The research presented in this manuscript introduces an independent structural health monitoring (SHM) system capable of performing impedance-based testing and detecting shifts in resonant frequencies. This independent structural health monitoring system incorporates a low power wireless transmitter that sends a warning signal when damage is detected in a structure. Two damage detection techniques were implemented on the SHM system and successfully used for evaluating structural damage. The first impedance-based technique is used to detect a gouge introduced to a composite plate. The second technique is a modal parameter technique that analyzes shifts in natural frequency; this technique was used to detect structural changes in an aluminum cantilever beam. In additional to the above test structures, an aircraft rib provided by the United States Air Force was also tested. This test was performed using the HP 4192A impedance analyzer so that the advantage of high frequency impedance-based tested could be demonstrated. Insight is given into the power characteristics of SHM systems and the need to incorporate power harvesting into these SHM devices is addressed. Also, a comparison between digital signal processors and microprocessors is included in this document. / Master of Science

Real-time structural health monitoring is a well established tool for post-earthquake damage estimation. A key component in the monitoring campaign is the approach used for processing the data from the structural health monitoring system. There is a large body of literature on signal processing approaches aimed at identifying ground-motion induced damage in civil engineering structures. This dissertation expands on a specific subgroup of processing approaches dealing with the identification of damage induced high-frequency transients in the monitoring data. The underlying intuition guiding the current research can be formulated in the following hypothesis - the time difference between the occurrence of a high-frequency transient and the closest deformation extremum forward in time is proportional to the degree of damage. A mathematical deduction is provided in support of the above hypothesis followed by a set of shaking table tests. For the purposes of this research two shaking table tests of reinforced concrete bridge piers were performed. Data from a shaking table test performed by another research group was also analyzed. The cases in which the proposed procedure could find a practical application are examined along with the present limitations.

Recent years have seen increasing research interest in structural health monitoring (SHM). Among the many advances in SHM research, “smart” wireless sensors capable of embedded computing and wireless communication have been highly attractive. Wireless communication in SHM systems was originally proposed to significantly reduce the monetary and time cost for installing lengthy cables in an SHM system. Besides wireless sensing, the next revolution in sensor networks has been predicted to be mobile sensor networks that implant mobility into traditional wireless sensor networks. This research explores decentralized structural model updating and damage detection using mobile and wireless sensors. In the first stage of this research, mobile sensing nodes (MSNs) are developed for SHM purposes. The MSNs can maneuver upon structures built with ferromagnetic/steel materials, conduct measurement, and communicate with pears or remote servers wirelessly. The performance of the MSNs is validated through laboratory and field experiments. To further investigate the mobile sensing strategy, a decentralized structural damage detection procedure is proposed herein for the MSNs using transmissibility functions. Laboratory experiments are conducted on a steel portal frame where various structure damage scenarios are emulated. Besides experiments with MSNs, this study also investigates the nature of transmissibility functions for damage detection in an analytical manner based on a general multi-DOF spring-mass-damper system. Finally, this research also explores substructure model updating through minimization of modal dynamic residuals, which can best benefit from dense mobile or wireless sensor data concentrated in one area. Craig-Bampton transform is adopted to condense the structural model, and minimization of the modal dynamic residuals is determined as the optimization objective. An iterative linearization procedure is adopted for efficiently solving the optimization problem. The presented substructure updating method is validated through a few numerical examples. For comparison, a conventional approach minimizing modal property differences is also applied, and shows worse updating accuracy than the proposed approach. The performance of the proposed substructure model updating approach is further investigated on the effects of substructure location and size.

In vibration-based damage detection in structures, often changes in the dynamic properties such as natural frequencies, modeshapes, and derivatives of modeshapes are used to identify the damaged elements. If only a partial list of natural frequencies is known, optimization methods may need to be used to identify the damage. In this research, the algorithm proposed by Podlevskyi & Yaroshko (2013) is used to determine the stiffness distribution in shear building models. The lateral load resisting elements are presented as a single equivalent spring, and masses are lumped at floor levels. The proposed method calculates stiffness values directly, i.e., without optimization, from the known partial list of natural frequency data and mass distribution. It is shown that if the number of stories with reduced stiffness is smaller than the number of known natural frequencies, the stories with reduced stiffnesses can be identified. Numerical studies on building models with two stories and four stories are used to illustrate the solution method. Effect of error or noise in given natural frequencies on stiffness estimates and, conversely, sensitivity of natural frequencies to changes in stiffness are studied using 7-, 15-, 30-, and 50-story numerical models. From the studies, it is learnt that as the number of stories increases, the natural frequencies become less sensitive to stiffness changes. Additionally, eight laboratory experiments were conducted on a five-story aluminum structural model. Ten slender columns were used in each story of the specimen. Damage was simulated by removing columns in one, two, or three stories. The method can locate and quantify the damage in cases presented in the experimental studies. It is also applied to a 1/3 scaled 18-story steel moment frame building tested on an earthquake simulator (Suita et al., 2015) to identify the reduction in the stiffness due to fractures of beam flanges. Only the first two natural frequencies are used to determine the reductions in the stiffness since the third mode of the tower is torsional and no reasonable planar spring-mass model can be developed to present all of the translational modes. The method produced possible cases of the softening when the damage was assumed to occur at a single story.

A avaliação do estado das estruturas é um tema de pesquisa muito importante para diversos campos da engenharia e, por isso, estão sendo desenvolvidas metodologias que permitem detectar dano em uma estrutura. O presente trabalho tem como objetivo verificar a aplicabilidade dos algoritmos genéticos (AG) na detecção de dano a partir das mudanças ocorridas, entre as condições com e sem dano, dos parâmetros dinâmicos da estrutura. Três tipos de AGs (binário, real e redundante implícita) são implementados com a finalidade de comparação do desempenho. Os parâmetros dinâmicos da estrutura, sadia e danificada, são determinados a partir do modelo de elementos finitos da estrutura. Medições incompletas e ruidosas foram consideradas visando simular as características da informação obtida por meio de um ensaio dinâmico real. Os AGs implementados são aplicados em estruturas de tipo viga, treliça e pórtico sob diferentes cenários de dano. Resultados mostram o bom desempenho dos AGs para detectar dano em uma estrutura. / The assessment of structural health is an important research topic in many engineering fields and, for that reason, damage detection methodologies are being developed. The goal of this dissertation is to verify the applicability of genetic algorithms (GAs) for detecting damage using dynamic parameters changes between undamaged and damaged condition of the structure. Three different GAs are implemented in order to compare the performance of the algorithms. Undamaged and damaged dynamic parameters are computed using the finite element model of the structure. Incomplete and noisy measurements are considered with the objective of simulating the real condition of the information in a real dynamic test. GAs are applied in some different structures: beam, truss and frame. The results indicate the good performance of the GAs for detecting damage in a structure.

Mechanical durability of the structures should be continuously monitored during their operation. Structural health monitoring (SHM) techniques are typically used for gathering the information which can be used for evaluating the current condition of a structure regarding the existence, location, and severity of the damage. Damage can occur in a structure after long-term operating under service loads or due to incidents. By detection of these defects at the early stages of their growth and nucleation, it would be possible to not only improve the safety of the structure but also reduce the operating costs. The main goal of this dissertation is to develop a reliable and cost-effective SHM system for inspection of composite and metallic structures. The Surface Response to Excitation (SuRE) method is one of the SHM approaches that was developed at the FIU mechatronics lab as an alternative for the electromechanical impedance method to reduce the cost and size of the equipment. In this study, firstly, the performance of the SuRE method was evaluated when the conventional piezoelectric elements and scanning laser vibrometer were used as the contact and non-contact sensors, respectively, for monitoring the presence of loads on the surface. Then, the application of the SuRE method for the characterization vii of the milling operation for identical aluminum plates was investigated. Also, in order to eliminate the need for a priori knowledge of the characteristics of the structure, some advanced signal processing techniques were introduced. In the next step, the heterodyne method was proposed, as a nonlinear baseline free, SHM approach for identification of the debonded region and evaluation of the strength of composite bonds. Finally, the experimental results for both methods were validated via a finite element software. The experimental results for both SuRE and heterodyning method showed that these methods can be considered as promising linear and nonlinear SHM approaches for monitoring the health of composite and metallic structures. In addition, by validating the experimental results using FEM, the path for further improvement of these methods in future researches was paved.

The objectives of the thesis work were to study theinteraction between embedded piezoceramic transducers andcomposite structures as well as determine techniques tosimplify the Lamb waves analysis. Firstly, this studyconsidered the design of the embedded piezoceramic transducers.Secondly, the effect of the embedded transducer on thecomposite strength as well as the influence of the mechanicallyloaded composite on the characteristics of the embeddedtransducer were investigated. Finally, to simplify the analysisof such complex Lamb wave responses, two techniques weredeveloped. They were based on the wavelet technique and amodelling technique, respectively. The design of the embedded piezoceramic transducers wasimproved by reducing the stress concentrations in the compositeas well as in all components constituting the piezoceramictransducer, that is, the piezoceramic element, interconnectorand conductive adhesive. The numerical analysis showed that thethickness of the interconnector had no significant influence onthe stress state of the piezoceramic transducer. It was alsofound that a compliant conductive adhesive reduced the stressconcentration located at the edge of the piezoceramic element.The structural integrity of composites embedded with theimproved piezoceramic transducer was investigated. Theexperiments, performed in tensile and compressive staticloading, indicated that the strength of the composite was notsignificantly reduced by the embedded piezoceramic transducer.Further investigations were conducted to evaluate theperformance of the improved piezoceramic transducer used as aLamb wave generator embedded in composites subjected tomechanical loading. The tests were conducted in tensile andcompressive static loading as well as fatigue loading. Thestudy showed a large working range of the embedded piezoceramictransducer. A post processing technique based on the waveletswas further assessed in the detection of damage and in thedamage size evaluation. A new wavelet basis was developedspecially for processing the Lamb wave response. This method,focused on the wavelet coefficients from the decomposition Lambwave response, showed promising results in evaluating thedamage size. The wavelets offered a sensitive tool to detectsmall damage, compared to other detection methods, improvingthe damage detection capabilities. The other technique wasdevoted to the simplification of the generated Lamb waves bythe use of multi-element transducers. The transducers weredesigned using both a normal-mode expansion and a FE-method.This technique allowed reducing the effect of a Lamb wave modetowards another. This technique was successfully implemented ina damage detection system in composites. <b>Keywords:</b>Embedded piezoceramic, transducer, composite,structural integrity, health monitoring, damage detection, Lambwaves, wavelets, normal-mode expansion, FE-method

This thesis addresses the experimental and numerical study of vibration-based damage detection (VBDD) techniques in structural health monitoring (SHM) of bridge superstructures. The primary goal of SHM is to ascertain the condition or health of a structure so that decisions can be made with regard to the need for remediation. VBDD techniques are global non-destructive evaluation (NDE) techniques. The principle of VBDD techniques is to detect damage using changes in the dynamic characteristics of a structure caused by the damage. The advantage of VBDD techniques over local NDE techniques is that VBDD techniques can assess the condition of an entire structure at once and are not limited to accessible components. <p>Well controlled laboratory experiments on a half-scale, simply supported steel-free bridge deck and two full-scale, simply supported prestressed concrete girders demonstrated that small scale damage at different locations can be reliably detected and located by VBDD techniques using a relatively small number of sensors (accelerometers or strain gauges) and considering changes to only the fundamental mode of vibration. The resolution of damage localization, defined as the length of the window within which damage could be located when the technique predicts it to be located at a particular point, was 70% of measurement point spacing for the deck and 82% for the girders, provided the damage was not located too close to a simple support.<p>To establish the potential of VBDD techniques in the absence of experimental uncertainty, eigenvalue analyses using finite element models of the deck and the girders were undertaken to investigate ability of five VBDD methods to predict the longitudinal location of damage. It was found that when mode shapes were well-defined with a large number of measurement points, the damage location could be determined with great accuracy using any of the five VBDD techniques investigated. The resolution of longitudinal localization of damage was 40 to 80% of the spacing between measurement points when small numbers of measurement points were used, provided the damage was not located too close to a simple support.<p>The experimental study successfully detected small scale damage under forced resonant harmonic excitation but failed in detecting damage under forced random excitation, although the use of random sources of excitation is more practical in field testing. Transient dynamic analyses on the finite element model of the steel-free bridge deck were performed to investigate the implications of using random forced vibrations to characterize mode shapes to be used to detect damage. It was found that the probability of successful damage localization depends upon the severity of the damage, the number of trials used to obtain the average mode shape, the location of damage relative to the nearest sensor, the distance between the damage and the support, and the magnitude of measurement errors. A method based on the repeatability of measured mode shapes is proposed to calculate the probability of successful damage detection and localization.<p>In summary, results of this research demonstrate that VBDD techniques are a promising tool for structural health monitoring of bridge superstructures. However, although these methods have been shown to be capable of effectively detecting small scale damage under well controlled conditions, a significant amount of challenging work remains to be done before they can be applied to real structures.

Most engineering structures include nonlinearity to some degree. Depending on the dynamic conditions and level of external forcing, sometimes a linear structure assumption may be justified. However, design requirements of sophisticated structures such as satellites, stabilized weapon systems and radars may require nonlinear behavior to be considered for better performance. Therefore, it is very important to successfully detect, localize and parametrically identify nonlinearity in such cases. In engineering applications, the location of nonlinearity and its type may not be always known in advance. Furthermore, as the structure will be excited from only a few coordinates, the frequency response function matrices will not be complete. In order to parametrically identify more than one type of nonlinearity which may co-exist at the same location with the above mentioned limitations, a method is proposed where restoring force surface plots are used which are evaluated by describing function inversion. Then, by reformulating this method, a second method is proposed which can directly evaluate the total describing function of more than one type of nonlinearity which may co-exist at the same location without using any linear frequency response function matrix. It is also aimed in this study to use the nonlinearity localization formulations for damage localization purposes. The validation of the methods developed in this study is demonstrated with case studies based on simulated experiments, as well as real experiments with nonlinear structures and it is concluded that the methods are very promising to be used in engineering structures.

This thesis addresses the experimental and numerical study of vibration-based damage detection (VBDD) techniques in structural health monitoring (SHM) of bridge superstructures. The primary goal of SHM is to ascertain the condition or health of a structure so that decisions can be made with regard to the need for remediation. VBDD techniques are global non-destructive evaluation (NDE) techniques. The principle of VBDD techniques is to detect damage using changes in the dynamic characteristics of a structure caused by the damage. The advantage of VBDD techniques over local NDE techniques is that VBDD techniques can assess the condition of an entire structure at once and are not limited to accessible components. <p>Well controlled laboratory experiments on a half-scale, simply supported steel-free bridge deck and two full-scale, simply supported prestressed concrete girders demonstrated that small scale damage at different locations can be reliably detected and located by VBDD techniques using a relatively small number of sensors (accelerometers or strain gauges) and considering changes to only the fundamental mode of vibration. The resolution of damage localization, defined as the length of the window within which damage could be located when the technique predicts it to be located at a particular point, was 70% of measurement point spacing for the deck and 82% for the girders, provided the damage was not located too close to a simple support.<p>To establish the potential of VBDD techniques in the absence of experimental uncertainty, eigenvalue analyses using finite element models of the deck and the girders were undertaken to investigate ability of five VBDD methods to predict the longitudinal location of damage. It was found that when mode shapes were well-defined with a large number of measurement points, the damage location could be determined with great accuracy using any of the five VBDD techniques investigated. The resolution of longitudinal localization of damage was 40 to 80% of the spacing between measurement points when small numbers of measurement points were used, provided the damage was not located too close to a simple support.<p>The experimental study successfully detected small scale damage under forced resonant harmonic excitation but failed in detecting damage under forced random excitation, although the use of random sources of excitation is more practical in field testing. Transient dynamic analyses on the finite element model of the steel-free bridge deck were performed to investigate the implications of using random forced vibrations to characterize mode shapes to be used to detect damage. It was found that the probability of successful damage localization depends upon the severity of the damage, the number of trials used to obtain the average mode shape, the location of damage relative to the nearest sensor, the distance between the damage and the support, and the magnitude of measurement errors. A method based on the repeatability of measured mode shapes is proposed to calculate the probability of successful damage detection and localization.<p>In summary, results of this research demonstrate that VBDD techniques are a promising tool for structural health monitoring of bridge superstructures. However, although these methods have been shown to be capable of effectively detecting small scale damage under well controlled conditions, a significant amount of challenging work remains to be done before they can be applied to real structures.