Journal of Civil Structural Health Monitoring (2019) 9:411–423

https://doi.org/10.1007/s13349-019-00342-x

ORIGINAL PAPER

Application of a mode shape derivative‑based damage index

in artificial neural network for structural damage identification
in shear frame building
Animesh Paral1   · Dilip Kr. Singha Roy1 · Amiya K. Samanta1

Received: 1 January 2019 / Accepted: 29 June 2019 / Published online: 3 July 2019
© Springer-Verlag GmbH Germany, part of Springer Nature 2019

Abstract
Artificial Neural Networks (ANN) have been proven applicable for updating finite-element (FE) baseline model and structural
damage assessment. Most ANN-based damage identification methods use natural frequencies and mode shapes as input
layer, limiting their application to quantifying single symmetrical damage in small structures. However, getting higher modal
information of a structure is a crucial challenge in practice. As of late, researchers began utilizing mode shape derivatives as
input layer in ANN to defeat the challenges for damage assessment in real-life structures. This study, therefore, proposes an
ANN-based damage assessment method that employs the change in the first mode shape slope (CFMSS) damage index (DI)
as input layer in ANN. For single-damage scenarios, the CFMSS-based DI has been able to detect, locate, and quantify the
damage. For multiple-damage scenarios, the DI and corresponding stiffness reduction (SR) are fit as input and output layers,
respectively, in ANN to measure the damage severity. Structural damage intensity is indicated as rate of decrease in story
stiffness compared to baseline model. The efficiency of the proposed damage identification method is demonstrated through
a nine-story numerical shear frame model and an experimental test on a three-story steel shear frame model.

Keywords  Shear frame · Structural health assessment · Damage quantification · Mode shape derivatives · ANN

1 Introduction that utilize the dynamic attributes viz. changes in natural

Disintegration of physical infrastructures is an impera-
tive issue from the operational and monetary perspectives
of a country. Consequently, structural health assessment
of civil infrastructures based on monitoring the progres-
sions of dynamic properties of the structures has turned
into the scorching concern in the previous couple of dec-
ades. Such structural health monitoring (SHM), very often
revolves around several levels of identification: (a) level 1:
determine the presence of damage; (b) level 2: locate the
position of damage; (c) level 3: first and second level, and
determining the quantification of damage; and (d) level 4:
first, second, and third levels, and predicting the remain-
ing service life of the structure [1]. Some classical methods
* Animesh Paral
animesh.paral@yahoo.co.in
1 ple, machine learning (ML) [11–13] and optimization
Department of Civil Engineering, National Institute
of Technology Durgapur, A‑Zone, M.G. Avenue, Durgapur,
West Bengal 713209, India
frequency [2–4], mode shape or mode shape derivatives
[5–7], modal strain energy [8], and modal flexibility [9]
are generally used as testing or estimating methods in the
vibration-based structural damage identification (VBSDI)
schemes. Notwithstanding, the vast majority of the custom-
ary vibration-based strategies that utilize the changes in
modal parameters (modal frequency and mode shape) are
associated with numerous difficulties: (1) the basic global
nature of the modal properties and their incompetence to
locate and quantify the tiny damage; (2) existence of other
factors causing similar damage like effect on damage indi-
ces, which are tough to discriminate; and (3) the redundancy
of the civil engineering structures and inability of acquiring
higher modal information, which result in low sensitivity
of the method. A detailed review on the development of
VBSDI techniques is found in Ref. [10].
Amid the most recent 20 years or so the emphasis on
the utilization of computational insight systems, for exam-
technique [14] has developed enthusiasm towards fruitful
usage of VBSDI process because of a few deficiencies of the

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412 Journal of Civil Structural Health Monitoring (2019) 9:411–423

customary strategies. Among the ML algorithms, Artificial (CFMSS) as the input layer in the feedforward ANN coupled
Neural Networks (ANNs) are extraordinary tool in perceiv- with Bayesian regularization. Simply, the first mode shape
ing patterns in data. Up until now, the lion’s share of analysts data are utilized in the investigation and the speculation that
explored the feasibility of ANN for structural damage iden- CFMSS in the damaged story will be greater than zero has
tification in simple beam-like structures. Dackermann et al. been utilized as a part of this method. The practicability of the
[15] conducted an experiment on damage assessment of a method is illustrated through a nine-story numerical model and
simply supported (SS) steel beam in association with Princi- a three-story experimental steel frame.
pal Component Analysis (PCA) and ANN. The authors uti-
lized modal strain energy-based damage index (DI) as input 2 Methods
in ANN. However, PCA was utilized to lessen the effect
of measurement noise and optimize the network training. 2.1 Mode shape slope (MSS) damage index
Hakim et al. [16] also shaded a light on the ANN-based fault
diagnosis technique in an SS I-beam. In this investigation, Considering a general n-story shear building and mj and kj are
the first five natural frequencies and mode shapes were used the mass and stiffness of the jth story, respectively. Then, the
as the input of the network training. The data sets were gen- equilibrium equation for undamped structural vibration can
erated from the finite-element (FE) baseline model that was be written as
constructed considering the dynamic properties obtained
from the modal test of the intact beam. Liu et al. [17] inves-
(K − 𝜔2i M)𝜑i = 0, (1)
tigated a vibration-based damage assessment on FE model where K and M are the global stiffness and mass matrices,
of an SS bridge girder utilizing ANN that was optimized by respectively. ωi is the ith circular frequency and φi is the
Particle Swarm Optimization (PSO). Moreover, the change corresponding mode shape.
in curvature of modal flexibility was set as input data for When a structure is damaged, the equation of motion
this investigation. Ghadimi and Kourehli [18] and Tan et al. becomes
[19] also conducted the ANN-based damage evaluation on (K + ΔK − (𝜔2i + Δ𝜔2i )M)(𝜑i + Δ𝜑i ) = 0, (2)
SS beams using mode shape derivative-based DI as input
data in ANN. where ΔK is the change in the global matrix, and and Δω2i
In the late 2000s, Mehrjoo et al. [20] used back propaga- Δφi are the change in ω2i and φi, respectively. ΔK and Δφi
tion-based neural networks for estimating the damage intensi- can be expressed, respectively, as follows [8]:
ties of joints for truss bridge structures. The investigation was n
carried out using the first five modal data. In recent times,
∑
ΔK = bj Kj (−1 ≤ bj ≤ 0), (3)
Pathirage et al. [21] utilized autoencoder neural network and j=1
deep learning for structural damage detection, localization and
quantification in a seven-story shear frame structure. Chang n
et al. [22] also investigated the practicability of ANN-based
∑
Δ𝜑i = cs 𝜑s , (4)
damage assessment in a scaled down twin tower building. s=1
Both the authors incorporated the first few natural frequencies
and mode shapes data as input layer for the network training. where Kj is the elemental stiffness matrix of the jth story, the
Nevertheless, acquiring higher modal information in in situ coefficients bj mirrors the level of damage of the jth story,
problems may be provoked to extensive errors and vast data which has to be ascertained for damage assessment.
sets are likewise required, as these dynamic parameters of the The MSS of the jth story in the ith mode for a shear frame
initial couple of modes are utilized. Recently, the research- structure is stated as
ers have begun exploring the impact of utilizing mode shape 𝜑ij − 𝜑i(j−1)
derivatives (mainly modal strain energy based DI) as the input 𝜑�ij = . (5)
hj
layer for ANN to avoid the utilization of higher modal data
[15, 18, 19, 23], though bulk of the outcomes were restricted If damage occurs at the jth story, then the change in MSS
to either single-damage assessment or similar damage severi- for the ith mode can be expressed as
ties and extensive localization mistakes in multiple-damage
assessment. Moreover, in the previous studies, mode shape (𝜑ij + Δ𝜑ij ) − (𝜑i(j−1) + Δ𝜑ij ) 𝜑ij − 𝜑i(j−1)
Δ𝜑�ij = −
derivative-based damage indices were utilized as in put in hj hj
ANN for damage assessment of simple beam-like structures. Δ𝜑ij − Δ𝜑i(j−1) (6)
Accordingly, this manuscript proposes a novel strategy to =
hj
,
anticipate both damage location and damage severity in shear
frame building utilizing change in the first mode shape slope

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Journal of Civil Structural Health Monitoring (2019) 9:411–423 413
where Δφij is the change in the mode shape of the jth story in
the ith mode. It is assumed that story d is damaged. Hence,
the change in MSS in the damaged story d, Δ𝜑�id can be
expressed as follows [6]:
b k
Δ𝜑�id = d d (𝜑i(d−1) − 𝜑id )
hd
n (7)
∑ 1
× (𝜑s(d−1) − 𝜑sd )2 (s ≠ i).
𝜔 2 − 𝜔2
s=1 s i
Now, if i = 1, Δ𝜑�id becomes the CFMSS of story d, Δ𝜑�1d .
The equation can be revised as
bd kd
Δ𝜑�1d = (𝜑1(d−1) − 𝜑id )
hd
n (8)
×
∑ 1
(𝜑s(d−1) − 𝜑sd )2 .
2
s=2 𝜔s − 𝜔1
2 mines the behavior of the node. Therefore, the final output
Since φ1(d−1) < φ1d and ω12  <  ωs2, it can be concluded that
if damage occurs only on one story the CFMSS value of the
damaged story will be greater than zero [6]. The CFMSS value
obtained at the all stories will be incorporated in ANN as input
vector to estimate bd which will reflect the intensity of damage
at the respective story(s).
2.2 Artificial Neural Networks (ANNs)
ANNs are structures propelled by organic nervous systems
or it can be contemplated as a generalization of mathematical
model of human brain. ANN can absorb exceedingly complex
connections between a few factors that are introduced to the
system, taking the idea of reliance between input and output
variables over mapping [24]. ANN is built with basic units
called neurons and generally composed of three layers: input
layer, hidden layer, and output layer. In general, ANN is char-
acterized by three key features viz. (a) network architecture
which is the pattern of connections between neurons, (b) learn-
ing algorithm that is utilized to determine the weights of the
connections, and (c) activation function which is an internal
state of neurons. However, human brain uses association of
neurons, whereas ANNs use connection weight of neurons.
In Fig. 1, x1, x2, and x3 are the signals entering the node and y
is the output, whereas w is the corresponding weight and b is
bias which is associated with the storage of information. The
information of ANN is stored in the form of weight and bias.
The input signals are multiplied by the weights before enter-
ing the node. The output of the node is the weighted sum and
can be written as
v = (w1 × x1 ) + (w2 × x2 ) + (w3 × x3 ) + b. (9)
Content courtesy of Springer Nature, terms of use apply. Rights reserved.
1
1
2
2
3
3
Fig. 1  Typical architecture of ANN
Equation 9 explicitly shows that the higher the weight,
greater is the effect. Nevertheless, the output of the node is
processed using a nonlinear activation function that deter-
of the node can be conveyed as
y = 𝜙(v), (10)
where 𝜙 is the activation function. During the learning phase
of the network, the connection weights are continuously
updated. The type of learning can encompass unsupervised
and supervised learning approaches depending on the nature
of the problem being solved and the type of training data
available. In every training step, a set of inputs is passed
forward in the network giving trial outputs that can be com-
pared to the desired outputs. If it happens that the error is
small, the weights are not adjusted; otherwise, the error is
passed backwards and the training algorithm uses it to adjust
the weights trying to decrease the error—this algorithm is
known as the back propagation algorithm [12]. The back-
propagation neural network is an extremely well known pro-
cedure in the field of ANN-based structural damage assess-
ment, which depends on supervised learning and utilizes
gradient descent method to diminish a picked error function
[10]. A noteworthy issue of using the standard backpropaga-
tion networks is the potential for overfitting and overtraining
which leads to a fitting of the noise and a loss of generaliza-
tion of the network. To reduce the potential for overfitting,
a mathematical technique known as Bayesian regularization
was developed to convert nonlinear systems into “well
posed” problems [25]. In this manuscript, the Bayesian regu-
larized backpropagation method available in MATLAB
R2015a is utilized to learn the correlation between the input
vectors ( Δ𝜑�ij , where i = 1, j = 1, 2, 3,…, n) and the output
vectors (decrease of stiffness at different stories of the shear
frame). In this training algorithm, the weight and bias values
are updated according to Levenberg–Marquardt optimiza-
tion. The algorithm reduces a blend of squared errors and
weights, and after that decides the right combination to
deliver a network that generalizes well. The uniqueness of
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414 Journal of Civil Structural Health Monitoring (2019) 9:411–423

this technique is the probabilistic nature of the network
weights in relation to the given data sets and model frame-
work [26].
3 Numerical study
The robustness and precision of the recommended approach
for damage assessment in shear frame structure have been
tested through a numerical study on a nine-story shear frame
building. Figure 2 depicts the details of the numerical model.
Modal analysis is performed utilizing the intact structure
considered as reference model to produce the input and out-
put data for training of the proposed framework. The modal
analysis is conducted considering free undamped vibra-
tion and the computed first modal period is 0.5652 s. Four
different damage severities (5%, 10%, 15%, and 20%) are
introduced at the first, second, third, fifth, and ninth sto-
ries to produce the single-damage scenarios. A total of 20
samples are created for these situations. In any case, higher
damage harshness will contribute bigger structure disfigure-
ment and this could be effectively recognizable. Along these
lines, the maximum percentage of stiffness reduction (SR)
that is considered for the nine-story frame is 20%. In case
of multiple-damage events, just the least damage intensity
(5%) and biggest damage intensity (20%) are assimilated
at two exceptional stories keeping all other stories undam-
aged. However, the story stiffness parameters are also nor-
malized to the range between 0 and 1, where 0 denotes the
virgin state and 1 denotes completely damaged state. The
first mode shapes are normalized to the range from 0 to 1
and the input data sets that are the CFMSS-based DI are
normalized in the range between − 1 and + 1 Every single-
conceivable blends are thought about and 72 samples are
produced. As a result, the samples created from the refer-
ence model comprising both single- and multiple-damage
cases for the investigation utilizing ANN are 92. The data
set of input matrix is computed from Eq. (6) by applying
the generated first mode shape data at each story for indi-
vidually 92 cases. The 92 columns of the input and output
matrices are designated as Δφ′ at each story, respectively.
However, the damage locations are indicated in input and
output matrices by nine rows. These input and output data
are utilized for the training and approval of the proposed
framework. 5% random noise is incorporated in the data set
as measurement noise to examine the viability and heartiness
of exploiting the suggested framework for structural damage
assessment. The network is trained by Bayesian regulariza-
tion backpropagation method utilizing the ANN tool avail-
able in MATLAB 2015a. Haphazardly, 75% and 25% data
from the data set are chosen for training and testing of ANN,
respectively. The computer used for this study is configured
with Intel Pentium(R) 1.5 GHz processor and 8 GB RAM.

3.1 Results
m9= 2E5 kg
3m k = 1.5E9 N/m
9
Only single damage at the first, second, third, fifth, and ninth
m8= 6E5 kg stories are introduced. The deviations of Δφ′ along all the
3m k = 2.5E5 N/m stories for different damage severities are depicted in Figs. 3,
8
4, 5, 6, and 7, respectively, for damage at the first, second,
m7 = 6E5 kg
3m k7= 2.5E9 N/m third, fifth, and ninth stories. It ought to be reminded that the
similar data sets are utilized during performance inspection
m6 = 6E5 kg of the proposed approach for structural damage assessment.
3m k6= 2.5E9 N/m
It is apparent that positive Δφ′ values effectively specify
m5= 6E5 kg
3m k5= 2.5E9 N/m
0.015
20% Damage
m = 6E5 kg 0.013
3m 4 k = 2.5E9 N/m 15% Damage
4
0.010 10% Damage
m3= 6E5 kg 0.007 5% Damage
CFMSS

3m k = 2.5E9 N/m
3 0.005
m = 6E5 kg 0.003
3m 2
k = 2.5E9 N/m
2 0.000
-0.003
m1= 9E5 kg
3m k = 2E9 N/m -0.005
1 1 2 3 4 5 6 7 8 9
Story location

Fig. 2  Discrete model of a nine-story shear frame Fig. 3  Plot of CFMSS vs story location (damage at the first story)

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Journal of Civil Structural Health Monitoring (2019) 9:411–423 415

0.013 0.0015
20% Damage 20% Damage
0.010 15% Damage 0.0013
15% Damage
10% Damage 0.0010 10% Damage
0.007
5% Damage 0.0008 5% Damage

CFMSS
0.005
CFMSS

0.0005
0.003 0.0003
0.000 0.0000
-0.003 -0.0003
-0.0005
-0.005 1 2 3 4 5 6 7 8 9
1 2 3 4 5 6 7 8 9
Story location
Story location

Fig. 7  Plot of CFMSS vs story location (damage at the ninth story)

Fig. 4  Plot of CFMSS vs story location (damage at the second story)

Table 1  Equations used to quantify damage at different stories

0.013 Story location Damage quantification equation R2 value
20% Damage
0.010 15% Damage First story %SR = 1354Δφ′ + 0.608 0.996
0.007 10% Damage Second story %SR = 1777Δφ′ + 0.451 0.997
5% Damage
0.005 Third story %SR = 1884Δφ′ + 0.440 0.997
CFMSS

Fifth story %SR = 2325Δφ′ + 0.512 0.996

0.003
Ninth story %SR = 14375Δφ′ + 0.800 0.987
0.000
-0.003
-0.005 0.015
1 2 3 4 5 6 7 8 9
Story location 0.013
0.010
Fig. 5  Plot of CFMSS vs story location (damage at the third story) 0.007
CFMSS

0.005
0.010 20% Damage 0.003
0.007 15% Damage 0.000
10% Damage
0.005 -0.003
5% Damage
CFMSS

-0.005
0.003
1 2 3 4 5 6 7 8 9
0.000 Story location
-0.003
Fig. 8  Plot of CFMSS vs story location (case1)
-0.005
1 2 3 4 5 6 7 8 9
Story location Table 1. Therefore, the CFMSS-based DI can be utilized at
the initial phase of structural health monitoring in new shear
Fig. 6  Plot of CFMSS vs story location (damage at the fifth story) frame-like structures.
When the damaged story is localized, the estimated
value of Δφ′ can be connected to the appropriate equation
the damage location. Despite damage position, Δφ′ rises in in Table 1 to measure the damage quantity. However, the
direct relationship with damage severity for all the scenarios. CFMSS-based DI does not work sound in multiple-damage
This prompts the capability of employing linear regression cases [6]. Among the 72 multiple-damage scenarios, two
analysis to produce equations for measurement of damage damage cases viz. case1 and case2 are chosen arbitrarily
intensity in shear frame building. The damage quantifica- and the CFMSS values are plotted in Figs. 8 and 9. Case1 is
tion equations utilizing the values of Δφ′ for different dam- consisted of 20% and 5% reduction of story stiffness at the
age severities at a specific damaged story are presented in first and seventh stories, correspondingly, whereas case2 is

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416 Journal of Civil Structural Health Monitoring (2019) 9:411–423

0.013 and one output layer with nine neurons. MSE and R value
are affected by the numeral of neurons utilized in the hid-
0.010
den layer of ANN. The R value indicates the relationship
0.007 between output and targets, and varies from 0 to 1. R value
with 0 and 1 specifies haphazard and close relationship,
0.005
CFMSS

respectively, between outputs and targets. 35 and 10 neu-

0.003
0.000
-0.003
-0.005
1 2 3 4 5 6 7 8 9 less data set as concerns. Table 2 shows exceedingly low
Story location
Fig. 9  Plot of CFMSS vs story location (case2)
defined as 20% and 5% reduction of story stiffness at the
third and ninth stories, respectively.
It is obvious that the damaged stories seventh and ninth
will be unexploited from the plots, individually for case1
and case2. Henceforth, ANN is utilized for the tenacity
of damage localization and quantification. Regardless of
whether it is questionable from the diagram of CFMSS
whether the circumstance studied is a single- or multiple-
damage event, the Δφ′ vector can be incorporated into the
input layer to the ANN, as the network is trained to give the
location and intensity of both single- and multiple-damage
consequences. The elements of input vector for each data
comprise of CFMSS at nine stories and a sum of 92 data
is provided into the input layer. The target vector for indi-
vidual data entails of percentage of stiffness decrease at nine
stories. Throughout the training of the network, each input
vector would produce an output vector individually. How-
ever, the inaccuracy, which is designated as the difference
between target value and output value, will be distributed
through the backpropagation method. In view of that, the
mean squared error (MSE) can be diminished with the goal
that the output value can be as close as conceivable to the
target value. In this investigation, the ANN comprises of
one input layer consisting of nine neurons, one hidden layer
rons are utilized in the hidden layer for the investigation of
noisy and noiseless data set cases, respectively, as evidenced
in Table 2. The corresponding R values for training set and
testing set are shown in Fig. 10. The prepared networks can
foresee the damage intensity for both the noisy and noise-
error of 1.136e−08 and 5.008e−06, respectively, in the
training set and 1.252e−03 and 1.824e−04, respectively, in
the testing set. Nevertheless, the learning of the networks is
set according to the gradient descent momentum algorithm
with default learning rate of 0.01 and momentum constant
of 0.9 in the ANN tool from MATLAB 2015a. In case of
noisy data set, the training of the networks is stopped after
320 iterations in 4.52 min, and for noise free data set after
244 iterations, the training is stopped in 2.44 min. Prior two
unsolved multiple-damage cases have been tested in the
network model and the damage identification outcomes are
represented in Figs. 11 and 12.
4 Experimental validation
Test confirmations of the proposed scheme for damage
assessment in a laboratory steel shear frame model are pre-
sented in this segment. The test setup, data generation, and
training of the network and damage assessment outcomes
will be exhibited in subtle elements.
4.1 Experimental model and initial model updating
A three-story steel shear frame model is manufactured in the
structural engineering laboratory at the National Institute of
Technology (NIT) Durgapur, India for the experimental veri-
fication of the anticipated method. The experimental frame

Table 2  Performance evaluation Number of neurons in hidden MSE of training set R value of training set
of the network in the numerical layer
study
Noise free Noisy data Noise free data Noisy data Noise free data Noisy data
data

5 10 1.083e−03 1.043e−04 0.83369 0.98546

6 15 7.349e−04 5.514e−05 0.89029 0.99218
7 20 3.618e−04 4.134e−05 0.94587 0.99410
8 25 4.405e−05 1.884e−05 0.99383 0.99735
9 30 5.212e−06 1.824e−06 0.99929 0.999537
10 35 5.008e−06 1.136e−08 0.99924 0.99998

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Journal of Civil Structural Health Monitoring (2019) 9:411–423 417

Fig. 10  Regression plot of
training set, testing set and the
general set in numerical study:
a noise free data set, b noisy
data set

model and the dimensions of each segment are shown in
Fig. 13a, b. The height and width of the model are 900 mm
and 400 mm. The beams were rigidly fixed with columns
through welding. A solid 16 mm steel plate is welded at the
bottom of the first story columns. The thick plate is chosen in
such a way that the connection between first story columns
and the plate behaves like fixed support and the displace-
ment at that point is zero during the low impact vibration
test. However, it is considered that the test structure behaves
linear during the vibration test and the excitation force lies
in the linear range of the structure [27].
The modal parameters of the test frame are identified by
the impact hammer loading test. The test frame is instru-
mented with a uni-axial accelerometer (B & K Type 4507)
on the top of the third floor to capture the horizontal accel-
eration response. Roving hammer type test is conducted with
a modal hammer (B & K Type 8206) which is equipped
with a rubber tip to exert the excitation on the floors. The

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418 Journal of Civil Structural Health Monitoring (2019) 9:411–423

20 and material properties of the test frame. The elastic modu-

% Stiffness reduction ANN identified without noise lus and mass density are assessed as 200 GPa and 7850 kg/
15 ANN identified with 5% noise m3. The model updating is performed based upon experi-
True damage mental modal parameters obtained from the undamaged test
10 frame to reduce the discrepancy between the FEM results
and measured dynamic parameters. Since the main focus of
5 this research is to use only the first modal data, so merely the
fundamental natural frequency and mode shape will be mini-
0
mized during the updating procedure. Only the modal mass
1 2 3 4 5 6 7 8 9 of the columns is updated to minimize the disagreement in
Story location first modal data between the FEM and experimental model
[28]. The measured and analytical fundamental natural fre-
Fig. 11  Damage identification result of multiple damage at the sev- quencies are listed in Table 3. The inaccuracy in the funda-
enth and first stories mental frequency after updating is just 0.57%, which speci-
fies decent agreement between the FEM and experimental
model. The measured and analytical first mode shapes of
20 the model are depicted in Fig. 15a, b. It is explicit that both
ANN identified without noise mode shapes after model updating match exceptionally well.
% Stiffness reduction

15 ANN identified with 5% noise

True damage This updated FEM of the test frame will be used as the ref-
10 erence model to generate the training data and validate the
robustness of the proposed structural damage assessment
5 strategy.
0
4.2 Generation of training data
1 2 3 4 5 6 7 8 9
Story location
The input and output data for the training of the network
are generated from the modal analysis which is executed
Fig. 12  Damage identification result of multiple damage at the third in the reference model. Consequently, the first mode shape
and first stories
is obtained and put in Eq. (5) to calculate the MSS which
characterizes the undamaged structural story stiffness. The
sampling rate is fixed at 128 Hz, and cut-off frequency range damages are introduced as reduction of story stiffness in
for all consecutive tests is set from 1 to 50 Hz. terms of percentage SR of the undamaged state in the range
The frequency response functions (FRFs) obtained from between 0 and 15%, where 0% represents the intact state and
the experimental model are depicted in Fig. 14. The primary 15% indicates the partly damaged state. In case of single-
finite-element model (FEM) of the test frame is built on damage scenario, the stiffness of every story changes from
commercial software SAP 2000 according to the dimensions 1, 2, 3,…, to 15%; hence, 15 damaged cases are produced

Fig. 13  a Experimental setup of

the steel frame. b Dimensions 1.5
of each segment (all dimensions
are in mm)

12.5 300

150

400
(a) (b)

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Journal of Civil Structural Health Monitoring (2019) 9:411–423 419

2.5 Hammering at 3rd floor In multiple-damage events, the stiffness of any two random
Frequency response function Hammering at 2nd floor stories is changed from 1, 2, 3,…, to 15% keeping the other
Magnitude (gn/lbf) 2.0 Hammering at 1st floor one intact; consequently, 675 multiple-story damage cases
are generated. Accordingly, an aggregate of 720 damage
1.5 cases is produced from the reference model that incorporates
all conceivable outcomes of both single-story and two-story
1.0
damage cases. The CFMSS values from these damage cases
0.5 are obtained and the data sets will be utilized for the training
of the network, as described in Sect. 3.1.
0.0
4.3 Damage identification result and discussion
-0.5
0 2 4 6 8 10
Frequency (Hz) The flexural stiffness of each story in the shear frame is con-
sidered as 12EI/L3, where E, I, and L are defined as elastic
Fig. 14  FRFs obtained from impact hammer loading test modulus, and moment of inertia and height of story, respec-
tively. Therefore, the flexural stiffness is proportional to I
which is defined as bh3/12, where b and h are specified as
Table 3  Measured and analytical first natural frequency of the experi- the width and thickness of the column, respectively. Accord-
mental model before and after updating ingly, the reduction of moment of inertia will cause in reduc-
Mode Measured Before updating After updating tion in story stiffness. Two damage scenarios are created
(Hz) by reducing the width of the column in the test frame. The
Analytical Error (%) Analytical Error (%)
(Hz) (Hz) two damage cases comprise of single- and multiple-story
damage(s), viz. Scenario1 and Scenario2. 5% reduction of
1 2.590 2.468 4.71 2.605 0.57 flexural stiffness is introduced in the second story only in
Scenario1 which is defined as single-damage case. Scenario2
consists of multiple damages with 10% and 5% reductions of
from a single story. In this fashion, a total of 45 single-story flexural stiffness in the first and third stories, respectively.
damage scenarios are generated from the three stories in Both the damage scenarios are depicted in Fig. 16a, b. The
FEM. However, the story stiffness parameters and first first mode shape of these damaged frames is obtained from
mode shapes’ data are normalized in the range between 0 modal hammer vibration test. The identified mode shape is
and 1. Moreover, the input data sets that are the CFMSS- used to calculate the CFMSS-based DI. The CFMSS of these
based DI are normalized in the range between − 1 and + 1. damaged model is depicted in Figs. 17 and 18. It is explicit

Fig. 15  a Updated FE model

showing fundamental frequency 3
and mode shape. b Fundamental
mode shape before and after After updating
updating

2
Floor No.

Before updating

Experimentally
obtained
0
0 1 2

(a) (b)

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420 Journal of Civil Structural Health Monitoring (2019) 9:411–423

Fig. 16  a Introduced damage

at second floor (scenario1). b
Introduced damage at first and
third floor (scenario2)

0.045 0.037
0.037 0.030
0.030 0.022
0.022 0.015
CFMSS

0.015 0.007
CFMSS

0.007 0.000
0.000 -0.007
-0.007 -0.015
-0.015 -0.022
-0.022 -0.030
-0.030 1 2 3
1 2 3 Story location
Story location
Fig. 18  CFMSS plot of damage at the first and second stories
Fig. 17  CFMSS plot of damage at the second story

that the damaged story can be localized straight from the
CFMSS plot in Scenario1. However, CFMSS-based DI fails
to identify the third story which is damaged in Scenario2.
After training the designed networks, CFMSS values with
added noise of the two damage scenarios are incorporated
as test input to locate and quantify the structural damage.
The performance assessment outcomes for the network are
shown in Table 4. The lowest MSE value of 3.512e−06 and
1.063e−05 is obtained with 20 neurons in the hidden layer of
the network for training set and testing set, respectively, after
400 iterations. However, the regression of training and test-
ing sets obtained after the network training is closer to one
as denoted by the R value in Fig. 19. Hence, these outcomes
suggest that there is a close relationship between target and
output values, as well as any changes in story stiffness will
be reflected by CFMSS-based DI. Figures 20 and 21 rep-
resent the ANN predicted structural damages for both the
damage scenarios. The predicted damages by the proposed
methodology are very near to the correct value of introduced
damages with minor false identification.

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Journal of Civil Structural Health Monitoring (2019) 9:411–423 421

Table 4  Performance evaluation of the network in the experimental quantification equation proposed in this study. The equations
validation are generated from linear regression analysis utilizing the
Scenario MSE of training R value of train- Training time CFMSS-based DI. In the event of multiple-damage evalua-
set ing set (min) tion, the ANN is trained based on the input and output data
which are CFMSS and the corresponding reduction of story
Experimen- 3.512e−06 0.99934 2.15
tal damage stiffness, respectively. Only one hidden layer is used in ANN
assessment model both for numerical and experimental case studies.

5 Conclusions
5.0 ANN (Predicted)
A novel approach for anticipating single- and multiple-dam-

% Stiffness reduction
True damage
age eventualities in shear frame building has been proposed
and discussed. The methodology is based upon the fact that 2.5
the CFMSS will be greater than zero on the damaged story
when the damage occurs only on one story in a shear build-
ing. In this manner, the CFMSS-based DI has been proved 0.0
to be efficient for the assessment of single damage. However,
1 2 3
for multiple-damage assessment, the approach is subject to
usage of CFMSS-based DI as input layer for ANN. In case of Story location
single-damage assessment, once the damaged story is local-
ized, the damage estimation is performed from the damage Fig. 20  Damage identification result of single damage at the second
story

Fig. 19  Regression plot of
training set, testing set, and the
general set

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422
10.0
% Stiffness reduction ANN (Predicted)
True damage
7.5
5.0
2.5
0.0
1 2 3 Struct 89(9–10):733–743
Story location
8. Shi ZY, Law SS, Zhang LM (2002) Improved dam-
Fig. 21  Damage identification result of multiple damage at the first
and third stories
However, one hidden layer is sufficient for the case stud-
ies, since the chosen damage index (DI) is extraordinarily
10. Yan YJ, Cheng L, Wu ZY, Yam LH (2007) Development of
sensitive to damage. Nevertheless, the performance of the
network model is dependent on the input and output data
which are generated from the FE reference model. In case,
the system identification technique is not competent enough
to capture the precise dynamic properties of the structure or
the chosen model updating procedure fails to match with the
experimental data, and the NN model may fail to identify
and predict the damage in the structure appropriately.
The novelty of this study is that the sole needed modal
information in the proposed strategy is the first mode shape
only. In contrast with higher modal information, the first
mode shape is achieved effectively and precisely. Neverthe-
less, the study is limited to shear frame structures under
elastic limit only. Moreover, the efficiency of the damage
assessment methodology in the numerical and experimental
models also signifies that the strategy can be applied to noisy
data as well for the field applications, supporting the fact
that the practical measurement data are frequently affected
by noise.
Acknowledgements  The authors would like to thank the Department of
Civil Engineering NIT Durgapur, India for providing necessary support
and cooperation for this Investigation. Support from R & D Scheme
of Technical Education Quality Improvement Programme (TEQIP) of
Government of India is gratefully acknowledged.
Compliance with ethical standards  based damage index and Artificial Neural Network. Eng Fail
Conflict of interest  The authors declared no potential irreconcilable
situations concerning the research, authorship, and/or publication of
this manuscript.
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