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A mineralogical study was conducted on the feed (3.51 g/t Au and ~90 g/t Ag) and four leach residue samples (assaying 0.09 to 0.19 g/t Au and 30.0 to 61.5 g/t Ag) from the Pinos Altos silver-gold deposit in Mexico to determine the cause for gold and silver losses. A comprehensive mineralogical and analytical approach including fire assay, gravity pre-concentration, ore microscopy, mineral liberation analyser (MLA) and electron microprobe was used for the current study. Results showed that gold and silver lost in the leach residues occurred mainly as inclusions in quartz and silicates (accounting for over 80% for Au and 92% for Ag of the head assays, respectively), with a minor amount in iron oxide and other minerals. The amount of liberated gold and silver is negligible. Results also showed that gold and silver particles in leach residues are mainly ranged from 1 µm to 5 µm in size, which implies that ultrafine grinding is required to improve the recoveries of these two metals. Keywords: mineralogy, gold deportment, silver deportment, silver-gold ore, leach residue, recovery improvement.

Jan 1, 2009

By J. D. Zhou, F. Yang, X. G. Bi

"In this investigation, the phosphorus distribution ratios in the CaF2 system and B2O3 system dephosphorization slags for high-phosphorus hot metal pretreatment were measured by an indirect method under laboratory conditions. Firstly, the phosphorus distribution ratio between liquid slag and solid iron was measured, and then the phosphorus distribution ratio between liquid slag and hot metal was calculated. Phosphorus capacity was calculated in terms of the composition and optical basicity of the slag. Dephosphorization slag was also studied by scanning electron microscopy, energy dispersive analysis, and X-ray diffraction analysis. The experimental results show that the phosphorus capacity of the B2O3 slag system is much greater than that of the CaF2 system. It is demonstrated thatB2O3 can completely replace CaF2 as fluxing agent for high-phosphorus hot metal pretreatment. With CaF2 as fluxing agent, the phosphorus capacity increases with increasing CaO content in the slag, but the phosphorus distribution ratio decreases. B2O3, when used as fluxing agent, can react with high melting point phases such as 2CaO·SiO2 and 3CaO·P2O5 in the slag to form new phases with low melting points such as 11CaO·B2O3.4SiO2, 2CaO·B2O3.SiO2, and Ca9.93(P5.84B0.16O24) (B0.67O1.79), thereby acting as a fluxing agent. When the ratio of w(B2O3)/w(CaO) is 0.16, the phosphorus distribution ratio reaches its maximum value, that is, the dephosphorization ability of the slag is at its maximum. IntroductionAs international iron ore prices continue to rise, the development of China's steel industry is facing a lot of pressure. Against this background, development and utilization of domestic high-phosphorus iron ore resources is particularly important. When highphosphorus iron ore is used in ironmaking, the phosphorus content in the hot metal can reach 0.35% or more, and the hot metal must be pretreated. For hot metal with 0.08–0.10% dissolved phosphorus, the traditional hot metal dephosphorization pretreatment technologies are relatively mature. However, when using these methods to dephosphorize hot metal containing 0.35% P or more, the amount of dephosphorization slag can reach 100–150 kg per ton of hot metal. Furthermore, the traditional dephosphorization methods require the addition of large amounts of CaF2 as fluxing agent, and this results in high fluoride levels in the dephosphorization slag. The fluorine in the slag can partially dissolve in water and thereby causes high fluoride concentration in the water and soil. Once the fluoride is absorbed by humans or animals, it can result in toxic effects on the central nervous system and myocardium. In addition, fluoride can accumulate in the environment, and thereby pose a health risk to animals and humans through the food chain (Li, 2007; Liu, Wang, and Dong, 2011, Diao, 2013). The objective of this research is to replace CaF2 with B2O3 as fluxing agent while achieving the expected goals of hot metal pretreatment."

Jan 1, 2016

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

The inherent weakness of the Zincor and similar iron removal processes is the relatively high undissolved zinc loss associated with the iron residue. High soluble zinc losses also occur due to poor filterability of the iron residue even though it may be limited to intermittent events. This work focussed on defining the optimum operating window for the Zincor iron removal process where iron is mainly removed in the form of amorphous, intermediate iron phases such as schwertmannite and ferrihydrite. In terms of the main operating conditions, optimum filterability was achieved under the following conditions: pH of 3.0, temperature as high as practically possible (70C), at least 25 kg/m3 seeding, and a retention time of at least 4 hours. When increasing the temperature from 60C to 70C, the required residence time decreased by almost 50%. Undissolved zinc loss was also reduced from 8% to between 2% and 3% by using a basic zinc sulphate/zinc oxide mixture as neutralising agent to effect iron removal.

Jan 1, 2003

By I. Y. Motovilov, S. A. Telkov, M. B. Barmenshinova, Z. S. Abisheva

As a rule, removing waste rock at the beginning of the process improves the conditions for the flotation of minerals, and also reduces the operating costs of crushing, grinding and flotation. Lead-zinc ores in the Shalkiya deposit of the Republic of Kazakhstan are classified as difficult for enrichment, but taking into account their significant reserves, they are one of the main potential ores for the production of lead and zinc. Under industrial conditions, for processing ores of the Shalkiya deposit, a selective flotation concentration scheme with the production of lead and zinc concentrates is recommended. However, according to the recommended scheme, it is not possible to obtain high-quality concentrates of lead and zinc, with high metal recovery. The paper presents the results of studies of preliminary gravitational enrichment of lead-zinc ore in the Shalkiya deposit. Based on the fractional analysis for the particle size range of -40+8 mm, Henri- Reingard enrichment curves were constructed, separation density (2730 kg /m3) was established to isolate the light fraction with the lowest possible lead and zinc content, and gravity enrichment indices (0.7-0.71) were determined. It was found out that when using gravitational enrichment of the original large-sized ore in the Shalkiya deposit, tails are released at the beginning of the technological process with a yield of up to 20% with the extraction of silica up to 30%, calcite up to 11% and carbonaceous matter up to 12%. As a result of the studies, it was found that the beneficiation of crushed lump ore could be conducted in heavy suspensions. One of the positive aspects of the use of gravitational enrichment is the reduction of energy costs for grinding the heavy fraction, which was experimentally proved in this article. Keywords: Lead-zinc ores, Shalkiya deposit, fractional analysis, gravitational enrichment, floating fraction, sunken fraction, separation density

Jan 1, 2020

The February General Meeting of the Branch was held in the St. Helena Club at 8.00 p.m. on the 10th February, 1971. Mr G. Y. Nisbet (Chairman, O.F.S. Branch) was in the chair. There were also present: Seven Fellows: Messrs. N. A. Honnet, C. J. Isaac, J. M' Meyer, I. Thomas (Committee Members), J. Lorenzen, S. L. S. Swart and D. Waterman. Six Members: Messrs. R. Campbell, D. J. Couperthwaite, R. Cross, A. H. Edwards, C. G. J. Vermeulen and G. J. C. Young. Two Graduates: Messrs. J. McLuskie and M. H. Smith. Six Associates: Messrs. J. Dean, W. F. de Lange, J. S. Freer, A. Hooper, A. Paschalides and L. Vorster. One Student: Mr D. J. Hammond and nine visitors, a total attendance of thirty-two. Minutes As the minutes of the General Meeting held on the 17th November, 1970 had not yet been published in the Journal, the Chairman moved that the adoption and discussion thereof be deferred to the next General Meeting. This motion was adopted unanimously. Office-bearers The Chairman informed the meeting that this branch had received the resignation of Mr J. N. Saunders. Following his resignation the Committee elected the following office-bearers: Chairman - Mr G. Y. Nisbet Vice Chairman - Mr J. M. Meyer The Chairman also announced that Messrs. J. M. Meyer and G. J. C. Young had been co-opted onto the Committee. General Members were advised that arrangements had been made for the Cookhouse Tunnel visit towards the end of March. Talk by J. Freer The Chairman called on Mr J. Freer to deliver his talk on "Uranium Extraction, Processing and Conversion for Fuel Element Manufacture". The presentation of this talk, illustrated by sketches, proved very interesting and entertaining and was received with applause from all present. Mr I. Thomas proposed a vote of thanks to Mr Freer on behalf of all members of the O.F.S. Branch. After thanking Mr Freer for his talk and all present for their attendance, the Chairman declared the meeting closed at 9.30 p.m.

By C. G. Goncalves

The Gautrain rapid rail link project is currently Africa?s largest infrastructure project connecting South Africa?s major airport (OR Tambo), Johannesburg and Pretoria. Phase one is planned for completion in time for the 2010 FIFA Soccer World Cup and involves 80 km of track and 15 km of underground tunnels. The key shaft sinking blasting issues revolve around maximising advance and improving blasting cycles to meet the tight deadlines as well as environmental control which, in some cases takes place only 15m from the city infrastructure. To achieve success, DetNet South Africa supplied a range of electronic detonator systems to cater for the different blasting applications involved (tunnels, portals, shafts and viaduct foundations). One such product, QuickShot, was used for the first time in a major civil engineering project and has been used in most of the shaft sinking blasts to date. The QuickShot system combines pre-programmed electronic detonators with special on-bench components that enable the user to quickly and easily design the firing sequence solely by using the order of connections. This precludes the user from having to deal in absolute delay times. The connecting system enables benches to be hooked-up speedily by multiple users who have differing levels of experience. This paper provides details of how, after 33 months, the system has been embraced by the project by aiding in maximised advances, improved cycle times and meeting the required environmental constraints.

Jan 1, 2009

By B. k. Kenzhaliyev, M. A. Naimanbayev, Zh. A. Baltabekova, N. G. Lokhova

In research various desorbents were used to desorb the following rare-earth metals from Purosorb 140 cation exchanger, i.e. ammonium chloride; ammonium sulfate; a mixture of nitric acid and ammonium nitrate; a mixture of hydrochloric acid and ammonium chloride; a mixture of sulfuric acid and ammonium sulfate. It was established that a solution containing 30 g/dm3 of H2SO4 + 300 g/dm3 of (NH4) 2SO4 is the most optimal desorbing solution to desorb REMs from macroporous Purosorb 140 cation exchanger impregnated with rare-earth metals from industrial dihydrate wet-process phosphoric acid. It was established that the residual REM content in the cation exchanger decreased from 0.89 to 0.10 wt. % with an increase in the ammonium sulfate concentration from 10 to 400 g/dm3. Technological desorption regimes for rare-earth metals from cation exchanger were developed. The optimal conditions were determined to desorb rare-earth metals from the Purosorb 140 cation exchanger, particularly temperature 25°C; L:S ratio = (0.8 ÷ 1.1):1; duration = 1.0-1.5 hours. Keywords: Rare elements, sorption, cation exchangers, wet-process phosphoric acid, desorption

Jan 1, 2020

By N. Duda, P. Śliwiński, P. Stefaniak, B. Jachnik

Ventilation and air-conditioning are some of the most energy-consuming processes in deep underground mining. Additionally, the energy consumption of these processes systematically increases along with the expansion of the mine. Therefore, proper energy efficiency assessment and consumption forecasts of these systems are particularly important in modern mines for ongoing tracking and planning of the likely costs. In the article, a short-term prediction model for surface air–conditioning stations is described. This model takes into account dependencies that were identified, based on the data from the supervisory control and data acquisition (SCADA) systems. These dependencies between the response value and the external conditions are then incorporated into the model. This way, for example, the ambient temperature or the total number of specific days of the week (with sometimes significantly lower or higher than the weekly average energy consumption levels) are included. Taking into account these dependencies, and e.g. forecasted average monthly temperatures allow us to include the seasonality of energy consumption in the presented model. In the article, a sample energy efficiency analysis of the A/C system based on an example of the KGHM Polish Copper Polkowice-Sieroszowice mine is performed. The results of the solution proposed in the article are then evaluated, and compared to the currently functioning, more basic forecasting methods. However, given the general nature of the dependencies used in the model, similar solutions could be used in other case studies.

Sep 1, 2021

By J. Engelbrecht

Understanding the deportment of minerals in size fractions has already led to improvements in the flow sheets for platinum minerals beneficiation. There are, however, more potential changes in the flow sheets that may improve the recovery of platinum group metals or reduce the costs of beneficiation before refining. Based on known technology of pre-concentration, milling, gravity concentration, flotation, and magnetic separation a number of potential alterations or additions can be considered and motivated based on the mineral deportment in size fractions.

Jan 1, 2012

By T. Szendrei and S. Tose

Historical approaches to the problem of flyrock based on correlation studies and regression analysis, including artificial neural networks and similar techniques, are inherently incapable of addressing two core issues – root causes of flyrock and projection velocity. A further shortcoming of correlation techniques is that they give no information on the influence of rock size and shape on the flight distance. The scaled depth of burial model for crater blasting in the collar zone and bench face does not specifically address the question of flyrock velocity. A third approach, based on flight trajectory calculations, often neglects the very significant effects of air resistance on the trajectory. Some trajectory models incorporate air resistance but use an implausible fragment velocity model that cannot propel sizeable rocks to distances much beyond 150 m. Nonetheless, trajectory calculation incorporating the effects of air drag affords the most promising approach to the prediction of flyrock range. A unique and insightful feature of the proposed realistic flight modelling is that it collapses all suspected causes of flyrock, many of which are not well understood, to just a single parameter – the launch velocity. This indicates that the root causes of flyrock lie in the mechanisms of momentum transfer to broken rock and suggests new avenues of study.

Dec 13, 2022

By C. Massola, E. E. M. N. de Guzmán, M. G. Bergermana

The abrasiveness of a mineral or rock is an extremely important topic in the mining industry and is generally measured by the Bond abrasion index (AI). However, to determine such an index by the Bond test requires 1,600 g of sample with particle sizes ranging from ½” to ¾”, which are not available in certain situations, such as ore prospecting, drilling, and geometallurgical studies. In order to investigate the abrasiveness of smaller-sized sample materials, a modified LCPC test was developed, which allows testing fine materials (i.e., 1.0 mm or smaller) to predict wear in ore processing circuits and anticipate possible failures resulting from changes in abrasive characteristics of the ore being processed. The results for 16 different materials indicated a good correlation with the AI and the modified LCPC, resulting in a reliable alternative for the AI. Keywords: Bond Abrasion Index (AI), LCPC, abrasiveness

Jan 1, 2020

By O. O. Ogunmodimu, D. K. Weatherley, M. S. Powell

Discrete element methods (DEM) have provided the ability to resolve the complex phenomena experienced by ore within comminution devices such as tumbling mills. The new developments in DEM techniques and the corresponding increase in computational power have made it more feasible to study the movement of individual ore particles as they traverse a tumbling mill. A range of information can be extracted on individual particle impact histories, such as kinetic energy at the time of collision, velocities of individual particles, per-particle stress tensors, impulse, and collision energy. DEM codes have been modified to provide required information that can be analysed in associated software to investigate the impact of varied operational parameters on the resultant granular dynamics. This paper explores the reaction of individual ore particles to the breakage environment within a tumbling mill using DEM techniques and studies the stressing conditions that would lead to either impact or abrasive breakage. Keywords: DEM, comminution, tumbling mill, breakage

Jan 1, 2020

By J. Bal, V. D. Dao, W. Li

"SynopsisThis study proposes a methodology for evaluating the risk of coal bumps in multiple-seam longwall mining. Both the stress field and the total energy release (TER) during retreat were evaluated in the specified case involving multiple-seam mining using the LaModel program. The results of numerical simulations indicated that both the peak vertical stresses on the panel edges and the peak TERs in the outby longwalls increased significantly as the horizontal offsets were reduced from 60 m to zero. With the comprehensive consideration of the stress field and TERs, a conservative offset of 60 m was ultimately adopted when developing the gateroads of the lower panel in the field. The field measurements indicated that coal bumps were avoided completely by employing the proposed design, and the maximum roof-to-floor and rib-to-rib convergences of the tailgate during retreat were only 360 mm and 576 mm, respectively.IntroductionCoal bumps – sudden, violent bursts of coal – pose a serious threat to the safe excavation of coal. Their occurrence depends on the properties of the surrounding rocks, stress field, and dynamic disturbance. The complexity of the mechanism of coal bumps is further enhanced in multiple-seam mining due to seam interaction. Multiple-seam mining is most frequently found in the coalfields in eastern China, such as Xuzhou, Xinwen, Zaozhuang, and Huainan. In the past, due to issues of availability, economics, and ignorance of the potential risk in multipleseam mining, coal seams in such conditions were mined without proper planning to account for seam interaction. Fortunately, studies published over the past three decades have raised awareness of the problems associated with multiple-seam mining, and indicated that the ground control issues induced by multiple-seam mining can be avoided and/or minimized with proper planning.A number of technical studies pertaining to the design of multiple-seam mines have been published. These studies can be divided into two groups based on their methodologies of design: empirical (Chekan and Listak, 1993; Haycocks and Zhou, 1990, Matetic et al.; 1987a, 1987b) and numerical approaches (Li et al., 2000; Maleki, 2007; Mark, 2007; Peng, 2007; Zipf, 2005). The majority of the extant studies on the interaction mechanisms in multiple-seam mining have focused on the load transfer during operation, resulting in the proposal of the pressure bulb theory (Forrest et al., 1987; Haycocks and Karmis, 1983; Peng, 2008; Peng and Chandra, 1980) and pressure arch theory (Holland, 1973; Oram and Ponder, 1997) to guide multiple-seam mine design. However, neither, of these theories can be used to evaluate the potential for coal bumps."

Jan 1, 2015

By N. Hamlef

In this study, the effects of heat treatment on phase formation and surface morphology of the Cr-Pt coated system are investigated using X-ray diffraction and electron microscopy techniques. The CrPt andCr4Pt (Cr3Pt - A15 type) phases were formed after heat treatment of the coated samples. Heat treating at 1000°C renders a distinct island coating morphology that is non-continuous in nature. A diffusional model is proposed for this coated system with regards to the surface morphology formation after heat treatment.

Jan 1, 2014

By I. J. Geldenhuys

South Africa’s mining and metals industries have an illustrious history dating back to the Late Iron Age. We live in a complex and data-intensive world that has already fundamentally changed how we work and live. The outbreak of the global COVID-19 pandemic in 2020 resulted in immeasurable suffering worldwide, but the crisis also accelerated many technological developments and altered the way we think about, and experience, technology and work. Problem-solving requires new and rapidly changing skills to manage the data tsunami. Whether at the rock face or on the processing plant, the fundamentals have not changed, although how we interact with minerals and their properties has changed dramatically. Sustainable processing and design are non-negotiable if we genuinely want to achieve the aim of the cradle-to-cradle principle. As we venture forth, what can scientists, engineers, technologists, and mathematicians learn from history? History is data presented in a context; sometimes, the context is also important. We exist in an age of data, with most of the world’s data created in only the past two years. History can enhance our understanding of the present and enhance our future outcomes. Lessons from history can help provide insights into making ethical and sustainable choices related to technology or engineering in the mining and metallurgical industry. Shifting the perspective of mining and metallurgy professionals from a narrow focus on complex technical solutions towards a broader context for problem-solving and designs that includes the entire ecosystem is crucial. In other words, using or reflecting on historical process development is, at its core, systems thinking.

Sep 1, 2021

By I. O. Ondicho, E. K. Mutinda, B. O. Alunda, E. Agyekum

Driven by the necessity to improve blast performance regarding fragment size distribution in limestone mines, this paper introduces the prediction and measurement of blast fragmentation distribution through the modified Kuz-Ram (MKR) and Kuznetsov-Cunningham-Ouchterlony (KCO) models. Precise prediction and measurement of rock fragmentation resulting from blasting play a critical role in hard rock ore extraction. This is due to the substantial influence of post-blast ore size distribution on the efficiency of all subsequent downstream rock handling and processing operations. Additionally, employing secondary breakage of boulders, when necessary, leads to an unjustified rise in production costs. In this paper, the MKR and KCO models were utilised to identify the most appropriate model for application in Bisil and Simba quarries situated in Kajiado County, Kenya. Split-Desktop was used for blast fragment measurement by processing digital images obtained after blasting and computing the fragment size distribution of the blasted rock. As per the investigation, the recorded percentages of boulders generated at the sites ranged from 7% to 12.3% for the Simba quarry and from 11.2% to 23.9% for the Bisil quarry, respectively. Regression, correlation, and root mean square error (RMSE) were employed as the primary performance indicators. The study concluded that KCO outperformed MKR in accurately predicting blast fragment sizes in the examined quarries.

Mar 5, 2025

By S. A. Villalobos, F. A. Villalobos, and L. E. Aguilera

Rockburst events have been a serious problem for many years in many mines worldwide, and in particular at El Teniente mine in Chile. El Teniente is the largest copper mine in the world, located in the Andes Cordillera where high stress levels are present due to intensing mining activity in addition to complex geology. Consequently, the study and management of the rockburst threat are necessary. In this work, the case of the Diablo Regimiento (DR) mine within El Teniente is studied. The energy capacity of dynamic support systems is determined for different tunnel geometries based on two kinetic methodologies, using data from DR. Initially, rockburst potential is determined by means of a stress analysis around different tunnel geometries through the boundary elements method. In the first methodology a yielding zone (YZ) is estimated for each excavation geometry using the finite element method FEM. The second methodology involves the definition and determination of a critical strain energy (SE) around each excavation geometry using a FEM numerical analysis. In both cases, peak particle velocity PPV is estimated by a scaling law, which is subsequently adjusted due to tunnel amplification effects. According to the results, and knowing the working energy capacity applied in DR mine, it was found that the values of energy capacity for the rock dynamic supports were better estimated by the YZ-PPV approach than by the SE approach.

Sep 1, 2022

By W. C. Joughin

The science of soil mechanics is 100 years old, and rock mechanics is about 80 years old. While methods of analysis and design have been developed and have evolved over time, these are relatively young sciences. The rapid increases in computing power and new technologies have enabled more sophisticated modelling and monitoring. However, there are still many aspects of soil and rock mechanics that are not well understood. Geotechnical failures, which have major consequences, still occur. These consequences may include environmental damage, major production holdups and associated loss of revenue, damage to infrastructure, and loss of life. High-consequence events, which are rare, are more difficult to anticipate and to design for, because by their nature they involve extraordinary circumstances or conditions, often geological in nature. The risks are usually mitigated by conservative designs and monitoring. Detailed geotechnical investigations help us to understand the natural variability of soil and rock masses and identify unusual or unexpected conditions. Investigating and researching major geotechnical failures is essential to enable these unusual circumstances to be anticipated. In the past, severe unanticipated events may have been treated as natural events or ‘acts of God’. However, society now has much greater expectations and it is essential to have policies and procedures in place that enable appropriate management of these rare, high-consequence risks. A good example is the Global Industry Standard on Tailings Management (GISTM), which was introduced after the catastrophic dam collapse at Vale’s Corrego de Feijao mine in Brumadinho, Brazil. The address will explain the concepts of uncertainty and variability, and how they should be taken into account in geotechnical design. The challenges facing geotechnical engineers, mine owners, and managers will be discussed. referencing a number of real case studies.

Sep 6, 2023

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