Health Monitoring

Spring2012
Structural Health Monitoring ABrief Introduction
by Dr.Hilmi Lu Associate Professor ofCivil Engineering BoaziiUniversity
Motivation
Civil
infrastructure
Isold and vulnerable Visual inspection iscostly and subjective

2009 ASCE Report Card: C Nearly 25% rated as structurally deficient or functionally obsolete
Dr. HilmiLu,BoaziiUniversity,2012
Spring2012
Motivation
Quick
event
response after a significant
Criticaldecisions e.g.canwedecideonwhethera
bridgeissafeforuserightafteranearthquake?
Motivation
Fine
tuning the model
Weneedtocalibrateour
modelsusingdataobtained fromthem betermatchwith reality,betterprediction capability. Smartstructures active controlrequiresrefined mathematiclamodels

I35WBridge,August1,2007 Designerror:underdesigned gussetplates
Spring2012
Structural Vibrations
Can
be measured relatively easily accelerometers are relatively cheap and robust
How
a structure moves depends on its mass and stiffness change in stiffness would indicate damage
The Model
Governing
equation for linear systems
mass xacceleration inertial forces
stiffness xdisplacement restoring forces external forces

dampingforces energy dissipation
Spring2012
InverseProblem
Measurements:
Generally only outputs (accelerations), sometimes also forces properties mass, damping and stiffness
Unknowns:
Spring2012
What canwe do?

structuralidentification &damagedetection
input&output dataavailable onlyoutput dataavailable
updatesecond ordermodel (e.g.with genetic algorithms)
identifyfirstorder (statespace)model
identifyfirstorder Kalman filtermodel
identifymodal parametersviaFDD
identifyfrequencies, dampingratios& modeshapes
identifyfrequencies, dampingratios& modeshapes
useidentified modal parametersinmodel updating
directidentificationof mass,dampingand stiffnessproperties
directidentificationof mass,dampingand stiffness ?
useidentifiedmodal parametersinmodel updating
useidentifiedchangesinstiffnessparameterstoreveal,locateandquantifystructuraldamage
Fundamental Questions
Level
1: Is there damage?
measuring changes infrequencies may beenough,
Level
provided we candistinguish the causes (environmental effects or changes inmass?)
2: Where is the damage?
we need location indicators maybe changes in

Level
modeshapes?
3: How big is the damage? 4: What is the remaining life?
needtoestimatethechangesnumerically probably
Level
bycomparingwithaprevious,undamagedmodel
Spring2012
Example Asuspension bridge

Vincent
Thomas Bridge located in California, USA Inputs base accelerations measured at 10 locations Outputs accelation measurements from various points on the towers and the deck
Since
number of measurements are very limited, going directly to the second order model leads to direct errors We identify a first-order state space model instead
we canuse this modelto estimate the frequencies,
modeshapes and the dampingcharactesitics we canalso use this modelto predict the response of the bridge to afuture input!
Spring2012
relevant publications: Lu etal1999,Lu etal2002

Dr. Hilmi Lu,BoaziiUniversity,2012
Example Amodelbuilding
ASCE
Benchmark Problem
proposedbyataskgroupto
provideacommontestexampleto researchers analyticalmodel+builtsteelframe analyticalmodelhasinputoutput andonlyoutputoptions specialissueintheASCEJournalof EngineeringMechanicspresents resultsobtainedbyvarious researchteams
Spring2012
OKID
when input and output available
inthis case canidentify the location and the severity of
the damage if sufficient number ofsensors present

Subspace
available
ID when only outputs
cantrack variations inthe modal parameters but
difficult to direcly identify damage canuse model updating,butgenerally adifficult problembecause of nonuniqueness issues
Input-output
case
relevant publications: Luetal2004,Franco2003

Spring2012
Only
output case
relevant publications: Alcolu&Lu,2008

Only output case: cant directly identify a second order model; may use the identified model parameters to update an initial finite element model
Spring2012
Example Long Term Monitoring

The new I-35 Bridge long term monitoring system inplace long term monitoring helps to distinguish
environmental effects,aging effects,...

Ambient
vibrations only - have used various techniques like frequency domain decomposition (FDD), enchanced canonical correlation (ECCA), natural excitation technique (NeXT).
relevant publications: Lu etal2012(inpreparation)

10
Spring2012
Example ETB
Structure
located at the North Campus of BU mitigation column jacketing and shear walls measured under various conditions before retrofit, with and without some infill walls, after retrofit.
Earthquake
Accelerations
Ambient
5
vibration tests
4.5 Frequency (Hz)
4 Demolition of Partition Walls 3.5 Seismic Retrofitting
2.5
11
Spring2012
Forced
vibration tests
3.5 3 2.5 2 1.5 1 0.5
x 10
-4
eccentric mass shaker
Acc/Freq (g/Hz )
ecc: 7.5 % ecc: 25 % ecc: 50 % ecc: 75 %
0 4
4.1
4.2
4.3
4.4 4.5 4.6 Frequency (Hz)
4.7
4.8
4.9
relevant publications: Soyz,Orakal,Luetal2012(inpress)

NonLinearities
Keeping
track of nonlinearities generally requires time-varying models extended Kalman filter the paraemeters are part of the state estimation problem
P
k |k 1
e.g.
k 1 Pk 1|k 1T k 1 Qk 1
x k|k 1 k 1 x k 1|k 1
G P H T ( H P H T R ) 1 k k |k 1 k k k |k 1 k k
Pk|k ( I Gk H k ) Pk|k 1
x k|k x k |k 1 Gk [ yk H k x k |k 1 ]
12
Spring2012
1 0.8 0.6 0.4 T13 T14 T15 T19
1 0.8 0.6 0.4 0.2 40 0 0 20 40
1 0.8 0.6 0.4 0.2 0 0 20 40
Stiffness Reduction
0.2 0 0
20
1 0.8 0.6 0.4 0.2 0 0 20 40
1 0.8 0.6 0.4 0.2 0 0 20 40
1 0.8 0.6 0.4 0.2 0 0 20 40
Time (sec)
relevant publications: Soyz&Feng2008,Soyzetal2008
Dr. Hilmi Lu,BoaziiUniversity,2012
FinalRemarks
Difficult but interesting problem theoreticalstudiesandfieldwork proficiencyinmathematicsandcoding essentiallyadecisionproblem
{D i q }
applicationsareincreasing currentlybothbridges
overtheBosphorousareinstrumented,alongwith varioustallstructuresinIstanbul newproposalforearthquakecodefortallbuildings requires instrumentationoftallstructuresfor vibrationaldatacollection

13
Spring2012
StructuralHealthMonitoringLab
Dr.
Serdar Soyz, Dr. Hilmi Lu, PhD and MS students in instrumentation and data analysis state of the art equipment and knowledge/development of advanced algorithms focus: Instrumentation and analysis of various structures both in Turkey and abroad
Expertise
Current
Equipment
14

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Spring2012

Structural Health Monitoring ABrief Introduction

by Dr.Hilmi Lu Associate Professor ofCivil Engineering BoaziiUniversity

Isold and vulnerable Visual inspection iscostly and subjective

response after a significant

tuning the model

modelsusingdataobtained fromthem betermatchwith reality,betterprediction capability. Smartstructures active controlrequiresrefined mathematiclamodels

be measured relatively easily accelerometers are relatively cheap and robust

equation for linear systems

mass xacceleration inertial forces

stiffness xdisplacement restoring forces external forces

dampingforces energy dissipation

What canwe do?

updatesecond ordermodel (e.g.with genetic algorithms)

identifyfirstorder Kalman filtermodel

identifyfrequencies, dampingratios& modeshapes

identifyfrequencies, dampingratios& modeshapes

useidentified modal parametersinmodel updating

directidentificationof mass,dampingand stiffnessproperties

directidentificationof mass,dampingand stiffness ?

useidentifiedmodal parametersinmodel updating

measuring changes infrequencies may beenough,

provided we candistinguish the causes (environmental effects or changes inmass?)

2: Where is the damage?

we need location indicators maybe changes in

3: How big is the damage? 4: What is the remaining life?

Example Asuspension bridge

relevant publications: Lu etal1999,Lu etal2002

provideacommontestexampleto researchers analyticalmodel+builtsteelframe analyticalmodelhasinputoutput andonlyoutputoptions specialissueintheASCEJournalof EngineeringMechanicspresents resultsobtainedbyvarious researchteams

when input and output available

inthis case canidentify the location and the severity of

the damage if sufficient number ofsensors present

ID when only outputs

cantrack variations inthe modal parameters but

relevant publications: Luetal2004,Franco2003

relevant publications: Alcolu&Lu,2008

Example Long Term Monitoring

environmental effects,aging effects,...

relevant publications: Lu etal2012(inpreparation)

4.5 Frequency (Hz)

4 Demolition of Partition Walls 3.5 Seismic Retrofitting

3.5 3 2.5 2 1.5 1 0.5

eccentric mass shaker

ecc: 7.5 % ecc: 25 % ecc: 50 % ecc: 75 %

4.4 4.5 4.6 Frequency (Hz)

relevant publications: Soyz,Orakal,Luetal2012(inpress)

1 0.8 0.6 0.4 T13 T14 T15 T19

1 0.8 0.6 0.4 0.2 40 0 0 20 40

1 0.8 0.6 0.4 0.2 0 0 20 40

1 0.8 0.6 0.4 0.2 0 0 20 40

1 0.8 0.6 0.4 0.2 0 0 20 40

1 0.8 0.6 0.4 0.2 0 0 20 40

overtheBosphorousareinstrumented,alongwith varioustallstructuresinIstanbul newproposalforearthquakecodefortallbuildings requires instrumentationoftallstructuresfor vibrationaldatacollection

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