This thesis investigates the development of ultrasonic Structural Health Monitoring (SHM) systems, based on guided waves propagation, for the localization of low-velocity impacts and the detection of damage mechanisms in isotropic and anisotropic structures. For the identi- cation of the impact point, two main passive techniques were developed, an algorithm-based and an imaging-based method. The former approach is based on the dierences of the stress waves measured by a network of piezoelectric transducers surface bonded on plate-like structures. In particular, four piezoelectric sensors were used to measure the antisymmetrical A0 Lamb mode in isotropic materials, whilst six acoustic emission sensors were employed to record the wave packets in composite laminates. A joint time-frequency analysis based on the magnitude of the Continuous Wavelet Transform was used to determine the time of arrivals of the wave packets. Then, a combination of unconstrained optimization technique associated to a local Newton's iterative method was employed to solve a system of non linear equations, in order to assess the impact location coordinates and the wave group speeds. The main advantages of the proposed algorithms are that they do not require an a-priori estimation of the group velocity and the mechanical properties of the isotropic and anisotropic structures. Moreover, these algorithms proved to be very robust since they were able to converge from almost any guess point and required little computational time. In addition, this research provided a comparison between the theoretical and experimental results, showing that the impact source location and the wave velocity were predicted with reasonable accuracy. The passive imaging-based method was developed to detect in realtime the impact source in reverberant complex composite structures using only one passive sensor. This technique is based on the re- ciprocal time reversal approach, applied to a number of waveforms stored in a database containing the impulse responses of the structure. The proposed method allows achieving the optimal focalization of the acoustic emission source (impact event) as it overcomes the limitations of other ultrasonic impact localization techniques. Compared to a simple time reversal process, the robustness of this approach is experimentally demonstrated on a stiened composite plate. This thesis also extended active ultrasonic guided wave methods to the specic case of dissipative structures showing non-classical nonlinear behaviour. Indeed, an imaging method of the nonlinear signature due to impact damage in a reverberant complex anisotropic medium was developed. A novel technique called phase symmetry analysis, together with frequency modulated excitation signals, was used to characterize the third order nonlinearity of the structure by exploiting its invariant properties with the phase angle of the input waveforms. Then, a \virtual" reciprocal time reversal imaging process was employed to focus the elastic waves on the defect, by taking advantage of multiple linear scattering. Finally, the main characteristics of this technique were experimentally validated.

This thesis presents a development of Structural Health Monitoring (SHM) and Fault Diagnosis based on Artificial Immune System (AIS), a biology-inspired method motivated from the Biological Immune System (BIS). Using the antigen to model structural health or damage condition of specific characteristics and the antibody to represent an information system or a database that can identify the specific damage pattern, the AIS can detect structural damage and then take action to ensure the structural integrity. In this study the antibodies for SHM were first trained and then tested. The feature space in training includes the natural frequencies and the modal shapes extracted from the simulated structural response data including both free-vibration and seismic response data. The concepts were illustrated for a 2-DOF linear mass-spring-damper system and promising results were obtained. It has shown that the methodology can be effectively used to detect, locate, and assess damage if it occurred. Consistently good results were obtained for both feature spaces of the natural frequencies and the modal shapes extracted from both response data sets. As the only exception, some significant errors were observed in the result for the seismic response data when the second modal shape was used as the feature space. The study has shown great promises of the methodology for structural health monitoring, especially in the case when the measurement data are not sufficient. The work lays a solid foundation for future investigations on the AIS application for large-scale complex structures.

Vibration-based damage detection methods are used in structural applications to identify the global dynamic response of the system. The purpose of the work presented is to exhibit a vibration-based damage detection algorithm that calculates a damage indicator, based on limited frequency bands of the transmissibility function that have high coherence, as a metric for changes in the dynamic integrity of the structure. The methodology was tested using numerical simulation, laboratory experimentation, and field testing with success in detecting, comparatively locating, and relatively quantifying different damages while also parametrically investigating variables which have been identified as issues within similar existing methods. Throughout both the numerical and laboratory analyses, the results were used to successfully detect damage as a result of crack growth or formation of new cracks. Field results using stochastic operational traffic loading have indicated the capability of the proposed methodology in evaluating the changes in the health condition of a section of the bridge and in consistently detecting cracks of various sizes (30 to 60 mm) on a sacrificial specimen integrated with the bridge abutment and a floor beam. Fluctuations in environmental and loading conditions have been known to create some uncertainties in most damage detection processes; however, this work demonstrated that by limiting the features of transmissibility to frequency ranges of high coherence, the effect of these parameters, as compared to the effect of damage, become less significant and can be neglected for some instances. The results of additional field testing using controlled impact forces on the sacrificial specimen have reinforced the findings from the operational loading in detecting damage.

Vibration-based damage detection (VBDD) methods are structural health monitoring techniques that utilize changes to the dynamic characteristics of a structure (i.e. its natural frequencies, mode shapes, and damping properties) as indicators of damage. While conceptually simple, considerable research is still required before VBDD methods can be applied reliably to complex structures such as bridges. VBDD methods require reliable estimates of modal parameters (notably natural frequencies and mode shapes) in order to assess changes in the condition of a structure. This thesis presents the results of experimental and numerical studies investigating a number of issues related to the potential use of VBDD techniques in the structural health monitoring of bridges, the primary issue being the influence of the excitation source.<p> Two bridges were investigated as part of this study. One is located on Provincial Highway No. 9 over the Red Deer River south of Hudson Bay, Saskatchewan. The other is located near the Town of Broadview, Saskatchewan, off Trans-Canada Highway No. 1, 150 km east of the City of Regina. Field tests and numerical simulations were conducted using different types of excitation to evaluate the quality of the modal properties (natural frequencies and mode shapes) calculated using these excitation types, and thus to evaluate the performance of VBDD techniques implemented using the resulting modal data. Field tests were conducted using different sources of dynamic excitation: ambient, traffic excitation, and impact excitation. The purpose of field testing was to study the characteristics and repeatability of the modal parameters derived using the different types of dynamic excitation, and to acquire data that could be used to update a FE model for further numerical simulation.<p> A FE model of the Red Deer River bridge, calibrated to match the field measured dynamic properties, was subjected to different types of numerically simulated dynamic excitation with different noise (random variations) levels added to them. The types of dynamic excitation considered included harmonic forced excitation, random forced excitation and the subsequent free vibration decay, impact excitation, and different models of truck excitation. The bridge model was subjected to four different damage scenarios; in addition, six VBDD methods were implemented to evaluate their ability to identify and localize damage. The effects of uncertainty in the definition of controlled-force excitation sources and variation in measurement of the bridge response were also investigated.<p> Field tests on the Hudson Bay bridge showed that excitation induced by large trucks generally produced more reliable data than that of smaller vehicles due to higher signal-to-noise ratios in the measured response. It was also found that considering only the free vibration phase of the response after the vehicle left the bridge gave more reliable data. Impact excitation implemented the on Hudson Bay bridge using a spring-hammer yielded repeatable and high quality results, while using a heavy weight delectometer for impact excitation on the Broadview bridge produced results of lesser quality due to the occurrence of multiple strikes of the impact hammer. In general, wind induced vibration measurements taken from both bridges were less effective for defining modal properties than large vehicle loading or impact excitation. All of the VBDD methods examined in this study could detect damage if the comparison was made between modal parameters acquired by eigenvalue analyses of two FE models of the bridge, before and after damage. However, the performance of VBDD methods declined when the dynamic properties were calculated from response time histories and noise was introduced. In general, the damage index method performed better than other damage detection methods considered.<p> Numerical simulation results showed that harmonic excitation, impact excitation, and the free decay phase after random excitation yielded results that were consistent enough to be used for the identification of damage. The reliability of VBDD methods in detecting damage dropped once noise was introduced. Noise superimposed on the excitation force had little effect on the estimated modal properties and the performance of VBDD methods. On the other hand, noise superimposed on the measured dynamic response had a pronounced negative influence on the performance of the VBDD methods.

Monitoring the integrity of civil engineering structures is an imperative aspect of public safety, since structural failures can pose serious threats to life and property. Periodic inspection performed throughout the life span of these structures is also vital for a nation’s economy. Substantial sums of money may be saved upon detecting structural deterioration in a timely manner. Nondestructive damage evaluation (NDE) offers effective and economically feasible solutions to perform such tasks. Better predictions can be made regarding the current state of structures, and structurally deficient regions that need immediate attention may successfully be narrowed down by utilizing NDE. For these reasons, a considerable amount of research has been conducted in the field of NDE over the past few decades. As a result, many different methodologies are now available, and many new ones continue to emerge as the need for better evaluation techniques prevails. Upon reviewing the NDE methodologies proposed to date, it may be concluded that theories based on the fundamental equations of mechanics and mathematics in conjunction with justifiable assumptions provided the best results compared to the algorithms developed pragmatically. The goal of this study is to provide NDE methodologies that simultaneously identify the location, the extent, and the severity of damage in general beams. By general beams, we mean beyond Euler-Bernoulli beams (i.e. slender beams) to deep beams and stubby beams whose response may be based on the Timoshenko beam theory, and the Theory of Elasticity. After presenting the governing equations of equilibrium and stress-displacement relations of the fundamental beam theories including the Euler-Bernoulli Beam theory, the Timoshenko beam theory, and the beam theory based on linear Elasticity Theory, mathematical expressions which relate physical properties (e.g. stiffness) of the undamaged and damaged structure to measurable response quantities (e.g. displacement, strains, etc.) are developed. We believe that these algorithms will lead to earlier and more accurate prediction of damage in critical structures. The findings of this work will also lead to a better understanding of the limitations of the currently proposed NDE techniques. In addition, it is anticipated that by incorporating the methodologies proposed in this study to the continuous health monitoring of structural systems could reduce the cost of maintenance and offer safer infrastructure networks.

Vibration-based damage detection (VBDD) methods are structural health monitoring techniques that utilize changes to the dynamic characteristics of a structure (i.e. its natural frequencies, mode shapes, and damping properties) as indicators of damage. While conceptually simple, considerable research is still required before VBDD methods can be applied reliably to complex structures such as bridges. VBDD methods require reliable estimates of modal parameters (notably natural frequencies and mode shapes) in order to assess changes in the condition of a structure. This thesis presents the results of experimental and numerical studies investigating a number of issues related to the potential use of VBDD techniques in the structural health monitoring of bridges, the primary issue being the influence of the excitation source.<p> Two bridges were investigated as part of this study. One is located on Provincial Highway No. 9 over the Red Deer River south of Hudson Bay, Saskatchewan. The other is located near the Town of Broadview, Saskatchewan, off Trans-Canada Highway No. 1, 150 km east of the City of Regina. Field tests and numerical simulations were conducted using different types of excitation to evaluate the quality of the modal properties (natural frequencies and mode shapes) calculated using these excitation types, and thus to evaluate the performance of VBDD techniques implemented using the resulting modal data. Field tests were conducted using different sources of dynamic excitation: ambient, traffic excitation, and impact excitation. The purpose of field testing was to study the characteristics and repeatability of the modal parameters derived using the different types of dynamic excitation, and to acquire data that could be used to update a FE model for further numerical simulation.<p> A FE model of the Red Deer River bridge, calibrated to match the field measured dynamic properties, was subjected to different types of numerically simulated dynamic excitation with different noise (random variations) levels added to them. The types of dynamic excitation considered included harmonic forced excitation, random forced excitation and the subsequent free vibration decay, impact excitation, and different models of truck excitation. The bridge model was subjected to four different damage scenarios; in addition, six VBDD methods were implemented to evaluate their ability to identify and localize damage. The effects of uncertainty in the definition of controlled-force excitation sources and variation in measurement of the bridge response were also investigated.<p> Field tests on the Hudson Bay bridge showed that excitation induced by large trucks generally produced more reliable data than that of smaller vehicles due to higher signal-to-noise ratios in the measured response. It was also found that considering only the free vibration phase of the response after the vehicle left the bridge gave more reliable data. Impact excitation implemented the on Hudson Bay bridge using a spring-hammer yielded repeatable and high quality results, while using a heavy weight delectometer for impact excitation on the Broadview bridge produced results of lesser quality due to the occurrence of multiple strikes of the impact hammer. In general, wind induced vibration measurements taken from both bridges were less effective for defining modal properties than large vehicle loading or impact excitation. All of the VBDD methods examined in this study could detect damage if the comparison was made between modal parameters acquired by eigenvalue analyses of two FE models of the bridge, before and after damage. However, the performance of VBDD methods declined when the dynamic properties were calculated from response time histories and noise was introduced. In general, the damage index method performed better than other damage detection methods considered.<p> Numerical simulation results showed that harmonic excitation, impact excitation, and the free decay phase after random excitation yielded results that were consistent enough to be used for the identification of damage. The reliability of VBDD methods in detecting damage dropped once noise was introduced. Noise superimposed on the excitation force had little effect on the estimated modal properties and the performance of VBDD methods. On the other hand, noise superimposed on the measured dynamic response had a pronounced negative influence on the performance of the VBDD methods.

Ageing mechanical, civil, aerospace, marine and offshore structures require continuous and accurate assessment on their integrity to avoid potentially hazardous failures. To further facilitate this crucial demand, a new technical terminology, generally referred to as structural health monitoring (SHM) has been coined in three past decades. SHM involves deployment of a sensory network on such structures in order to gather useful data, such that processing and interpreting the data through specific algorithms would enable one to detect defects and anomalies within the structures. This dissertation presents the results of a series of efforts expended towards the refinement and enhancement of a vibration-based SHM technique, which was originated within our research group. In the adopted damage detection scheme, vibration data are gathered from structures via piezoelectric sensors. Data are processed by a robust signal processing approach, known as the empirical mode decomposition (EMD) in order to establish energy-based damage indices (EMD_EDIs). Interpretation of the damage indices enables detection of onset, location and advancement of defects within structures. A series of adjustments and modifications were devised and implemented to the application of the originally developed methodology, such that, besides increasing the methodology’s robustness and accuracy, they also facilitate a remote vibration-based SHM targeting onshore and offshore pipelines. The integrity of the method in detection of bolt-loosening in a bolted flange joint of a full-scale pipeline was verified through numerical simulations and experimental investigations. The source of a significant inconsistency reported in the previous trials was identified and resolved. Also, for the first time, the remote application of the technique was facilitated by incorporating an advanced wireless data acquisition system. Moreover, the application of the methodology was extended to detection of cracks in girth-welds of offshore pipelines. In this regard, a comprehensive discussion is first provided, which identifies the role of parameters that influence the accuracy of numerical modeling of the dynamic response of submerged structures. The experimental and numerical investigation following the aforementioned modeling efforts presents encouraging results in detection of an advancing notch in the girth-weld of a submerged pipe. The use of a piezoelectric-based excitation technique, incorporated for the first time in the application of the methodology would evidence the enhanced practicality and robustness of the approach. The study concludes with a successful detection of a real-life sharp propagating crack in a beam due to cyclic loadings.

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Real-time structural integrity monitoring is a concept that is becoming a reality in the engineering community. It will soon be possible for a structure to warn the user when its own structural integrity has been altered. A qualitative impedance-based health monitoring technique, which can be implemented for real-time damage evaluation of complex structures, is investigated. The basic principle of the technique is to monitor the structure's mechanical impedance which will be changed with the presence of damage. The mechanical impedance variations are monitored by measuring the electrical impedance of a bonded piezoelectric actuator/sensor (PZT). This mechanical-electrical impedance relation is due to the electro-mechanical coupling property of piezoelectric materials. This health monitoring technique can be easily adapted to existing structures, since only a small non-intrusive PZT patch is needed. This impedance-based method operates at high frequencies (generally above 100kHz), which enables it to detect incipient type damage in a localized region. The localized sensing region offers the advantage of not being affected by nonnal operating conditions or by changing boundary conditions. In this thesis, a complete theoretical background on the impedance-based technique is derived. Then, the technique is applied successfully to a variety of case studies; such as composite patch repair, aircraft structures, precision parts, and civil infrastructure. By simplifying the impedance measurement interpretation through a simple scalar damage metric, the real-time implementation of the impedance-based technique has been proven feasible. / Master of Science