Regarding bridge structure maintenance and inspection, this study was conducted to replace the current system, in which bridge diagnostics specialists ride on inspection vehicles to perform visual inspections, with a robotic system equipped with a small camera. The new system would greatly reduce the effort required, enhance the safety of inspectors and provide more accurate and efficient data that are objective and quantitative. For this purpose, a new robotic inspection system was developed for field test which was performed on Ahyun overpass bridge. Field test results are described to prove the on-site applicability.

Abstract
 1. 서 론
 2. 로봇 시스템의 구성
  2.1 시스템의 구성
  2.2 구동원리
  2.3 시스템의 특징
 3. 현장시험용 Prototype 개발
  3.1 Prototype 개요
  3.2 탐사용용 소형로봇
  3.3 이송기구부
  3.4 모션 제어반 및 무선 통신부
  3.5 BMS와의 연계
  3.6 시스템 소프트웨어
  3.7 측도 설정
 4. 현장 적용
  4.1 시험대상 교량 개요
  4.2 현장시험
  4.3 현장시험 결과
 5. 결 론
 참고문헌

• 양경택(미국오레곤주립대학교, 기계공학과) | K. T. YANG