Described is a vehicle configured for the deposition of explosives in holes of open-pit exploration mines, wherein the vehicle is able to perform all seven steps carried out in the manual explosive deposition process, automatically, completely free of human intervention. Also described is a method of use of the aforementioned vehicle.

Described is a vehicle configured for the deposition of explosives in holes of open-pit exploration mines, wherein the vehicle is able to perform all seven steps carried out in the manual explosive deposition process, automatically, completely free of human intervention. Also described is a method of use of the aforementioned vehicle.

Emulsion explosives with gas bubbles that are resistant to in-borehole migration or coalescence are disclosed herein. Such emulsions can be sensitized by mechanically introducing gas bubbles into the emulsion. Gassing can be performed at any of multiple points from initial formation of the emulsion to delivery of the emulsion into the borehole. Resistance to gas bubble migration and coalescence can be achieved by homogenization, without the need for bubble stabilization agents.

Emulsion explosives with gas bubbles that are resistant to in-borehole migration or coalescence are disclosed herein. Such emulsions can be sensitized by mechanically introducing gas bubbles into the emulsion. Gassing can be performed at any of multiple points from initial formation of the emulsion to delivery of the emulsion into the borehole. Resistance to gas bubble migration and coalescence can be achieved by homogenization, without the need for bubble stabilization agents.

Systems for automatedly delivering explosives with variable densities are disclosed herein. Methods of automatedly delivering explosives with variable densities are disclosed herein. Methods of determining an emulsion explosive density profile are disclosed herein.

Systems for automatedly delivering explosives with variable densities are disclosed herein. Methods of automatedly delivering explosives with variable densities are disclosed herein. Methods of determining an emulsion explosive density profile are disclosed herein.

Emulsion explosives with gas bubbles that are resistant to in-borehole migration or coalescence are disclosed herein. Such emulsions can be sensitized by mechanically-introducing gas bubbles into the emulsion. Resistance to gas bubble migration and coalescence can be achieved by homogenization, without the need for bubble stabilization agents.

Emulsion explosives with gas bubbles that are resistant to in-borehole migration or coalescence are disclosed herein. Such emulsions can be sensitized by mechanically-introducing gas bubbles into the emulsion. Resistance to gas bubble migration and coalescence can be achieved by homogenization, without the need for bubble stabilization agents.

A control system for controlling operation of a fluid delivery system that includes a first and second pumps for delivering first and second fluids for mixing. A controller includes a first pump map having a first pump flow rate mapped against a control output signal, and a second pump map having a second pump flow rate mapped against a control output signal. The controller determines the control output signal for the first pump to obtain a desired flow rate from the first pump, and the control output signal for the second pump to obtain a target flow rate and a target percentage of the second fluid relative to the first fluid or a target percentage of the second fluid relative to an overall fluid flow. The output signals for the first and second pumps are determined using the first and second pump maps.

A control system for controlling operation of a fluid delivery system that includes a first and second pumps for delivering first and second fluids for mixing. A controller includes a first pump map having a first pump flow rate mapped against a control output signal, and a second pump map having a second pump flow rate mapped against a control output signal. The controller determines the control output signal for the first pump to obtain a desired flow rate from the first pump, and the control output signal for the second pump to obtain a target flow rate and a target percentage of the second fluid relative to the first fluid or a target percentage of the second fluid relative to an overall fluid flow. The output signals for the first and second pumps are determined using the first and second pump maps.