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

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

Jan 30, 2026

By D. P. Penswick

The Palabora open pit is scheduled to cease operations in 2002. While the ore body continues below the bottom of the final pit shell, the stripping ratio precludes further economic open pit mining. Palabora Mining Company has investigated various means of continuing copper production, and has determined that an underground mine is the best solution. Board approval to commence construction of the mine has been granted and shaft sinking is underway. First production is planned for the year 2000 and full production of 30 000 t/d will be achieved by the end of the year 2002. [ ] Mechanised block caving will be the mining method employed at Palabora. The cave will be initiated by excavating a thin horizontal slice known as the undercut. Removal of the undercut will induce stresses which cause the rockmass overhead to fracture. Fractured rock will gravitate through drawbells to drawpoints on the production level, and be loaded by LHDs for transport to crushers.

Jan 1, 1997

By D. S. van Vuuren

Over the last 60 years many different processes were conceived to reduce the cost of titanium produced by the Kroll process. However, success eluded all previous efforts, which were consequently terminated in periods of economic downturn. Recently, the grow thin demand for titanium and the high cost of producing the metal again sparked renewed attempts in various parts of the world to replace the antiquated Kroll process with a more efficient route. The different options to produce titanium are reviewed, classified and evaluated in terms of the fundamentals underlying the technologies, and it is shown that the options considered to be the most likely to replace the Kroll process, are continuous processes to reduce TiCl4 metallo-thermically to titanium powder. Of these, continuous magnesio-thermic reduction of TiCl4 would conceptually result in the lowest-cost and highest-value product. However, when considering by-product salt removal from the titanium product and recycling of the salt as well, sodio-thermic reduction of TiCl4 is better.

Jan 1, 2009

By W. J. Theron

The purpose of the paper is to give an introduction to the concept of fatigue and its causes in the mining industry. By knowing the fundamental role it plays, together with its dynamics, can positively contribute to a mine?s safety management system. The difference between physical and psychological fatigue will be addressed with a possible range of causes that could trigger fatigue. There are two main sources of fatigue: firstly, work-related fatigue which is associated with activities at the workplace; and secondly non-work-related fatigue. The shared responsibility between the employer and employee is also discussed as it involves factors that occur both in and outside the workplace. Employers have the responsibility to manage fatigue through using a risk management approach. Employees have the responsibility to ensure they get enough sleep, take sufficient and regular nutrition, are healthy and physically fit and come to work fresh and alert. The impact of the implementation of a fatigue management plan and procedures has the potential to eliminate employee fatigue or its causes, reduce the likelihood of fatigue occurring in the workplace, and counteract the effects of fatigue when it occurs. Factors considered when implementing a fatigue management system include: extended hours of work, shift work, time of day and work design. Fatigue is one of the major role players (either causal or contributory) when it comes to causes of fatalities in the mining industry. Our main challenge in identifying whether fatigue played a role is the fact that it cannot be tested in post-mortems like drug or alcohol abuse. It is an aspect worth understanding and getting an organization sensitive to managing it properly to benefit both organizational as well as employee needs. Keywords Signs of fatigue: Causes of fatigue, circadian rhythms, the fatigue equation, fatigue management, fatigue affecting safety, fatigue fighting tips, lifestyle suggestions.

Jan 1, 2011

By W. V. Mutler

Present day capital costs are analysed for a 2 000 metric tonne per day (MTPD) pyrite burning plant and compared with a sulphur burning plant of the same capacity. Power, raw material and steam production rates are then compared for the two facility types. A sensitivity analysis is conducted to highlight the impact changing sulphur, pyrite, capital and operating costs have on the relative economics of these feeds. Technological improvement effects on capital cost and energy recovery are also discussed. Besides the steam produced from the burning of pure sulphur or pyrite, plants using an advanced form of heat recovery can produce up to 10 bar steam using heat from acid formation. The quantity depends on the overall water balance which is influenced by such factors as gas strength and product acid concentration. Modern materials and innovative process design also improve the ability to increase the high pressure steam from the roaster boiler in pyrite plants above the traditional 1.25 kg of superheated steam per kg of acid produced.

Jan 1, 2009

By J. J. Dekker

Controlling noise has proven difficult in mining, and noise-induced hearing loss (NIHL) remains common. In 2008, a South African Mine Health and Safety Council study focused on small- to medium-sized mines in relation to the milestones set by the industry to prevent NIHL. An evaluation of the compliance of ten diamond, sand, aggregate and Ready mix concrete mines and production sites with standards, legislation and best practice guidelines relating to NIHL prevention was conducted, using a noise compliance audit tool. The findings indicated that all mines surveyed had poor compliance with the international standards, compliance with International Standards Organization standards being the poorest. There was a clear distinction between the small and the medium-sized mines in their compliance with local standards and legislation (ranging from 14 per cent to 66 per cent). The areas of best compliance were audiology and medical examinations. The lower-than-expected compliance was largely attributable to shortcomings in hearing conservation programmes for occupational noise. Initiation of remedial practices in the small- to medium-scale mining sector to facilitate improvements in NIHL prevention and compliance with standards and legislation is recommended. Keywords Hearing conservation, small-to-medium mines.

Jan 1, 2011

By J. J. Swanepoel

Titanium nitride in upgraded nitrided ilmenite (bulk of iron removed) can selectively be chlorinated to produce titanium tetrachloride. Except for iron, most other components present during this low temperature (ca. 200°C) chlorination reaction will not react with chlorine. It is therefore necessary to remove as much iron as possible from the nitrided ilmenite. Hydrochloric acid leaching is a possible process route to remove metallic iron from nitrided ilmenite without excessive dissolution of species like titanium nitride and calcium oxide. Calcium oxide dissolution results in unrecoverable acid consumption. The leachability of nitrided ilmenite in hydrochloric acid was evaluated by determining the dissolution of species like aluminium, calcium, titanium and magnesium in a batch leach reactor for 60 minutes at 90°C under reflux conditions. The hydrochloric acid concentration (11%, 18% and 25%), initial acid-to-iron mole ratio (2:1, 2.5:1 and 3.3:1), and solid-to-liquid mass ratio (1:8.33 to 1:2.13) were varied. The results indicate that a hydrochloric acid concentration of 25 wt% supplied in a 2:1 acid-to-iron mole ratio would produce the most favourable upgraded nitrided ilmenite product. The dissolution of iron in this solution reached 97 per cent after only 60 minutes. The total dissolution of calcium and titanium species was 0.01 and 0.11 wt% respectively. Hydrochloric acid can therefore be used as lixiviant to remove metallic iron from nitrided ilmenite. Keywords Titanium nitride, upgraded nitrided ilmenite, hydrochloric acid leaching, metallic iron dissolution.

Jan 1, 2011

By J. D. Steenkamp

In a paper presented at the Heavy Minerals Conference 2001 a laboratory scale investigation on the beneficiation of an ilmenite containing waste stream by magnetizing roasting was reported1.This waste stream contained a high concentration of ilmenite, which was contaminated by chromite and other gangue minerals. Interpretation of the results of the investigation was based on the assumption that during magnetizing roasting of an ilmenite concentrate, under the oxidizing conditions, the magnetic properties of the chromite would remain constant. In this article thefollowing hypothesis was tested: The magnetic susceptibility of chromite would remain constant during magnetizing roasting of an ilmenite concentrate under the oxidizing conditions reported by Gouws and Van Dyk1. The results of this study indicated that the hypothesis is not true. The increase in the magnetic susceptibility is not significant though and it is expected that it will not influence the final ilmenite quality to a large extent. Based on the assumptions that the bulk magnetic susceptibility of the waste stream samples represents that of the ilmenite in the waste stream, and the bulk magnetic susceptibility of UG1 chromite that of the of chromite in the waste stream, the results also served to confirm that the waste stream with a high chromite content should be roasted under oxidizing conditions, in a reactor with a well-defined retention time distribution (i.e. a fluidized bed reactor), at a roasting temperature of 750°C (rather than the higher temperature ranges of 800°C and 850°C).

Jan 1, 2003

By X. Goso

Laboratory-scale tests were conducted at Mintek for the production of titanium powder from particulate Kroll sponge by the hydrogenation-dehydrogenation (HDH) process. The aim of this work was to produce titanium powder for powder metallurgical consolidations. The work involved the production of titanium powder at optimized conditions, which included hydrogenation in a horizontal tube furnace at 600°C for 2 hours, milling using planetary and roller mills, and dehydrogenation in a vacuumed retort fitted in a muffle furnace running at 700°C for 36 hours. The titanium powder produced in this project matched the elemental specifications of commercially available titanium powder, except for high carbon content. Nevertheless, the powder has been tested further in mechanical alloying and has been found suitable for the production of powder metallurgical compacts. Keywords Powder metallurgy, titanium components, HDH process, ball milling.

Jan 1, 2011

By S. Okubo, K. Fukui

Empirical equations established for estimating the rock strength of the working face based on the cutting forces of a tunnel boring machines (TBM) are further examined and discussed with respect to the dominant factors affecting TBM performance. Constants in the equations are related to TBM-specific parameters such as excavation (tunnel) diameter, cutter diameter, and cutter distance. The relationship between the constants and the TBM specifications is examined in this study on the basis of data collected at ten tunnels, and it is found that the constants are most strongly influenced by the cutter diameter and tunnel diameter. Zur Schätzung der Gesteinsfestigkeit an der Arbeitsfläche ermittelte empirische Gleichungen, die auf den Schneidekräften von Tunnelbohrmaschinen (TBM) beruhen, wurden weiter im Hinblick auf die vorherrschenden, die Leistung der TBM beeinflussenden Faktoren hin untersucht und diskutiert. In der Gleichung enthaltene Konstanten werden zu den TBM-spezifischen Parametern wie Auschachtungs- (Tunnel) Durchmesser, Schneidendurchmesser und Schachtlänge in Beziehung gesetzt. Die Beziehung zwischen diesen Konstanten und den technischen Daten der TBM wird in dieser Studie auf der Basis der bei 10 Tunnelbauten gesammelten Daten untersucht. Dabei wurde gefunden, dass diese Konstanten am stärksten von den Durchmessern der Schneiden und der Tunnel beeinflusst werden. Cette étude examine et discute les équations empiriques permettant d'estimer la résistance de la roche attaquée aux forces de coupe des tunneliers dans le cadre de l'étude des facteurs dominants affectant les performances des tunneliers. Les constantes de ces équations concernent les paramètres spécifiques des tunneliers comme le diamètre d'excavation (du tunnel), le diamètre du couteau et la distance de coupe. Cette étude examine le rapport entre ces constantes et les caractéristiques techniques des tunneliers d'après des données collectées dans dix tunnels et elle conclut que ces constantes sont principalement influencées par le diamètre du couteau et le diamètre du tunnel.

Jan 1, 2003

This paper describes the integration of the mineral resource management philosophy within strategic long term planning at Anglo Platinum Limited. Consideration is given to the philosophy, processes, techniques and supporting systems.

Jan 1, 2007

By S. A. Aye

Vibration levels on a variety of equipment in a South African opencast mine were measured in this study. The well-established ISO 2631-1 (1997) standard methodology was used for the computation of weighted root mean square (WRMS) and vibration dose value (VDV). This method was used to evaluate the whole-body vibration (WBV) on a wide range of equipment in the opencast mine using the two main parameters, namely the daily exposure A(8) which is based on the WRMS concept and the VDV which measures shocks. The results obtained show that while the majority of the equipment rendered exposure levels that are below the exposure limit value (ELV), exposure levels on about half of the equipment do exceed the exposure action levels. The study also highlights the importance of shock in the observed responses.

Jan 1, 2011

By M. K. G. Vermaak

Spiral concentration forms a crucial part of gravity separation circuits. The application of process models in the operation of gravity separation circuits offers significant benefits in recoveries and grade control. Significant strides in the modelling of spiral concentrators have been made during the last couple of decades. Despite these advances in modelling techniques and models, application in industrial processes is not fully optimized. The adjustment of splitter positions to accommodate changes in the feed parameters is impractical and difficult, resulting in losses. In this work an optical method is employed to detect the concentrate band position as a function of operating variables. As expected, the results indicate a strong influence of the solids content and total heavy mineral (THM) feed grade on the predicted gangue-mineral interface. Viscosity modifiers indicated the band position to be sensitive to viscosity and therefore the slimes content. Validation on an industrial sample indicated the possibility of using this model in feed-forward control application.

Jan 1, 2008

By G. Vouille, P. Bérest

Residual stresses observed in rocks often result from non-compatible initial strains. These stresses can be determined when the incompatibility tensor associated with the initial strain tensor is known. The residual stresses in a cylindrical rock sample can be computed the sample is considered small enough for its incompatibility tensor to be constant. Les contraintes résiduelles, dont on observe couramment les manifestations dans les roches, résultent souvent de l’existence de déformations initiales non-compatibles. Ces contraintes peuvent être calculées lorsque le tenseur d’incompatibilité associé aux déformations initiales est connu. Les contraintes résiduelles dans une éprouvette cylindrique sont données dans le cas où le tenseur d’incompatibilité est constant. Eigenspannungen, die man haeufig in Steinen beobachtet, sind oft Ergebnis einer inkompatiblen Deformation des Anfangszustandes. Diese Spannungen koennen berechnet werden, wenn der Inkompatibilitaets-Tensor der Anfangsdeformation bekannt ist. Die Eigenspannungen einer zylindrischen Probe werden fuer Fall eines konstanten Inkompatibilitaets-Tensor bestimmt.

Jan 1, 2003

By A. J. Vietti

A pilot plant paste thickening campaign was conducted at the Anglo Platinum Limited Mogalakwena South Concentrator plant in South Africa in order to determine the water saving capability of P&TT technology. In the process a simple water consumption model was developed for estimating the overall water consumption of the mine. The model indicates that for the Mogalakwena tailings, significant water savings are achieved by discharging thickened tailing directly to the TSF but only at densities where free water release at the TSF is close to zero. Keywords Paste, thickened tailings, thickener, water savings, water consumption.

Jan 1, 2011

By G. Kelly

A new minerals engineering education programme is being developed in Australia which aims to provide tertiary institutions with a package of educationally sound, high quality courses for undergraduates, postgraduates and professionals. The programme is jointly funded by the Minerals Council of Australia (MCA) and the Department of Education Training and Youth Affairs (DETYA) and brings together academics from a number of leading Australian universities, each developing modules in their particular area of expertise. The University of Queensland (UQ) and the Julius Kruttschnitt Minerals Research Centre(JKMRC) are jointly responsible for modules in several areas including comminution, physical separation and circuit design and optimization. Other modules are being developed by the University of South Australia (with the Sir Ian Wark Centre), Curtin University and Murdoch University. The major challenge of the programme is to provide a high standard of education that is accessible to students who may be located at several different institutions and some of whom maybe a long distance from the primary course leader. Rather than taking existing course material and putting it ‘on the web’, the programme aims to improve on past teaching practice through creative pedagogy and the development of interactive multimedia learning resources. Communications technology is used in an unobtrusive way, and the World Wide Web is used to create a flexible, user-friendly learning environment rather than to facilitate delivery of content. This paper describes the instructional design template currently being used and results of early implementation trials with groups of local and remote students.

Jan 1, 2003

By I. Mc Dougall

Finite element models were generated of two submerged arc furnaces of different geometries. A 48MW circular furnace and a 68MW 6-in-line rectangular furnace were studied. The electrodes, raw material, slag and molten metal were included in the model. ANSYS/Multiphysics was used to predict the current density distribution in the electrodes, raw material, slag and molten metal as a result of the three phase AC current. The effect of the electrode immersion on the current path was studied. The ?proximity effect? caused a pronounced asymmetry in the electrode currents in the circular furnace, whilst the electrode currents in the rectangular furnace exhibited radial symmetry. The current distribution in the melt in both furnaces indicated that the bulk of the current flows between phases. The current density is greatest between electrodes. Results were compared to qualitatively similar published work, operating experience and results of furnace dig-outs.

Jan 1, 2007

By H. M. Chikashi

Keywords: Pyrometallurgy, furnace, bath agitation, regression analysis, entrainment This paper presents the results of linear regression analysis of the influence that each component of slag has on the losses of copper in slag-cleaning-furnace slag. Data used for the analysis are actual plant data collected over the past two years of operation. Facts obtained from the study will be helpful for smelter management to control these components in the flash smelting furnace feed and slag, to levels which will enable better control of copper in slag, and smoother operation of the KCM slag-cleaning furnace.

Jan 1, 2011

By D. J. de Beer

South Africa had a late start with rapid prototyping (RP), with the first system being available in 1991. Up to 1994 only three systems were available in SA. Through active research participation from the CSIR and a number of universities, supported by technology transfer programmes and industry awareness workshops, adoption of RP technologies started to grow. Internationally, RP grew to the extent that several country-based member organizations were formed, and an initiation meeting of the Global Alliance of RP Associations (GARPA) took place during the SME Rapid Conference in Dearborn, USA in 1998. South Africa (SA) was invited under the auspices of the Time Compression Technologies Centre (TCTC) launched by the CSIR, and received an invitation to become a member of GARPA through the launch of a national, inclusive organization. The latter gave rise to a RAPDASA planning/launch meeting held at the University of Stellenbosch, which culminated in the first RAPDASA international conference held in November 2000 at the CSIR, and the election of a first RAPDASA management committee, also at the 1st AGM held during the conference. RAPDASA has been a pillar of strength since then, with an annual international conference being presented. As South Africa?s RP awareness grew through the RAPDASA and independent activities, so did the availability of RP platforms in SA.SA also became a benchmark for other countries/late adopters to follow, as slowly a position of following became a position of leading through innovative applications. The paper highlights SA?s development approach and history, together with the discussion of case studies in various fields. Contribution to the light metals industry will also be discussed. Keywords Rapid prototyping, additive manufacturing, product design, rapid tooling, rapid manufacturing, medical product development.

Jan 1, 2011

By K. G. Tshilombo

It should be possible to use an oxygen probe to follow iron removal during converting, if local equilibrium is established between iron in the matte and the iron oxides in the fayalitic slag. The oxygen activity is expected to increase strongly as the iron content of the matte decreases (and the iron activity in the matte drops) while the iron oxide activity in the slag remains constant. To test this idea, oxygen activities were measured in synthetic mattes (made up of mixtures of Cu2S, FeS and Ni3S2) when in contact with silica saturated SiO2-FeO slags, and silica and (initially) magnetite saturated SiO2-FeO-Fe3O4slags. The measurements were performed on laboratory scale at 1250°C, using an oxygen probe consisting of an MgO-stabilized zirconia electrolyte and Fe/FeO reference, and containing the sample in a silica crucible. Electrical contact to the matte was by means of a platinum wire. The measured oxygen activity was sensitive to the iron content of the matte, and insensitive to the composition of the gas atmosphere over the melt. The measured oxygen activity was generally close to that predicted by Fact Sage calculations. This indicates that such oxygen activity measurements could be useful to monitor iron removal during converting of nickel-copper-iron mattes.

Jan 1, 2007