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Yes there absolutely have been. Thankfully for one reason or another (incompetence, good fortune, and most importantly constant vigilance from the global allied security community) few have been successful on US soil. But many have been executed successfully globally.Just a few executed attacks on US Soil:83 Marine Barracks Bombing, Beruit (75 injuries, 307 deaths)93 World Trade Center Bombing (thousands injured, 6 dead)95 Oklahoma City Bombing (~700 injured, ~170 dead)98 US Embassy bombings in Dar es Salaam, and Nairobi00 USS Cole Bombing in Yemen (19 deaths, 39 injuries)02 Bali bombings, included an attack on a US Consulate (200+ deaths, 200+ victims)09 Fort Hood Attack (53 victims)Since 2004 the National Counterterrorism Center (NCTC) keeps a database of incidents worldwide called WITS (Worldwide Incident Tracking System): http://wits.nctc.govHere are the list of just incidents in the US:https://wits.nctc.gov/FederalDiscoverWITS/index.do?Rd=ICRegion|4294955628|North+America+and+Caribbean||Country|4294955633|United+States&N=0&Ns=p_IncidentDateI'm not sure why there is a constraint to focus on only US soil (though Embassies abroad do count). Terrorism is a real, existential threat to society. Just review the list of incidents from 1970 to the present: http://en.wikipedia.org/wiki/Terrorist_attacks -- you will be shocked at the magnitude on a global basis.Looking at 2006 (http://en.wikipedia.org/wiki/List_of_terrorist_incidents,_2006) alone, let's sample some choice incidents:SUV Attack on US soil, injuring 9My uncle was a victim of the training bombings in Mumbai, killing 209, injuring 714Canadian services disrupt a plot to bomb Toronto and other cities, arresting 17In your native Germany, but for an assembly error and the response of the Bundeskriminalamt major attack would have been carried out by two Lebanese students)In the US, Afghani Muslim runs over 19 people in the Bay AreaUK/US disrupt MAJOR plot to blow up planes from Heathrow to the USTo the extent that you can hardly think of a terrorist act it is because of the tireless efforts of those in the security community to let us continue to live our lives without knowledge of the constant threat hanging over us.

In my case, damn poorly. The last site administrator thought herself an expert in everything and insisted on using the libray after hours instead of the auditorium. We lost armloads of books and had others scattered across the floor as community members helped themselves to free books and let their children run wild through the stacks. She was a disaster!