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By H. Dudycz, A. Skoczylas, P. Stefaniak, P. Pyda

In the era of Industry 4.0, technologies such as Big Data (BD) and the Internet of Things (IoT) play a key role, especially for multi-site manufacturing companies. In such companies, the challenge is to collect and process massive amounts of data from industrial devices and extract key information from this data in real-time for ad hoc decision-making. The ability to analyse data from industrial devices translates directly into streamlined production processes, cost optimisation, prevention of unplanned events, and safety during operation. In this context, particular attention should be paid to Big Data Analytics (BDA), whose main source is the Industrial Internet of Things (IIoT). The purpose of this paper is to propose an IT system architecture incorporating BD and the IoT for a mining company. The paper presents results from a literature review focusing on available BD and the IoT solutions for industry (mining in particular) for the purposes of the acquisition, integration, and advanced analysis of data. The advantages and disadvantages of the different solutions were indicated and gaps in the accessibility to dedicated functionality are identified. Based on the analysis of a multi-site mining company, the main challenges faced by such companies planning to implement BD and IoT solutions are identified. Also, a proposal for an IT system architecture incorporating BD and IoT for a mining company is described in the paper. The contribution of the article consists of the identification of the challenges faced by mining companies planning to implement BD and the IoT solutions, and the proposal of an IT system architecture that allows BDA whose main source is the IIoT.

Sep 1, 2021

By M. Shaw, H. R. Heydenrych, A. E. Lewis, E. Glass, J. Chivavava

The removal of calcium from the retentates of reverse osmosis (RO) treated minewater is desirable since it allows the recovery of both additional potable water (through RO) and higher-purity salts (in downstream processing). This, in turn, reduces the need for costly and unsustainable evaporation ponds and enhances the economics and operability of potential zero-liquid discharge downstream processes, e.g. evaporative-, cooling- and eutectic freeze-crystallisation. For this study, a multi-component retentate high in sodium content was considered, typical of those emanating from minewater reclamation plants in Mpumalanga, South Africa. Four technologies were evaluated to remove calcium: gypsum precipitation by addition of lime; calcium carbonate precipitation by addition of soda-ash; heating crystallisation of calcium sulphate anhydrite; and cooling crystallisation of gypsum. Full processes were developed and simulated using electrolyte thermodynamics. Using the results of these simulations, capital- and operating costs, as well as revenues were calculated and used in economic comparisons of the processes. Sensitivities to key purchasing and selling prices were also investigated to understand the impact of changes in these variables. For the case of a low magnesium-to-sodium ratio in the feed, gypsum precipitation through lime addition was found to have the lowest operating and total annualised costs; but, if revenue could be derived from the sale of sodium sulphate, calcium carbonate precipitation through soda-ash addition was favoured. Keywords: Calcium removal, gypsum precipitation, calcium carbonate precipitation, heating crystallsation, cooling crystallisation, economic comparison

Jan 1, 2020

By M. Smit, N. C. J. Dempers, S. Lunkov, C. Saguru, J. Nel

A common method for the recovery of copper is by heap leaching, solvent extraction, and electrowinning. During solvent extraction, the solution is continuously recycled, and it is necessary to remove impurities that build up in the raffinate. For the process investigated in this study, the main impurities include Fe, Co, As, and Zn. Recovery of these impurities can provide economic benefits while adhering to legal and environmental constraints. Such impurities are often removed by precipitation utilizing a neutralizing agent, such as limestone or lime, but it is also possible to remove the impurities by sulfide precipitation. Sodium hydrosulfide (NaHS) is used to selectively precipitate copper, arsenic, and zinc from a solvent-extraction raffinate stream. The resulting sulfide precipitate is bagged and sent to a roaster for further treatment. The design of the sulfide precipitation was investigated to optimize the processing conditions (including temperature, pressure, and residence time), the materials of construction, and the toxicity and explosive nature of the hydrogen sulfide gas produced

Jan 1, 2023

By P. Saayman

The mining industry has much potential for automation. A great deal of work has been done on this subject and is still ongoing. With automation comes the possibility for optimization, because more information is available and actions can be repeated with more accuracy. This paper looks at possible solutions to the problem of optimizing the autonomous vehicle dispatch system in an underground mine. Possible optimization strategies are evaluated using a simulated environment. The majority of the results indicate that improvements on current methods are possible. Keywords: mining automation, simulation, vehicles, dispatching strategy, optimization.

Jan 1, 2006

By E. Saari, B. Musuku, K. Jansson

The quality of the concentrator plant process water is crucial for high performing mineral flotation circuits. Significant metal recovery and concentrate grade losses have been noticed particularly in more closed water loops. The recovery and quality losses have started to emerge mainly with decreased freshwater usage and because of changes in tailings management towards tailings thickening, paste, or dry stacking. These changes result in shorter, closed water loops with a rapid build-up of harmful components with negative impact on the beneficiation process. Consequently, water quality has a direct link to decreased product value and sales returns. Complete cleaning or water blending might not be the right way to achieve high recovery and high-quality products. Instead, the key is to understand what kind of water qualities are needed for the flotation of specific minerals. In this study harmful substances in various plant water streams were removed and/or modified by pilot-scale dissolved air flotation. Batch-scale mineral flotation tests with the untreated and treated water were then performed by using fresh ore samples and the plant’s own laboratory flotation procedure. The results indicate that because of dissolved air flotation, the mineral flotation recoveries were enhanced by 1‒3.3%. Keywords: Mineral recovery, metal recovery, mineral quality, process water, concentrator, beneficiation, mineral processing, flotation, process water treatment

Jan 1, 2020

By B. Genc, C. Gous

Spontaneous combustion during coal mining operations is a major problem that affects the health and safety of workers and causes environmental problems. The phenomenon is associated with the presence of coal, coal shale, and pyrite. In 2020, a premature detonation incident occurred at an iron ore mine where the waste material contains black carbonaceous shale units known to be associated with pyrite. The spontaneous combustion propensity and properties of samples of the black carbonaceous shales from the mine were examined and compared with samples from the Witbank Coalfield. The spontaneous combustion liability indexes of these samples were correlated with X-ray fluorescence (XRF) and proximate and ultimate analyses using linear regression. The Wits-Ehac Index classification results show that the samples were between medium and high risk. The linear regression analysis showed very poor correlations between the Wits-Ehac Index results and the XRF and proximate and ultimate results. The most valuable relationship found is between the presence of relatively high sulphur (greater than 3%) and ground reactivity with nitrate-bearing explosive emulsion.

Jun 5, 2023

By A. M. Croll

The efforts to mechanize narrow reef tabular orebodies unique to this country, are not new. They began in the early 1900s and have over the last century seen varied rates of progress and success. Efforts to mechanize with the use of scraper winches can be regarded as a success. The scraper winch replaced the hand lashing of ore and development waste into hoppers. The initiatives by Anglo Gold and the then JCI to implement trackless mining equipment into these environments had limited success but in general were looked upon as a failure?at least this is the perception. The Chamber of Mines Research Organization (COMRO) in conjunction with various mining houses tried to make a success of the impact ripper. Diamond wire cutting of the stope face is another, which has been tried and tested. The use of high-pressure water to cut rock has also been trialed. These attempts, amongst others, are just a few of the efforts that have not been successful in the quest to make life at the face safer, more productive and easier for our employees. Against the backdrop of an emerging South Africa, the associated high expectations of historically disadvantaged people within the country, a strong rand, demands for better safety, lower cost of production and more efficient operations, mechanization has the chance to make a difference to Anglo Platinum?s business. Mechanization has certainly changed the way other commodities such as coal, base metals and diamonds are won from the earth. Mining?s image is still one of people crawling around in stopes?a dirty, ?low-tech? business. Anglo Platinum?s latest journey to mechanize its underground operations began in earnest in1998 and has enjoyed some successes and failures. The opportunity to change the way mining is done within the company is there. Technologies are evolving, and the implementation of mechanization can certainly assist with the achievement of the goals referred to above. When mechanization commenced, targets were set for the company to achieve but these have been revised in the light of recent events relating to the strengthening rand and a slow-down in expansion plans. However, the intent to mechanize appropriately in Anglo Platinum still exists.

Jan 1, 2004

By L. A. Cornish, J. W. van der Merwe

"The hydrofluoric acid (HF) industry in South Africa uses normalized mild steel (SA 516 Gr 70) for the storage and distribution of its technical-grade product (70% HF). The technical-grade acid is split from the anhydrous hydrogen fluoride (AHF) product during distillation just after HF is produced, in a stainless-steel-lined kiln, from the reaction of calcium fluoride (CaF2) with sulphuric acid (H2SO4). Uniform corrosion of the storage tanks is mitigated during commissioning by contacting the steel with 70% HF. A corrosive reaction takes place (2H+ + 2F- + Fe - H2 + FeF2) to form scale inside the tank which diminishes the attack of the steel by fresh HF, thus prolonging the service life expectancy of the vessels. This iron fluoride scale in the vessel grows continually, resulting in corrosion of the vessels continuing at a predictable rate (approx.0.5 mm/a) since the first commissioning of the tanks at Necsa in 1993. In early 2012, an increase in the average corrosion rate of the tanks to 3 mm/a measured at and below the liquid band in the storage vessels was noted. Three months later the corrosion rate had increased to 30 mm/a, just before the first leak from the tank was detected. The tanks were decommissioned shortly afterwards and an investigation revealed that the rapid corrosion was due to the presence of increased levels (>50 ppm) of nitric acid (HNO3) in the tanks, which attacked the fluoride layer protecting the steel.The oxidation characteristics of high concentrations of HNO3 with low concentrations of HF on stainless steel surface treatment are well documented. The effects of low levels of nitric acid on the corrosion of steels in sulphuric acid are also known, but no suitable published data currently exists on corrosion by high HF concentrations with low HNO3 concentrations. Establishing the rate and mechanism of corrosion by HNO3 (0.1 to 1%) in 70% HF is currently a high priority for the HF industry in South Africa and will become increasingly important in the near future due to depleting fluorite reserves and cheaper, but less efficient, processes producing H2SO4 with higher impurity levels, which were not anticipated in the original plant design. The aim of this study is to simulate the corrosion conditions in the plant on a laboratory scale in order to establish the corrosion characteristics of the steels used in the HF plant, which are increasingly exposed to the HNO3 impurities that tend to concentrate in the final technical-grade HF acid product."

Jan 1, 2016

By S. Polansky, J. Kolacz

The new sorting system has been developed to achieve efficient separation at low mineral content levels. The system employs high resolution X-ray sensors providing multi-energy analysis, thus giving maximal information about processed materials measurable by X-ray radiography. It makes it possible to analyse the internal structure of the particles and directly detect inclusion of minerals and metals like copper or gold. The paper describes sorting application examples for zinc, lead, copper and gold ore with low metal content below 0.1% of Cu. The sorting system still allows high efficiency analysis, quantification and removal of rock particles representing waste fraction with no metal or a negligible amount being uneconomic to process. This brings a huge advantage during pre-concentration, where almost no losses of valuable minerals in the waste fraction can be achieved. The presented sorting system has been developed by Comex and X-MINE EU Project Consortium. Keywords: X-ray sorting, ore sorting, XRF analysis, XRT analysis

Jan 1, 2020

By NIM REPORTS

Notices CONFRRENCE ON COMPUTRRS IN ENGINEERING The above Conference, which is being organized by the Electrical and Electronics Board of the Institution of Engineer!!, Australia, ill to be held in Sydney on 16th and 17th May, 1974. It is being planned in conjunction with the Sixth Australian Computer Conference and will be held during the week immediately preceding the latter. NIM REPORTS Report No. 1495 A method for the determination of ekmental sulphur on the surface of sulphide minerals. Report No. 1500 The chromatographic separation and determination of nobk metals in matte-leach residues. Report No. 1505 The production of the refractory aluminium saicates, with special refererence to South Africa. Report No. 1517 Computer-controlled flotation plants in Canada and Finland. Report No. 1526 Heat of solution as a control of aqueous-ammonia concentration. Report No. 1529 South African costs of equipment for the metallurgical industry (197).

Jan 9, 1973

By T. Lee

The mining industry, both here and internationally, is continually developing increasingly sophisticated software to compute mineral resource estimates, but these processes cannot compensate for a flawed geological interpretation of the geology of the economic commodity(s) concentrations. Quality assurance and quality control (QA/QC) is becoming increasingly common in association with the sampling and assaying practices within the industry. However, it is rare in the case of a geological interpretation associated with mineral resource estimation. Why? In the context of this paper, QA/QC relates to the use of statistical and graphical tools to show that the geological economic commodity concentrations have been appropriately domained. Domaining is essential to improve the chance of getting a mineral resource estimate right. Commodity value and acceptable concentration variation within a mineral resource can be ingredients that make mineral resource estimation difficult to get right. But it is possible to get it right a very high proportion of the time. It is more likely to occur when inappropriate data consolidation is minimised. In any case, inappropriate data consolidation is significantly reduced when the geological interpretation is strongly consistent with the data and it is demonstrable. To achieve quality global estimates of geological domain concentrations, it is essential that the geology of the prospect is understood sufficiently that the deposit is appropriately domained. Appropriate domaining occurs when sample populations are separated in such a way that only data in harmony with each other within the population contributes to the domain's concentration estimate. The paper will use four brief case studies to illustrate how QA/QC can be used to display data and validate the underpinning geological interpretation through its associated domaining to get it right when it comes to a mineral resource estimation.

Jan 1, 2007

By I. Serepa, N. C. Steenkamp

Investigations were conducted to determine the condition and stability of the existing decline at amine in the Kalahari Manganese Field, Northern Cape Province, South Africa. During the inspection of the decline, voids were identified behind the concrete lining on the hangingwall and sidewalls over a total linear distance of 230 m. The voids did not provide confinement and, as a result, self-mining was occurring behind the lining. Water was flowing into the decline, over a total linear distance of 100 m, at areas where the decline intersected incompetent rock units, causing softening of the concrete lining and deterioration of the surrounding rock mass. Further damage to the concrete lining was caused by expansion and contraction of the wet red clay unit. Remedial work comprised void filling and water sealing to prevent further deterioration of the decline and ensure that it remained operable for the remainder of the life of mine. Void filling was accomplished by drilling rows of holes along the decline to access the voids and filling the voids with foam. This was followed by the sealing with polymer fluids. Telescopic pipes were also installed to allow water to drain off. A visual inspection was conducted and check-holes were drilled to assess the quality of the remedial work. The void filling material had penetrated cracks in the concrete lining, and areas where voids were intersected by check-holes were re-filled. Additional holes were drilled to re-seal areas that were still wet. The remedial work was completed successfully, as all voids were filled and stability achieved without compromising the concrete lining. The ingress of groundwater was also reduced to some residual dampness.

Mar 2, 2022

Slake durability of rocks is an important property of rock-mass and rock-materials in geotechnical practice. The slake durability of rocks is closely related to their mechanical properties. In this paper, mechanical properties and slake durability tests for weak and clay-bearing rocks from Beypazari Trona Bed in Ankara, were performed in order to assess the slake durability and mechanical properties (especially rock strength) of these rocks as well as to understand the relationship between mechanical properties and slake durability. In performing this relationship, statistical based correlation has been applied.

Jan 1, 2003

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. Wigden

This paper discusses system integration and installation of High-Tec systems in underground mines. ABB has the capability to be a System Integrator and co-operates with partners in different areas of technology. Today it is difficult to find one Company that is responsible for the complete Automation System. The design of the system is also dependent on the caving procedure that is currently being used in mines. Most of the engineering must be done during the feasibility study and the design phase. Any mistakes made during these phases will be costly to rectify in the commissioning phase. The paper will also include a presentation of the benefit of using Automation in an Underground Mine, and the importance of integration with the people component. Most of the experience and discussions in this paper are from different technologies that have been developed in Scandinavia and adopted from LKAB in Kiruna. The author of this paper was responsible for the Automation projects in Kiruna Mine during1994 - 1999. These projects include: • Broadband communication of data, audio and compressed video in one data stream. • Control System for Haulage -1045m • Automation of Load Haulage and Dumping machines (LHD) • Control of Production Drilling Rigs from a Central Control Room.

Sep 1, 2001

By G. E. Blight

Several aspects of the behaviour and properties of backfills consisting of cemented cyclone underflow tailings are illustrated by means of examples, and guidelines are given on the optimization of the performance of cemented fills. The stretch characteristics of the geofabric used to contain freshly placed backfill are described, as well as the relationship between these characteristics and the forces acting on retaining barricades. The properties required to achieve a self-supporting, stable free face in cemented backfill are explored, and a graphic relationship between stable height and shear strength is presented and compared with that for uncemented (classified) tailings. After a description of the characteristics of Witwatersrand quartzite gold-tailings backfill and commonly used cements, the process of drainage and air entry into backfill is outlined. Following this, the early-age gain in strength and the shear-strength characteristics, as well as the compressibility characteristics of cemented backfill, are described. Two phenomena that are potentially damaging to cemented backfill are seismic effects (or blasting acceleration) and the closure that takes place during the curing of cement. Investigations show that neither of these phenomena is actually significantly deleterious to gold-tailings backfill: liquefaction does not Occur as a result of seismicity, and hydration of cemented fill is not significantly impeded by closure.

Jan 1, 1996

By P. Minkkinen, R. C. A. Minnitt

Particle size distribution analysis is important to many industries for assessing product quality, process efficiency, and compliance with contractual standards, while ensuring sample accuracy, and representativeness. Inaccurate particle size distribution results, arising from fines due to excessive handling can lead to penalties and buyer-seller disputes. A non-representative particle size distribution means samples will not accurately represent the chemical components either. Sampling blasthole cuttings poses challenges due to large material volumes, segregation, and uneven settling of particles in dense gold bearing ores. Commonly used sampling methods, such as spear or sectoral sampling, may lack representativeness. Particle size distribution analysis is crucial for evaluating sampling methods by comparing test sample representativeness against a reference standard derived from multiple particle size distribution analyses. Acceptable samples must fall within the 97.5% confidence intervals of the standard; deviations analyses lying outside these boundaries indicate a strong likelihood of segregation errors. A case study demonstrates this approach by using a 6.005 kg benchmark sample to assess two additional samples (1 kg and 5 kg), highlighting particle size distribution’s role in detecting sampling errors and refining protocols. An example of three test samples collected from reverse circulation drill cuttings compared to a standard reference sample is presented to illustrate a quality assurance/quality control procedure for reverse circulation drilling.

Oct 2, 2025

By D. F. Malan, P. J. Le Roux

Almost no work has been published on the strength of pillars in mines exploiting the LG6/LG6A chromitite bands in the Western Bushveld Complex. The strength of these pillars is unknown, and the hard rock industry still uses the Hedley and Grant formula. Numerical modelling, using inelastic constitutive models, may be of some value in estimating the pillar strength, but this approach is difficult and prone to errors as many assumptions are made. This paper explores the alternative approach of the back-analysis of actual LG6/LG6A mining layouts, using displacement discontinuity codes to simulate the average pillar stresses on a mine-wide scale. From this, and underground observations, a ‘minimum’ pillar strength (K-value in the pillar strength formula) can be estimated. The codes TEXAN and Map3D are both used in the paper to simulate the actual pillar shapes and sizes in an LG6/LG6A mine. The results are encouraging as the two codes produced similar APS values for a complex pillar geometry. An estimated K-value of 77 MPa was determined for the LG6/LG6A pillars in this particular area. This is more or less similar to earlier work done for the UG2 chromitite seam, but higher than the K-value of 39 MPa for a linear formula obtained by other workers for LG6/LG6A pillars. Caution should therefore be exercised before using this higher value for all areas. The effect of element sizes and explicitly simulating the effect of the surface for shallow pillars is illustrated in the manuscript using both codes. The need for actual pillar observations and an iterative design process, which cycles between modelling and observations, is also emphasized.

Nov 27, 2024

By J. P. T. Kapusta

"The copper smelting industry faces increasingly stringent environmental regulations and must continue driving innovation to reduce energy usage in its production chain. With the coming of age of ‘bottom-blowing’ copper technologies in China over the last decade, much renewed attention has been brought to tuyere bath smelting for clean copper-making. Since bottom-blowing sonic injection was originally developed and implemented in steelmaking in the 1970s and lead smelting in the 1990s, the time seems appropriate to revisit the sonic injection concepts and dispel some myths. After reviewing the trends in the copper industry and providing a brief historical context of research and development related to sonic injection, the author presents a comparison of the main submerged tuyere bath smelting technologies, namely the Noranda Reactor (NR), the Teniente Converter (TC), and the Chinese Bottom-Blowing Smelting Furnace (SKS/BBS) for copper, and the Queneau-Schuhmann-Lurgi Reactor (QSL) for lead. The core of this article, however, consists of a brief description of the fundamental theories for sonic injection (jetting regime) and ‘sonic flow mapping’ to illustrate the relationship between the minimum tuyere back-pressure required to achieve sonic flow and the tuyere internal diameter. The article also offers a comparison between side- and bottom-blowing in jetting regime before concluding with the author’s vision of the new trend in submerged tuyere bath smelting. IntroductionIn the last decade, developments in the copper smelting industry have been driven by two key concepts: (1) increasing cleaner smelting capacity to meet the world’s growing copper demand, as illustrated in Figure 1, and (2) increasing process off-gas capture to comply with more stringent environmental regulations and abide by a corporate social responsibility ethic of a clean work environment (for smelter employees) and clean air (for families living around smelters). The copper smelting industry has also faced some major challenges in the last few decades, including (1) low treatment and refining charges (TC/RC or processing fees) impacting custom smelters, (2) lower concentrate quality and grades with higher levels of impurities (e.g. As and Hg), (3) higher processing and transportation costs due to the rising cost of energy, (4) restrictions in process intensification (tonnage oxygen usage) due to furnace integrity limits, and (5) scarcity of educated and trained personnel due to fewer metallurgists graduating from pyrometallurgical school programmes combined with a high retirement rate of skilled workers."

Nov 1, 2018

By H. C. Van Der Merwe

In the 21st century, dynamic, accurate digital 3-D geological models are essential to the pursuit of safe, efficient and profitable mining. This is particularly true for the deep-level underground mines in South Africa. The Sirovision® solution is a collaboration project between the Australian CSIRO (Commonwealth Scientific and Industrial Research Organisation), Datamine Software Ltd. and AngloGold Ashanti Ltd (AGA). The purpose of the project is to provide a fully integrated digital rock face imaging, geological mapping and modelling system for the AGA gold mining operations. The CSIRO-developed Sirovision® Stereo Camera Rig (SCR) consists of two digital cameras, alighting system, a laser guidance system and image processing software. The imaging system works on the principles of photogrammetry, i.e. overlaying of two 2-D images with a central focus point, with mathematical algorithms extracting 3-D information from the 2-D image pair. The output from matching several image pairs is a computer-generated, full 3-D, virtual copy of the mining excavation. The image resolution and relief ares of sufficient quality to distinguish different rock types and structural contacts. Functionality within Datamine Studio3 is used to add geological intelligence to the 3-D images provided by Sirovision®. The geologist identifies and ?draws? lines representing geological features directly onto the image. By utilizing the inherent ?topography? of the 3-D image, the software is able to convert the lines into 3-D surfaces, ready for use in the 3-D geological model. Subsequent to promising underground test results from AGA?s Sunrise Dam Gold Mine (SDGM) in Australia and other mining operations worldwide, it was decided to test the Sirovision® system in the South African deep-level gold mines. The first underground tests at Moab Khotsong Mine began in January 2009. The objectives of these tests entailed the capturing of 3-D images of selected development ends, mapping of geological features onto the 3-D images and integration of the mapping data with the 3-D geological model. Some downsides have cropped up during the feasibility testing, related to practicality of the SCR for acquisition of 3-Dimagery in the deep-level underground operating environment. These constraints will have to be addressed prior to operational implementation. Facing such difficulties is not unusual when attempting to implement new technology in such a challenging working environment and testwork is still in progress at the mine in order to prove the concept of using this technology in a Witwatersrand underground gold mine. The great advantage of the Sirovision® solution is that it offers the geologist the opportunity to work remotely on a 3-D virtual copy of a mining excavation, without the heat, humidity, hazards and time constraints associated with physical mapping in an underground workplace.

Jan 1, 2009