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Experimental Vibration Analysis For Civil Structures: Testing, Sensing, Monitoring, and Control 1st Edition Joel P. Conte Et Al. (Eds.)
Experimental Vibration Analysis For Civil Structures: Testing, Sensing, Monitoring, and Control 1st Edition Joel P. Conte Et Al. (Eds.)
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Lecture Notes in Civil Engineering
Joel P. Conte
Rodrigo Astroza
Gianmario Benzoni
Glauco Feltrin
Kenneth J. Loh
Babak Moaveni Editors
Experimental
Vibration
Analysis for Civil
Structures
Testing, Sensing, Monitoring,
and Control
Lecture Notes in Civil Engineering
Volume 5
Lecture Notes in Civil Engineering (LNCE) publishes the latest developments in
Civil Engineering - quickly, informally and in top quality. Though original research
reported in proceedings and post-proceedings represents the core of LNCE, edited
volumes of exceptionally high quality and interest may also be considered for
publication. Volumes published in LNCE embrace all aspects and subfields of, as
well as new challenges in, Civil Engineering. Topics in the series include:
Editors
Experimental Vibration
Analysis for Civil
Structures
Testing, Sensing, Monitoring,
and Control
123
Editors
Joel P. Conte Glauco Feltrin
Department of Structural Engineering Swiss Federal Laboratories for Materials
University of California at San Diego Science and Technology (EMPA)
La Jolla, CA Zürich
USA Switzerland
v
vi Preface
We express our sincere thanks to the members of the Organizing Committee, the
members of the Scientific Committee, and, in particular, all the authors and par-
ticipants for their essential and valuable contributions.
Joel P. Conte
Rodrigo Astroza
Gianmario Benzoni
Glauco Feltrin
Kenneth Loh
Babak Moaveni
Organization
Editors/Organizing Committee
Joel P. Conte
Professor, Ph.D.
Department of Structural Engineering
University of California, San Diego
USA
jpconte@ucsd.edu
Rodrigo Astroza
Assistant Professor, Ph.D.
Faculty of Engineering and Applied Sciences
Universidad de los Andes
Chile
rastroza@miuandes.cl
Gianmario Benzoni
Research Scientist, Ph.D.
Department of Structural Engineering
University of California, San Diego
USA
gbenzoni@ucsd.edu
Glauco Feltrin
Senior Researcher, Ph.D.
Swiss Federal Laboratories for Materials Science and Technology (EMPA)
Switzerland
glauco.feltrin@empa.ch
vii
viii Organization
Kenneth Loh
Associate Professor, Ph.D.
Department of Structural Engineering
University of California, San Diego
USA
kjloh@ucsd.edu
Babak Moaveni
Associate Professor, Ph.D.
Department of Civil and Environmental Engineering
Tufts University
USA
babak.moaveni@tufts.edu
Scientific Committee
Keynote Papers
Assessment of Small Damage by Direct Modal
Strain Measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
G. De Roeck, E. Reynders, and D. Anastasopoulos
Flexible Architectures for Full-Scale Performance Evaluation
of Tall Buildings: Burj Khalifa and Beyond . . . . . . . . . . . . . . . . . . . . . . 17
Tracy Kijewski-Correa and Andrew Bartolini
Information-Driven Modeling of Structures
Using a Bayesian Framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Costas Papadimitriou, Costas Argyris, and Panagiotis Panetsos
Development of a High Accuracy and High Sampling Rate
Displacement Sensor for Civil Engineering Structures Monitoring . . . . 62
Hoon Sohn, Kiyoung Kim, Jaemook Choi, Gunhee Koo,
and Junyeon Chung
ix
x Contents
Abstract. Vibration based Structural Health Monitoring was and is still a hot
topic in research. Much progress has been made both from the theoretical as well
as the practical side. Vibration-based SHM traditionally makes use of
uniaxial/triaxial accelerometers or velocity meters. Also sometimes inclinome-
ters are installed. Recent trends in SHM are the use of high-rate GPS receivers
[1], wave propagation-based piezoelectric ceramic sensing technology and
optical fiber sensors for dynamic strain and temperature measurements [2].
A particular challenge for structural health assessment is the discovery of
small local damage. It is well known that for small damages, the changes in
natural frequencies remain very low. Moreover, they are considerably influenced
by environmental conditions (mainly temperature) [3], which influence has to be
eliminated on beforehand [4, 5]. Also modal displacements are rather insensitive
to small stiffness perturbations. On the contrary, modal strains (or curvatures)
are very receptive to small stiffness changes. Additionally, they immediately
spot the damage location. Some authors have tried to derive curvatures from
modal displacements but this procedure is very prone to even slight measure-
ment and/or identification errors. Therefore, the key issue is the direct mea-
surement of (modal) strains. However, the development of a distributed strain
sensor network able to cope with the very low strain intensities during ambient
excitation is still a challenge. In this paper by recent experiments on steel and
concrete beams the extreme accuracy of dynamic measurements with optical
FBG strain sensors is demonstrated.
Another possibility to obtain precise modal strains would be the development
of a transducer that amplifies the strains. In a recent research project, by using
Topology Optimization [6], a transducer was developed that measures differ-
ential axial displacements over a sufficient long distance and at the same time is
upscaling the strains. Results obtained with this transducer are reported.
In this context, a new challenge for Optimal Sensor Placement [7] is to deal
with different sensor types, e.g. displacement transducers, accelerometers and
strain sensors.
For localization and quantification of damage, the most powerful method is
FE-model updating based on minimizing differences between measured and
calculated modal parameters [8]. The addition of modal strains to the objective
function of the minimization problem will improve the damage identification
process.
1 Introduction
2.1 Background
A particular challenge for structural health assessment is the discovery of small local
damage. Not only natural frequencies and mode shapes will hardly be affected but also
its influence hidden in the uncertainty blur. Therefore, the development of a distributed
strain sensor network able to cope with the very low strain intensities during ambient
excitation is a challenge. Optical fiber sensors with Bragg grating technology perma-
nently attached to the structure could be a good choice in this respect. Interrogation
units are still quite expensive but can be coupled and uncoupled when adopting a
periodic monitoring maintenance strategy. An additional advantage of the measured
strain field is that it can be directly related to the stress field. Such a system will also be
able to measure quasi-static deformation as occurs in case of shrinkage, creep, thermal
expansion and very slowly applied dynamic loads. The idea of directly measuring
accurate strains is explored in the next sections.
is still reasonably well fulfilled. This also implies that (modal) curvatures can be used
for damage assessment.
Therefore a transducer that measures differential axial displacements over a suffi-
cient long distance and at the same time amplifies the strains would be of great benefit.
In a recent research project such transducer was developed by using Topology Opti-
mization [14]. The transducer is connected by bolts to the test structure (Fig. 2: points 1
and 2). The actual strain is the one between the two bolts. The goal of the Topology
Optimization is to amplify the strain occurring between points A and B (Fig. 1), which
is measured by a Bragg grating on an optical fiber between these two points.
min cðxÞ
x
V
subject to : KU ¼ F; fv ; 0 xe 1 ð1Þ
V0
In this equation, x is the vector with the element densities xe, ranging from 0 (void)
to 1 (solid). These element densities will be altered to obtain an optimal objective value
c. K is the global stiffness matrix, U is the global displacement vector containing the
displacements in all degrees of freedom and F is the global force vector. V is the
material volume and V0 is the total volume of the design domain. The ratio of these
parameters must be smaller than a prescribed volume fraction fv. This volume con-
straint is applied to this optimization, ensuring the total amount of material remains
below a certain amount. Through calibration a volume constraint of 50% was selected,
as a higher volume would not result in a higher objective value but would have a
negative influence on the natural frequencies of the transducer.
Assessment of Small Damage by Direct Modal Strain Measurements 7
The optimum of the objective function is calculated using the Method of Moving
Asymptotes [6]. This algorithm will iteratively calculate the optimum. Convergence
will be assumed when a change in material distribution of less than 5% occurs. This
standard optimization approach results in one node hinges and bending in the optical
fiber. To obtain a more robust design, extra constraints are applied. The first constraints
ensured a local length scale control, preventing one node hinges. Another constraint
was added, ensuring the mounting platforms of the optical fiber will not rotate, pre-
venting bending of the fiber. This algorithm will iteratively calculate the optimum.
Convergence will be assumed when a change in material distribution of less than 5%
occurs.
The result of the optimization is shown in Fig. 2. A strain amplification by a factor
120 can theoretically be obtained.
Figure 3 shows a displacement plot by ANSYS for the right half of the sensor.
A compression between 1 and 2 results in an elongation of AB. A prototype of this
sensor has been produced by laser cutting and its upscaling factor tested in the labo-
ratory [14].
suspended on flexible springs. The beam was excited through a shaker located at the
left end (Fig. 5) with various force amplitudes (2.3–13.5 N) and excitation signals
(pure random, swept sign, periodic random) from [0:200] Hz and from [0:500] Hz. The
low forces produce strain RMS values below one micro-strain.
The beam was instrumented with a chain of multiplexed Bragg Grating (FBG) strain
sensors glued at the top and the bottom flange of the beam (Fig. 5) and accelerometers
(Fig. 6). The sampling frequency was fs = 20000 Hz for the accelerometers and fs =
950 Hz for the FBGs.
FBG based sensing relies on tracking the Bragg peak wavelength as it shifts with a
change in the measured peak. Recently a fast and accurate peak detection algorithm has
been recently proposed [17]. The fast phase-correlation (FPC) algorithm determines the
wavelength shift from the phase shift between the undisturbed FBG spectrum and the
perturbed spectrum.
Three modal analyses were performed by applying the Matlab toolbox MACEC
[18] with two algorithms, SSI-cov and CSI [10]: (1) using FBG strain data; (2) using
accelerometer data; (3) using both data. In the latter case, the accelerometer data were
down-sampled at 950 Hz.
In the interval [0:200] Hz 2 bending modes and 3 torsional modes could be
identified. An excellent correspondence with FE calculated modal properties is
observed [16]. Moreover, the obtained modal characteristics from the combined modal
analysis show a high consistency with the ones obtained from the separate analyses.
The differences in modal displacements are less than 5%. The combined analysis, using
data from both FBG strain sensors and accelerometers, allows to obtain mass nor-
malized modal strains. Mass normalization is possible because acceleration was
measured at the same location and direction as the applied force. Figure 7 shows the
ciently long length (e.g. typically one or two crack distances). Small measurement
lengths will show a clear discontinuous behavior, depending on the location of the
strain sensor: above a crack or between cracks.
A connector (Fig. 8) has been developed to clamp an optical glass fiber containing
Two chains of multiplexed FBG strain sensors were attached: one on the front side
at the bottom and on the back side at the top (Fig. 10). Each chain contains 14 FBG
sensors which measure the average strain along a length of 100 mm. The chains
measure the strains of the beam at a distance of about 1 cm from its edges.
At the top side of the beam 20 accelerometers were installed (Fig. 11). The distance
between the accelerometers was about 20 cm.
Prior to the dynamic tests, damage is induced by static loads in a four point bending
configuration (Fig. 12).
After each static test producing progressive damage, the beam is suspended from
flexible springs, approaching dynamic free-free boundary conditions, to perform a
modal identification. Dynamic response is provoked by hammer impacts and by a
12 G. De Roeck et al.
shaker, exciting both the bending and the torsion modes. Input signal to the shaker is a
sine sweep. The sampling frequency of the FBG strain acquisition system (FAZT I4) is
fs = 1000 Hz and 10000 Hz for the acceleration acquisition system (NI PXI-1050
chassis with NI PXI-4472B modules).
In the initial state, by using the acceleration data in MACEC, three vertical bending
modes (B1, B2, B3) and three torsional modes (T1, T2, T3) are identified (Table 1).
When applying system identification to the strain data, only one lateral bending mode
(L1) and one vertical bending mode (B1) could be extracted due to the limited sam-
pling frequency of the FBG strain acquisition system. No axial modes (A) are found. In
Table 1 also a comparison is made with a FE model (ANSYS) consisting of solid
elements for the concrete and truss elements for the reinforcement.
Table 2 gives a view of the corresponding experimental mode shapes.
Damage is applied at different static loads (Fig. 12) till failure. Dynamic tests are
performed after each unloading and change of boundary conditions to free-free, by
attaching the beam to flexible springs. The extensive dataset is currently analyzed. Some
preliminary results obtained after applying a static load P of 80 kN are presented. This
load exceeds the crack load (about 30 kN). Table 5 resumes the frequency shifts. Despite
the clear decrease of natural frequencies, the changes in mass normalized mode shapes
are rather small, as shown in Table 3 for the first bending mode B1 and the third bending
mode B3. The changes for the higher mode B3 are more pronounced, but still small.
The simultaneous measurement of accelerations (at the location of the applied load)
and strains also allows to obtain mass normalized modal strains.
Table 4 shows for mode B1 the mass normalized modal strains at the top (left
column) and at the bottom (right column). Results are given at initial undamaged state
and at P equal to 80 kN. The initial modal strains, measured over a length of 10 cm)
show a very good correspondence with the mass normalized strains from the FE model.
For the damaged beam the modal strains are more irregular. One of the reasons
could be the short measurement length (10 cm) compared to the mean crack spacing,
which is about 9 cm. Integrating over a longer length (by summing up over several
Assessment of Small Damage by Direct Modal Strain Measurements 13
Table 3. Mass normalized mode shapes B1 and B3, before (blue) and after damage (red).
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K 11
Aug
5833 Towner L Cav 5G
16
120 Aug
6047 Tobias A
G 18
85 June
2112 Toomey J F, Cor
I 17
99 Jan
12465 Tourney P 65
B 16
Feb
12636 Tocdt H 1K
10
22 Feb
12708 Tomlinson W F
G 28
77 July
3193 Tripp Ira, S’t 64
B 12
Oct
10442 Tripp O S Art 3K
7
Sept
9507 Truman A M Art 2D
22
Sept
7629 Trueman R Art 7G
2
76 Sept
8544 Tremor M
F 12
22 Aug
7317 Trumpp E Cav
F 30
115 July
3882 Trumbull H
I 24
Aug
7187 Travis T Cav 8G 64
29
4052 Truesdale W J 85 July
H 27
140 July
3425 Trompter F, S’t
B 16
99 Mar
100 Tracey Pat
I 22
April
707 Turner Wm, Cor Cav 5G
24
49 Sept
7970 Turner Jno
A 5
22 Oct
11376 Turner J Cav
M 24
16 June
1688 Turner Thos Cav
B 6
85 June
2120 Turner J B
C 17
22 Oct
10535 Tuthill C Cav
G 8
Sept
9687 Tuthill S D Art 2M
24
29 Oct
10604 Tuft E
C 10
15 Sept
7915 Turden E S Cav
D 5
Aug
7421 Turton W F Art 2 I
31
85 July
3796 Tubbs W H
D 22
154 July
3084 Tupple H, S’t
H 9
120 July
3129 Tucker L
D 10
2893 Tuttle W 48 July
K 4
22 Oct
10494 Tyrrell J Cav
A 8
15 July
4217 Uncer Jas
H 29
14 April
416 Uber Chas, S’t
A 7
Jan
12401 Udell J Art 7H 65
5
15 Oct
10887 Ulmer H Art 64
K 14
77 June
2317 Underburg L W
G 22
47 Mar
254 Underhill H
E 30
62 May
1495 Underwriter A
F 21
106 May
1091 Van Clarke Wm
D 14
Sept
9087 Van Allen C 7E
18
May
1025 Van Buren J W Art 3K
11
April
664 Van Buren H Art 3K
21
Sept
10071 Van Bethysen H Art 7 I
30
71 Jan
12539 Van Bramin T 65
K 27
132 June
1511 Van Derbreck A 64
B 3
24 July
3463 Van Dugen —— C
M 17
6560 Van Hosen C 95 Aug
A 23
12 Oct
10656 Van Housen B Bat
- 11
124 July
3371 Van Haughton J
C 15
104 May
1418 Vanderbrogart W
F 27
Sept
8957 Vanarsdale P 1G
16
152 Sept
8782 Vanalstine H
A 14
Sept
8806 Vanclack F 5D
15
85 Sept
7564 Vanvelzer J M
I 2
15 Sept
7635 Vanburen J Cav
B 2
59 Oct
11446 Vanscott L
C 25
Oct
11596 Vanarnum J Cav 8E
28
Aug
7054 Vanwagner C Art 2F
28
Aug
7244 Vanesse M Cav 2K
29
Aug
7252 Vanzart Wm Art 7E
30
169 Aug
6472 Varney C
E 22
Aug
6634 Vanalstine C Art 7C
23
3333 Vanest J H Art 14 July
B 15
120 Mch
83 Vanvelsen J
A 21
June
2089 Vaughan W H Cav 8K
17
85 May
937 Vespers Jas W
D 9
52 Sept
7506 Van Osten C
H 1
Aug
5661 Vencot L Cav 2H
14
July
4196 Veil Wm Art 6F
29
June
1539 Vernon S Cav 2M
1
178 Sept
7846 Vincent R
I 4
July
2782 Vincent Richard 1K
2
14 July
2879 Vinsant G M Art
I 4
178 July
2715 Vish O
E 1
22 Aug
6525 Vibbard Geo Cav
E 22
15 Sept
10023 Voerling H Art
C 29
10 Aug
4623 Vogle Anton
C 3
Aug
5503 Voorhies A H Cav 1H
13
85 Oct
11507 Voorhies E R
C 26