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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 F. S. Hoseinian, B. Rezai, E. Kowsari, M. Safari

In order to remove heavy metal ions from a large volume of wastewater with a low ion concentration, ion flotation appears to be promisingly effective. In the ion flotation process, because of the high ion removal percentage, the amount of water recovery percentage is a very important factor which determines the process efficiency. However, ion flotation suffers from relatively high collector concentration to achieve the high removal percentage to the desired limit, which subsequently increases the water recovery. In this study, functionalised graphene oxide (FGO) was synthesised, using a chemical method in the ion flotation process, applied as a collector for increasing process efficiency by reducing the collector consumption and water recovery. The high ion removal was achieved with both collectors of sodium dodecyl sulfate (SDS) and FGO, while the water recovery with a collector of SDS was 3.4% higher than that with a collector of FGO. The results indicated that the FGO could be effectively used for high ion removal and low water recovery in the ion flotation process. Keywords: Ion flotation, synthesised collector, ion removal, wastewater, water recovery

Jan 1, 2020

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 D. F. Caicedo, I. A. Brum, L. A. Betancourt

Ferricyanide ()()*is one of the most stable cyanometallic complexes present in the gold mining effluents. This cyanocomplex is hard to degrade by natural attenuation and generates a negative impact on aquatic environments. Although free cyanide (CN-) can be obtained by acidifying the solution, the CN- is lethal for all forms of life. The oxidation of ()()* in a typical photocatalitic system was evaluated with the addition of H2O2. To verify the degradation, chemical parameters, such as free cyanide, the formation of ammonia, nitrate, and total iron were analysed at the end of the process. The degradations obtained were up to 70% in a heterogeneous photocatalysis system with TiO2, and a low rate of dissociation was observed by photolysis. The best result was achieved with the H2O2 and TiO2 photocatalytic system, and the stoichiometric concentration was about 2.5 times less than the peroxide used in the real gold mining industry, reaching 83% degradation. The photocatalytic process obtained less toxic byproducts than the original synthetic ferricyanide used as mining wastewater. Keywords: Cyanide, heterogeneous photocatalysis, titanium dioxide, UV radiation, gold wastewater

Jan 1, 2020

By E. van Steen, G. M. Leteba

Optimizing the catalytic performance of multimetallic nanoparticle (NP) catalysts demands a concrete understanding of their design, while preferentially deploying wet chemical synthesis procedures to precisely control surface structural properties. Here we report the influence of reductants such as hydrogen-rich tetrabutylammonium borohydride (TBAB) and carbon monoxide-rich molybdenum carbonyl (Mo(CO)6) on the shape and morphological evolution of Pt-based binary (PtNi and PtCo) and ternary (PtNiAu and PtCoAu) nanostructures derived from a homogeneous solution of aminebased surface active agents (surfactants) in a high boiling point solvent. We successfully synthesized nanostructures exhibiting well-defined and composition-controlled surfaces deploying a one-pot synthetic approach. The development of the surface properties was, however, observed to be alloyspecific. The resultant highly monodisperse alloy NP with narrow size distributions and facet-oriented surfaces are expected to display enhanced functionality as catalysts for utilization in specific chemical reactions.

Jun 1, 2021

By M. S. Raseroka

An experimental rig has been constructed to produce chloride stress corrosion cracks in Type 304L stainless steel tube samples. The samples are to be used to test possible in situ repair methods in future work. The factor which influences the time to failure most strongly is the sample temperature; the distribution of cracks within the sample is affected by local temperature variations and by the position of the water line. Low-frequency oscillations in stress, caused by the on-off temperature controller, did not appear to influence cracking in these tests.

Jan 1, 2009

A decision by joint-venture partners Anglo American, Gencor, and the Industrial Development Corporation to proceed with the expansion of the Columbus Stainless Steel plant in Middelburg will contribute significantly towards the economic growth that South Africa needs so desperately. The expanded facility, expected to come on-line in 1995, will be the largest single-plant producer of stainless steel in the world, and the company will rank sixth overall in world production.

Jan 1, 1993

By M. Louarrat, G. Enaime, A. Yaacoubi, A. Baçaoui, J. Blin

"The purpose of this study is to prepare a new activated carbon from olive stones for use in gold recovery by carbon-in-leach (CIL) and carbon-inpulp (CIP). The preparation method chosen was physical activation using steam. The effect of four process parameters: the residence time for carbonization, the activation temperature, the residence time for activation, and steam flow, were studied by the mean of response surface method (RSM) in order to optimize the yield, iodine index, and attrition characteristics. These two last responses were used as primary indicators of gold recovery capacity and mechanical strength. The results obtained show that optimal activated carbon can be prepared under the following conditions: a carbonization time of 157 minutes, activation at 921°C for 53 minutes, and a water vapour flow of 0.18 mL/min. This optimum carbon has an iodine value greater than 1100 mg/g and an attrition index in the order of 0.74%. These values reflect the quality of the precursor (olive stones) as a raw material for the development of an effective new activated carbon for the gold mining industry. IntroductionActivated carbon is an effective adsorbent widely used in industry due to its high surface area, well-developed reproducible microporous structure, and high degree of surface reactivity and adsorption capacity. World consumption of activated carbon is steadily increasing. It is primarily used in industrial wastewater and gas treatment and also for silver and gold recovery from cyanide solutions (Syna and Valix, 2003; Soleimani and Kaghazchi, 2008; Buah and Williams, 2010; Eddy et al., 2011). However, activated carbon is expensive and it needs to be regenerated after each adsorption cycle. In order to decrease the cost of manufacturing activated carbon, low-cost forest and agricultural wastes are considered promising new materials. In recent years considerable research has been reported on activated carbon from agricultural wastes, such as olive stones (Yavu et al., 2010), acorn shells (Sahin and Saka, 2013), peanut shells (Wu, Guo, and Fu, 2013), grape seeds (Jimenez-Cordero, 2014), coconut shells (Yalcin and Arol, 2002; Gratuito, 2008), palm shells (Sumathi, 2009), cherry stones (Jaramilloa, Gomez-Serrano, and A´lvareza, 2009), macadamia nut shells (Eddy, 2011), apricot stones (Soleimani and Kaghazchi, 2008), and bagass (Syna and Valix, 2003)."

Mar 1, 2019

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 P. G. Toledo, R. I. Jeldres, G. R. Quezada

Chile is the main producer of copper in the world and lately the mining industry has suffered challenges due to the lack of water in the north of the country, along with the new policies of not using fresh water for the industry. This has prompted the use of seawater as an alternative source for mining. Several studies have been driven due to this new scenario, which have shown that seawater can be beneficial, if certain ions are removed from the process. This is the Mg that generates precipitates at high pH, that have been shown to make mining operations difficult. In particular, thickening operations are impaired by the presence of Mg ions, where aggregate formation and sedimentation decreases substantially. Our studies suggest the competence of the precipitates in adhering to the polyacrylamide (HPAM) flocculant and not towards the surface of the quartz minerals. This motivates the present work to use molecular dynamics to study the adsorption of a HPAM molecule on quartz surfaces and the surfaces formed by Mg precipitates. The surfaces are immersed in a saline solution or seawater that includes the HPAM molecule. Results are obtained by measure the adsorption frequency and duration. We obtained that the HPAM molecules are preferably absorbed on the surfaces of magnesium hydroxide. This gives us a good agreement with what is observed experimentally and strengthens the premise of the competition of hydroxide with the flocculant. Keywords: Molecular dynamics, adsorption, tailing flocculation, magnesium removal

Jan 1, 2020

By A. M. Milev

A stand-alone instrument especially designed for recording strong ground motions was used in this study to create a large data base of peak particle velocities measured on stope hangingwalls. A total number of 58 sites located in stopes mining the Carbon Leader Reef, Ventersdorp Contact Reef, Vaal Reef and Basal Reef were monitored. The peak particle velocities were measured at the surface of the excavations to identify the effect of the free surface and the fractures surrounding the underground mining. From the monitoring results obtained, the velocity criterion of 3 m/s will bean adequate value that support systems have to sustain during a rockburst in most cases. However, PPVs in excess of this criterion were recorded, and some PVDs were damaged or irretrieveable, a consequence of which was that possible extreme events were not recorded. The data recorded on the skin of the excavations were compared to the data recorded by the mine seismic networks to determine the site response, defined as the ratio of the measured peak ground velocity to the peak ground velocity inferred from the mine seismic data. The site response measured at all mines studied was found to be 9 ±3 times on average. Values of the site response did not vary significantly with seismological parameters such as peak ground velocity, hypocentral distance and source radius.

Jan 1, 2005

By E. Moosavi, K. Tolouei

In mine production scheduling problems are well-known, where most are categorised into deterministic and non-deterministic NP-hard problems because of their complexity. Many researchers have attempted to solve the problem by applying various optimisation techniques. While using traditional methods they observed extreme difficulty in solving highly complex problems. In the 1990s, many researchers addressed long-term production scheduling (LTPS) by using simulated annealing, the genetic algorithm, the tabu search algorithm, and the ant colony algorithm. These algorithms are known as the meta-heuristic algorithms, and have proved to be the most efficient algorithms for solving LTPS thus far. The firefly algorithm is one of the best methods for visualising problems related to LTPS, and provides the best possible optimisation. It is one of the simplest methods, and easy to apply to any NP-hard problem. The experimental, and comparison with other recently published algorithms shows that the proposed algorithm is feasible, and is an effective approach for long-term production scheduling problems. The results indicated that a better solution is obtained by the proposed method, compared to other methods in terms of cumulative net present value, and average ore grade. Additionally, the CPU time via the proposed model is roughly 2.52% higher than the other method.

Sep 1, 2021

By J. Petersen, H. Naderi, H. Zare, M. H. Nikzad, M. Karimi

In the copper electrorefining process, the dissolution of anodes is significantly reduced or even stopped when the passivation phenomenon occurs. The results of this phenomenon are increasing energy consumption, residual formatting, and voltage levels in the cell. In this study, the electrochemical behaviour of blister copper in the presence of sodium persulfate (PDS) was studied. The electrochemical methods of LPR, Tafel, and Electrochemical Impedance Spectroscopy (EIS) were used. The results showed that the addition of sodium persulfate activates the electrode surface and increases the open circuit potential. In the presence of PDS, the polarisation resistance of the electrode shows an increasing or decreasing tendency, based on the PDS concentration. This tendency is probably due to the formation of surface layers (such as slime layer or copper sulfate) and dissolution of this layer at various concentrations of PDS. The lowest polarisation resistance of 1.8 ohms and the highest corrosion current of 60.6×10-3 and 36.6×10-3 A/cm2 from LPR and Tafel techniques respectively were obtained at the concentration of 40 g/l PDS. Based on the results of potentiodynamic and electrochemical impedance spectroscopy tests, the addition of sodium persulfate to the solution reduces the corrosion resistance, therefore the passivation time of the blister copper anode increases. Keywords: Blister copper, electrorefining, sodium persulfate, anodic passivation

Jan 1, 2020

By Maggi Loubser

"In a technologically advanced era, where process control is accurately maintained within the smallest error margins, and accuracy and precision are continuously improved, sampling is still left to the lowest paid employee in the company without training him or her properly to understand the relevance and importance of the task. In this paper the objectives of sampling in a process control environment is discussed and an attempt is made to link it to the theory of sampling. Some of the practical problems associated with implementing theoretical sampling principles in an industrial environment will be elucidated and some examples given on how compromises are made. Different methods of sampling will be discussed with real life examples from different manufacturing industries."

Jan 1, 2014

By M. Royker

Gold has been demonstrated as a possible catalyst for oxidation reactions. Some evidence for a possible promotion effect of platinum has also been recorded. The influence of platinum as promoter for Au/?-Al2O3 prepared via anionic ion-exchange for the oxidation of glycerol was investigated in a batch reactor at 60°C. It is inferred that the addition of platinum reduces the catalytic activity and the rate of deactivation, resulting in an overall higher final conversion of glycerol with increasing platinum loading. The addition of platinum to the catalyst favours the formation of the desired product, glyceric acid.

Jan 1, 2012

By D. Vogt

South African underground hard rock mines are typically managed using measurements made daily, weekly or even monthly of key parameters such as face advance, readiness to blast, blast success, temperature or dust levels. Health, safety and productivity can all be greatly improved if a real-time measurement system can inform decision making. To enable this vision of widespread sensing, communication and decision support, CSIR has developed an open standard architecture for communication of sensor data, and a reference implementation using that standard. The standard, called AziSA, meaning ?to inform? in isiZulu, will allow any device that complies with it to join any network that supports it. The standard is designed for South African gold and platinum mines. To be practical in a typical Bushveld platinum mine, a real-time sensor system needs to be robust, reliable and cheap: ?Sensors are equipped with power sources that will last as long as the sensor is required. In effect, sensors need to be disposable: cheap enough not to warrant repair if they break. ?Communication in the stope is wireless, to avoid there liability problems associated with wire connections. For example, wires to sensors in the face area are unlikely to survive blasting. ?To get information out of the stope, the power line to the scraper winch is used as a communications link. Unlike a separate communications link, the power line will be repaired if damaged, because of its importance to production. ?Outside the stope, communications are transferred onto the mine communication infrastructure. To succeed as a management system, the next key element is the use of software decision support tools that will analyse masses of real-time data to extract key parameters and trends for decision makers. A range of sensors has been developed, including commercial sensors that have had wireless adapters added to make them AziSA compliant, and bespoke sensors that provide low cost sensing of typical mining parameters. An important parameter in any sensor network is the location of the sensor. This has to be easy and cheap to establish, so a tool has been developed to locate sensors in the confines of a stope, using ultrasonic and radio techniques. Once sensors are installed and located, they associate their location to all data that they produce. All the data from the system are captured at surface in a flexible database that can be queried by any application that requires data of any kind. It is simple to program alerts, and for actions to be associated with alerts. The use of wireless in stope also allows for communication from surface to the stope, or from stope to stope. The first implementation of an AziSA compliant system is being installed as part of the Mine Health and Safety Council funded rockfall elimination project. The design is discussed, and a future application for a platinum mine is considered.

Jan 1, 2009

By B. P. Watson

Several large falls of ground occur annually in the narrow, tabular stopes mined in the Bushveld Complex. These falls comprise safety risks and cause substantial production losses and compromise efforts to increase productivity. Underground observations in conjunction with instrumentation sites were used to establish the strategic parameters required to describe the rock mass behaviour of shallow-dipping stopes on the Bushveld platinum mines. Existing rock mass rating systems were evaluated using the observations and instrumentation results. None of the current systems adequately described all the relevant geotechnical conditions. Thus a hybrid of several current systems was developed, and the proposed system is discussed in the paper. The new rock mass rating system is termed the ?New Modified Stability Graph? system and follows the method originally described by Mathews et al.1and revised by Hutchinson and Diederichs2.Changes have been made to some of the tables provided by Barton3and to the stress analysis suggested by Hutchinson and Diederichs2. In addition, the logistical regression analysis has been applied to databases, formed using the suggested analyses, for three support resistances and risk levels established.

Jan 1, 2004

The optimum cut-off grade policy maximizes the net present value (NPV) of an open pit mining operation subject to the mining, processing, and refining capacity constraints. The traditional approaches to cut-off grade determination ignore the escalation of the economic parameters such as metal price and operating costs during life of an operation, and consequently lead to unrealistically higher values of the objective function. Further, the NPV of a mining operation declines due to the depletion of the available reserves, causing a decline in the optimum cut-off grade, i.e. higher cut-off grades in the early years of an operation and lower cut-off grades during the later years. Hence, low grade material mined in the earlier years may be stockpiled for processing during later years to offset the effect of escalating economic parameters on NPV. This paper demonstrates the combined impact of introducing economic parameters, escalation and stockpiling options into the cut-off grade optimization model. The model promises an enhancement in NPV as illustrated in a case study incorporating practical aspects of an open pit mining operation.

Jan 1, 2011

By C. J. Badenhorst

The scope of this project was to research, develop and eventually produce a personal occupational hygiene and safety exposure monitor system to assist in recording and analysing various stress factors that could affect the health, wellness and safety of employees, i.e. that could result in injury or ill health of workers, create stress build-up within individual workers that could negatively affect worker alertness and safety, and, may even result in permanent disability or death. Utilized systems at the time were all reactive, whereas the DOHEMS (Proactive Digital Occupational Hygiene and Safety Exposure Monitoring) System enabled the measurement of exposure (and associated risk) in a proactive manner via real-time exposure and digitized recordings. The idea of the development was to create a unit that is so cost effective, small and light that every worker can use a system on a daily basis. The development will eventually replace current, bulky and expensive monitoring equipment. The device must be a portable battery operated device and monitor the immediate working environment by periodic sampling for vibration, noise, toxic gasses (NO/NOX/CO/VOC, etc.), body temperature and heart rate. The samples must be time and date stamped, utilizing a real-time clock (RTC) synchronized with the closest regional secondary time source and related to synchronized real-time video captured samples. These samples are then recorded onto a rugged non volatile storage device with the capacity to store a vast number of samples covering the entire working shift of eight (8) hours plus. The system has been fitted with a clear visual local alarm indication system, indicating any excessive exposures or stresses, for the worker?s supervisor to respond to. This system allows for a pro-active approach. The system is also a wireless system (to the external environment) so as to not affect the mobility of an employee and flameproof to allow for use in explosive environments. Keywords: safety, digital, exposure, monitoring, proactive.

Jan 1, 2010

By S W. Robertson, A Vercuil, P Craven

Mintek is currently developing a design approach for the heap leaching of low-grade primary copper sulphide material. Since the leaching of chalcopyrite requires elevated temperatures, the generation and management of heat within the heap is crucial. Furthermore, the precipitation of iron needs to be managed to prevent premature blinding of the heap, and acid consumption needs to be limited to contain cost and limit the dissolution of gangue impurities. Standard column tests using jacketed 1-m and/or 6-m columns do not allow accurate prediction of temperature changes and heat generation in an actual heap. Mintek therefore utilizes a computer model to calculate the energy balance and heat generation with time, based on the measured sulphide oxidation rates in the column. The temperature in the column is then adjusted to reflect the computer-predicted temperature in an actual heap. Using this approach, an overall copper extraction of 70% was achieved in 120 days, using 1-metre columns, when treating an ore blend containing 1.36% chalcopyrite, 0.23% chalcocite, 0.07% covellite, 3.8% pyrite and silicate gangue (92%). The chalcopyrite contribution to the total copper content in the feed was 75%. This was followed by 6-m columns using a similar approach, and the column results will be validated on a 23,000 tonne test heap. Key Words: heap; bioleach; chalcopyrite

Jan 1, 2005