Structural damage identification based on self-fitting ARMAX model and multi-sensor data fusion

Statistical time series methods have proven to be a promising technique in structural health monitoring, since it provides a direct form of data analysis and eliminates the requirement for domain transformation. Latest research in structural health monitoring presents a number of statistical models that have been successfully used to construct quantified models of vibration response signals. Although a majority of these studies present viable results, the aspects of practical implementation, statistical model construction and decision-making procedures are often vaguely defined or omitted from presented work. In this article, a comprehensive methodology is developed, which essentially utilizes an auto-regressive moving average with exogenous input model to create quantified model estimates of experimentally acquired response signals. An iterative self-fitting algorithm is proposed to construct and fit the auto-regressive moving average with exogenous input model, which is capable of integrally finding an optimum set of auto-regressive moving average with exogenous input model parameters. After creating a dataset of quantified response signals, an unlabelled response signal can be identified according to a 'closest-fit' available in the dataset. A unique averaging method is proposed and implemented for multi-sensor data fusion to decrease the margin of error with sensors, thus increasing the reliability of global damage identification. To demonstrate the effectiveness of the developed methodology, a steel frame structure subjected to various bolt-connection damage scenarios is tested. Damage identification results from the experimental study suggest that the proposed methodology can be employed as an efficient and functional damage identification tool. © The Author(s) 2014.

Damage identification of steel beams using local and global methods

Structural condition monitoring methods can be generally classified as local and global. While the global method needs only a small number of sensors to measure the low-frequency structural vibration properties, the acquired information is often not sufficiently sensitive to minor damages in a structure. Local methods, on the other hand, could be very sensitive to minor damages but their detection range is usually small. To overcome the drawbacks and take advantage of both methods, an integrated condition monitoring system has been recently developed for structural damage detection, which combines guided wave and structural vibration tests. This study aims at finding a viable damage identification method for steel structures by using this system. First, a spectral element modelling method is developed, which can simulate both wave propagation and structural vibration properties. Then the model is used in updating analysis to identify crack damage. Extensive numerical simulations and model updating works are conducted. The experimental and numerical results suggest that simply combining the objective functions cannot provide better structural damage identification. A two-stage damage identification scheme is more suitable for identifying damage in steel beams.

Generalised damage identification scheme via sparse representation

Structures inevitably deteriorate during their service lives. Therefore, the methods capable of identifying and assessing various damages in a structure timely and accurately have drawn increasing attention. From a broader perspective, structural damage identification problem can be regarded as a pattern recognition problem by using sparse representation techniques. The unknown signal/feature from a damaged structure can be associated to a known type of signal/feature in a “dictionary”, leading to damage identification. From this new angle, an innovative damage identification scheme has been proposed by the authors. In this paper, two important techniques of this scheme are further discussed, namely the construction of dictionary and the choice of parameters. The numerical simulated soil-pipe system is used for verifying the performance of the proposed method. The results demonstrate that this damage identification scheme will be a promising tool for structural health monitoring.

Damage identification scheme based on compressive sensing

Civil infrastructures are critical to every nation, due to their substantial investment, long service period, and enormous negative impacts after failure. However, they inevitably deteriorate during their service lives. Therefore, methods capable of assessing conditions and identifying damage in a structure timely and accurately have drawn increasing attention. Recently, compressive sensing (CS), a significant breakthrough in signal processing, has been proposed to capture and represent compressible signals at a rate significantly below the traditional Nyquist rate. Due to its sound theoretical background and notable influence, this methodology has been successfully applied in many research areas. In order to explore its application in structural damage identification, a new CS-based damage identification scheme is proposed in this paper, by regarding damage identification problems as pattern classification problems. The time domain structural responses are transferred to the frequency domain as sparse representation, and then the numerical simulated data under various damage scenarios will be used to train a feature matrix as input information. This matrix can be used for damage identification through an optimization process. This will be one of the first few applications of this advanced technique to structural engineering areas. In order to demonstrate its effectiveness, numerical simulation results on a complex pipe soil interaction model are used to train the parameters and then to identify the simulated pipe degradation damage and free-spanning damage. To further demonstrate the method, vibration tests of a steel pipe laid on the ground are carried out. The measured acceleration time histories are used for damage identification. Both numerical and experimental verification results confirm that the proposed damage identification scheme will be a promising tool for structural health monitoring.

Spectral element model updating for damage identification using clonal selection algorithm

A spectral element model updating procedure is presented to identify damage in a structure using Guided wave propagation results. Two damage spectral elements (DSE1 and DSE2) are developed to model the local (cracks in reinforcement bar) and global (debonding between reinforcement bar and concrete) damage in one-dimensional homogeneous and composite waveguide, respectively. Transfer matrix method is adopted to assemble the stiffness matrix of multiple spectral elements. In order to solve the inverse problem, clonal selection algorithm is used for the optimization calculations. Two displacement-based functions and two frequency-based functions are used as objective functions in this study. Numerical simulations of wave propagation in a bare steel bar and in a reinforcement bar without and with various assumed damage scenarios are carried out. Numerically simulated data are then used to identify local and global damage of the steel rebar and the concrete-steel interface using the proposed method. Results show that local damage is easy to be identified by using any considered objective function with the proposed method while only using the wavelet energy-based objective function gives reliable identification of global damage. The method is then extended to identify multiple damages in a structure. To further verify the proposed method, experiments of wave propagation in a rectangular steel bar before and after damage are conducted. The proposed method is used to update the structural model for damage identification. The results demonstrate the capability of the proposed method in identifying cracks in steel bars based on measured wave propagation data.

Damage identification of civil infrastructure in the time domain using FEM calibrated ARMAX model

Due to environmental loads, mechanical damages, structural aging and human factors, civil infrastructure inevitably deteriorate during their service lives. Since their damage may claim human lives and cause significant economic losses, how to identify damages and assess structural conditions timely and accurately has drawn increasingly more attentions from structural engineering community worldwide. In this study, a fast and sensitive time domain damage identification method will be developed. First, a high quality finite element model is built and the structural responses are simulated under different damage scenarios. Based on the simulated data, an Auto Regressive Moving Average Exogenous (ARMAX) model is then developed and calibrated. The calibrated ARMAX model can be used to identify damage in different scenarios through model updating process using clonal selection algorithm (CSA). The identification results demonstrate the performance of the proposed methodology, which has the potential to be used for damage identification in practices.

FEM calibrated ARMAX model updating method for time domain damage identification

Due to environmental loads, mechanical damages, structural aging and human factors, civil infrastructure inevitably deteriorate during their service lives. Since their damage may claim human lives and cause significant economic losses, how to identify damages and assess structural conditions timely and accurately has drawn increasingly more attentions from structural engineering community worldwide. In this study, a fast and sensitive time domain damage identification method will be developed. To do this, a finite element model of a steel pipe laid on the soil is built and the structural responses are simulated under different damage scenarios. Based on the simulated data, an Auto Regressive Moving Average Exogenous (ARMAX) model is then built and calibrated. The calibrated ARMAX model is used to identify different damage scenarios through model updating process using clonal selection algorithm (CSA). The results demonstrate the application potential of the proposed method in identifying the pipeline conditions. To further verify its performance, laboratory tests of a steel pipe laid on the soil with and without soil support (free span damage) are carried out. The identification results of pipe-soil system show that the proposed method is capable of identifying damagein a complex structural system. Therefore, it can be applied to identifying pipeline conditions.

Vibration based damage identification of a scale-model steel frame structure subjected to bolt connection failures

Large-span steel frame structures prove to be an ideal choice for their speed of construction, relatively low cost, strength, durability and structural design flexibility. For this type of structure, the beam-column connections are critical for its structural integrity and overall stability. This is because a steel frame generally fails first at its connectors, due to the change in stress redistribution with adjacent members and material related failures, caused by various factors such as fire, seismic activity or material deterioration. Since particular attention is required at a steel frame’s connection points, this study explores the applicability of a comprehensive structural health monitoring (SHM) method to identify early damage and prolong the lifespan of connection points of steel frames. An impact hammer test was performed on a scale-model steel frame structure, recording its dynamic response to the hammer strike via an accelerometer. The testing procedure included an intact scenario and two damage scenarios by unfastening four bolt connections in an accumulating order. Based entirely on time-domain experimental data for its calibration, an Auto Regressive Average Exogenous (ARMAX) model is used to create a simple and accurate model for vibration simulation. The calibrated ARMAX model is then used to identify various bolt-connection related damage scenarios via R² value. The findings in this study suggest that the proposed time-domain approach is capable of identifying structural damage in a parsimonious manner and can be used as a quick or initial solution.

Hierarchical development of training database for artificial neural network-based damage identification

Though serving as an effective means for damage identification, the capability of an artificial neural network (ANN) for quantitative prediction is substantially dependent on the amount of training data. In virtue of a concept of “Digital Damage Fingerprints” (DDF), a hierarchical approach for the development of training databases was proposed for ANN-based damage identification. With the object of exploiting the capability of ANN to address the key questions: “Is there damage?” and “Where is the damage?”, the amount of training data (damage cases) was increased progressively. Mutuality was established between the quantity of training data and the accuracy of answers to the two questions of interest, and was experimentally validated by identifying the position of actual damage in carbon fibre-reinforced composite laminates. The results demonstrate that such a hierarchical approach is capable of offering prediction as to the presence and location of damage individually, with substantially reduced computational cost and effort in the development of the ANN training database.

Static and dynamic tests for damage identification of a slab-girder structure

Slab-girder bridges are widely used in Australia. The shear connection between reinforced concrete slab and steel girder plays an important role in composite action. In order to test the suitability and efficiency of various vibration-based damage identification methods to assess the integrity of the structure, a scaled composite bridge model was constructed in the laboratory. Some removable shear connectors were specially designed and fabricated to link the beam and slab that were cast separately. In this test, two static loads were acted in the 1/3 points of the structure. In the first stage, dynamic test was conducted under different damage scenarios, where a number of shear connectors were removed step by step. In the second stage, the static load is increased gradually until concrete slab cracked. Static tests were conducted continuously to monitor the deflection and loading on the beam. Dynamic test was carried out before and after concrete cracking. Both static and dynamic results can be used to identify damage in the structure.

Damage identification of slab–girder structures: experimental studies

Slab–girder structures composed of steel girder and reinforced concrete slab are widely used in buildings and bridges in the world. Their advantages are largely based on the composite action through the shear connection between slab and girder. In order to assess the integrity of this kind of structures, numerous vibration-based damage identification methods have been proposed. In this study, a scaled composite slab–girder model was constructed in the laboratory. Some removable shear connectors were specially designed and fabricated to connect the girder and slab that were cast separately. Then, a two-stage experiment including both static and vibration tests was performed. In the first stage, vibration tests were conducted under different damage scenarios, where a certain number of shear connectors at certain locations were removed step by step. In the second stage, two sets of hydraulic loading equipment were used to apply four-point static loads in the test. The loads are increased gradually until concrete slab cracked. The loading histories as well as deflections at different points of the beam are recorded. Vibration test was carried out before and after concrete cracking. Experimental results show that the changes of mode shapes and relative displacement between slab and girder may be two promising parameters for damage identification of slab–girder structures.

A signal processing approach for elastic wave-based structural health monitoring using active piezoelectrics

A series of digital frequency filters (DFFs) were designed to screen diverse noises and the spectrographic analysis was conducted to isolate complex boundary reflection, which obscures the damage-induced signals. The scale-averaged wavelet power (SAP) technique was applied to enhance
the measurement accuracy of Time of Flight (TOF). As an example, the propagation characteristics of elastic wave in a structural beam of square cross-section were analyzed using such an approach and verified experimentally and numerically, with the consideration of the complicated wave scatter caused by the non-ignorable section dimensions.

Propagation characteristics of lamb waves in stringer-stiffened panels

Stringer-stiffened plate-like structure is a typical engineering structure and its structural integrity is critical. A guided Lamb wave-based damage identification scheme and an online structural health monitoring (SHM) system with an integrated PZT-sensor network were developed. In the previous studies, the specimens were relatively simple. In this paper, the above mentioned method was extended to the stiffened plate-like structure—a flat plate reinforced by stringer. FE dynamic simulation was applied to investigate the Lamb wave propagation characteristics due to the existence of stringer with the consideration of its material and geometric configurations.