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By C. Hsu

Underground coal gasification (UCG) is becoming more popular as the reserves of good quality, mineable coal are starting to diminish, and yet the global energy demand from coal is still increasing. The purpose of this research project was to investigate cavity formation within a coal block due to the combustion reactions in the context of UCG. The cavity plays a pivotal role in the UCG process, as it is essentially the gasification reactor. Cavity formation in an in situ gasification process using the forward combustion linking method (FCL) had been investigated, and a laboratory model was created to simulate the process. The experiment was performed by drilling a U-shaped tunnel into a coal block, which was then combusted internally with air that was fed through an injection hole. A heating element (at approximately 500°C) was used to supply the required heat for combustion at the base of the injection well. The coal blocks were analysed using micro-focus X-ray tomography. The tomography results showed that the coal tended to crack along the bedding plane after a short duration of combustion, due to either the formation of clinker or the expansion of swelling vitrinite along the horizontal tunnel. The deposit was thicker at the base of the injection well compared to the base of the production well; this may have been caused by the turbulence of the air flow and the relatively high oxygen concentration at the base of the injection well. A comparison of the results with work by Daggupati et al. (2010) showed the same trend, despite the slightly different methodology applied.

Jan 1, 2014

By J. Hadjigeorgiou, G. Knox

Since their introduction in 2010, paddled energy-absorbing rockbolts have been widely used in seismically active hard rock mines. This paper provides new data and reviews previous work to quantify the performance of paddled energy-absorbing rockbolts under controlled laboratory conditions. Of significance is the realization that the typical split location in impact tests, at the centre between two paddle anchor points can at best provide an upper limit value. This inherent variability in performance under different testing configurations should be acknowledged and taken into consideration in the design of ground support in seismic conditions. This paper discusses the reduction in capacity of paddled rockbolts as a function of loading angle from a maximum value during axial tests (0° loading angle) to the lowest value during pure shear (loading angle of 90°). A significant reduction in displacement capacity is observed as the loading angle changes between axial (0°) and 40°. Beyond a 40° loading angle up to shear (90°) loading the reduction in displacement capacity is less significant. Due to the variances in the capacity observed through the variance of the testing configuration: loading mechanism, direction of loading, location / presence of a discontinuity, it must be recognized that results from laboratory-based testing are not independent of the testing configuration. This should be acknowledged when extrapolating anticipated performance in the field.

Oct 9, 2024

By S. Khan, M. Auret

Due to the modernisation of mines, traditional training methods may be supplemented to support the upskilling of supervisors in mines. A project was initiated by the SAMERDI SATCAP programme to demonstrate the “art of possibility” through a modern training methodology. Two exemplar digital supervisory leadership development modules for underground gold and platinum-group metal conventional and modernising mines, were developed for potential uptake by the mining industry. These exemplar modules were exhibited on a digital platform, towards leading and driving mining modernisation. The research adopted a mixed method approach that included a literature review, a review of an existing supervisory leadership development programme, data gathering, a pilot study, and stakeholder validation workshops. The research supported the development of exemplar digitised modules. The two digitised modules were showcased to the industry for potential adoption. Training slides, a facilitator guide, and a training video were developed for ease of use by industry. The training modules are generic and not specific to a particular mine. They may be used by multi-commodity mines, including gold and platinum-group metals, as ‘stand-alone’ modules. They are customisable, through consultation with relevant service providers for specific working environments. The findings indicated that both the traditional classroom training and the new digitised online learning solution offer advantages for supervisory leadership development. Digital learning is not a new concept for supervisors at mines and modern training methods are well-supported by supervisors in the industry. A ‘modernised’ training solution may consider a ‘blended’ learning approach that combines traditional training with digital methods.

Jun 27, 2025

By J. van der Merwe, C. Phetolo, V. Matjeke

The mechanical properties and microstructure of AlSi10Mg alloy samples that were printed by selective laser melting (SLM) were studied to determine the effect of processing parameters and building orientation. After printing, the alloy was stress relieved at 250°C for 2 hours. The microstructures were analysed by optical microscopy and scanning electron microscopy (SEM) to determine the alloy phases and distribution. Phase transformation characteristics of the material were evaluated using differential scanning calorimetry (DSC). Mechanical properties were determined by subjecting the XY- and Z-built samples to tensile and nano-indentation testing. The samples from the tensile tests were then used to perform fractographic analysis by SEM. The microstructural properties in each orientation revealed a non-homogeneous microstructure which was characterized by a semi-elliptical tract and fine silicon precipitates, which were found to be softer along the fusion zone. The DSC thermograms revealed that the material underwent two phase transformations during the first heating cycle. The mechanical properties revealed a higher UTS, higher yield strength, and a lower percentage elongation in the Z orientation than in the XY orientation. Fractographic analysis showed that crack initiation in both orientations started from the surface in a brittle manner due to surface flows, and then propagated via microvoid coalescence.

Jul 1, 2021

By A. Koursaris, H. M. Friede, A. A. Hejja

The features of smelting slags from South African prehistoric sites and of related cinder material are described. Chemical analyses of twelve slag samples found in the Transvaal, Swaziland, and Botswana are reported and discussed. An attempt is made to establish a relationship between these slags and the ores collected at the Early Iron Age site of Broederstroom, which date between AD 350 and AD 600. The liquidus temperatures of29 slags were determined by the use oh hot-stage microscope. The major mineral phases of 16 slags were identified by X-ray diffraction and microscopic examination. It appears that the slags investigated were formed at temperatures below 1250°C or - in some cases - at temperatures only marginally in excess of 1250°C.

Jan 1, 1982

By J. D. T. Steyl, G. B. Grobbelaar

Two examples are presented to show how first-principles – physical-dynamic, here termed behavioural modelling, is used to build digital twins of unit processes or plant sections. A digital twin equips the metallurgist, engineer, or manager with a powerful tool to conduct model-based design, solve process problems and improve operations. It is particularly relevant in the metallurgical industry where plant behaviour is highly integrated, rates respond to particle dynamics in complicated ways and mineral flows across flowsheet boundaries are variable. The two examples used to illustrate the behavioural modelling methodology are 1) a flotation column unit block and 2) a multi-compartment pressure oxidation (POX) autoclave. It simultaneously accounts for the causality of material and heat flow, takes care of mineral particle dynamics, physical and chemical reaction rates, the plant control system behaviour and operating heuristics. The basic modelling building blocks are briefly reviewed to show how the behavioural modelling attributes constrain the mass and heat flow dynamics to physically realistic values. This is the key aspect that allows project value to be created with minimal input data. Behavioural modelling is especially valuable where the process dynamics are poorly understood or controlled, where data-driven models fail to cope with complex and highly integrated plant behaviour, where quality data is lacking or limited funds are available to generate the data required to fill all the knowledge gaps. The paper uses the flotation column example to show how behavioural modelling and simulation can be used to optimise plant performance, while the multi-compartment POX autoclave model shows how it can be used to diagnose process problems. It also provides a solid basis to add a data-driven component – in other words, it makes a strong case for a hybrid first-principle– data-driven approach to solve process problems, especially where microscopic-level understanding is poor. Keywords: Digital twin, behavioural modelling, simulation, flotation column, pressure oxidation

Jan 1, 2020

By L. W. Palmer

Compositing or regularization of drillhole data is common practice in mineral resource estimation and is deemed a necessary step in producing unbiased estimates of mineral resources and reserves. Commonly, data are collected over irregular distances due to the varying relative thicknesses of lithologies drilled or sampling/assaying strategies. This necessitates data transformation to regular lengths of equal size to ensure that all data have the same sample support. However, there have been few detailed publications on the effect of this process on the composited data that are subsequently taken forward for the estimation process. In this paper, three currently available compositing methods are reviewed and the effects of inappropriate compositing methodologies presented. It is shown through a case study that compositing samples to different lengths leads to changes in the average and variance of the grades in the drillcores in the dataset, which will impact the final estimated value. These differences are exacerbated by breaks or gaps in data where, for a variety of reasons, there has been no data collection or data have been lost. The importance of appropriately treating blank and zero data is also presented. Globally, these differences might be minimal, but locally may be substantial, affecting the efficiency of the estimation and subsequent use of the results in, for example, mine planning and reconciliation. Further detailed investigation of compositing practices is required if the full implications of compositing are to be understood and any induced bias effectively defined.

Jul 10, 2024

By V. I. Ryaboy, V. P. Kretov, I. V. Ryaboy

Attachment of collectors containing thioamide groups to sulfide minerals is interpreted as interaction between NH-acids and sulfides acting as solid bases with the formation of a donor–acceptor reagent–mineral bond. As the acid function of the reagents increases, their sorption optimum is observed to shift to a less alkaline region. The developed concept has enabled us to propose a method for calculating optimal pH values for the sorption of reagents on mineral surfaces depending on the acidity of the reagents and the pH value of the medium. Our estimates correlate well with the experimental data. We studied the spectra of the reagents containing thioamide groups and the spectra of copper salts and their surface compounds on an oxidised copper film, chalcopyrite, and pyrite using the infrared (IR) spectroscopy. Some effective applications are described of reagents containing thioamide groups in the flotation of copper, copper-molybdenum, and gold ores, both separately and in combination with other collectors. It is shown that the flotation performance is maximised by adding two- and three-component collector combinations, including collectors containing thioamide groups. In this case, the increase in the recovery of copper, molybdenum, and gold is up to 2-5% compared to conventional process conditions. A new, high-performing reagent containing a thioamide group is proposed. A commercial pilot batch of the reagent was produced and sent for flotation tests in gold ore applications. Keywords: Thioamide reagents, dialkyldithiophosphate, collectors, flotation, arsenopyrite, chalcopyrite

Jan 1, 2020

By T. M. Louw, L. Auret, S. M. Bradshaw, F. F. Noelle

Modern industrial processes undergo frequent process state shifts due to changes in demand, feedstock or maintenance operations. Multimodal continuous process monitoring is therefore required for effective plant operation. Steady state analysis is a key component in effective multimodal monitoring. Various issues still remain in determining the starting and ending times of transition states. High dimensionality of process data is a characteristic that makes it difficult to select variables to consider when conducting steady state analysis. In order to address these problems, steady state detection on the principal component space is proposed. First, data undergoes principle component analysis to reduce dimensionality, then existing multivariate steady state detection algorithms are applied on the principle component scores. A novel algorithm, threshold PCA-SSD, is proposed and compared to an existing technique for steady state detection. The algorithms are investigated on high dimensional synthetic data Keywords: Multimode process, steady state detection, principle component analysis

Jan 1, 2020

By J. Petersen, M. Reuter, E. Asselin, M. Becker, N. Uys

In order to meet society’s ever-increasing demand for metals and address the numerous technical, economic and environmental challenges within the current mining context, a holistic approach to process design, which is grounded in mineralogy, is needed. This would ensure that the impact of varying process mineralogy (and associated chemistry) on technical considerations and the associated economic implications and environmental consequences are taken into account upfront. This investigation focuses on the commodity zinc due to its strategic value coupled with limited resource availability and the wide variety of substantially different process technologies in existence. As the most commonly processed zinc ores contain zinc sulphides, the mineralogy/chemistry of these ores and their associated process routes will be discussed. The findings have been generated through the analysis of two case studies, Teck’s Trail Operations (British Columbia, Canada) and Hudbay Minerals’ Flin Flon Operations (Manitoba, Canada). The flotation of zinc sulphide ores to produce concentrates with varying mineralogy, represents the starting point for both case studies. The hydrometallurgical process routes for the further refining of zinc and other valuable metals include roast-leach-electrowinning (RLE), and zinc pressure leaching (ZPL). The effect of process route choices on primary metal recovery (Zn), coproduction of other base metals (Cu, Pb), potential for other valuable metal production (Ag, Au) including less well known, but increasingly important trace elements (In, Ge), and the production of other by-products (H2SO4, S0) are discussed. The economic and environmental implications of these aspects will also be considered. It is concluded that a quantitative modelling approach must be taken where waste management is integrated into process system design and simulation as a key unit operation. Keywords: Zinc Sulphide Processing; Design Decisions; Mineralogy

Jan 1, 2020

By M. M. Masood, G. Y. Raju, T. Verma

The inverse velocity method has proven to be an effective approach for predicting slope failures in surface mines by analysing displacement monitoring data. However, the accuracy of inverse velocity method predictions is significantly affected by instrumental noise and natural environmental variations, which influence the identification of different deformation stages. To enhance predictive accuracy, this study applies and evaluates three filtering techniques to velocity time series data: Exponential smoothing filter, short-term smoothing filter, long-term smoothing filter and also compares it to raw data (no filtering). A refined prediction framework, that is, filtered inverse velocity method analyser, is proposed to improve slope failure forecasting in surface mining operations. The results demonstrate that filter selection plays a crucial role in optimising failure time predictions, offering valuable insights for geotechnical monitoring and early warning systems in surface mines.

Sep 1, 2025

By R. Altındag, D. Akbay

The point load index is a simple, fast, and inexpensive method for determining rock strength and can be applied both in the field and in the laboratory. There are, however, some disadvantages and limitations to the method, and the test results can be affected by the person carrying out the test, the rock characteristics, or the test device. In this study we describe an investigation into how the point load index value is affected by the shape of the conical platens used in the test. Point load index tests were carried out using different devices fitted with conical platens of different spherical radii, and on a modified device which circumvented the limitations/disadvantages. It was seen that the point load index value increased as the platen radius increased, as expected. In the case of testing using non-standard conical platens, an equation is proposed to normalize the point load index value with respect to the standard spherical radius value.

Nov 1, 2021

By B. M. V. Baloyi, D. Mchabe, D. Chetty

South Africa accounts for the largest global manganese ore production share, primarily from its Kalahari Manganese Field deposit. Despite this, domestic smelting is beset by energy constraints, resulting in most ore being exported for smelting. Mintek is investigating energyefficient pathways for ore reduction, specifically undertaking prereduction tests to reduce energy consumption for manganese smelting. The present contribution considers the effect of methane, anthracite, and holding time, at a fixed temperature, on the extent of reduction of Mamatwan-type ore, primarily from a mineralogical perspective. In particular, the aim was to carburise the monoxide Mn phase to Mn carbide, as this is less energy intensive than producing metallic Mn from the monoxide. Based on thermogravimetric test results, the ore and products from three experiment sets were analysed using X-ray diffraction and scanning electron microscopy to assess the phases and textures present. The findings show that carburisation of manganese monoxide and its equivalents is most advanced under conditions of 8% anthracite, 10% methane, and 60 minutes of holding time, thus confirming with the thermogravimetric data. These results show promise for reducing energy consumption for Mn smelting in ferromanganese production.

Mar 4, 2025

By P. P. Kim, M. Tangstad, T. A. Larssen

"The kinetics of MnO and SiO2 reduction in SiMn slags based on Assmang/Comilog ore and HCFeMn (highcarbon ferromanganese) slag were investigated between 1500 and 1650°C under a CO atmosphere. The results showed that charges containing HCFeMn slag had relatively faster reduction rates than those without. The difference in the driving force for MnO reduction was insignificant among the SiMn slags at 1500°C, which implies a low contribution of the driving force for reduction rate. The slag viscosities were also rather similar, around 1 poise at 1500°C, which could not explain the different reduction rates. Instead, the different charges containing various sulphur contents are believed to give rise to the varying reduction rates. The estimated activation energies for MnO reduction were around 500–920 kJ/mol for charges containing HCFeMn slag, and between 250–300 kJ/mol for those without. Based on the estimated kinetic parameters, the considered rate models were able to describe the reduction of MnO and SiO2 in SiMn slags between 1500 and 1650°C. IntroductionManganese ferroalloys such as ferromanganese (FeMn) and silicomanganese (SiMn) are important ingredients in steel production due to the beneficial effects of manganese on the physical properties of steel. Mn enhances the strength, toughness, and hardness of steel products, and both Mn and Si are used as deoxidizers to prevent the development of porous structures (International Manganese Institute, 2014; Olsen, Tangstad, and Lindstad, 2007; Subramanyam, Swansiger, and Avery, 1990; Tomota et al., 1987).The thermodynamic background of manganese ferroalloys is well established (Olsen, Tangstad and Lindstad, 2007), but kinetic information is rather scarce, especially for the SiMn process (Tranell et al., 2007; Tore-Andre Skjervheim, 1994). The absence of kinetic information makes it more difficult to understand the reduction mechanisms of MnO and SiO2. It is not clear how different raw materials affect the SiMn process. The main metal-producing reactions in the SiMn process are described by Equations [1] and [2]:"

May 1, 2019

2nd CONGRESS OF THE INTERNATIONAL SOCIETY FOR ROCK MECHANICS The 2nd Congress of the International Society for Rock Mechanics will be held in Belgrade, 21-26 September, 1970. The Congress will include: working sessions, study tours, receptions, excursions introduced in the working sessions and post-congress excursions and special programme for accompanying persons. Anyone interested in rock mechanics and its applicarion may take part in the 2nd Congress. Official languages of the Congress are: English, French and German. Simultaneous translation service will be provided during the Congress. All the correspondence concerning the 2nd Congress of the International Society for Rock Mechanics should be addressed to: Sekretarijat 2. kongresa Medjunarodnog drustva za mehaniku stena Institut za vodoprivredu "Jaroslav Cerni" Bulevar vojvode Misica 43, Postanski fah 530 Beograd - Jugoslavija NINTH INTERNATIONAL SYMPOSIUM TECHNIQUES FOR DECISION MAKING IN THE MINERAL INDUSTRY The Symposium which is to be held in Montreal during the week of June 14-19, 1970, follows the Computer Symposium held in Salt Lake City this year. The purpose of the Symposium is to define the role of decision making techniques within the mineral industry and to stimulate the development of specific applications. The subject of the Symposium-mathematics, operations research and computers as applied to the mineral industry-allows a complete picture of the mineral industry in its public policy, corporate, financial and technological environment to emerge. This is another of the series of symposia on this and related subjects started in the early 1960's at the University of Arizona. Sponsorship has included a number of Universities and the Society of Mining Engineers of the American Institute of Mining. This 1970 symposium is the first to be held outside of America, and is being sponsored by the Canadian Institute of Mining, McGill University and Ecole Polytechnique. A number of delegates from South Africa have participated in these symposia and several have already arranged to attend this symposium in Montreal. Enquiries should be directed to: Secretariat, The 9th International Symposium, Department of Mining Engineering, Ecole Polytechnique, P.O. Box 50l, Snowden, Montreal 248, Quebec, Canada. 24th INTERNATIONAL GEOLOGICAL CONGRESS This Congress is to be held in Montreal, Canada, from August 21 to 30, 1972. A very detailed and extensive programme has been proposed, and includes a number of excursions. Copies of the first circular are obtainable from: The Organizing Committee, 24th International Geological Congress, 601 Booth Street, Ottawa 4, Ontario, CANADA. SYMPOSIUM ON THE RECOVERY OF PYRITE The proceedings of the Symposium on the Recovery of Pyrite, held in Johannesburg on 12th to 13th June 1969 are now available. Copies may be ordered from the Secretary, S.A.I.M.M., P.O. Box 61019, Marshalltown, Transvaal at a cost of R10.00. Papers and addresses presented at the Symposium were: Opening Address by Mr J. K. E. Douglas (President). 'The world sulphur position,' by W. C. J. van Rensburg (Member). 'The South African sulphur position,' by D. L. Taylor (Member). 'The recovery of pyrite at Government Gold Mining Areas Limited,' by R. J. Westwood (Member), G. S. Stander (Affiliate) and H. R. Carlisle (Member). 'Recovery of pyrite concentrates from colliery-waste discards-A preliminary assessment,' by W. A. Gilbert (Visitor) and E. A. Nugent (Member). 'The role of pyrite in upgrading the uranium content of Witwatersrand conglomerate ores by means of the heavy-medium separation process,' by D. J. Tutt (Associate Member). 'Pyrite recovery by jigs at Durban Roodepoort Deep Limited,' by E. J. Dominy (Affiliate), F. Diamond (Affiliate) and A. D. Graham (Affiliate). 'The storage of pyrite concentrates,' by Joan C. Campkin (Visitor) and P. J. Lloyd (Member). 'The flotation plants of the Anglo- Transvaal Group,' by L. A. Bushell (Member). 'Pyrite flotation with amines and cyanidation of the products,' by E. H. D. Carman (Member). 'Gold recovery by cyanidation from mill products obtained after pyrite flotation,' by P. G. Mrkusic (Graduate), M. Sciarone (Visitor) and H. E. Simonsen (Visitor). 'The influence of sulphydral and cationic flotation reagents on cyanidation of native gold,' by K. G. Ashurst (Visitor) and W. P. Finkelstein (Member). 'Laboratory tests on the flotation of pyrite from Witwatersrand gold ores by cationic collector,' by J. Levin (Member), and M. L. Veitch (Visitor). Closing Address, by Dr R. E. Robinson (Director, National Institute for Metallurgy).

By A. Modi, C. Li, R. Kabwit, W. Y. Xinchao, R. Joshi

The KIMIN copper project can treat 1.7 million dry t/a copper-cobalt ore. It has three mills in operation, two using conventional milling in water and the third in raffinate. We introduce the project process circuit and the capital and operating costs of using the raffinate process compared with conventional milling in water. There is a capital saving of approximately 11.5% for major equipment by removing the pre-leach thickener. In addition, it also achieves an annual operating cost saving of USD 2.1 million due to an increase in 49% of acidic raffinate recycled and reduction in lime consumption. The features of CITIC’s new duplex stainless-steel ball mill ,as the key equipment of the system, are also introduced

Jan 1, 2023

By J. P. Garnier, T. Bhambhani, J. A. Garcia, N. Renaud

Most flotation plants use a static reagent scheme, i.e., a set combination of collectors, frothers, and modifiers. This scheme is usually developed and refined over time to deliver optimal (not necessarily the highest) performance when the major ore types are fed to the plant. However, when ore types or mineralogy coming to the plant change substantially (and this often happens as different areas of the pit(s) are mined and crushed at the same time), there are upsets in the process, typically leading to lower recoveries. Adapting to this variability is usually done only when performance drastically suffers, and the changes made may be too late and bring additional variability in performance. The premise for SmartFloat™ is that the reagent suite needs to be dynamic, adapting continuously to changes in the ore and operating conditions. Solvay has combined advanced analytics and data science techniques with its expertise in flotation reagent chemistry to systematically and automatically achieve the above, and in real time. Thus, SmartFloat™ is optimizing the reagent suite continuously, removing the additional variability created by belated human interactions resulting in a better and more stable process. In addition, this advanced approach allows for continuous improvement by identifying poor performing ore domains and improving the reagent suite using Solvay’s FM-100 approach to design appropriate solutions.

Jan 1, 2023

By Tian Yingzhong, Guo XIN, Wei Peihe

The intention is to solve a series of problems in the flotation and desiliconisation of complex bauxite; aiming to achieve monomer dissociation of target minerals based on process mineralogy. According to the mineral surface, there are differences in physical and chemical properties and the molecular design theory of flotation agents. Designing the polar and non-polar groups of the bauxite flotation collector to make the reagent group easily combine with the mineral to form a cyclic chelate, will enhance the collection performance, and strengthen the drug selection performance. Developing a new type of positive flotation collector for bauxite with small dosage, strong selectivity and low foam volume. Keywords: Process mineralogy, monomer dissociation, molecular design, new positive flotation collector

Jan 1, 2020

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 J. J. Cilliers, I. K. Craig, J. D. le Roux, K. Hadler

An analysis of the state-observability characteristics of a dynamic tank-to-tank model of a flotation bank indicates that the concentrate-flow rate of each tank can be estimated from accurate measurements of the pulp height in each tank and the final tailings flow-rate exiting the final tank. Therefore, there is an opportunity to construct an observer (model-based soft-sensor) which can estimate the concentrate flow-rate of tanks in a flotation bank. The concentrate flow-rate, i.e. mass pull, is generally measured by means of froth image analysers on industrial plants. A model-based soft-sensor will not only provide a means to validate froth image analyser results, but could potentially substitute them as they are less expensive to implement and maintain. Keywords: Concentrate flow-rate, estimation, flotation, modelling, observability, soft-sensor

Jan 1, 2020