Establishment of long term monitoring system for bridge maintenance and management by developing robot system for high accurate structural identification

为了通过高精度的结构识别建立桥梁养护的长期监测系统，我们对其理论、监测系统进行了研究，并进行了现场试验。1)高精度结构识别机器人结构自动识别引擎的研制为了实现结构识别，我们提出了两种结构识别方法：1)基于AR模型的两步估计法和2)ERA法。2)结构自动识别引擎的精度验证。通过对5自由度模型和朗格大桥的验证，可以高精度地估计桥梁的振动特性。3)高精度结构识别机器人--超高精度结构识别…振动特性自动估计系统的研制多机器人系统由传感部分、数据传输部分和数据积累部分组成。4)采用超高精度结构识别机器人对桥梁进行长期监测。将超高精度结构识别机器人应用于大阪嘉道理大桥和长崎鹿儿岛大桥的长期监测。研究发现，温度的年际变化会影响这些桥梁的振动特性。这意味着，在监测结构的频率时，我们应该关注环境的影响。5)桥梁施工管理及无线局域网测量控制系统的开发利用上述系统，开发了桥梁施工管理及测量控制系统。6)研制了轻型多功能测量模块，并将其应用于桥梁活载静力变化分析系统中，实现了桥梁动态变化分析。并进行了基于网络摄像头的交通流量测量的实际实验，验证了该方法的有效性。较少

For the aim at establishment of long term monitoring system for bridge maintenance by the high accurate structural identification, we develop the theory, monitoring system, and conducted field tests for the realization. The results were described as follows.1)Development of the automatic structure identification engine for the high precision structure identification robotTo accomplish structural identification, we developed two structural identification methods, which are 1)The two-step estimation method based on AR model, and 2)The ERA method.2)Verification of the precision of the automatic structure identification engineBy using the two automatic estimation engines, the vibration character of the bridge could be estimated in the high precision as a result of doing the verification for 5D.O.F. model and Langer Bridge.3)Development of the automatic vibration characteristic estimation system for the high precision structure identification robotA super-high precision structure identifica … More tion robot system is consisting of sensing part, data transmission part, and data accumulated part. It was applied to the actual bridge structure thing, and that utility was confirmed.4)Actual bridge long-term monitoring by the super-high precision structure identification robotThe super-high precision structure identification robot was applied to long term monitoring of the Kadoma Bridge in Osaka, and the Kabashima Bridge in Nagasaki. We found that the yearly change of temperature affect the vibration characteristics of those bridge. It means that we should care about the influences by the environments for monitoring the structure's frequencies. It is working even at present, and this measurement is continuing data accumulation.5)Development of the bridge construction management, and measurement control system by the wireless LANBy using above mentioned system, a bridge construction management and measurement control system were developed. The rationalization of the computerized execution and the construction could be realized by the remote monitoring of the cable vibration measurement data.6)Development of the light weight multiple functions measurement module and application to that bridge monitoring systemA bridge static change analysis by the live load, and a bridge dynamic change analysis were realized with the light weight multiple functions measurement module. Also, the practical experiment of the measurement of the traffic flow by the Internet camera was done, and that validity was confirmed. Less