www.elsevier.com/locate/engstruct
Received 26 April 2006; received in revised form 5 September 2006; accepted 16 October 2006
Available online 6 December 2006
Abstract
An assessment of dynamic characteristics of the 455 m Katsushika–Harp curved cable-stayed bridge is presented. Dynamics characteristics
such as natural frequencies, mode shapes and modal damping ratios are obtained from seismic response of the bridge by employing a time-domain
multi-input multi-output (MIMO) system identification (SI) technique. The technique makes use of base motions and superstructure accelerations
as pairs of inputs–outputs to realize the coefficients of state-space system matrices. The SI results indicate the occurrence of many closely spaced
modal frequencies with spatially complicated mode shapes. Fourteen global modes in the ranges of 0.45–2.5 Hz were identified, in which the
girder motion dominated most of the modes. The tower modes were associated with girder modes and were characterized by the lowly-damped
motion. Using identification results from six earthquakes, the effects of earthquake amplitude on modal damping ratios were observed.
c 2006 Elsevier Ltd. All rights reserved.
Keywords: Curved cable-stayed bridge; Instrumented bridge; Seismic response; MIMO system identification; Katsushika–Harp bridge
Fig. 4. Sensor positions and measuring directions of the Katsushika Bridge (note: measuring direction is the local coordinate of the structural member).
2004 D.M. Siringoringo, Y. Fujino / Engineering Structures 29 (2007) 2001–2017
The procedure to obtain the observability matrix starts by To obtain the solution for matrix [Op ], Eq. (14a) needs
expanding the vector equation in (5), into a matrix equation, i.e., to be factored into three matrices where the first matrix is
the transpose product of the third matrix. The singular value
[Yp ](k) = [Op ]X(k) + [Tp ][Zp ](k) (10) decomposition is a logical choice for this matrix factorization.
where In this decomposition, only the first size ( pm × ( p − 1)m) row
and column of Rhh matrix is decomposed using singular value
X(k) = [x(k) x(k + 1) ··· x(k + s − 1)], decomposition. Hence, the new form of decomposition is:
[Yp ] = [ y p (k) y p (k + 1) · · · y p (k + s − 1) ]
Rhh (:, 1 : ( p − 1)m) = HΣ 2 VT = H2N H0
y(k) y(k + 1) · · · y(k + s − 1)
y(k + 1) y(k + 2) · · · y(k + s) " T #
.. .. ..
2
= ..
Σ2N 02N xn o V2N 2
. . . .
× T
= V2N Σ2N VT2N (15)
y(k + p − 1) y(k + p) · · · y(k + p + s − 2) 0m o x2N 0m o xn o Vo
[Zp ] = [ z p (k) z p (k + 1) · · · z p (k + s − 1) ] where the dimension of Rhh (:, 1 : ( p−1)m) is ( pm×( p−1)m).
z(k) z(k + 1) · · · z(k + s − 1)
z(k + 1) z(k + 2) · · · z(k + s) The integer n o indicates the number of zero singular values
.. .. .. .
= .. (11) and also the number of columns in matrix Vo . The integer m o
. . . .
z(k + p − 1) z(k + p) · · · z(k + p + s − 2) denotes the numbers of columns in Ho that are orthogonal to
the column in H2N .
To ensure that the rank of [Yp ] and [Zp ] is at least For noisy data, there are no zero singular values, that is,
equal to that of matrix [Op ], a sufficiently large integer s n o = 0. If no singular values are truncated, m o = m is
must be selected. Thus, rank evaluation must be performed obtained. If some singular values are truncated, m o becomes
before selecting the proper value of integer s. Now let us the sum of m. In both conditions of singular values truncation,
define the following quantities: Ryy , Rzz , Rxx , Ryz , Ryx , and the partial decomposition method guaranties that there are at
Rxz as correlations between input (z), output (y), and state (x) least m columns of Ho that are orthogonal to the columns of
respectively, where the subscript indices denote the product of H2N in Eq. (15). Further factorization of Eq. (15) produces,
correlation in such a way that the correlation of Ap and Bp is
defined as: Rhh [:, 1 : ( p − 1)m] = [Op ]R̂xx [Op ]T
1 × [:, 1 : ( p − 1)m] = H2N Σ2N
2
VT2N . (16)
Rab = Ap (k)BTp (k). (12)
s Finally following the identity in Eq. (16), the observability
If the integer s = l − p is sufficiently large with l being matrix can be obtained:
the total length of data and p the data shifts, the quantities in
[Op ] = H2N and
Eq. (12) approximate the expected values in a statistical sense. (17)
To determine the observability matrix [Op ], one can start by R̂xx [Op ] [:, 1 : ( p − 1)m] = Σ2N
T 2
VT2N .
obtaining the data correlations of input–output matrices: Given the observability matrix, the system matrix A can be
identified from Eq. (9). Subsequently, the modal parameters
Rhh = [Op ]R̂xx [Op ]T (13)
of the structural system can be estimated by solving the
where the quantities Rhh and R̂xx are defined as follows eigenvalues problem of matrix A as:
Table 1
List of earthquakes used in analysis
In summary, the SI technique involves the following 5.1. Spectra of the acceleration responses
procedures: (1) computation of the correlation matrices (Ryy ,
Ryz and Rzz ), using the p sampled data points of output block Fig. 6 shows the Fourier spectra of input accelerations
matrix [Yp ] and input block matrix [Zp ]. (2) Calculation and recorded at the bottom of the main and the right tower. Inputs at
both towers were characterized by low frequency components
then factorization of the information matrix Rhh using singular-
(0–1.6 Hz) in all three directions. The spectra of vertical
value decomposition. The order of the system is determined by
input at both towers reveal similar trend in all frequencies of
examining the singular values of matrix Rhh . (3) Realization
interest. On contrary, the spectra of both towers in longitudinal
of the observability matrix [Op ], using the results of H2N . (4)
and lateral directions differ from the frequency of 1.0 Hz
Finally, realization of the state matrix A and R, followed by the
onward. The differences here imply non-uniformities of input
estimations of modal parameters by solving the eigenvalues and
excitations at the bottom of each tower. Therefore, these non-
eigenvectors of the realized state matrix.
uniformities should be considered as the case of multi-input
The algorithm has been implemented in a numerical
when implementing the system identification.
simulation using a three-dimensional FEM of cable-stayed
The spectra of accelerations obtained from three channels
bridge to examine its accuracy and efficiency. Results of
at different locations on the girder are shown in Fig. 7. Many
numerical simulation, which was presented elsewhere [15],
peaks were observed within a range of 0.5–2 Hz suggesting the
show that under a reasonable number of output sensors, modal
existence of closely-spaced natural frequencies of the bridge,
parameters of the bridge subjected to simulated filtered-short
the case that is common in a large and flexible structure such
ground motion can be estimated with great accuracy. The errors
as a cable-stayed bridge. Most of the peaks that appear on the
of natural frequency estimates were found less than 2%, while
longitudinal direction also appear on the lateral direction with
the error of damping estimates, which depends on the length of
the almost equal amplitude, indicating the coupling of motions
data, signal-to-noise ratio and non-stationary, reach up to 15%.
between longitudinal and lateral direction. Spectrum of the
Implementation of the algorithm to seismic records from long-
girder’s vertical responses reveals six distinct peaks constantly
span cable-stayed bridge and the evaluation of the results can
appear on the three vertical channels. Some of the peaks in
also be found in Ref. [10].
vertical components have strong corresponding peaks at the
lateral and longitudinal, except for the first and the third peak at
4. Seismic records
the frequency of 0.46 Hz and 0.81 Hz respectively. Later, it was
The present work utilizes ground motions and acceleration confirmed from SI results that these peaks are associated with
responses obtained from six earthquakes (Table 1); among them the pure vertical modes.
are the two sets of main shocks from the October 23, 2004 After observing the spectra of girder responses in three
Chuetsu Niigata Earthquake. The strongest earthquake, in terms directions, it was decided that the range of frequency interest
of response amplitude, is the July 23, 2005 earthquake. This for SI is between 0 and 2.5 Hz, since most dominant
peaks are contained within this range. Furthermore, owing
earthquake had the epicenter 25 km southeast of Tokyo with
to the unique shape of the bridge girder, it was found
the focal depth of 65.6 km [16]. In analysis, the total 210 s of
that the identification of longitudinal and lateral modes is
response from the February 20, 1990 earthquake was divided
difficult to be performed separately. Due to this reason, a
into three frames 60 s each in order to evaluate the effect of
three-dimensional system arrangement is chosen, instead of
earthquake amplitude to modal parameters. All records were
separating them into three in-plane motion systems like in
sampled using the standard sampling frequency of 100 Hz and
the application of modal identification to a straight-girder
baseline-corrected before processing.
cable-stayed bridge [10]. Using this system configuration the
influence of modal displacement and directions in a mode can
5. Data processing and analysis
be visually observed.
Data processing, analysis and the implementation of SI
5.2. Input–output data set
shown in this section utilize the records from the strongest
earthquake in July 23, 2005. Typical input and output responses A system of 6 inputs and 23 outputs (6I–23O) is employed
of the bridge from this largest earthquake are plotted in Fig. 5. for identification. The output channels are obtained from the
D.M. Siringoringo, Y. Fujino / Engineering Structures 29 (2007) 2001–2017 2007
Fig. 5. Typical acceleration time histories recorded at (a) the bottom of main tower, (b) middle of girder recorded during the July 23, 2005 earthquake.
Fig. 6. Fourier amplitude of input acceleration measured on the bottom of the main tower and right tower. (a) Longitudinal direction, (b) lateral direction, (c) vertical
direction, recorded during the July 23, 2005 earthquake.
sensors at the girder, piers and on the top of the towers accelerometers at each tower. Six accelerometers on the footing
(see Fig. 4). The girder sensors consist of 19 accelerometers of the main tower and the right tower are utilized as inputs.
mounted at 8 locations along the girder horizontal centerline. These channels measure response in vertical, lateral and
At the towers, four sensors are deployed to identify the longitudinal directions at the bottom of the towers and thus can
tower modes, consisting of two longitudinal and two lateral be viewed as direct inputs to the superstructures.
2008 D.M. Siringoringo, Y. Fujino / Engineering Structures 29 (2007) 2001–2017
Fig. 7. Fourier amplitude of girder acceleration in (a) longitudinal direction, (b) lateral direction, (c) vertical direction, recorded during the July 23, 2005 earthquake.
To better illustrate the case, one can refer to the example The results of modal parameters for various p-values
given in Fig. 8. This figure shows an example of the singular show higher estimates of both frequencies and dampings at
value plot for the total bridge system. One can observe that smaller p-values, before they decrease and finally stabilize
singular values beyond 100 are almost or less than zero. at certain values. The stabilized values are thus selected as
Therefore, the value of 100 is selected as the singular value the representative estimates. It was found that most of the
cutoff. Using this number, the total number of modes obtained modes were identified using p = 50. The p-values that give
from matrix A is 100/2 = 50, since they all appear in the stabilized estimates may vary from one mode to another.
conjugate frequencies. Upon observing the 50 modes from However, the observations show that, generally, the estimates
the first generation and by adopting the modal supervision stabilize around p = 100. Fig. 9 shows typical examples
technique explained above, only 14 modes were identified with of the consistency of frequency and damping estimates with
confidence. The other modes were perceived as fictitious modes respect to the p-values for the first vertical and the first lateral
or noise-generated modes. mode of Katsushika–Harp Bridge. The figure clearly indicates
that steady results of natural frequency estimates are obtained
around the value of p = 100. To obtain a stabilized estimate
5.4. Consistency of modal parameters
of damping ratio, however, a longer data set and thus larger
p-value is required. Sometimes, even after longer data was
The theory states that the minimum value of p ≥ 2N /m + 1 included, a relatively small scatter of damping estimates are
will yield to an exact solution. However, due to measurement still present. The reasons of the scatter estimates are related
noise that propagates into system, the actual minimum p- to the facts that the small-valued damping is usually very
values might be found larger than the ideal minimum, and sensitive to the non-stationary nature of seismic excitation, and
thus need to be investigated in order to minimize bias that the presence of measurement noise. Therefore to quantify a
might appear in calculation. In order to study the sensitivity representative damping estimate of one mode, an average value
of modal parameters with respect to the length of input–output and its standard deviation near the stabilized values are utilized
in the block matrix ([Yp ] and [Zp ]), several records with (see Table 3, for example).
various lengths were evaluated. For this purpose, the number
of columns in both [Yp ] and [Zp ] block matrices were fixed at 6. Identification results
3500 for all frames, while the number of rows is incremented
from 10 until all available numbers of rows are utilized. Modal 6.1. Global modes and natural frequencies
parameters were calculated separately for these different block
matrices and the modal supervision technique was applied Owing to the double curvature of the bridge girder,
afterwards. the vibration modes are all three dimensional in principle.
2010 D.M. Siringoringo, Y. Fujino / Engineering Structures 29 (2007) 2001–2017
Table 2
Value of the mdp index and the mode type recorded during the July 23, 2005 earthquake
To determine the type of a mode, a modal displacement separated in the identification and their shapes fit their FEM
participation index (shortened hereafter as: mdp) is computed counterparts mode shapes.
using the following equation: The fundamental mode of the bridge is the first vertical
j
bending with a natural frequency of 0.45 Hz. This mode
|max{φ(x,y,z) }| exhibits a zero node symmetrical pattern of girder between the
mdp(x,y,z) (φ ) =
j
. (22)
j
|max{φ1:N ,(x,y,z) }| main tower and the lower one (main span), while the side span
(Yotsugi approach) moving out-of-phase vertically. The mode
Eq. (22) implies that for the j-th mode, the index calculates shows a pure vertical bending pattern, in which the participation
ratio between the maximum absolute modal displacements of of motion in both longitudinal and lateral directions are very
structural component in one direction divided by the maximum weak as evidenced by the mdp < 0.05. The second vertical
modal displacement of the structure. By employing the above mode was identified at the frequency of 0.81 Hz. The mode has
index, the participation or contribution of a motion in one the characteristic of zero node and symmetrical main span, with
direction to the overall modal displacement can be quantified. the side span moving in-phase. The participations of motion in
Therefore, the predominant direction and thus type of the mode other directions were found stronger than they were in the first
is determined. The dominating direction is the direction that vertical mode. The third mode was recovered at 1.17 Hz, with a
gives the mdp value equal or very close to unity. single node asymmetrical pattern of the main span. Unlike the
Table 2 lists the results of identification with their mdp first two vertical modes, strong participation of lateral motion
index. Since the modes are all girder-dominant, the mdp index appears in this mode (mdp = 0.8).
calculates the participation of girder modal displacement in In the lateral direction, the first mode was found at the
three principal directions. Accordingly, the modes are classified frequency of 0.61 Hz. In this mode both towers move laterally
into four types of motion, namely: vertical, lateral, longitudinal in-phase with each other as well as with the lateral motion of the
and torsion. The mode that is dominated by a motion in one main span. The lateral motion of the main span was coupled
direction only, (i.e. vertical, lateral and longitudinal) has a with vertical component (mdp = 0.57). Slightly higher, at
characteristic of mdp value equal to 1 in that corresponding 0.66 Hz, the second lateral mode was identified. The mode
direction, and accompanied by weak participation (less than has a characteristic of a zero node symmetric shape of the
0.5) of motions in other directions. A mode is classified as main span in lateral direction, while the towers move out-of-
torsional mode when mdp values for all directions exceed 0.5. phase with each other. The first two lateral modes show the
One can notice from Table 2 that except for the first and the strong participation of both towers but no participation of end-
second vertical modes, all other modes are characterized by piers in motion. More lateral modes were recovered at higher
relatively strong participation of modal displacement in other frequency (0.93, 0.99, 1.64 and 2.41 Hz). They exhibit a single
directions beside the predominant one. This indicates that due node asymmetric pattern of the main span with the strong
to the effect of the curved girder, most of the modes were highly participation of tower and weak modal displacement of both
coupled. end-piers.
The SI generates a total of fourteen vibration modes within As indicated in Table 3, the first torsional mode was
the frequency range of 0.4–2.5 Hz. Using the mdp index the identified at 1.38 Hz. The fact that all sensors were installed
fourteen modes are classified as: five vertical predominant at the centerline of the bridge longitudinal axis makes it rather
modes, six lateral modes, one longitudinally predominant difficult to visually observe the torsional nature of this mode.
mode and two torsion modes. Although the spectral peaks However, its mdp values suggest the torsional characteristics.
indicate closely spaced natural frequencies, all modes were well In addition, when compared to the frequency range of the
D.M. Siringoringo, Y. Fujino / Engineering Structures 29 (2007) 2001–2017 2011
Table 3
Comparison of the identified natural frequencies and damping ratios obtained from the seismic records with other tests and FEM
first torsion mode identified in ambient vibration test, forced estimates identified from the strongest earthquake (July 23,
vibration and also as predicted from FEM, this mode was 2005). It is shown in this table that the natural frequencies
indeed identified within the same frequency range of the first estimated from seismic response are in good agreement with
torsional mode. the results from ambient vibration and forced vibration tests
The two torsion modes were found in relatively high- conducted after the completion of the construction, [18] as
frequency modes (i.e. at 1.38 and 1.81 Hz), which imply that the well as the finite element model. Generally, natural frequencies
torsional effect is not so dominant in this curved cable-stayed estimated from the ambient vibration test are slightly higher
bridge. The reason is related to the fact that while the girder than those estimated from the seismic records with the
is essentially curved in the horizontal, it is supported at four maximum discrepancy between the two being 5.7%. This
locations: both towers and the approach end-piers. Moreover, suggests that, during the small level of ambient excitation the
the large radii of both girder curves and the position of the main structure is seemingly more rigid than it is during larger levels
tower in the transitional point of the curves might have, to some of excitation.
extent, reduced the effect of torsional motion.
6.2. Damping ratio estimates
It should be noted that there is one mode that was not
identified either during the forced vibration or ambient test, In the conventional frequency domain SI, the modal
but was identified from earthquake records. This mode is the damping ratio can be estimated using the half-power bandwidth
longitudinal predominant mode identified at the frequency of of the Fourier spectrum peaks. In the case of this bridge,
1.28 Hz. The mode has a characteristic of longitudinal swing however, estimating damping ratios from half-power bandwidth
motion, in which the girder, pier and tower move longitudinally are difficult since the spectrum peaks are closely spaced
toward one direction along the centerline of the girder. The mdp or overlapped by adjacent peaks, especially in lateral and
index reveals that the maximum girder modal displacement longitudinal directions.
occurred in the longitudinal direction. It appears that the One advantage of the SRIM identification algorithm is that
excitation level provided during ambient and forced vibration damping estimates are derived directly from the eigenvalues
tests were insufficient to produce reasonably strong vibration of the state matrix A. Hence, the values are well separated
to excite this mode. The similar fact was observed during since each eigenvalue is associated with a unique mode. In
the study of SI applied to seismic response of a large cable- implementation of the identification algorithm, however, the
stayed bridge with a straight girder [10,15]. In both references, initial estimates of damping ratio were rather scattered and
the longitudinal dominant mode was significantly insightful require larger p-values to obtain stabilized results. This fact
to assess the performance of isolation devices between the was not found during the estimation of natural frequency.
pier and girder. In this work, however, due to the lack of The reasons of the scatter estimates are related to the facts
sensors in pier-caps, such a performance assessment cannot be that the small-valued damping is usually very sensitive to the
performed. non-stationary nature of seismic excitation, the presence of
Fig. 10 illustrates the mode shapes in two types of view: measurement noise, the selection of p-values and the length
the front and the plan view: From this figure the relationship of data. Nevertheless, the representative values of damping for
between components (i.e. vertical, lateral and longitudinal) in each mode were obtained by observing the stabilized values
the mode can easily be observed. Table 3 lists the frequency over several ranges of p-values as indicated in the example
2012 D.M. Siringoringo, Y. Fujino / Engineering Structures 29 (2007) 2001–2017
Fig. 10. The first eight mode shapes of the Katsushika–Harp Bridge, identified from the July 23, 2005 earthquake records (note: dotted lines represent the stationary
position, i.e. centerline of the girder, towers and piers).
(Fig. 9). The damping estimates were found within the range and their participation in the global modes are examined.
of 0.5%–4% with average value and standard deviation of 2± For this purpose, sensors located on the top of both towers
0.8%. are utilized as outputs. These sensors measure accelerations
in longitudinal and lateral directions. Fig. 11 shows typical
6.3. Tower modes longitudinal and lateral accelerations recorded on the top of
the main and the right tower. Considering the slender shape
While the identification method can simultaneously generate of the tower, especially the main one, and the material they
the global modes, the local modes of structural members can are made of, a higher level of vibration is expected. In both
also be identified by employing the sensors associated only towers accelerations in lateral direction were found larger than
with those of the members. In this section, the tower modes the accelerations in longitudinal direction. The identification
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Table 4
Identified modal parameters of the main tower and their comparison with the global modes recorded during the July 23, 2005 earthquake
Mode no. Freq (Hz) Main tower Right tower Associated global mode
Damp (%)a Mode angle (◦) Damp (%)a Mode angle (◦)
1 0.45 1.61 (0.38) 58.7 1.32 (0.19) 148.38 1st Vertical (Sym)
2 0.59 0.94 (0.10) 264.3 0.56 (0.09) 265.27 1st Lateral + Vertical 1st Sym
3 0.65 2.55 (0.17) 264.8 1.67 (0.20) 85.70 2nd Lateral
4 0.81 0.82 (0.09) 83.5 0.99 (0.18) 237.55 2nd Vertical (Asym)
5 0.92 2.23 (0.24) 266.5 2.95 (0.31) 87.13 3rd Lateral
6 1.09 0.85 (0.17) 81.6 2.47 (0.26) 67.5 4th Lateral
7 1.16 0.73 (0.15) 89.2 0.48 (0.17) 98.6 3rd Vertical (Sym) + Lateral
8 1.26 0.41 (0.35) 286.5 1.11 (0.33) 97.1 Longitudinal dominant mode
9 1.38 0.78 (0.18) 271.4 0.66 (0.14) 100.52 1st Torsion
a Values in the brackets denote the standard deviation.
Fig. 11. Typical acceleration responses of the tower recorded during the Feb 2, Fig. 12. Fourier amplitude of the towers’ acceleration responses recorded
1992 earthquake. during the Feb 2, 1992 earthquake.
employs a system of six inputs and two outputs (6I–2O) for tower modes were resulted from their girder’s predominant
each tower. The inputs were selected from the bottom of the counterpart modes. For example the fundamental tower mode
tower, while the outputs were the two channels on the top of at 0.45 Hz is the result of the girder–tower interaction mode
the main and the right tower. By observing the stabilized plot, in vertical direction. This mode was found as the fundamental
p = 100 was selected. Based on this selection the system mode in both towers. The alignments of modal displacement
matrix A is realized and its singular values were examined (see mode angle in Table 4) indicate that both towers are leaning
afterwards. Fig. 8 shows an example of the singular value towards the main span. The second and third modes were
plot of the main tower system. One can observe that singular dominated by lateral motion, with the difference in the phase.
values beyond 60 are almost or less than zero. Therefore, The second mode exhibits an in-phase motion of both towers,
the value of 60 is selected as the singular value cutoff. while the third one shows the out-of-phase motion.
Using this number, the total number of modes obtained from Fig. 12 shows the Fourier spectra of both towers in
matrix A is 60/2 = 30, since they all appear in conjugate longitudinal and lateral directions. Due to larger lateral motion,
frequencies. Afterwards, upon observing the 30 modes from peaks in lateral channels dominate the spectra. One can
the first generation and by adopting the modal supervision notice from these spectra that the frequency peaks are indeed
technique explained above, only 9 modes were identified with associated with the girder dominant modes. Fig. 13 plots the
confidence. alignment of modes identified from the main tower. From the
The results of SI of the main tower (Table 4) indicate that angle of mode alignment, it can be seen that except for the
all tower modes at the frequency range of 0–1.4 Hz were first mode (0.45 Hz), all main tower modes were dominated
associated with the girder motion. The interactions between by the lateral motion. It is interesting to see that even in the
the girder motion and tower exist in such a way that the modes that were associated with the girder vertical modes, the
2014 D.M. Siringoringo, Y. Fujino / Engineering Structures 29 (2007) 2001–2017
Fig. 13. Mode shape vectors of the main tower. (Note: solid line indicates the principal alignment of the mode, the dotted line indicates the principal axis of the
tower.)
towers’ modal displacement are still lateral-predominant. This 7. Comparisons of modal parameters from six earthquakes
characteristic was not found in the single-plane cable-stayed
bridge with the straight girder, such as the case of the Tsurumi- The seismic records available for this study cover a range of
Fairway Bridge [19]. accelerations with the maximum amplitude from 2 to 60 cm/s2 .
In the identification process, damping estimates of tower And as previously mentioned, the identification procedure can
modes were stabilized easily and the scatter is confined within be performed over a relatively narrow time window. Therefore,
a narrow range of estimates as shown by the small value of by employing several time windows from different levels of
standard deviations (see Table 4). An essential feature observed acceleration amplitude, variations of modal parameters can be
here is the small value of damping estimates of both towers. observed. In a long record such as the February 20, 1990
In the main tower, for instance, except for the modes that are earthquake, the responses were divided into three frames of
associated with the 1st vertical, 2nd and 3rd lateral modes, 60 s each, using the time-shifted windows. With this procedure,
damping estimates were all identified less than 1%. The mean the identified modal parameters can be compiled to detect the
value for all modes is 1.21 ± 0.74%. The damping estimates possible structural changes during excitation process.
of the right towers are also small, with the mean value of For this purpose, six earthquakes records were divided into
1.35 ± 0.86. These results show that damping ratios of both 8 frames and the resulting modal parameters were compared.
The maximum input accelerations recorded at the base of
towers are lower than the damping estimates of the global
the main tower were found at the range of 2–52 cm/s2 ,
modes (mean value: 2.00 ± 0.87%).
and their corresponding root-mean-squares were between
The small damping of both towers can be understood as the 0.6 and 5.4 cm/s2 . Table 5 shows the results of natural
effect of the stay cables. Since the flexural rigidity of the cable frequency estimates identified from the eight frames. In this
is very small, the restraining effect especially in lateral direction table, the frequency estimates are listed with the standard
becomes considerably smaller. Therefore, with the slender deviation values obtained from p-values around the stabilized
shape of both towers, they can be considered as freestanding frequencies. In general, constant results of frequency estimates
cantilever columns. It should be mentioned, however, that due were obtained in most of the frames. This clearly indicates
to the curved shape of the girder, the cables are not necessarily that the natural frequency of the structure remains constant
on one plane. Consequently, there is still some portion of axial regardless of the level of input amplitude. It should also be
rigidity from the cables acting on the tower in lateral direction. mentioned that in all modes variations of frequency estimates
This axial rigidity may contribute to the tower flexibility in are very small as noted by the maximum standard deviation that
lateral motion. In a similar case of a single-plane cable-stayed equals 0.03 Hz.
bridge and similar shape of steel box section tower, but with a The results of damping ratios shown in Table 6, on the other
straight girder, an even lower damping ratio of the tower mode hand, indicate larger variations of estimates. Mean values of
(0%–1%) was observed [20]. damping ratio of most modes were found within the range of
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Table 5
Natural frequencies of the bridge identified from six earthquakes
Type of mode Identified natural frequency (Hz) and its standard deviation (in bracket)
Feb 20, 1990 Feb 2, 1992 Oct 23, 2004 Jul 23, 2005 Aug 16, 2005
Main Main
Frame Frame Frame shock shock
1 2 3 17:57 18:35
1st Vertical (Sym) 0.45 0.45 0.45 0.45 0.45 0.45 0.46 0.45
(0.00) (0.00) (0.00) (0.01) (0.00) (0.00) (0.00) (0.00)
1st Lateral + Vertical 1st 0.60 0.60 0.60 0.59 0.62 0.59 0.61 0.60
Sym (0.01) (0.00) (0.00) (0.00) (0.00) (0.00) (0.01) (0.01)
2nd Lateral 0.66 0.67 0.67 0.67 0.65 0.66 0.66 0.66
(0.01) (0.00) (0.00) (0.00) (0.01) (0.01) (0.00) (0.00)
2nd Vertical (Asym) 0.81 0.82 0.82 0.84 0.80 0.80 0.81 0.81
(0.00) (0.00) (0.00) (0.01) (0.01) (0.00) (0.01) (0.00)
3rd Lateral 0.96 – – 0.95 0.95 0.93 0.93 –
(0.00) – – (0.01) (0.00) (0.01) (0.01) –
4th Lateral 1.00 1.01 1.00 1.00 1.01 1.00 0.99 1.05
(0.00) (0.00) (0.01) (0.01) (0.02) (0.01) (0.01) (0.01)
3rd Vertical (Sym) + Lateral 1.16 1.18 1.17 1.19 1.16 1.14 1.17 1.16
(0.00) (0.01) (0.01) (0.01) (0.00) (0.01) (0.01) (0.01)
Longitudinal dominant mode 1.28 1.28 – 1.28 1.29 1.27 1.28 1.29
(0.02) (0.01) – (0.01) (0.01) (0.01) (0.01) (0.01)
1st Torsion 1.38 1.38 1.37 1.35 1.36 1.35 1.38 1.37
(0.01) (0.00) (0.01) (0.01) (0.01) (0.01) (0.02) (0.02)
5th Lateral 1.62 1.61 1.64 1.64 – 1.62 1.64 1.64
(0.01) (0.02) (0.01) (0.02) – (0.02) (0.01) (0.01)
4th Vertical (Asym) 1.68 1.67 1.68 1.68 1.68 1.68 1.68 1.68
(0.01) (0.02) (0.01) (0.01) (0.02) (0.02) (0.01) (0.02)
2nd Torsion 1.82 1.83 1.81 1.84 1.86 1.83 1.81 1.86
(0.01) (0.02) (0.03) (0.01) (0.01) (0.02) (0.01) (0.02)
5th Vertical (Sym) 2.22 2.22 – 2.20 2.22 2.22 2.23 2.22
(0.01) (0.01) – (0.02) (0.02) (0.02) (0.02) (0.02)
6th Lateral 2.40 2.41 2.41 2.40 2.41 2.37 2.41 2.44
(0.02) (0.02) (0.01) (0.02) (0.01) (0.03) (0.01) (0.02)
0%–5%. The standard deviation of the estimates, however, was arriving at a quantitative relationship between the mechanisms
quite large compared to the mean values, indicating the scatter and their contribution to the overall damping amplification,
estimates. especially for such a complex structure during large earthquake
Fig. 14 attempts to illustrate the trend of damping estimates excitation. This is beyond the scope of the current paper and
with respect to the maximum of input accelerations measured will be incorporated in future work.
at the base of the main tower. It is shown in this figure that,
despite the scatter estimates, one can observe a trend of input 8. Conclusions
amplitude dependence of the mean damping estimates. In the
first four modes, most damping estimates were found to be
within 0%–4% with the mean values increasing as the input The assessment of dynamic characteristics of the
amplitude increased. The dependence of the damping estimates Katsushika–Harp Bridge, a curved cable-stayed bridge using
on the input amplitude is quite apparent for the third and fourth seismic responses has been presented in this study. Owing to
mode, where the estimates do not show large scatter. For the the dense sensor deployment, excellent quality of measured re-
first and second mode, however, the large scatter of estimates sponse, and the recent development of algorithms to deal with
makes it more difficult to arrive at conclusive results of the data, the dynamic characteristics of the bridge can be effi-
damping-input amplitude relationship. Generally, larger input ciently and accurately estimated.
excitation will produce larger structural response. And due to Fourteen modes were identified within the range of
the larger response, greater energy dissipation would take place 0–2.5 Hz. Due to the curved shape of the girder; most of them
on the bridge component such as friction in bearings. Owing to were closely spaced in frequency and having complicated 3D
this mechanism and also by considering the effect of curved motion-coupled mode shapes. Using the modal displacement
girder and the out-of-plane arrangement of the stays, larger ratio, the participation of motion in one direction can be
damping during larger input excitation is anticipated. However, determined and thus the type of mode is obtained according
since damping is small in value and complex in mechanism, to the dominant direction of motion. Based on observation of
more comprehensive and detailed analysis are required before these characteristics, the following conclusions are drawn:
2016 D.M. Siringoringo, Y. Fujino / Engineering Structures 29 (2007) 2001–2017
Fig. 14. Variation of damping estimates with respect to the maximum input amplitude, recorded from 8 frames of six earthquakes.
1. The characteristics of the modes are somewhat similar to The scheme of system realization using information matrix
those of cable-stayed bridge with the straight girder, in adopted for SI in this work has been an indispensable
which the girder motion dominated the global mode shapes. instrument in dealing with voluminous seismic responses
High-coupled motions in three directions, however, were recorded from multi-channels of sensors on the bridge. The
observed that make it difficult to obtain the pure mode in algorithm is straightforward and requires neither a prior
one direction only. In all but the first vertical mode, the structural model, nor an optimization procedure to obtain
effect of lateral motion was found significant. Torsional accurate estimates of dynamic characteristics of a complex
effect was found to be relatively small as evidenced by the structure such as the curved cable-stayed bridge. In the view
high-frequency of torsional dominant modes. This might be of structural health monitoring, an efficient and accurate
due to the fact that while the girder is essentially curved identification technique are essential, especially for quick
in horizontal, it is well supported at four locations: both structural assessment after the occurrence of earthquake
towers and the approach end-piers. In addition, the large events. In the future, instrumentation of the cables should
radii of both girder curves and the position of the main tower be considered. This would be helpful to monitor the degree
might have reduced the effect of the torsional effect in the of coupling between tower and girder caused by the radial
motion. arrangement of the cables and also to monitor the tension of
2. Tower modes identified within the same frequency range cables during extreme shaking such as an earthquake.
of the global modes were all associated with girder
modes. Except for the first mode, all tower modes were Acknowledgement and disclaimer
characterized by dominant lateral motions. Damping ratios
of tower modes were found lower than the global modes. The The authors would like to express their gratitude to
average damping ratios identified at both towers are 1.21% the Tokyo Metropolitan Expressway Public Corporation for
and 1.3%. providing the strong motion records and the drawings of
3. Using the response from six earthquakes with the level the bridge. Opinions, findings, and conclusions expressed in
of input amplitude between 2 and 52 cm/s2 , the trend of this material are those of the authors and do not necessarily
modal parameters was evaluated. It was found that while the reflect those of the Tokyo Metropolitan Expressway Public
frequencies remain constant, damping ratios exhibit slight Corporation. The first author gratefully acknowledges the
dependencies on earthquake input amplitude. An increasing Japanese Ministry of Education, Culture, Sports, Science and
trend of damping ratio was observed with the increase of the Technology, for financial support provided during this research
earthquake input amplitude. at the University of Tokyo.
D.M. Siringoringo, Y. Fujino / Engineering Structures 29 (2007) 2001–2017 2017
Table 6
Damping ratio of the bridge identified from six earthquakes
Type of mode Identified damping ratio (%) and its standard deviation (%)
Feb 20, 1990 Feb 2, 1992 Oct 23, 2004 Jul 23, 2005 Aug 16, 2005
Main Main
Frame Frame Frame shock shock
1 2 3 17:57 18:35
1st Vertical (Sym) 1.53 0.52 1.19 2.26 2.22 1.33 1.58 1.26
(0.99) (0.46) (0.30) (1.10) (1.54) (0.34) (0.78) (0.36)
1st Lateral + Vertical 1st 2.16 1.18 – 1.97 2.49 0.74 1.64 2.72
Sym (0.73) (0.13) 0.47(0.31) (0.70) (0.39) (0.26) (0.80) (0.21)
2nd Lateral 1.36 1.65 2.19 1.53 1.98 3.68 3.34 2.23
(0.09) (0.08) (0.28) (0.29) (0.44) (0.24) (0.26) (0.22)
2nd Vertical (Asym) 0.61 0.83 0.66 0.44 0.52 1.04 1.46 1.12
(0.25) (0.10) (0.08) (0.14) (0.23) (0.38) (0.20) (0.09)
3rd Lateral 3.42 – – 2.39 2.89 4.34 2.06 –
(1.79) – – (0.45) (0.09) (0.36) (0.32) –
4th Lateral 2.86 4.36 5.44 2.71 2.15 1.56 0.65 2.67
(1.39) (1.67) (0.72) (1.18) (0.29) (0.34) (0.03) (0.36)
3rd Vertical (Sym) + 1.78 1.95 0.71 0.55 1.21 2.27 3.64 0.79
Lateral (1.06) (0.65) (0.56) (0.41) (0.21) (0.50) (0.21) (0.15)
Longitudinal dominant 2.47 2.33 – 2.58 3.70 2.28 1.79 2.33
mode (0.21) (0.22) – (0.37) (0.43) (0.78) (0.80) (1.30)
1st Torsion 2.91 – 3.41 3.61 3.72 1.23 2.61 0.23
(2.17) 2.56 (-) (1.28) (0.65) (1.03) (0.65) (0.74) (0.17)
5th Lateral 4.79 5.51 1.74 3.30 – 1.72 1.33 2.11
(1.17) (1.07) (1.00) (0.55) – (0.45) (0.45) (0.18)
4th Vertical (Asym) 2.25 – 3.07 0.90 3.06 2.29 1.09 2.38
(0.55) 3.46 (-) (0.30) (0.52) (0.21) (0.85) (0.30) (0.59)
2nd Torsion 8.68 4.01 1.62 1.61 1.36 1.69 2.79 3.57
(0.79) (0.75) (0.61) (1.43) (0.11) (0.72) (0.63) (0.63)
5th Vertical (Sym) 3.63 0.90 2.58 1.62 3.23 1.45 2.62 3.06
(1.00) (0.96) (0.41) (0.91) (0.13) (0.96) (0.10) (0.44)
6th Lateral 1.38 1.76 1.06 1.73 2.47 1.35 1.52 2.88
(0.31) (0.71) (0.65) (0.80) (0.25) (0.35) (0.43) (0.88)
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