by blasting and LHD loading is installed as soon as practical thereafter. Inevitably the shotcrete lining has to be replaced once the undercut has passed overhead.. ?Rigid shotcrete linings and concreted footwalls are completed only after the undercut has passed overhead and the area has been de-stressed.

Jan 1, 2000

By C. C. Oosthuizen

Paper written on project work carried out in partial fulfilment of Technikon Practical Training Frank shaft is mining both Merensky reef and UG2 reef. The Merensky orebody is almost depleted and this was the reason for starting to mine the UG2 ore reserves. It was decided to mine the UG2 orebody with trackless equipment using a bord and pillar mining method. Frank shaft has been mining the UG2 orebody for nearly 5 years. The T-cut mining method was introduced to see if it could improve the grade of the run of mine (ROM) as well the extraction percentage.

Jan 1, 2005