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By B. Voyzelle

The deterioration of highway and bridge infrastructure has received considerable attention in recent years because of the billions of dollars needed for repair and rehabilitation. A major factor contributing to this problem is the corrosion of steel reinforcement. Reinforcing steels with good corrosion resistance and relatively low price are therefore essential for maintenance, cost reduction and service-life extension of the steel-reinforced structures. This article describes the development of low-alloying steels that offers good corrosion resistance with reasonably low cost. Topics include steel microstructures, mechanical properties, corrosion performance, industrial applications and economic aspects.

Jan 1, 2005

By Fabiano Almir Barbosa, Eduardo Alves Machado, Felipe Ferreira Cajano, Bruno Rodrigues Henriques

Spring steels are usually classified as medium to high carbon low alloy steels with very high yield strength, enabling the part to return to its original shape regardless of significant bending or twisting. Despite the fact that plain carbon steels are suitable for small springs, larger and high performance springs usually requires alloy steels such as Cr-V or Si-Mn in order to achieve an even microstructure throughout the cross section. Clutch diaphragm spring is a high performance part that requires very good cleanliness and microstructure homogeneity, thus requiring an alloy steel. In this paper was studied, in an industrial scale, the process parameters and critical characteristics for the development of a Cr and V alloyed high carbon sheet steel for the production of clutch diaphragm spring. The steel was characterized throughout the entire process (casting, hot rolling, cold rolling + batch annealing and heat treated) using tensile test, hardness test, optical microscopy (OM) and scanning electron microscopy (SEM) to assess the mechanical and metallurgical properties of the studied steel. The results have shown the material’s microstructure evolution after each main stage of the process, from a ferrite-bainite/perlite based microstructure as hot band to fully spheroidized as cold-rolled/annealed and then fully martensitic as ready-to-use part.

Oct 1, 2019

By Kazumasa Taguchi

At the Kakogawa works of Kobe Steel. Ltd., the agglomeration facilities are composed of a pelletizing plant and sintering plant. This aim is to utilize raw materials efficiently and stabilize the raw material resources. Therefore at Kakogawa works, the blast furnaces (BF) have been operated with high pellet ratio and various developments for pellet properties have been achieved to improve the blast furnace performance. These developments include dolomite-fluxed pellets, new-porous pellets and crushed pellets. As a results of these improvements, pellets have achieved almost the same performance as sinter at high temperature regarding properties such as the softening, melting and reduction behaviour. However, some problems on shape have remained to be solved. Spherical pellets flow easily into the center of the furnace and form mixed layers of pellets and cokes. Therefore, in BF operations with these pellets it becomes more difficult to keep proper and stable gas distribution.

Jan 1, 1983

By V. A. Zhilina, I. V. Shadrunova, O. E. Gorlova

"The aim of the study is to develop and scientifically justify a new adaptive approach to the separating processes of deep and complex processing technogenic mineral raw materials. Technogenic mineral resources as a waste of mining and processing industry are mostly complex objects that have specific features of material composition and technological properties and make it processing ineffective with traditional schemes of mineral raw materials enrichment. Mineral wastes are regarded in this study as a complex object with a large number of signs in conditions of uncertain environment and object. However, adaptation is regarded as the process management system’ adaptation to the specific the properties of the object and the environment that has several hierarchical levels corresponding to different stages in the management of complex object. An adaptive approach is considered as a methodological basis of multivariate schemes for opening the mineral resources and creating mechanisms that could transfer these potential technogenic resources to the actual that significantly expand the mineral resource base of the country's black, coloured, rare, noble metals and construction materials. In this case, potentially the solution to the most pressing social and environmental problems associated with the adverse effects of past economic activity simultaneously with the commercial objectives. This approach to the wastes mining and related processing manufacturers meets the core idea of sustainable development as the balance of interests of State, society, business, private enterprise and each person in the areas of rational use of resources, economic efficiency and environmental safety. On the example of metal-containing raw materials in the form of slags of ferrous and nonferrous metallurgy, ferrous metallurgy sludge, mature fine tailings, the application of adaptive approach illustrates to the development of technologies of its deep and complex processing as phased, thoughtful movement from a comprehensive study of technogenic raw materials to build optimal topologies of technological schemes for processing the mineral wastes. INTRODUCTION Involving the Russian economy in the system of global economic relations significantly changes the nature of the country's competitiveness in the development of the world market and urgently requires competent management of its own natural and mineral resources. The latter at the present time in real economic processes cease to be a passive material foundation and become the producing basis in the production processes in the status of so-called natural capital. Introduced in the field of economic theory at the end of the 20th century, this term means both the flow of natural services and real natural resources. Consequently, natural objects, which act as natural resources of a certain production, today must necessarily be evaluated in a strategic sense. Modern standards of sustainable development presuppose that the economy should equally be oriented to balance the interests of the state, society, business, individual enterprise and each person in the spheres of rational use of resources, preservation of healthy ecosystems, ensuring well-being, high quality of life and environmental safety of not only the current generation, but also respect for the rights of future generations, that is, intergenerational equality. Most types of minerals are classified as non-renewable resources, therefore resource-saving in the sphere of mineral and raw materials complexes is one of the most important factors-indicators characterizing the degree of approximation to the model of rational subsoil use, and, consequently, sustainable development (State Report, 2017)."

Jan 1, 2018

By N. Aarthi, G. R. Dodagoudar

The improvement of soft clay deposits using stone columns is a well-established ground improvement technique in the western world. This technique has been well documented and has proper design codes for precise execution in the field. The sand compaction pile (SCP) method is a contemporary technique to stone columns and has limited literature related to the strength characteristics of the loose to medium dense sand deposits treated with SCP. The available studies on the SCPs installed in cohesionless deposits focused on the improvement by indirectly assessing the SPT-N values pre- and post-installation of the SCPs. The widespread implementation of the SCP technique in recent years has increased the need for a more direct evaluation of the improvement. Earlier studies in this regard have revealed that the available design solutions are based on the type of installation equipment, their working efficiency, and accumulated field data. However, it is found that there are no generic design codes for the direct estimation of the ultimate bearing capacity of the SCP improved cohesionless deposits. To meet the design requirement for the SCP treated ground, a series of experimental and numerical investigations are performed in the present study to arrive at a direct framework in the form of design charts based on the pressure-settlement response of the treated ground. The developed design charts give the ultimate bearing capacity (UBC) of the treated sand deposit for the known initial relative density (RD) of the deposit, spacing and diameter of the SCPs, size of the footing, and for the specified target unit weight required for the intended application. It is concluded that the design charts will be of preliminary use to the design engineers to directly evaluate the UBC of the SCP improved loose to medium dense cohesionless deposits as part of the SCP method of ground improvement. It is expected to have more field-scale experiments and in-depth analysis before implementing these charts for actual field execution.

Nov 1, 2022

Future depth and production limitations of an ore hoisting system are fixed by its initial design criteria. There is little scope to extend these limitations once installation is completed. Depth and production rate upgrades from the initial duty to the hoistÆs practical limitations require capital expenditure in stages, each of which can be defined when assessing the initial system design criteria. A means of presenting and assessing the design criteria, the limiting factors in each option and the relative present and future capital costs is necessary to arrive at a solution that delivers the best value to the mine. Application of this technique to recent friction winder installations and upgrades in the Australian mining industry is of particular interest; however, the analysis methods are also applicable to drum hoists. It is usual to specify a minimum hoisting capacity and depth, based on mine ore handling design and production needs. The final hoist depth and production rate are usually a result of the initial hoist design and hence it is useful from the outset to specify a required production versus depth envelope for the mine. Technical solutions can then be modelled within this envelope at their initial and final duties and a comparative analysis made against the cost of installing and progressively upgrading each solution. Understanding the factors that constrain each solution to a maximum production rate at a given depth is important, as the costs of overcoming limiting parameters such as rope tread pressure and motor power can be significant. The task of understanding and evaluating the options open to the hoisting system designer is simplified using this approach. Communicating the results of a multi-dimensional problem such as hoist specification is also made easier using the graphical methods inherent in the analysis.

Jan 1, 2005

By Reginals W. Burroughs

Diatomaceous or infusorial earth, also called diatomite; fossil meal, or kieselguhr, is derived from the lowest form of vegetable life, the unicellular alga:. It consists of the siliceous remains of extremely minute aquatic plants, which exist in both salt and fresh water. Light i~ a prerequisite to their development. These very small particles secrete silica in much the same way that molluscs secrete lime to form their shells. The diatoms at death sink to the bottom of the body of water in which they lived, and the organic matter gradually decays and is washed away, leaving the skeletons. Thousands of years are required by this means to develop bed5 of sufficient thickness to be of commercial value. The siliceous remains vary in size according to the species, but all are very minute and, as a general rule, they can be identified only under a high-power microscope. Over one thousand types have been distinguished and named. They are all composed of a hydrous or opalescent form of silica, with silica content ranging from seventy to ninety-five per cent. Magnified, they present an attractive sight, a very fragile structure with many interstitial openings known as cells. Many of them consist of two parts, defined as valves, held together by means of a girdle. Certain species, belonging to the Pinnularia family appear as a long comb, in half longitudinal section. The spaces between the teeth are the cells. This particular genus is very common in Nova Scotian deposits.

Jan 1, 1928

By J. A. M. Cano

With a view toward increasing its product competitiveness in the foreign market, SAMARCO MINERACAO S/A has developed high MgO type pellets at its pilot plant for performing direct reduction simulation tests. Additives such as dolomitic lime and magnesite were used for increasing pellet MgO content. Comparative direct reduction simulation tests were conducted both in SAMARCO and foreign laboratories. The test results showed that it is possible to produce direct reduction type pellets with satisfactory metallurgical properties, which can be successfully processed at increased temperatures in direct reduction furnaces.

Jan 1, 1992

By Thomas Jancic

Two of the open-pit, copper-molybdenum mining operations of Duval Corporation are located in the foothills of the Sierrita Mountains approximately 30 miles southwest of Tucson, Arizona. In March 1959, mining from a moderate sized porphyry deposit known as the "Esperanza orebody" was begun at a rate of 10,000 tons of ore per day. Some five years later, a sizeable group of mineral claims west of Esperanza became available to Duval. Earlier exploration and development drilling in this area by others indicated an orebody of greater size but lower tenor than that of Esperanza. A drilling program conducted by Duval not only verified the results of the prior drilling but in addition, revealed a continuation of the mineralization to the south and east. Thus was developed the Sierrita orebody. Open pit design delineated 414 million tons of ore containing an average copper content of 0.35 percent and a molybdenum content of 0.036 percent. In April 1966, the office of Emergency Planning authorized General Services Administration to undertake a program under the Defense Production Act to en¬courage additional domestic production of copper in the interest of national defense. Duval's Sierrita Project was brought to GSA's attention in May 1966 on November 28, 1967, an agreement providing for the development of the Sierrita Property was consummated with GSA. In March 1970, the first copper-molybdenum concentrates were produced in the 72,000 tons-per-day concentrator. Pre-production stripping exceeded the scheduled 105 million tons despite the comparatively short lead time available to equip the mine, build the mine plant facilities, and staff the technical, supervisory, and labor forces. Shortly before the first concentrates were produced, plans were being formulated for a program to increase processing capacity by approximately 15 percent, which entailed increasing overall mining capacity by approximately 50,000 tons per day. This program is scheduled for completion early in 1971.

Jan 1, 1971

By H. Paudyal, K. Ohto, H. Kawakita, S. Alam, B. Pangeni

The orange waste after lime water modification was converted into promising adsorbents for fluoride by metal loading reaction. The effectiveness and mechanism of fluoride adsorption on metal loaded orange waste gel from synthetic and real plating solution were investigated. Amount of zirconium(IV), aluminium(III), cerium(III), lanthanum(III), titanium(IV), vanadium(IV) and tin(IV) loaded on orange waste from aquearegia dissolution were evaluated to be 1.62, 1.16, 0.93, 0.95, 1.20, 1.12, 0.97 mmol/g respectively. The maximum adsorption capacity (qmax) of zirconium(IV), cerium(III), lanthanum(III), iron(III) and aluminium(III) loaded orange waste for fluoride ions were evaluated to be 1.74, 0.91, 1.07, 0.98 and 1.01 mmol/g from aqueous solution. The mechanism of fluoride adsorption by metal loaded orange waste was inferred to be ligand exchange reaction. Application of zirconium(IV) loaded saponified orange juice residue(SOJR) for real plating solution showed effective removal of trace concentration of fluoride down to the accepted standard. The negligible interference of co existing anions like nitrate, carbonate, sulphate and chloride makes zirconium(IV) loaded SOJR a promising sorbent for waste water treatment. The adsorbed fluoride from fluoride loaded zirconium(IV)-SOJR was effectively desorbed by using alkali solution for its regeneration. This work shed light on the potential application of metal loaded SOJR to remediate fluoride contaminated water for environmental relevance.

Jan 1, 2012

By W L. Daniels, C Stilson, C Zimmerman

Mineral sands mining for ilmenite, rutile and zircon has disturbed over 1000 ha of prime farmland in Virginia (USA) since 1997 and additional areas are likely to be disturbed in Virginia and North Carolina (USA) over the next 15 years. Full-scale mining operations at the Old Hickory Project in Virginia were initiated in 1997 by Iluka Resources Inc. and restoration protocols have continued to evolve in response to a variety of economic, technical and social issues. Early on, the return of these lands to agricultural row-crop production was complicated by vertical stratification of tails + slimes and lateral variability in soil physical conditions in the reclaimed pits and by limited topsoil return. Virginia Tech and Iluka have worked cooperatively with all stakeholders for over 20 years to review the pre-existing research base, conduct new and innovative site-specific research and thereby provide reasonable expectations of post-mining soil productivity levels. In 2004, Virginia Tech, Iluka Resources and a local leaseholder (Carraway-Winn family) agreed to jointly manage a 45 ha research demonstration farm where the long-term effects of alternative soil reconstruction practices are being rigorously monitored for both row crops (corn and wheat) and forage production. All mined land crop yields are also compared to an adjacent undisturbed exceptional quality prime farmland soil. Row crop yields between 2005 and 2010 were significantly above county average yields (regulatory target level) and approximately 75 - 80 per cent of undisturbed adjacent prime farmlands. The state regulatory authority has recently relaxed its position on the necessity of topsoil return versus use of topsoil substitutes based on appropriate on-site research results and the ability of the reclaimed soils to meet comparative local county crop yield targets. This cooperative effort allows all clientele groups to objectively assess the post-mining productivity of these mined lands while providing an invaluable educational opportunity for the mining industry. CITATION:Daniels, W L, Stilson, C and Zimmerman, C, 2012. Development of effective rehabilitation protocols for mineral sands mining in Virginia, USA, in Proceedings Life-of-Mine 2012 , pp 97-104 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 10, 2012

By Mikhail I. Khersonskaya, Mark I. Mantsevich, Andrey V. Tarasov

"Due to depletion of the existing ore deposits the content of non-ferrous metals in produced ores has an inevitable tendency to decrease. Processing of low-grade ores is associated with production of low-grade selective concentrates and poses serious problems for the non-ferrous industry relating to increasing losses and expenses for waste treatment and disposal.The main component contaminating selective concentrates is iron sulphides.Copper-nickel, copper-zinc and polymetallic ores have been discussed as most important types of ores requiring removal of iron sulphides.One of the promising directions for development of selective flotation technology is the use of lowmolecular organic depressors. An advantage of organic compounds is in the possibility of multi-variant structure of organic molecules, which permits selection of a most efficient reagent for the given conditions. Another way for improving the grades of concentrates is concentration of valuable constituents associated with iron sulphides in an intermediate product and upgrading of the latter by chemical and metallurgical techniques.In order to remove iron from nickel concentrates, specific process conditions have been developed for selective flotation of pentlandite with the use of an organic depressor for pyrrhotite. The use of a depressor for flotation of high-grade copper-nickel ores ensures an increase in the nickel content up to 14% in the nickel concentrate produced as compared with 7% when using conventional process conditions, along with a nickel recovery improved by 2-3%."

Jan 1, 2003

By Akio Ohta

The Hyuga smelter has been producing ferronickel by a rotary kiln-electric furnace process in Miyazaki, Japan. Several approaches to improve our operation have decreased the electrical energy consumption. A new process was developed to decrease the cost of energy even further. Oil and technical oxygen are injected through lances to heat up the calcined ores (calcine) instead of the electric power. Main problems during the development of the process were the short life of the water-cooled lances, the check on security of the safety system and the eruption of combustion gases through the calcine bed. These problems have now been overcome successfully, and stable operation can be maintained. The addition of 1 Litre of heavy oil per tonne of ore can save the electrical energy requirement by 8.6 kwh per tonne of ore. The new process has resulted in a reduction of the electrical energy consumption by more than 10 percent

Jan 1, 1992

By T. Kozuka, K. Sassa, S. Asai

"A new atomization process is developed. The principle of this process is completely different from that of conventional processes. This process uses electromagnetic energy induced by direct electric current and direct magnetic field instead of kinetic energy produced by fluid impingement or disk rotation.Experimental work of this process was carried out using pure tin, and it was found that the crucial factor for a stable operation is the contact state of molten metal with the electrode. In order to control the condition, a delay time controlling unit was developed and combined with this process. It is noticed that this controller works well to produce uniformly sized particles.A linear relation between the impulse and the momentum of atomized particles is found by use of experimental data and is explained by theoretical analysis.IntroductionIn atomization processes prevailing in metal powder technology, kinetic energy is currently employed for atomizing molten metal. That is, molten metal is broken into small particles by other fluid (e.g. water, argon gas, etc) or by impinged upon a rotating solid disk. This splashing process is always accompanied with uncertain factors for shape and size of the particles. The diameter distribution of products, therefore, comparatively spreads over a wide range. From another standpoint, the restriction of atmosphere is inevitable in some of these processes. As a pulverizing technology, the process which can produce uniformly sized particles and permits the choice of atmosphere is strongly desired.On the other hand, a great attention has been paid to the spray casting process as a new near net shape casting. In this process, a small size spraying device is favorable."

Jan 1, 1988

By Hyunsuk Yoon, Kiho Lee, Juhyng Lee, Younghoon Jung, Junboum Park

"The environmental double pile method is presented as a device to improve the engineering properties and to clean up contamination of low-permeability soil. This method is one of the novel technologies based on the concept of one step process. It can be applied to low permeable contaminated ground for site reuse. It uses piles to improve drainage, contaminant remediation, and bearing capacity of the ground. To evaluate the on-site applicability of this technology, drainage and strength properties of the environmental double pile were assessed by a series of experiments and numerical analysis. Environmental double pile was found to be a feasible alternative method to improve contaminated soft ground.Korea is a peninsula with many coastal industrial zones. These zones are located in regions mostly underlain by soft ground with low permeability and adjacent to industrial areas that can be contaminated. Therefore, a new region-specific remediation method is required to achieve environmentally sustainable development. This research introduces the Environmental Double Pile (hereinafter, refer to as EDP) for the lowpermeability contaminated ground and focused on both contaminant remediation and soft ground improvement. Basically, the EDP is quite similar to sand compaction pile (SCP). The SCP has been studied extensively to improve soft ground (Braja 1999; Hansbo 1994; Madhav and others 1978; Taylor 1948). But unlike SCP, EDP is filled with oyster shells instead of sand and an inner pile is inserted in the center of this oyster shell filled-zone. Therefore, it is a double pile consisting of the oyster shell pile and the inner pile, as depicted in Fig. 1."

Jan 1, 2005

By S. Möllerherm, E. Drüppel

"The development of indicators to assess the sustainability of mineral raw materials operations is amajor task with respect to its actuality and difficulty. This holds true even more when dealing withenvironmental indicators.The use of existing environmental indicators in the mineral raw materials industry leads to false orat least distorted results. Therefore the Institute of Mining Engineering I from the RWTH AachenUniversity developed indicators and an assessment system for the mineral raw materials industryon operation, company and sector level on behalf of the Federal Ministry of Economics and Labour(Bundesministerium für Wirtschaft und Arbeit, BMWA) and the Federal Institute for Geosciencesand Natural Resources (Bundesanstalt für Geowissenschaften und Rohstoffe, BGR).In total 30 indicators were defined and designed to assess the performance of the mineral rawmaterials industry in terms of sustainable development, 10 indicators for each pillar (economical,ecological and social pillar).The following paper describes some of the results focussing on the development of environmentalindicators. These had to be adapted or completely new designed in order to match the specificcharacteristics of the mineral raw materials industry."

Jan 1, 2005

By J. Lyndon Rosenblad

The strength of a jointed-rock mass is not well-understood. It is believed, however, that the behavior of a rock mass is governed by both the intact rock properties and the properties of the discontinuities. Rock research in the past has been concentrated on the determination of intact rock properties. Several studies are presently underway which should provide more insight into the properties of the discontinuities. Few research programs, however, have been undertaken with the intent of studying the composite rock mass behavior where either the intact rock strength or the properties of the discontinuities may control failure. There are three approaches available for studying the behavior of a rock mass, namely, field studies, mathematical models (finite element), and geomechanical models. A geomechanical model has been developed in this study where the strength and failure modes of a model rock mass are studied as a function of intact block geometry, joint orientation, joint properties, and confining pressure. The objective of this study is to gain some insight into the parameters that govern the behavior of a rock mass, which parameters are most important, and when these parameters control. This chapter describes only one phase of the study, the development of equipment for use with the rock-blocks model. The models being tested are approximately 22 x 22 x 6-in. The size varies slightly depending upon the joint orientation used. The equipment developed includes model material molds, reaction frames, loading apparatus, measuring and recording instrumentation, and other accessory equipment pertinent to the operation of a successful study. The usual problems in equipment development, such as uniformity of load application, loading capabilities, and reaction capacities are all

Jan 1, 1970

By Isobel Yeo, Florent Szitkar, Sven Petersen, Sebastian Graber, Meike Klischies

Technological advances and the shift towards green energies in the last decades have led to a substantial increase in the demand for metal resources. With rising political tension, and quasi-monopolistic production of some key metals, a secured supply chain cannot be guaranteed [1]. Therefore, the focus of the international research community and mining companies has expanded to the seafloor, looking for additional resources. The seafloor may have the potential to contribute significantly to a secure metal supply in the future. However, we have only investigated a fraction of our oceans in sufficient detail to assess the global resource potential. A detailed exploration of the vast seafloor is currently economically not feasible, due to its extremely time-consuming and costly nature. Seafloor massive sulfides generally form along the active plate boundaries and at active volcanoes in arc settings. However, the resources are not evenly distributed on the seafloor. Large deposits tend to be more common along slow-spreading and ultra-slow- spreading ridges that make up the majority of the global mid-ocean ridge system [2]. Therefore, it is important to establish geological models and exploration criteria in order to narrow down the permissive areas, which are likely to accommodate economically interesting deposits. Based on a detailed study of the TAG hydrothermal field in the central Atlantic Ocean, hosting a large active mound as well as several inactive mounds, we develop exploration methods and criteria to define areas of potential massive sulfide occurrences along slow-spreading sections.

Jan 1, 2018

By Claude E. Wykes

Deep Well turbine pumps receive constantly increasing application to the problem of mining water and other fluids from great depths. Many installations of medium settings are presently operating successfully and it is felt that mach greater depths are immediately within reach. Settings and lifts in excess of 2000 feet: are not at all out of reason with present knowledge experience, and materiels; however, conditions of individual applications will govern in each case and dictate methods and possibilities to the designer. Design and operating problems of deep set -turbine pumps ire discussed together with a description of various types of equipment falling within this category. Although the deep well turbine pump has been produced In the vertical turbine pump industry for many years, the connotation of the word "deep" still remains questionable. Among the manufacturers of this type of machinery, answers to the question implying the practical limitation of setting for a deep well pump will vary to an extreme. Most pump designers are in accord that this type of equipment has not yet been exploited to its fullest degree; however, the subject is admittedly fraught with unsolved problems and un¬tried solutions so that such a discussion must necessarily derive from personal opinion and, belief., even though based on substantial experience and background. For this reason, it will be stipulated that the present writing will deal with what may be termed euphemistically ?a highly controversial subject.? During the nineteenth century, a paper was published under proper authority proving beyond question that the human body could not withstand speeds exceeding 20 miles per hour. As a limitation, this looks ' pretty ridiculous to us today. At the beginning of the twentieth century, there was not a single machine in operation that could be described as mullti-stage deep well centrifugal pump. As a matter of fact, very few centrifugal pumps of any type wire operating against heads in excess of 50 feet, since such applications were considered impractical. In the

Jan 1, 1960

By J. Huh

Recently, there is growing trend to build the high-rise and install curtain walls. Following this trend, we developed robot for building wall cleaning work, which moves along Built-in guide rail of building. Because it moves attached at building wall for cleaning work, it can be seriously affected by potential threats, like earthquake, strong wind, malfunction, and construction error of built-in guide rail. In order to cope with those threats actively, this paper presents the Fail-Safety system. The building wall cleaning robot consists of two moving system: The Horizontal Moving System which mainly do maintenance work, and The Vertical Climbing System which transport the horizontal moving system floor by floor. We apply the Fail-Safety system to these systems. The Fail-Safety system consists of sensors to detect external situation, and, with information of sensors, give instruction for what to do. This robot system is installed with four kinds of sensors: shock sensor, infrared ray sensor, laser sensor, magnetic sensor. First, shock sensor detects external shock during cleaning work. When shock sensor detects big shock, the robot returns to starting point to inspect how damaged it is. Second, infrared ray sensor detects damage of built-in guide rail. It is to prevent destruction of robot caused by moving along damaged rail. Third, laser sensor gives notice about where obstacle is. It is for robot to avoid crash with obstacle and decrease damage. Fourth, magnetic sensor detects magnetic points, which are installed in rail at regular intervals, and helps robot to find its position, based on location of magnetic points detected. If robot is damaged by external shock and its encoder, which gives information of location to it, is not working, magnetic sensor will give information of robot?s location to robot. And then, robot regulates its velocity depending on position of it, and safely returns to starting point. The Fail-Safety system in this paper is for building wall cleaning robot to sense external threats, and prevent getting worse. Applied to this active protection system, making safe environment of maintenance work is possible for robot system.

Aug 1, 2013