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By M. D. Johnson, R. K. Bezys

"The majority of Ontario's limestone and dolostone production comes from a few Paleozoic carbonate units. In eastern and central Ontario, Ordovician rock units, which are the main sources for production, include the Oxford, Gull River, Bobcaygeon, Verulam, and Lindsay Formations. They are predominantly utilized for aggregate and cement manufacturing, with the Bobcaygeon Formation being used as a source of building stone. Along the Niagara Escarpment, the Silurian Lockport, Amabel, and Guelph Formations are sources for the limestone industry. The largest tonnage of rock extracted by the industry comes from these Silurian units, especially the Lockport and Amabel Formations. These units are used primarily for aggregate, although they are also a source for lime. In southwestern Ontario, the Silurian Bertie Formation and Devonian strata, represented by the Bois Blanc Formation, Onondaga Formation, Detroit River Group, and Dundee Formation, contribute to Ontario's production of lime, cement production and crushed stone. The Detroit River Group (Lucas and Amherstburg Formations) is the main source of the lime and cement produced in the province.Northern areas, which may become significant sources for the industry, include Manitoulin Island, the Lake Timiskaming area, and the James Bay Lowland. IntroductionThe Engineering and Terrain Geology Section of the Ontario Geological Survey has undertaken a geological inventory of all active and abandoned limestone and dolostone quarries in Ontario. This geological study, combined with a commercial study of active quarries carried out by the consulting firm of Derry, Michener, Booth and Wahl, will provide an up-to-date report on the industry in the province and will be published by the Aggregate Resources Section of the Ministry of Natural Resources. This report will follow the format and style of D.F. Hewitt's Ontario Department of Mines Industrial Mineral Reports and Circulars (Hewitt, 1960, I964a, 1964b, 1964c; Hewitt and Vos, 1972). Examinations of the quarries were carried out by geologists in the Paleozoic I Mesozoic Geology Subsection of the Engineering and Terrain Geology Section, and include, in addition to the authors, R,R. Wolf, V.A . Mazur, and D.K. Armstrong in the summer of 1986."

Jan 1, 1988

By M. D. Johnson, R. K. Bezys

"The majority of Ontario's limestone and dolostone production comes from a few Paleozoic carbonate units. In eastern and central Ontario, Ordovician rock units, which are the main sources for production, include the Oxford, Gull River, Bobcaygeon, Verulam, and Lindsay Formations. They are predominantly utilized for aggregate and cement manufacturing, with the Bobcaygeon Formation being used as a source of building stone. Along the Niagara Escarpment, the Silurian Lockport, A mabel, and Guelph Formations are sources for the limestone industry. The largest tonnage of rock extracted by the industry comes f rom these Silurian units, especially the Lockport and Amabel Formations. These units are used primarily for aggregate, although they are also a source for lime. In southwestern Ontario, the Silurian Bertie Formation and Devonian strata, represented by the Bois Blanc Formation, Onondaga Formation, Detroit River Group, and Dundee Formation, contribute to Ontario's production of lime, cement production and crushed stone. The Detroit River Group (Lucas and Amherstburg Formations) is the main source of the lime and cement produced in the province.Northern areas, which may become significant sources for the industry, include Manitoulin Island, the Lake Timiskaming area, and the James Bay Lowland. IntroductionThe Engineering and Terrain Geology Section of the Ontario Geological Survey has undertaken a geological inventory of all active and abandoned limestone and dolostone quarries in Ontario. This geological study, combined with a commercial study of active quarries carried out by the consulting firm of Derry, Michener, Booth and Wahl, will provide an up-to-date report on the industry in the province and will be published by the Aggregate Resources Section of the Ministry of Natural Resources. This report will follow the format and style of D.F. Hewitt's Ontario Department of Mines Industrial Mineral Reports and Circulars (Hewitt, 1960, I964a, 1964b, 1964c; Hewitt and Vos, 1972). Examinations of the quarries were carried out by geologists in the Paleozoic I Mesozoic Geology Subsection of the Engineering and Terrain Geology Section, and include, in addition to the authors, R,R. Wolf, V.A . Mazur, and D.K. Armstrong in the summer of 1986."

Jan 1, 1988

By Baisheng Nie

The process of gas diffusion through coal particles and the mathematical physical model under the third kind boundary condition was determined to obtain the rules of gas diffusion through coal particles of different sizes. The analytical solution of the equation was obtained by the Method of Mathematical Physics. The parameters of analytical solutions and the implications of parameters were analyzed. The Biot criterion (Bi) and the Fourier criterion (F0) of mass transfer can represent and reflect the features of gas diffusion field of coal particles. Moreover, the measurement method of gas diffusion coefficient and surface mass transfer coefficient is introduced and an example of measurement is given. The achievement can provide the support to prevent disasters related to methane in coal mines.

Aug 1, 2013

By Marc Symbaluk

Core Programs Current ? Aboriginal Involvement Program ? Adaptive Forest Management / Forest History Program ? Grizzly Bear Research Program ? Natural Disturbance Program ? Foothills Growth and Yield Association ? Foothills Stream Crossing Program ? Fish and Watershed Program ? Caribou Landscape Management Association ? Social Science Program ? Local Level Indicators Program ? Communications and Extension Program ? Geographic Information Systems Program ? Mountain Pine Beetle Ecology Program In Development ? Climate Change Program ? Forest Community Program ? Water, Quantity and Quality Program (Water for Life) ? Circumboreal Initiative ? Yellowhead Ecosystem Management Group

May 1, 2008

By M. J. Nicol, T. Moyo

Ammoniacal solutions are an effective lixiviant for the oxidative dissolution of some mineral sulphides. A detailed study of the anodic dissolution of chalcopyrite in ammonium sulphate-ammonium hydroxide solutions has been carried out using cyclic voltammetry, chrono-amperometry and rest potential measurements. The role of the copper(II)/copper(I) redox couple in the oxidation process has been evaluated. Rest potentials have been found not to be affected by oxygen but to increase with an increase in initial copper(II) concentration. Pseudo-steady-state anodic current densities measured in the absence of copper(II) ions at the rest potentials obtained in the presence of copper(II) ions increase with increasing concentration of copper(II) ions, confirming the positive effect of copper(II) ions on the rate of dissolution of the mineral. Cyclic voltametric and chrono-amperometric data show that in the absence of initial copper(II) ions, the rate of dissolution in the presence of dissolved oxygen is significantly lower. These results confirm that the effective oxidant for the mineral under the conditions of the study is copper(II) and not dissolved oxygen. Coulometric measurements have been used to establish the stoichiometry of the anodic reaction at different potentials.

Jan 1, 2014

By D. Nie, M. Ren, T. Mo

This paper studied the phenomenon of room temperature creep deformation at crack tip and its effect on fatigue crack growth rate of a X-70 pipeline steel using compact-tension (CT) specimen on a MTS 810 testing machine. Time-dependent deformation at the crack tip under constant load was observed in this steel at room temperature and the amount of deformation produced was seen to depend on loading rate and the magnitude of stress intensity factor. It is found that there exists a critical stress intensity factor below which the deformation decreases with time when the applied load remains constant. It is also found that the occurrence of room temperature creep obviously affects the subsequent fatigue crack growth rate. The observed behavior was explained based on dislocation theory.

Jan 1, 2005

By Jorgen Elbrond, Yve Lizotte

"A mathematical procedure for determining the underground mining level layout which minimizes the total costs of excavation and haulage is described. This procedure has the advantage over previous graphical procedures of being easily amenable to microcomputers. The paper demonstrates through examples how the procedure can be applied to minimizing discounted costs of level layout as well as providing the optimal location of a production shaft.IntroductionIn recent years there have been numerous publications in mining journals concerning the minimization of mine haulage costs. With the rapid escalation of energy costs during the last decade it is not surprising that several studies applying queuing theory, simulation and mathematical programming to mining related transportation problems have been successfully undertaken. Because of the increasing availability of various sizes of computers these techniques have gained considerable popularity as evidenced by the numerous commercial packages presently being marketed.The publications concerned with haulage cost minimization are generally concluded along the lines of ' ... haulage costs at production rate x will be minimized by assigning y units to location z...'. Details about the route followed and whether it guarantees a minimization of costs are seldom considered. Route data has to date been manually resolved and used for input to developed programs. It would appear that no program has been developed to date which simultaneously minimizes costs by both fleet assignment and routing network resolution.Another important factor in transportation problems is the investment cost associated with the routes; road construction costs or, in the case of underground levels, drift excavation costs. Except for special cases the transport network which minimizes haulage costs only will not provide a minimum excavation cost solution.Zarnbo(1) illustrates by graphical and mathematical procedures how central 'facilities' can be located to simultaneously minimize investment in the transport network and haulage costs. Unfortunately these procedures and others recently applied to mine haulage problems do not provide solutions to the generalized problem. Also because these procedures are geared to graphical solutions and hand computations whereby certain possibilities can be 'visually' eliminated, they can be tedious to program and present storage capacity constraints with current microcomputers."

Jan 1, 1985

By T. Lamb

There are many honor stories about aluminum in the marine environment and many are not based on facts, so they are myths. Myths must be addressed before progress can be made. This paper attempts to dispel the myths and state the facts. A common perception is that aluminum ships cost significantly more than steel ships. This paper illustrates that even though the cost of the aluminum structure is over 50% more than the steel structure, an "equivalent" aluminum naval ship can be built within 7% of the acquisition price of a steel ship. This is possible because of the cascading benefits of the aluminum ship's significantly lighter weight. Aluminum ships also have a life-cycle cost advantage over steel ships because of reduced maintenance and fuel cost savings.

Jan 1, 2011

By R. S. Nichols

"During 1973 to 1978, Canadaka Mines Limited, a subsidiary of St. Joseph Explorations Ltd., undertook an extensive exploration and development program in the Cobalt area. This program resulted in the delineation of previously unknown stratigraphic units in the Archean volcanic sequence. During this time period, significant are controls related to area silver deposits were also identified.The Archean geology is comprised of a volcanic pile conformably overlain by sediments. The volcanics contain at least two felsic volcanic centres near the stratigraphic top of the pile. The bulk of the pile consists of mafic flows and interflow sediments. lnterflow sediments around silver are shoots contain mineralized halos of base metal sulphides. The halos exhibit lateral and vertical metal zoning with Cu, Pb and Zn mineralization decreasing away from an are shoot.Silver mineralization controls determined during the Canadaka program agree with the historically well established importance of Coleman sediments as well as Archean contacts for hosting silver deposits. The vertical extent of are shoots is typically 150to 250ft. A strong correlation was found to exist in the Cobalt area between Archean strike and the strike of are veins. Finally, al/ Cobalt area are deposits appear to be associated with a distinct volcanic pile at the top of a sequence of Archean flows."

Jan 1, 1988

By S. M. Fatemi-Varzaneh

The AZ31 magnesium alloy is considered as a promising alloy in various applications and industries. Furthermore, to design a proper hot working process (rolling, forging and extrusion), the assessment of hot working behaviour of the alloy is necessitated. Accordingly, the hot deformation behaviour of AZ31 alloy was studied through hot compression testing method. The latter was carried out in a wide range of temperature (523 K to 783 K) and strain rates. The obtained true stress-true strain curves and final microstructures were examined and a partial melting was realized at 740 K. It was concluded that the presence of liquid did change the deformation mechanisms thereby affecting the flow behaviour.

Jan 1, 2005

By Dallas W. Davis

"Since May 1980, New Brunswick has called separate tenders for the right to explore and develop several potash prospects, as well as areas underlain by Alberta oil shale. These tender calls had in common the provision for a basic ad-valorem royalty, combined with sharing of cash flow after exceeding a 15-20% discontinued cash flow rate-of-return threshold. In the case of potash, the bidding variable was a share of cash flow, but for oil shale it was exploration expenditures committed, with the cash flow sharing to be negotiated at the time of application for a production lease. The Millstream potash occurrence, previously discovered by government drilling, received five bids (21.1% highest), the Dorchester ""grassroots area"" with four surmised drill targets apparently received no bids, and in the case of oil shale there were only two bids on the one block previously subjected to the most exploration.It is concluded that New Brunswick will not be successful in awarding the potash or oil shale rights in return for a comparable level of basic royalty and cash flow share as in the case of Millstream, unless it spends money in discovering prospects or sharing the exploration risk with companies. The approach is likely to work for oil shales only if current exploration proves the existence of much high-quality material or a definite trend of real increases in the price of oil is again established. Undoubtedly, it continues to be desirable to assure an on-going stable investment climate through award of potash and oil shale rights under terms which provide for a return that the public and future governments will consider fair. This could mean that some form or risk sharing with companies would be advisable."

Jan 1, 1983

By J. Stachulak, M. Scobie

"This paper addresses the occurrence and indicated causes of conveyor fires in North American and European underground mines. Some significant convey or fires which have been experienced in recent years in Canadian hardrock mines are then reviewed. The nature of existing conveyor monitoring technology is considered in the context of such fire hazards. Experiences with new monitoring technology recently installed at several conveyor sites at Inca Ltd. mines are then reviewed.IntroductionFires associated with conveyors have long been recognized as a serious hazard in underground coal mines. Recently, however, there have been some significant conveyor fires in Canadian underground hardrock mines. These offer important evidence as to the nature and causes of potential hardrock mine fifes. They also warrant attention with a view to improving over-all mine design, ventilation and emergency preparedness.In addition, a new era in mine communications and monitoring technology has been entered which should offer improved capability to protect against such fires. This paper was motivated by the need to understand the causes and mechanisms of conveyor fires in order to improve their safety. This should be possible through implementing more effective monitoring systems, as well as improving conveyor design. Underground mines are becoming more intensively mechanized, with less human surveillance of equipment and a greater dependency on remote monitoring systems."

Jan 1, 1992

By G. A. Davidson, P. G. Williams

"New developments in centrifugal slurry pump technology are discussed in relation to their importance for improving pump operation and reliability.Experimental data obtained by measuring the velocity of liquid flows in a slurry pump casing using Laser Doppler Velocimetry are presented. This demonstrates the importance of selecting pumps with the proper hydraulic design to provide optimum efficiency, maximum part life and minimum operating cost.The paper also discusses the use of new wear resistant materials, such as ceramic/metal composites, which can significantly improve the life of parts exposed to abrasive media. The results of laboratory attrition tests are presented. IntroductionCentrifugal slurry pumps are of primary importance for the hydro transport of abrasive and corrosive media in the mineral processing industry. As for all process equipment, slurry pumps must be carefully selected and operated to provide optimal performance. To achieve this, it is necessary to select equipment which will provide efficient and reliable operation for the specific service conditions and incorporates the best materials available to obtain maximum parts life.Abrasive wear of liquid end components is the most important aspect that distinguishes the design and application of slurry pumps from other types of pumps. It is therefore necessary to have a fundamental understanding of the mechanical interaction between pump components and the media being handled, as this will impact significantly on hydraulic design, mechanical reliability and selection of wear resistant materials. Recent advances in computational approaches'» have greatly improved the prediction of wear rates in pump casings by facilitating the solution of complex equations which describe the wear mechanisms mathematically. In conjunction with this, new experimental techniques allow researchers to measure flow fields in pump casings using non-invasive devices such as Laser Doppler velocimeters."

Jan 1, 1992

By J. Duby

"A description is given of a series of tests performed to determine the comparative effects which dynamic and static straining, in compression, have on the physical strength properties of mild steel and an aluminum alloy. The dynamic deformation was imposed during the passage of single stress pulses of about 100 micro-second duration. These pulses were recorded with strain gauges mounted near both ends of the specimen. The resulting records were analysed using a simple wave theory; there from the dynamic stress-strain curves for the respective metals were deter-mined and were then compared with the static stress-strain relation. The respective hardnesses of the metals after deformation are evaluates by means of static stress-strain curves in compression. The micro-structures of the metals before and after deformation are also shown. It is observed that dynamic de-formation considerably modifies the rate of strain hardening. This modified hardening appears to be persistent. The observed differences in physical strength properties and micro-structures are discussed in the light of the accepted dislocation theory for metals."

Jan 1, 1960

By Raja V. Ramani, Sukumar Bandopadhyay

"The dispersion of diesel contaminants into the mine atmosphere is a variant of general class of diffusion-dilution problems relevant to underground mining practice. The equipment operations in underground mining are characterized by different activities with different time duration s, i.e. varying duty cycles. Therefore the volume and quality of diesel emissions and consequently, instantaneous concentrations are quite variable. Design of mine ventilation systems under these conditions becomes complex. In this paper, the development and use of mathematical models of mine production system, the engine exhaust air quality and engine exhaust transport in the design of ventilation system are discussed.IntroductionThe turbulent diffusion of suspended matter in an atmosphere is not only a topic of considerable intrinsic interest to the mathematical physicist and meteorologist, but also a problem of great practical interest. Release of particulate matter into the atmosphere at large has created o ne of the acute problems of the present day. Pollution of environment by industrial and domestic smoke, fumes and grit is widespread and has necessitated extensive studies in order to determine the concentration and distribution of pollutants in various areas. Pollutants discharge from stacks, whether chemical or radioactive, give rise to similar, but more localized, problems. The laws which govern turbulent diffusion in the atmosphere are also applicable to the study of the diffusion of toxic gases and the deposition of radioactive dust from nuclear explosion.The dispersion of diesel contaminants into the mine atmosphere is but a variant of a general class of diffusion-dilution problems relevant to underground mining practice. Most of the mine air pollutants, such as respirable dust, methane, diesel exhaust, and blasting fumes are produced in the face areas and haulage ways. Understanding of their dispersion in the mine airways is important to calculate their concentrations. In this paper, the development and use of mathematical models of mine production system, the engine exhaust air quality and engine exhaust transport are discussed. The over-all objective of this research effort is to evaluate the impacts of dieselization on production and ventilation systems and to aid in mine planning and design, as shown in the flow model in Figure I."

Jan 1, 1983

By Stefan Planeta

On discute les performances techniques et économiques des méthodes d'exploitation à haut rendement dans les mines métallifères au Canada. L'accent est mis sur la dilution et pertes des réserves minières et sur les coûts opératoires et totaux. Une analyse technique de quelques opérations minières est également effectuée. Il ressort de cette analyse que les résultats réels des opérations minières en cours diffèrent souvent de ces planifiés suite à la dilution du minerai et aux pertes importantes des réserves minières. On propose, définit et discute un certain nombre des facteurs de performances technologiques et économiques pour pouvoir mieux apprécier les problèmes rencontrés dans plusieurs mines en opération. À l'aide des études de cas on démontre impact négatif de la dilution et des pertes additionnelles des réserves minières sur la rentabilité des opérations en cours et sur les nouveaux projets miniers. On conclut, que l'application des indicateurs proposés donnerait un outil valable, aux opérateurs miniers, aux niveaux de la planification, du suivi des travaux d'exploitation et d'éventuelles études comparatives entre les différentes situations minières. ABSTRACT The paper discusses technical and cost performance of bulk mining methods in Canadian U/G metal mines. It focuses on ore dilution, ore reserves losses as well as on operational and total cost. Technical analysis of some mining operations has been performed. It indicates that due to dilution and significant reserves losses, the actual results of mining operations often differ substantially from those planned. The paper proposes, defines and discusses several indicators quantifying technical and economical performance in order to assess better the problems encountered in several operating mines. The case studies presented here have demonstrated an adverse effect of dilution and additional reserves losses onto profitability of existing operations and new mining projects. It is concluded that the application of the above mentioned indicators may be beneficial for mine operators. They may become a very useful tool at the stages of planning, follow-up of mining works and with regards to comparative studies between different mining situations.

May 1, 2001

By M. L. Jeremic

"Hydraulic mining consists of coal erosion by powerful jet s of water from hydraulic monitors operated by remote control. The broken coal is crushed and mixed with water and then transported from the face to the surface using gravity whenever possible. This is a simple, safe and productive method. It will easily satisfy North American productivity standards if the structural features and coal properties are favourable for water jet cutting technology (Kaiser Resources Ltd. , hydraulic mine). General ConsiderationIn open-pit mines, placer mining (Fig. I) and hydroelectric construction projects, hydraulic earth moving techniques have been successfully applied. The stripping and transporting of the overburden has been accomplished by means of large monitor jets augmented by slurry pumps and pipes. An extension of this technique has led to the underground extraction of coal and ores. To date, the method has been most successfully used in undergrond coal mining, because the coal can be easily cut and flushed away by water jets, and the rocks of the roof strata can be left behind. Due to this favourable situation, the hydraulic mining definition only relates to the underground coal mines.At present, there are four basic types of hydraulic mining, which can be defined according to the coal breaking technique used in each case. The methods are briefly discussed below:(1) Coal excavation may be carried out by conventional techniques, but the mine is designed and equipped for the hydraulic transport of the mineral from the working place to surface. Under these circumstances, the coal breaking may not be influenced by the water jet, however it may be indirectly involved. For example, pre-loosening of the coal may be done by water infusion-hydraulic fracturing. Water may also be used to flush the broken coal, which has been excavated either by drilling and blasting or by mechanical cutting, into the transport flumes. In other cases, a mechanical loader may load the coal directly into the hydraulic transport system, without using any water for the extraction process. This hydraulic mining concept is primarily used for hard and impermeable coal, such as anthracite."

Jan 1, 1980

By D. S. Harries, R. I. L. Guthrie

"The use and development of scientific disciplines involved in heat transfer technology, related in general to steel masses and in particular to batch annealing, is demonstrated.The measurable benefits of cooperation are tabled; on industry's side, this includes a 10 to 20 per cent decrease in annealing time, and a corresponding higher productivity potential. The returned benefits to the academic engineer include the development and refinement of new computer algorithms related to heat transfer mechanisms.IntroductionThe object of this discussion is not really to describe an improvement in the batch annealing operation, but to use the project as an example of joint work between industry and the academic field. Both parties have derived a number of substantial benefits. These benefits will be listed, of course, but the batch anneal project will be used just as a typical example of cooperation. Why it happened will be explained, what actually happened will be described and finally some thoughts about areas in the field of heat transfer, where cooperation will continue in the future, will be highlighted. The paper will close with a message.Industry OverviewAt the outset, perhaps it should be understood that, in general, the Research Department at Dofasco believes that the universities and their staff are not destined for the problem-solving role in industry. Its opinion is that the university staff is best suited to the gathering and dissemination of knowledge. There are other more professional problem solvers for industry, including the steel industries' own individual investigation groups. Dofasco, therefore, looks to its academics for consultation. It benefits by bouncing ideas off them, and through rubbing shoulders with them in such a way that their knowledge can be tapped, and thus establish more effective scientific routes. In addition, the younger and brighter engineer s can broaden their scope through the intellectual contact with experts. The university professors can, it is believed, benefit through closer contacts with result-orientated research. They can also develop an appreciation of the fiscal control necessary for industrial investigations, without government subsidies, grants, etc., and with massive overheads."

Jan 1, 1982

By H. Sahay

"DISCLAIMER NOTICEThe views and conclusions contained in this presentation are those of the author and should not be interpreted as necessarily representing the official policies or recommendations of the Department of Mines and Energy, Government of Newfoundland and Labrador. ABSTRACTThis paper describes the main testing procedures that should be carried out to evaluate the capacity and capability of the service brakes on the large-size diesel-electric trucks now in common use at open-pit mining operations. Brake testing programs in general are described, and then consideration is given to different techniques of service brake testing, brake performance evaluation, braking energy and typical performance characteristics.IntroductionThe first diesel-electric truck with a capacity of about 85 tons was introduced in 1963 by Unit Rig and Equipment Company of Tulsa in cooperation with General Electric Company, who successfully developed and supplied the most important component- motorized wheels. Since then, its popularity and numbers have continued to grow, and now more than 3700 such units are in operation in mines around the world. In Canada alone, their number is more than 700, including about 150 in the Province of Newfoundland and Labrador. Similarly, their size has also grown from that initial capacity of 85 tons to 350 tons.Although the introduction of the electric trucks proved to be invariably economical, their indiscriminate use was not without severe consequences. Many runaways and even fatalities occurred when the dynamic retarder failed while the truck was travelling loaded down severe grades. The service brakes in such cases proved incapable of stopping runaway trucks, mainly due to their limited capability and the fading caused by excessive heat produced during the act of braking itself. This eventually led the various governments, the open-pit operators and the manufacturers to seriously question the braking capability as well as function of both service brakes and dynamic retarders. Extensive testing"

Jan 1, 1980

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