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By William Marsh Baldwin

[Two of the most useful and important equations available to the metallurgist for the study of plastic deformation of metals are the Huber-von Mises-Hencky1-3 and the St. Venant7-10 equations. HUBER-VON MISES-HENCKY EQUATION The Huber-von Mises-Hencky equation answers the question: When does plastic flow occur in metal that is subjected to a multi-axial stress? It occurs, according to this equation, when the three principal stresses,? al, a2, and a3 satisfy the equation: (s1 - s2)2 + (s 2 - s 3)2 + (s 1 ? s3)2 = 2K2 [I] Here K is the yield strength of the material as determined in an ordinary tensile test. If the quantities a1, a2, and a3 are assigned to the coordinates of a Cartesian three-dimensional system, this expression describes a cylinder whose axis of symmetry is inclined at equal angles to the three coordinate axes4,5 (Fig. I). The radius of this cylinder is v2/3K. For the purpose of simplicity, it is sometimes advantageous to ascribe the values s 1/K = si, s 2/K = s2, s 2/K = s3 to the three coordinate axes instead of the principal stress alone. In this case, Eq. I becomes (s1 - S2)2 + (S2 - S3)2 + (Sl - S3)2 = 2 [2] and the radius of the cylinder becomes 2/3v. In the latter method of representation, a point lying inside the cylinder indicates that the metal will react elastically, whereas a point lying on the cylindrical surface indicates that the metal will behave plastically. Some of the geometric features of this cylinder are worthy of study. Let us inquire first as to what interpretation may be placed upon what we will choose to call the "circles of latitude" of the cylinder (L in Fig. I) and the "meridians" of the cylinder (M in Fig. I). Circles of Latitude Circles of latitude are formed by allowing a plane, passing perpendicular to the cylinder axis, to intersect with the cylinder. Any point, P, on this circle is presumed to have the coordinates s1, s2, and s3. The coordinates of the point resulting from the intersection of the plane and the cylinder axis will be a, a, and a (since the cylinder axis is equally inclined to the three coordi¬nate axes). Let us now pass a line through the point on the circle and the point on the axis.]

Jan 1, 1946

By W. Rostoker

IN the course of the development of the phase equilibrium diagram for the system Zr-Cr,' the structure of an as-cast allov having the composition ZrCr2 was analyzed and established to be isomorphous with MgZn2 (C14, hexagonal lattice, 12 atoms per unit cell). In a recent paper on the same system, Hayes, Roberson, and Davies' report for the ZrCr2 phase an isomorphy with MgCu2 (C15, cubic lattice, 24 atoms per unit cell). It appeared that this conflict might be resolved by assuming a high and low temperature modification for ZrCr2. That this was the case with the phase TiCr2 has recently been demonstrated by Levinger." Specimens of ZrCr2 annealed at 1200°, 1100°, 994", 900°, 834", 800°, and 700°C, respectively, and subsequently quenched were examined by X-ray diffraction analysis. It was successfully demonstrated that a transition from the MgZn, structure at lower temperatures to the MgCu, structure did occur at some temperature between 900" and 994°C. Table I lists the observed structures at the various annealing temperatures. In Table II, a summary of line spacings and intensities is given for each of the allotropic modifications. The first six lines of the MgCu2 structures have been located in the table to illustrate the close similarity between the patterns. Lattice parameters of the two modifications were calculated by a least squares solution of equations for interplanar spacings for a series of high angle lines. The results are as follows: MgZn2 type - c = 8.262 kX, A = 5.079 kX. MgCu2 type — a = 7.195 kX. It is interesting to note that TiCr2 behaves in reverse fashion yn that the MgCu, structure is the low temperature modification and the MgZn2 structure is the high temperature modification. References lR. F. Domagala, D. J. McPherson, and M. Hansen: This issue p. 279. 'E. T. Hayes, A. H. Roberson, M. H. Davies: Trans. AIME (1952) 194, p. 304; Journal of Metals (March 1952). 3B. W. Levinger: Trans. AIME (1953) 197, pp. 195-196; Journal of Metals (February 1953).

Jan 1, 1954

By Eugene F. Casey

As indicated on the official conference program, this presentation in not a formal one, but a synopsis of the activities of a newly created Sub-committee of the Research Council on Underground Construction, which involves itself with small diameter tunnels. Because there is a dire need to develop a system of excavating small horizontal openings at shallow depths without interrupting traffic, it was hoped that a more progress report could be reported at this time. Because of ecological and environmental considerations, laws are being passed which mandate that all utilities be placed underground. In urban areas the excavation of trenches in which these utilities are placed has been done by disrupting the normal flow of traffic, thereby creating complete chaos. In addition, it always seems that the Companies involved have no coordination, since one company completes its installation and another one begins. Certainly, utility tunnels can be driven at greater depths to house main feeder and trunk lines, but there still remains the problem of installing distribution lines for house services. The definition of a "mini" tunnel, is a tunnel whose excavated size is approximately 48 in. or less. The objectives of the Committee are to "stimulate the development of systems and equipment to build tunnels in these size ranges which will reduce costs, time and surface disruption from current systems."

Jan 1, 1974

[A AALSETH, Earl P (M 51) Consult Geol Engr 2019 Eldorado Dr, Billings, Monl ABADIE, Henry G (M 43) Asst to Supt of Oper Long Beach Oil Dev Co 925 Harbor Plaza, Long Beach 2, Calif ABBE, T Waldo (A 56) Asst Dist Oper Supt Sun Oil Co PO Box 66, Stowell, Tax ABBOTT, Fred E Jr (M 59) Abqaiq Dist Mgr Arabian American Oil Co Dhahran, Saudi, Arabia ABBOTT, Clifton T (A 60) Apartado 677, Maracaibo, Venezuela ABBOTT, J L (M 56) Partner Pritchard & Abbott 1010 Ft Worth Natl Bk Bldg, Fort Worth 2, Tex ABBOTT, Richard H (J 51) Partner Abbott & Howard 422 W Hermosa San Antonio 12, Tex .ABBOTT, William G (M 50) Div Mgr Rice Engrg & Operating Inc Box 1142, Hobbs, N. M. ABDERHALDEN, Ronald R (J 59) Prod Engr Continental Oil Co Box 100, Carmi, III ABEL, Malcolm D (J 50) Gen Partner Abel & Bancroft PO Box 865, Midland, Tex ABEL, Ramond L (M 28) Prof of Chem Eng Univ of Pittsburgh, Pittsburgh 13, Pa ABEL, Wayne K (M 57) 1513 Patton Drive, Odessa, Tex ABELL, Joseph M (J 55) Petr Engr Tennessee Gas & Oil Co Box 1772, Casper, Wyo ABELS, Thomas A (J 60) Exploit Engr Shell Oil Co Box 193, New Orleans 3, La ABENDROTH, G F (M 46) Dring Prod Supt Lyons & Logan 1500 Beck Bldg, Shreveport, La ABERCROMBIE, Bolling A (M 60) Mgr Product Planning Axelson-Garrett PO Box 2427, Longview, Tex ABERCROMBIE, C T (160) Prod Engr Cities Ser Petr Co Box 472, Brownfield, Tex ABERCROMBIE, H L Jr (J 55) Prod Engr Mobil Oil Co Room 1800 Gr PI Life Bldg, Lubbock, Tex ABERCROMBIE, Robert (J 57) Prod Engr Mobil Oil Co PO Box 1770 Shreveport, La ABERG, Richard S (M 57) Area Prod Geol Shell Oil Co of Canada, Box 100 Calgary, Alta, Canada]

Jan 1, 1961

By A. Jahedsaravani, M. Massinaei, M. H. Marhaban, N. Mehrshad, M. I. Saripan

"It is well known that froth visual features reflect the operating conditions of the flotation process, so that being able to accurately obtain the froth properties is the most significant criteria to optimize and control this process. Froth segmentation is a useful procedure that can determine the bubble size distribution. Several algorithms have been proposed in this field, but marker-based watershed transform shows the best performance. In spite of this fact, the algorithm suffers from oversegmentation in cases when the flotation froth includes large bubbles along with small ones. In the paper, the marker-based watershed method is modified to prevent oversegmentation of large bubbles. The developed algorithm is validated using some froth images captured at different operating conditions, so the results indicate that the method can segment the mixture of big and small bubbles effectively.IntroductionFroth flotation is a widely used process for separating valuable from gangue minerals. Effective control of flotation circuits has a dramatic effect on overall performance of a mineral processing plant. In most flotation plants, process operators monitor the froth surface visually and make adjustments to process parameters based on their interpretation of the surface appearance and their idea of the appearance of an ideal froth. However, due to natural complexity of the flotation process, achieving optimal control is often not possible for human operators.In recent years, attempts have been made to control the flotation circuits using machine vision systems (Moolman et al., 1995; 1996a,b; Bartolacci et al., 2006; Kaartinen et al., 2006; Vanegas and Holtham, 2008; Aldrich et al., 2010). The froth bubble size distribution is the most significant control variable that reflects the operating conditions in a flotation machine. To date, a number of approaches have been proposed for bubble size measurement from froth images, including segmentation (Sadr-kazemi and Cilliers, 1997; Wang et al., 2003; Mehrshad and Massinaei, 2011), texture spectrum (Nguyen and Thornton, 1995), wavelet (Liu et al., 2005), an improved texture spectrum approach, a method based on binary images (Lin et al., 2008) and, finally, using interfacial morphological information (Yang et al., 2009)."

Jan 1, 2015

By Donald Barton

THIS paper outlines a time-saving graphical method of calculation for application to the interpretation of observations with the Eötvös torsion balance. Preliminary to the treatment of this short cut method which has been found practicable, the principal formu-las by which the student of interpretation can calculate the gradient and differential curvature produced by different types of bodies in different types of situa-tions are presented and discussed. It is necessary to split most geologic bodies into a series of simpler ones for which not too complicated formulas are avail-able. The gradient and differential curvature effects are calculated for each of the simple bodies and then summed to the total effect for the whole body. The calculations are considerable in number and, though more tedious than difficult, should be' entrusted to an experienced calculator. Considerable facility in qualitative interpretation can be acquired by the geophysicist from experience and from a thorough study of the types of gradient and differential curvature anomalies produced by the dif-ferent types of possible structural situations. How-ever, semi-quantitative calculations' of the probable structure bring out many relations that are not evident in a simple inspection of torsion balance results ; it throws out as impossible or improbable certain of the alternative structural possibilities that may seem equally probable under simple inspection of the results; it will determine more accurately the position of the crest of the structure; and reduce considerably the un-certainty in the interpretation and it is necessary to intelligent interpretations. The calculation of such cross-sections consists of a trial-and-error calculation of a body that will give gradient and differential curvature effects as closely as possible the same as those observed. From his knowledge of the gradient and differential curvature produced by different types of bodies, the geophysicist sketches a tentative cross-section of the structure as indicated-to him-by the observed results of the torsion balance survey, and the calculator then splits the struc-ture into blocks, and calculates the gradient and differ-ential curvature block by block. If, as rather usual, the calculated .gradient and differential curvature pro-files diverge considerably from, the respective observed ones, it is necessary to add and subtract blocks from the cross-section until a close agreement is obtained .between the calculated and observed profiles. The com-plete calculations have to be gone through for each block that is added or subtracted.

Jan 9, 1928

I am deeply honored and grateful to receive the prestigious Gaudin Award. Frankly, I find myself amazed to be included in the company of those outstanding individuals who have previously received this recognition. I am humbly honored to receive this award from an industrial research group. Gaudin was an internationally respected leader of mineral processing. His research contributions widely covered the whole spectrum of mineral processing science and technology, including comminution, size distribution, electrostatics, magnetics, thickening and, especially, the development of flotation theory and application. In his later career, he increased his emphasis on hydrometallurgical technology. In fact, one of his most notable practical contributions was in the development of leaching and ion exchange purification of uranium from low-grade ores. Gaudin catalyzed the trend in mineral processing toward engineering science for a better understanding of process mechanisms and kinetics. He said that those working in academic fields should have an underlying responsibility to the industry they represent. This imposed on him the objective of seeking out research areas that had some relevance to industry's problems. He said, "research without an audience cannot survive." Gaudin performed a most vital service, both in the areas of research in which he was actively involved and through his less-direct influence on current research by his many former students and their students in turn. Interestingly, Gaudin's strength has influenced Newmont Mining Corp. His favorite student was Plato Malozemoff. He had a long and distinguished career with Newmont, beginning as staff engineer in 1945, serving as Newmont's president for more than 30 years and as chairman of the company for 20 years. Newmont's greatest growth occurred during his leadership. Another one of Gaudin's graduate students from Montana School of Mines, Oscar F. Tangel, joined Newmont in 1967. He was a vice president of research and development until 1986. In their efforts, Newmont built a research group, developing the technologies of exploration, geophysics and metallurgy. The Newmont technical facility is named in honor of Malozamoff as "a leader in the development and implementation of new technologies." The mining industry is facing very difficult times, especially in the metals industry. Most metal prices have declined and are still not stable. Most domestic mining companies have largely done away with in-house research and development. Many are reluctant to invest in technology development for which there is not an immediate need. The metal mining industries are focusing on reducing operating costs to survive. Newmont is in the same situation. I appreciate that Newmont's management believes in the importance of research and technology and the impact technology has on the company's value. At Newmont, technology development involves working in the area of applied research. The connections from academic fundamental research to applied research and finally to process development and implementation are very important to develop a new technology. Fundamental research is our foundation, our guidance, giving us direction, providing the principal and mechanism and understanding why it works. Understanding the why will lead to further innovative development. Applied research needs to find the approach to reality, how it works, how to make it better and how to commercialize it. Process development and implementation needs a strong leadership, requires long-term commitment, makes improvements in practical engineering and finally develops an economically favorable process. Implementation is the most important stage in making research a reality. Each stage needs to give feedback to the other stages. Problems need to be understood and solved. Otherwise, the new technology will go nowhere. Simplicity of operation is a key of success in any plant. Necessity is the

Jan 1, 2002

By Jon J. Indall

I. INTRODUCTION The challenge of moving the use of nuclear energy from military to civilian use was first issued by President Dwight Eisenhower in his December 8, 1953 “Atoms for Peace” speech delivered at the United Nations. Eisenhower stated: “The United States knows that if the fearful trend of atomic military build up can be reversed, this greatest of destructive forces can be developed into a great boon, for the benefit of all mankind. * * * * The more important responsibility of this Atomic Energy Agency would be to devise methods whereby this fissionable material would be allocated to serve the peaceful pursuits of mankind. Experts would be mobilized to apply atomic energy to the needs of agriculture, medicine, and other peaceful activities. A special purpose would be to provide abundant electrical energy in the power-starved areas of the world. In the 1950’s and 1960’s, the Atomic Energy Commission promoted the use of nuclear power as the answer to our nation’s energy problems. Nuclear power would provide energy too cheap to meter. The utility industry responded and numerous plants were planned with over one hundred constructed from the 1970’s to the 1990’s. Capital costs for nuclear power plants escalated due to permitting changes and public opposition, and the Three Mile Island incident caused new nuclear plant construction to cease. Today, we once again are experiencing a nuclear renaissance. Concerns over global warming and rapid projected increases in the demand for electricity have caused many nations to begin construction of new nuclear fleets. The price of uranium to fuel these reactors, which had dropped to an historical low of $7.10 in 2001, has surged to $56.00 as of October 2006. This paper will review some of the social, environmental, and government issues that are all playing a role in the resurgence of the nuclear fuel industry.

Jan 1, 2007

By W. A. McKinney

The segregation process consists of heating crushed oxidized or mixed oxide-sulfide copper are with a copper-volatilizing salt and carbonaceous material at about 750° C. to produce metallic copper which is recovered from the furnace calcines by conventional sulfide flotation. The Bureau of Mines made a number of bench-scale laboratory tests on two copper ores to determine the relative merits of using halogen salts, potassium chlorate, or various salt mixtures as volatilizing agents in segregation of the copper. Laboratory investigation of typical siliceous and calcareous oxidized ores revealed that sodium chloride was a better segregating agent than the other salts. Calcium chloride, magnesium chloride, sodium fluoride, or potassium chlorate gave nearly as good segregation as the sodium chloride on the siliceous ore. Segregation of the calcareous ore with calcium chloride was nearly as good as that obtained with sodium chloride, but inferior segregation resulted when magnesium chloride, sodium bromide, or potassium chlorate was employed. The use of sodium bromide or sodium iodide on the siliceous ore, and of sodium fluoride or sodium iodide on the calcareous are, gave appreciably poorer segregation than sodium chloride or the other salts. Other tests of the ores, using mixtures of sodium chloride and the other halogen salts or potassium chlorate, gave segregation approaching that obtained with sodium chloride.

Jan 1, 1962

By A. Mazzucato

This paper presents the experimental results of driving and load tests on an instrumented pile driven into a test pit filled with fine homogeneous sand.

Jan 1, 2010

By T. C. Craig

During the year 1936, there were 654 oil wells drilled in the Texas Panhandle, with a total daily initial production of 256,049 bbl. Although 74 more wells were drilled than in the previous year, the total initial production lacked 109,303 bbl. to equal that of 1935. The explanation is that during 1935 most of the drilling was in the granite-wash area, which is much more prolific than the dolomite, in which the major development was done during 1936. Twenty-one oil wells were drilled deeper, increasing their potential 3683 bbl. The total daily oil potentid of the field Dec. 31, 1936, as determined by the Texas Railroad Commission, was 834,888 bbl., with a daily allowable production of 71,335 bbl. No overall field decline in production is recognized by the Texas Railroad Commission. A well is tested upon completion to determine its potential production. If the well is then shot with nitroglycerin or is treated with

Jan 1, 1937

By Edgardo Orderique

El presente texto describe el modelo de desarrollo del proyecto minero Antapaccay, de forma que cada etapa en el proceso de determinación de reservas, sea rigurosamente evaluada y estimada. La secuencia comprende el programa de taladros exploratorios, explicación geológica y mineralógica del yacimiento, interpretación y modelamiento geológico, modelamiento de leyes, definición de parámetros de optimización del pit, generación del pit final, planeamiento estratégico de fases de minado y secuencia anual del mismo, siguiendo el objetivo de maximización del NPV. Asímismo, se explican los aspectos de medio ambiente y relaciones comunitarias.

Sep 9, 2007

By Richard Akerman

(Translated by FREDERICK PRIME, JR., Professor of Metallurgy in Lafayette College, Easton, Pa.) [THE attention now being paid both in this country and Europe to the greatest economy in the working of the blast furnace, and the eagerness with which all thoughtful men in the iron business look for any new information which will tend to throw light on this sub¬ject, is a quite sufficient excuse for presenting this paper to the Amer¬ican Institute of Mining Engineers.] I. It must be borne in mind that when two bodies unite to form a chemical compound, heat is almost always evolved. In order to

Jan 1, 1873

Improvements in mechanisation should not be considered independently of safety and of environmental hazards. The need to keep gas contents within statutory limits may make the time needed to partially drain a gassy seam the effective control on face development times. Dust levels may provide an effective control on coal extraction rates on any one face. The combination of gas and dust on high output longwall faces may make it necessary for each one to be treated as a separate mine in terms of ventilation, and the faceworkers may need special protection. Mechanisation and safety can be mutually beneficial when mechanisation combined with systematic safety assessment reduces accidents, and when a thorough study of how to reduce accidents and health risks indicates the best method to improve mechanisation.

Jan 1, 1988

By Fookes R. A, Gardner K. J, Gravitis V. L, Watt J. S, Steffner E. J

Two radioisotope techniques suitable for the rapid laboratory determination of the ash content of coal have been tested ou unwashed coal samples from four Australian coal seams. In one techniqne, measurements of backscattered 238Pu L X-rays and iron K X-rays from finely ground coal samples have been combined to determine ash content in uuwashed coals to ±0.5 weight per ce111 ash (ls) for three seams and 0.9 weight per cent ash for the fourth.The second technique, which involves measurements of the transmission by the coal of narrow beams of 241Am 60 keV and 123Ba 356 keV ? rays, requires less sample preparat ion. The ash was determined to within the range of 0.8 to 2.6 weight per cent for the four seams (unwashed coal). For washed coals, errors are expected to be < ±0.5 weight per cent ash.

Jan 1, 1982

By S. S. Hsieh

Bench-scale beneficiation studies were made on Idaho dolomitic phosphate rock using the TVA carbonate flotation process. The process employed diphosphonic acid as a phosphate mineral depressant and fatty acid as a carbonate mineral collector. Silica was subsequently rejected as float using an amine collector, with phosphate product recovered as the sink fraction. Two samples of prepared flotation feed from commercial operation were used; one contained 21% P205 and 3.2% MgO, and the other contained 26% P205 and 1.8% MgO. The results indicate that concentrates containing 31-33% P205 and 1% or less MgO can be obtained, with P205 recovery of about 80%.

Jan 1, 1984

By R. D. Hancock

The complex responsible for the poisoning of anion-exchange resins is identified as the anionic cobaltic penta¬cyanide mono aquo species. It is shown that, at high concentration, this species polymerizes in solutions of pH less than 9. A mechanism for poisoning is presented that involves adsorption of anionic cobalt cyanide by a normal ion-exchange process, followed by polymerization within the resin matrix to form complexes that are too large to diffuse readily through the resin pores. The effects of resin structure and functionality on the extent of cobalt poisoning are examined, and the effect of cobalt poisoning on the kinetics and equilibrium loading of uranium is discussed.

Jan 1, 1979

By H. Möhle

Premier Mine is a large underground diamond mine, situated at Cullinan in the Gauteng Province of South Africa. The mine hoists over 3 millions tons of diamond bearing kimberlite per year, from a modern, mechanized panel retreat block cave mining operation. Troughs sited at the base of the cave are developed into the overlying caved ore, allowing loading access to the ore through draw points. Trough opening is therefore a vital aspect of the mining operation. Most of the production is dependent on fast, reliable and safe trough opening. Successful trough openings are achieved under difficult mining conditions due to restricted void, long up-holes and the inherent properties of kimberlite?soft, elastic rock with a high swell factor. Early in 1998, Premier Mine undertook a joint development project (with an electronic initiation system supplier) to determine whether the use of a fully programmable electronic detonator system would enhance the mining cycle in the trough opening process. Blasting commenced in February 1998, initially with blasts of a similar size and duration to those that had been previously blasted with shock-tube systems, to confirm the operational capabilities of the blasting system. The accuracy, reliability and flexibility of the electronic delay detonators (EDDs) minimized associated risks for re-engineering of the trough opening process. Further, as blast timing was optimized, larger blasts were successfully initiated. To date over 20 troughs have been opened successfully with the use of EDDs. Not only did it take less time to open troughs, but also drilling and blasting operations have been optimized, as well as an overall improvement in safety. This paper details the benefits that EDDs have delivered to Premier Mine in this area. The logic followed is: ?Review of the original trough opening practices ?Re-engineering of the trough opening process ?Implementation of EDDs ?Evaluation of improvements and conclusions.

Jan 1, 2000

By Larry Schneider

Are you one of the thousands of hunters, fisherman, or hikers who purchased handheld GPS systems over the past several years and then been disappointed in their accuracy and performance. Or maybe you are one of the hundreds of blasters who have attempted to use GPS as a method for locating the exact position of their blast and measure distances from the blast to nearby structures. If so, you may have found that the accuracy of the handheld GPS systems left much to be desired. It may be time to get the units back out of storage and give them another try. As of midnight, May 1, 2000, the federal government has turned off the “error” built into the system known as “selective availability.” Here is a brief explanation of what that means in a question and answer format.

Jan 1, 2001

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