Structures 32 (2021) 1386–1397

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Structures
journal homepage: www.elsevier.com/locate/structures

Modal testing and evaluation of cracks on cantilever beam using mode

shape curvatures and natural frequencies
Siva Sankara Babu Chinka a, b, *, Srinivasa Rao Putti b, Bala Krishna Adavi c
a
Department of Mechanical Engineering, Lakireddy Bali Reddy College of Engineering, Mylavaram - 521230, India
b
Department of Mechanical Engineering, Andhra University College of Engineering (Autonomous), Visakhapatnam - 530003, India
c
Department of Mechanical Engineering, SRKR Engineering College, Bhimavaram - 534204, India

A R T I C L E I N F O A B S T R A C T

Keywords: This paper presented the process of implementing and developing a novel damage detection approach on beam
Modal testing like-structure using modal parameters. In Theoretical Modal Testing (TMT), the mode shapes, mode shape
Damage detection curvatures and natural frequencies were extracted by formulating differential equations of motion of un-cracked
Contours method
and cracked beams. In Experimental Modal Testing (EMT), the transient excitation method of modal testing is
Natural frequencies and mode shapes
Cantilever beam
performed by using an impact hammer test. EMT involves an extraction of natural frequencies through frequency
response functions at various surface cracks on the beam in a virtual instrumentation environment. Cantilever
beams of Aluminum 6061 is considered for analysis with crack position at the interval of 50 mm from fixed end
to free end at varying crack depths 20%, 40% and 60% of the beam total depth. The modal data from experi­
mental modal testing was validated with theoretical modal testing data. It was observed that there was a minor
change in lower modes; major change in natural frequencies for higher modes with the variation of damage
location/depths. To overcome the difficulty in crack detection of structures based on mode shapes and fre­
quencies individually, both the parameters mentioned are collectively used in this work as Frequency-Modeshape
Based Damage Detection Technique (FMBDD) to evaluate the crack location as well as crack depth easily and
accurately.

1. Introduction piezoelectric sensors.

Structural damage identification is one of the most significant areas
to investigate the many of multidisciplinary fields for structural security.
The crack in the beam leads to a reduction in stiffness, frequencies and
change in damping. The Identification of the crack location and its depth
can be measured through changes in dynamical characteristics. Based on
these changes, many approaches to identifying cracks have been
implemented easily and effectively by scientists and engineers. Doebling
SW, Farrar CR [1,2] reviewed research papers on the crack detection of
structures using changes in vibration parameters by implementing and
developing various techniques.
The methods used to detect damage of structures mainly based on
modal information like damping factor, frequencies and mode shapes.
Some of the difficulties have been observed by researchers to detect
the damage with damping data. Cao MS, Sha GG, Gao YF [3] gave a
review on damping for structural damage detection. Q.Wu et al [4]
developed a technique for acquisition of damping data with the help of
Another important modal parameter used for damage identification
approaches is modeshape (deflected shape). Guanbang Dai et al [5]
proposed an innovative modal assurance criterion for large-scale struc­
tures on the basis of vibration distributions of high-order modes and
modal strain energy. The differential evolution search algorithm is
applied for structural damage identification of an unconstrained opti­
mization problem. The objective function is used in the optimization
process based on a combination of two modal correlation criteria,
providing a measure of consistency and correlation between estimations
of mode shape vectors in [6] by Manolis Georgioudakis. The optimiza­
tion process is used to evaluate the performance and robustness of the
proposed technique for a concrete beam and concrete frame with simply
supported conditions under several damage scenarios. The obtained
results reveal the location of the damage with high efficiency by pro­
posed approach accurately. Sheng Lei et al [7] constructed a method in
Lagrange function to calculate the different design parameters like
computational time and storage capacity of viscous damped systems. An

* Corresponding author at: Department of Mechanical Engineering, Lakireddy Bali Reddy College of Engineering, Mylavaram - 521230, India.
E-mail address: sivachinka@gmail.com (S.S.B. Chinka).

https://doi.org/10.1016/j.istruc.2021.03.049
Received 20 April 2020; Received in revised form 10 December 2020; Accepted 5 March 2021
Available online 7 April 2021
2352-0124/© 2021 Institution of Structural Engineers. Published by Elsevier Ltd. All rights reserved.
S.S.B. Chinka et al.
Fig. 1. Model of Beam Element.
extensive numerical analysis is presented to show the effectiveness of
the obtained results. Several applications of a long beam with bolted
joints are considered for the sensitivity of MAC values experimentally
and numerically. Rongrong et al [8] developed l1 regularization based
model updating technique by utilizing the sparsity of the structural
damage. This proposed method is capable to locate and quantify the
crack correctly over a large number of elements numerical and experi­
mentally. Hongyu Cui [9] used a novel method for crack identification of
structures which are subjected to ambient excitation based on strain
modes. Abdo and Hori [10] used mode shapes and its derivatives (mode
shapes slope) to structural damage detection numerically, and finally
accomplished the method deflected shape, slope has given a better
outcome for multi crack detection with various damage dimensions in a
beam contrasted to the method by modeshape. F. Frigui et al [11]
developed a Vibration Based Damage Detection Methods (VBDDM) on a
Finite Element Model (FEM) of an existing building for damage detec­
tion and localization by a real seismic signal from the italian L’Aquila
earthquake. Similarly Roy. K and Ray. CH [12] implemented mathe­
matical expression to reveal the variations in the modeshape and their
curvatures which are connected to the crack location depend on a
perturbation method. The implemented approach of damage location is
applied for the moment resisting steel frame and in shear building.
Xiang, Matsumoto et al. [13] recommended that the deflection shape
slopes are proficient things to identify cracks in plate like structure due
to harmonic load. Jyrki Kullaa [14] provides a broad review of damage
detection techniques for wind turbine blades based on ultrasound,
acoustic emission, strain measurement, thermography methods firstly
and reviewed techniques for blade inspection. Rongrong Hou [15]
focused on uncertainties such as noise and modelling errors and varying
environmental conditions while estimating the vibration parameters of
structures to damage detection. Gherlone [16] and Rucevskis [17]
demonstrated the vibration parameters related crack identification
methods for composite plates, shells and beams which has damages due
to delamination.
Ravi Nigam [18] made an attempt for crack detection of simply
supported beams using discrete wavelet transform. The crack makes a
discontinuity in deflected-shape formation; the wavelet based approach
is used as the beautiful approach to identify this discontinuity for
locating the crack without the information of the healthy structural
models of the beam [19–22]. Algaba, Solis [23] and Solis [24] proposed
a mode shape based damage detection techniques using wavelet study
by reducing the sound effect while experimentation. Cao, Radzieński
[25] discussed most existing studies address the sensitivity of curvature
Fig. 2. Cantilever Beam Elemental Model.
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Structures 32 (2021) 1386–1397
mode shape to multiple damage. A noticeable deficiency of curvature
mode shape, however, is its susceptibility to measurement noise, easily
impairing its advantage of sensitivity to multiple damage. To overcome
this drawback, the synergy between a Wavelet Transform (WT) and a
Teager Energy Operator (TEO) is explored, with the aim of ameliorating
the curvature mode shape. The improved curvature mode shape, termed
the TEO-WT curvature mode shape, has inherent capabilities of immu­
nity to noise and sensitivity to multiple damage.
Although measuring mode shape requires a large number of mea­
surements at each node of the beam or plates, identifying mode shape
values for all these node points experimentally is challenging. Since
frequency based damage detection methods can be economically being
acquired, the inexpensive structural assessment technique in terms of
frequency changes can be used efficiently. Saeid Talaei et al [26]
developed a new pattern recognition based structural damage detection
method using structural natural frequencies along with mode-shapes of
a three span RC bridge. With the modal data of the intact and damaged
structure, Twin Gaussian Process (TGP) implemented as an advanta­
geous pattern recognition technique among pattern recognition and
feature discrimination extraction methods. Radhika Sridhar et al [27]
examined the dynamic characteristics of functionally graded reinforced
concrete (FGRC) beams and evaluated the damages of FGRC beams
under free- free constraints experimentally. Khairul H. Padil [28] con­
ducted a laboratory test on a model of steel truss bridge in dealing with
uncertainties using FRF with ANN for damage detection and verified
with a numerical model. Jyrki Kullaa [29] applied Principal Component
Analysis (PAC) to the residuals and control charts are designed for
damage identification of intact and damaged bridge structures which
were simulated under random excitation and temperature variability.
Yousef S. Al Rjoub [30] implemented an analytical solution to observe
the response of forced vibrations in case of Timoshenko beams, multi-
cracked Euler-Bernoulli (EBT), axially-loaded, including shear defor­
mation and rotary inertia with various boundary conditions and beams
subjected to moving loads at uniform velocity.
Gillich and Praisach [31] calculated the natural frequency shifts of
the structure, these parameters change only for the location of crack, but
do not vary according to the depth of the crack. Then, each damage
location, this natural frequency shifts are plotted and compared with the
calculated ones. Recently, Dahak, Touat, Benseddiq [32] showed that
the vibration nodes of the structure i.e. no change in natural frequency
of the structure even it was damaged. The reason is damage location is
symmetrical about one of the vibration nodes. The authors developed
the innovative approach for crack detection based upon frequencies and
S.S.B. Chinka et al.
Table 1
Material Properties of (AL 6061) Beam.
Material properties Aluminium (Al 6061) Beam
Length (L) 0.8 m
Width (b) 0.025 m
Thickness (h) 0.01 m
Modulus of Elasticity (E) 6.89 × 1010 N/m2
Density (ρ) 2700 kg/m3
Poisson’s Ration (μ) 0.3
vibration nodes as well.
Many optimization techniques applied by researchers to estimate
damage location and crack severity. Moradi, Razi [33] used the BEES
algorithm, he generated an objective function between the theoretically
evaluated and experimentally measured frequencies which depends on a
turning coil like model in terms of the biased sum of errors. Later,
Moradi et al [34] proposed a multiple crack identification method to
identify the number of cracks on the beam and also predicted the exact
crack location and depth. Moezi et al [35] developed the customized
cuckoo optimization approach for damage identification on the canti­
lever Euler–Bernoulli beam. Murali Krishna et al [36] has done condi­
tion monitoring on components such as rectangular beams and scaled
(1:12) T-beams of Reinforced Concrete (RC) road bridges by Artificial
Neural Networks (ANNs). Vakil-Baghmisheh [37] and Buezas et al [38]
used genetic algorithm and Meruane, Heylen [39] used genetic algo­
rithm of hybrid type to crack location estimation through modal-
parameters. Khaji [40] applied genetic algorithm to identify several
cracks of a beam which is subjected to a number of transverse cracks.
Rao et al. [41] evaluated crack perceptive features by the usage of
AutoRegressive-Modal analysis on mechanical structures and also
calculated residual errors. They identified the early health condition of
welds with the help of piezo electric sensors. P. Srinivasa Rao, Ratnam
[42] developed statistical approach to early damage detection of welded
structures.
The mode shapes (or) corresponding curvatures usage alone is
restricted to crack location identification level, but not possible to esti­
mate the severity of crack. To facilitate the severity of damage, hybrid
approaches using the two parameters such as the mode shapes and
frequencies are projected in sections mentioned below.
Xiang, Matsumoto [43] recommended 2-step approaches using both
mode shape curvatures and natural frequencies very easily. Wavelet
transform is applied for beams to identify the crack location through
modeshape curvatures and Particles Swarm Optimization (PSO) is
planned to measure the crack severity with natural frequencies. Later,
author J-Xiang et al [44] extended the approach mentioned to structural
features such as conical shells, plates in Xiang, Nackenhorst [45] and
Jiang, Xiang [46]. Kim and Ryu et al [47] reviewed numerous research
papers related to wavelet analysis for beam damage identification based
on frequency and mode shape methods. With the intention of reporting
Fig. 3. First Six Mode Shapes of Cantilever Beam.
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Structures 32 (2021) 1386–1397
the cracks with less severity, researchers [48–50] advised to compute
the modal information using the laser vibrometer to reduce the noise
and which overcomes slight change in structural behavior due to the
weight of accelerometer. Gillich et al. [51] proposed time-frequency
analysis and power spectrum analysis on beams for damage identifica­
tion through modal analysis and [52] also developed an enhanced fre­
quency valuation technique for early damage assessment. Mustapha
Dahak, Noureddine et al [53] developed innovative methodology to
damage detection of beams using three contours approach and four
contours approach.
From above existing literature, damage detection is simple in some
cases (crack is at other than nodal points) and impossible in some other
cases (crack at nodal points) by using Frequency Based Damage Detec­
tion Techniques (FBDDT). Similarly Modal Based Damage Detection
Technique (MBDDT) requires more modal information of the damaged
and undamaged structures for damage detection. The majority of re­
searches are focused on the mode shape based and frequency based
damage detection techniques individually for only damage detection,
but not focused on damage severity (crack depth). To overcome the
above difficulties, a new approach has been planned to develop and
implement on the beam like structures for the prediction of crack
location as well as severity (depth) based on both the frequency differ­
ences and mode shapes.
2. Theoretical modal testing
Modal testing is a significant tool for structural health monitoring
using vibration analysis and diagnosis. The principal objective of modal
testing is to decide the resonant frequencies, damping parameters and
mode shapes. If the operating frequency of the beam and natural fre­
quency of test beam matches, then a resonance condition exists.
Therefore, it is compulsory to recognize the resonant frequencies of the
structure to be monitored prior to experimentation.
Euler–Bernoulli beam theory considered for transverse vibration,
developed equations of motion based on the moment of inertia of the
beam likes structures.
2.1. Governing equations of un-cracked beam
To develop governing equation of motion, considered a beam
structure of length = L, depth = h and width = b as shown in Fig. 1. Let P
(x) is distributed load/length, M = bending moment and Q = shear
force. Consider a Small part of length as dx at a distance of x from
clamped support.
By applying the equilibrium equation of the elemental part,
P(x) =
∂Q
(1)
∂x
P(x) is the ratio of change of shear force and length of the beam.
Fig. 4. First Six Mode Shape Curvatures of Cantilever Beam.
S.S.B. Chinka et al. Structures 32 (2021) 1386–1397

∂M -ma
Shear force Q = (2)
∂x
d2 y
The ratio of the difference in bending moment and length of the P(x) = − ρA
dt2
beam is termed as a shear force. The deflection equation of the beam is
[ ]
given by ∂2 ∂2 y ∂2 y
EI = − ρA
∂x2 ∂x2 ∂t2
∂2 y
EI =M (3)
∂x Rearranging the above equations
Where E is Young’s Modulus and I is moment of ineria ∂ y ρA ∂2 y
4

From (2) and (3), Eq. (1) becomes + =0 (4)

∂x4 EI ∂t2
[ ]
∂2 ∂2 y where ‘y’ is beam displacement in the vertical direction at ‘x’ from the
EI = P(x)
∂x2 ∂x2 clamped support.
If beam density is ρ and cross sectional area is A, then inertia force = The expression of displacement for revolution in terms of length and

Fig. 5. First Six Natural Frequency Shifts of Cantilever Beam.

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Fig. 6. Experimental Setup.

Fig. 7. Impact Load and Response Plot with Respect to Time.

time is
ρAω2
ϕiv (x) − ϕ(x) = 0 (7)
y(x, t) = ϕ(x).y(t) = ϕ(x)⋅sin(ωt + φ) (5) EI
from (4) and (5) The famous solution [51] of the above equation is

ρ Aω 2 ϕ(x) = A∗ sinax + B∗ cosax + C∗ sinhax + D∗ coshax (8)

ϕiv (x).sin(ωt + φ) − ϕ(x).sin(ωt + φ) = 0 (6)
EI
Where A*, B*, C* and D* are constants
Later than, after simplification, 2
For ρAEIω = a2
After derivative of relation (8) three times,

Fig. 8. Frequency Response Function (FRF) of the Beam.

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Table 2
Natural Frequencies of Cantilever Beam has Various Crack Positions and Depths.
Crack Position (mm) Crack Depth (mm) Natural Frequencies (in Hz)

First Mode Second Mode Third Mode Fourth Mode Fifth Mode Sixth Mode

0 2 12.11 76.93 218.68 426.20 715.30 1067.00

4 11.75 75.54 214.56 422.84 698.50 1050.90
6 10.93 72.06 207.14 407.74 689.73 1020.10
100 2 12.20 77.46 222.20 434.70 718.50 1069.22
4 12.12 77.54 221.91 435.53 711.32 1055.97
6 11.26 76.81 221.24 433.91 693.49 1020.25
200 2 12.27 79.02 219.38 428.08 719.02 1070.00
4 12.25 78.18 215.13 424.25 716.22 1060.63
6 11.59 77.68 212.42 415.09 715.44 1063.11
300 2 12.38 78.15 220.10 435.19 717.23 1065.74
4 12.32 75.54 220.12 436.53 702.24 1068.52
6 12.11 72.98 213.42 434.25 671.99 1059.28
400 2 12.41 77.45 222.38 432.80 719.80 1069.00
4 12.37 73.95 222.45 425.84 718.67 1053.59
6 12.24 72.26 221.24 403.19 717.50 1000.35
500 2 12.45 78.03 220.69 435.70 718.64 1068.00
4 12.41 76.21 219.97 435.84 704.75 1054.52
6 12.30 73.12 213.14 435.39 665.00 1050.46
600 2 12.49 78.16 219.00 430.20 709.50 1066.78
4 12.49 77.54 217.83 425.39 716.45 1063.48
6 12.45 75.54 211.42 407.29 711.63 1063.35
700 2 12.52 78.32 220.30 433.20 717.20 1064.00
4 12.52 78.94 219.97 428.25 706.50 1047.15
6 12.49 78.68 217.17 411.15 670.47 991.65
Undamaged – 12.54 79.45 222.65 436.51 720.50 1075.20

Fig. 9. Methodology of Damage Detection.

⎧
⎪
⎪ ϕ(x) = A∗ sinax + B∗ cosax + C∗ sinhax + D∗ coshax the angular frequencies (ωi) and the linear natural frequencies (fi) of
⎨
ϕi (x) = a(A∗ cosax − B∗ sinax + C∗ coshax + D∗ sinhax) beam are given by
ii 2 (9)
∗
⎪ ϕiii(x) = a 3(− A ∗sinax − B∗cosax
⎪ + C∗ sinhax + D∗ coshax) √̅̅̅̅̅̅̅̅̅̅
⎩
ϕ (x) = a (− A cosax + B sinax + C∗ coshax + D∗ sinhax)
∗
λi 2 a λi 2 EI
ωi = 2 and fi = (12)
L 2π ρAL4
After applying the boundary condition for the fixed-free beam i.e.
cantilever beam Applying boundary conditions, the Eq. (9) becomes
⎧
i ii iii
ϕ(0) = ϕ (0) = ϕ (L) = ϕ (L) = 0 (10) ⎪ A* sin0 + B* cos0 + C* sinh0 + D* cosh0 = 0
⎪
⎨
A* cos0 − B* sin0 + C* cosh0 + D* sinh0 = 0
(11) (13)
1 + cosλ.coshλ = 0 ⎪
⎪ − A* sinaL − B* cosaL + C* sinhaL + D* coshaL = 0
⎩
− A* cosaL + B* sinaL + C* coshaL + D* sinhaL = 0
By taking λ = a.L which allows to evaluate λi for ith vibration mode,

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Table 3
Relative Natural Frequencies with Various Crack Positions and Depths Numerically.
Case Actual Crack Geometry (mm) Δf1 Δf2 Δf3 Δf4 Measured Crack Geometry (mm) Error (%)

Lc hc Lc log(ζ) hc Lc hc

1 100 2 0.15103 0.03643 0.00055 0.01563 102 − 0.65707 2.05 2.00 2.50
2 100 4 0.19891 0.04798 0.00073 0.02059 100 − 0.53749 4.08 0.00 2.00
3 100 6 0.20278 0.04892 0.00074 0.02099 98 − 0.52906 6.22 2.00 3.67
4 250 2 0.07267 0.02828 0.09544 0.0222 253 − 0.65706 2.07 1.20 3.50
5 250 4 0.0957 0.03725 0.12569 0.02924 252 − 0.53748 4.12 0.80 3.00
6 250 6 0.09756 0.03797 0.12814 0.02981 255 − 0.52911 6.15 2.00 2.50
7 500 2 0.00925 0.09426 0.08405 0.00374 500 − 0.65707 2.02 0.00 1.00
8 500 4 0.01218 0.12414 0.1107 0.00493 503 − 0.53749 4.08 0.60 2.00
9 500 6 0.01242 0.12656 0.11285 0.00503 497 − 0.52914 6.1 0.60 1.67
10 650 6 0.00095 0.02188 0.09396 0.16204 653 − 0.65704 5.9 0.46 1.67

From the relations of (13), it gives A* = − C* and B* = − D* , then Perceptibly, the influence of crack depth controlled by the term c(0,
{ hc) and the effect of damage location controlled by the term (ϕ′′ (x) )2 .
− A* sinaL − B* cosaL − A* sinhaL − B* coshaL = 0
(14) The maximum deflection ymax of the beam at free end due to applied
− A* cosaL + B* sinaL − A* coshaL − B* sinhaL = 0
load ‘P’ is given by
and
ρgAL4
{ ymax = (23)
− A* (sinaL − sinhaL) + B* (cosaL + coshaL) = 0 8EI
(15)
− A* (cosaL + coshaL) − B* (sinaL − sinhaL) = 0
From equation (12) and equation (23), the frequency of healthy
From above relation (15) one obtains beams can be expressed as
√̅̅̅̅̅̅̅̅̅̅̅
(cosaL + coshaL) λ2 g
A∗ = − B∗ (16) f 1u = 1 (24)
(sinaL + sinhaL) 2π 8ymax
The mode shape derived from the Eq. (13), it gives Similarly the frequency of damaged beam is

(cosaL + coshaL) (cosaL + coshaL)

ϕ(x) = B* sinax + B* cosax + B* sinhax − B* coshax (17)
sinaL + sinhaL sinaL + sinhaL

√̅̅̅̅̅̅̅̅̅̅̅̅̅
λ21 g
The clamped-free beam’s modeshape f 1D = (25)
2π 8yDmax
cosaL + coshaL
ϕ(x) = B* [(coshax − cosax) ] − (sinhax − sinax) (18) Substitute the equation (25) in the equation (21), and take (ϕ′′ (x))2 = 1
sinaL + sinhaL
The damaged beam has crack depth at fixed end, then the frequency
A mode (deflected) shape ϕi(x) specified by the relation equation is
cosai L + coshai L √̅̅̅̅̅̅̅̅̅̅̅̅̅
ϕi (x) = [(coshai x − cosai x) ] − (sinhai x − sinai x) (19) λ2 g
sinai L + sinhai L f 1D (0, hc ) = 1 = f 1U (1 − c(0, hc )∙1)
2π 8yDmax
Though, the modeshape represents the contour of every mode, but √̅̅̅̅̅̅̅̅̅̅̅̅̅
will not give the actual amplitude or displacement. =
λ21 g
(1 − c(0, hc )) (26)
The curvature of modeshape or the second derivative of the mode­ 2π 8yUmax
shape for a convinced flexural vibration mode ‘i’ by the relation √̅̅̅̅̅̅̅̅ √̅̅̅̅̅̅̅̅
And y 1 = y 1 (1 − c(0, hc ))
Dmax Umax
cosai L + coshai L √̅̅̅̅̅̅̅̅
ϕ′′i (x) = [(coshai x − cosai x) ] − (sinhai x − sinai x) (20)
sinai L + sinhai L Finally c(0, hc ) = 1 − yUmax
y Dmax

2.2. Governing equations of cracked beam 2.3. Assessment of modal parameters

Galerkin’s technique is used to formulate the cracked beam gov­
erning equation of a motion [32]. If the damage position ‘x’ and its depth
‘hc’, then the frequency of the beam [51] is
fD (x, hc ) = fu [1 − c(0, hc ).(ϕ ′′ (x) )2
The applicability of the proposed vibration based damage detection
technique using mode shapes, natural frequencies and modeshape cur­
vatures of the cantilever beam are discussed in this section. The geom­
etry and material properties considered for this investigation are shown
(21)
in Fig. 2 and tabulated in table 1.

where ϕ′′ is the normalized curvature of mode shape.

The relation for frequency shift has crack depth ‘hc’
fu − fD (x, hc ) = Δf (x, hc ) = fu .c(0, hc ).(ϕ ′′ (x) )2
2.3.1. Assessment of mode shapes and its curvatures
From Eqs. (19) and (20), cantilever beam first six mode shapes and
(22) mode shape curvatures have been drawn respectively shown in Figs. 3
and 4.

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Fig. 10. Identification of Damage Location for 10 Cases Numerically.

The cantilever beam free end is deflected from one region to other
region with maximum amplitude, but amplitude is zero at fixed end and
some other points. The cantilever beam free end is in one region for first,
third and fifth modes whereas the same end point is in opposite region
for second, fourth and sixth modes.
The curvatures of mode shapes or the second derivative of the mode
shapes of the object are calculated and represented in Fig. 4. The
Amplitude is one for all mode shape curvatures at fixed end and zero at
free end. The cantilever beam free end amplitude is zero for all modes at
instant time in case of mode shape curvatures. All those mode shape

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Fig. 11. Damage Depth Identification Numerically.

Fig. 12. Identification of Damage Location for 5 Cases Experimentally.

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S.S.B. Chinka et al. Structures 32 (2021) 1386–1397

Fig. 13. Damage Depth Identification Experimentally.

(EDM), the cracks have been introduced on the top surface of the
Table 4 beam. First six natural frequencies are extracted from FRFs for every
Relative Natural Frequencies with Different Crack Location and the Crack
100 mm interval of crack location with different crack depths of 2, 4 and
Depths Experimentally.
6 mm of the beam and tabulated in table 2.
Case Actual values in mm Measured values in mm Error (%)

Lc hc Lc hc Lc hc 4. Damage detection technique

1 100 3 97 3.11 3.00
2 30 6 31 5.83 3.33
3 300 2 305 1.96 1.67
4 500 1 496 1.02 0.80
5 215 2.5 210 2.56 2.32
curvatures are used for damage detection.
2.3.2. Assessment of natural frequencies
The frequency characteristic relation established from the Eqs. (8),
(9) and (10) of the cantilever beam is given by
1 + cosλ. coshλ = 0
The value of λ can be calculated from above the relation and from the
Eq. (12) initial six frequencies of the un-cracked fixed-free beam has
been calculated.
Natural frequencies of the damaged beam were evaluated by using
the relation (21) with mode shape curvature and moment of inertia of
the un-cracked and cracked beam at various crack locations/depths. For
every small interval of crack locations and depths, the natural fre­
quencies are evaluated and drawn 3-D smooth surface graphs shown in
Fig. 5.
3. Experimental modal testing
The data essential for crack identification by the proposed method
has been evaluated in numerical analysis of the fixed-free beam in
previous section. In the present section, to observe the applicability of
the above planned approach in real mechanical structures, an experi­
mental arrangement was designed and developed. EMT used to take out
the modal information for the damaged and undamaged beams. The
EMT setup shown in Fig. 6 consists of impact hammer type 086C03, an
accelerometer 352C03, four channels NI 9234 data acquisition system
and NI Labview sound and vibration tool kit.
The structure has been impacted by hammer, after hitting at certain
points marked on the beam, the dynamic behavior obtained by the
accelerometer which is mounted on beam at free end. The Labview
program was developed to get the impact load, time response shown in
Fig. 7 and Frequency–Response-Functions (FRFs) of the real structural
element shown in Fig. 8. The natural frequencies (range of 0–2.5KHz)
were obtained from FRFs of the beam in intact and damaged condition.
Along the transverse direction with Electrical-Discharge-Machining
3.67
2.83 In this section, a new approach has been implemented and developed
2.00 to recognize the crack location and its depth, based on the natural fre­
2.00 quencies contour method. Fig. 9 represents the steps followed to damage
2.40
detection technique. From above mentioned TMT and EMT the resonant
frequencies and mode shapes were calculated. The changes in the
evaluated resonant frequencies of intact and damaged structure and the
mode shape curvature vectors of healthy structure, the contour lines are
plotted. The crack location and co-efficient (ζ) can be taken from the
intersection of those plotted curves, and established a curve between
crack depth and co-efficient (− log(ζ)) for any one of mode. From this
curve, damage depth calculated based on the value of ζ.
The relative change in the natural frequency [53] Δfi is given by
fiu − fid
Δfi(Lc ,hc ) = (27)
fiu
where Lc = crack location and hc = crack depth of beam,
fiu and fid is undamaged and damaged beam natural frequencies of
mode i,
Normalized location Ln = LLc
Δfi(Lc ,hc )
Coefficient ζ(hc ) = ii 2
(28)
(ϕui(Lc) )
where the crack depth controlled by coefficient (ζ) and crack location
ii 2
controlled by the mode shape curvature square (ϕui(Lc) ) which is derived
from the measured modeshape.
The percentage of error = |(Actual value –measured value)/Actual
value |× 100
4.1. Numerical simulation analysis for damage detection
The geometrical and the properties of the Aluminium fixed-free
beam shown in Fig. 2 used in this study are tabulated in Table 1. Ten
cases are considered with different crack locations/depths of the canti­
lever beam and studied the behavior of all cases. The initial four relative
resonant frequencies (Δf) are evaluated in every case and represented in
table 3. By following the steps mentioned in the flowchart given in
Fig. 9, plotted the contour lines which are in the function the crack
location and the co-efficient (ζ) shown in Fig. 10. The meeting point of
the four plots gives the exact crack location and co-efficient (ζ), and

1395
S.S.B. Chinka et al.
developed a relation between crack depth and co-efficient (− log(ζ)) of a
first mode to get the exact crack depths for all cases as shown in Fig. 11.
The results shown in Table 3 represent the damage position and its
depth which are closest to actual values with an error range of 0–2% in
the crack position and 1–3.67% in crack severity.
4.2. Experimental analysis for damage detection
In this section, five cases were studied by varying the crack locations
and depths. Utilizing the relative frequencies and following the meth­
odology introduced in Fig. 9, the contour lines as relation of the crack
position and co-efficient (ζ) were drawn for the initial four modes and
the convergence of four plots give the crack location and co-efficient (ζ)
(Fig. 12). At this stage, the severity of the crack ends with the use of the
connection between the crack depth and the co-efficient (ζ) shown in
Fig. 13. The consequences of crack position and its depth is additionally
introduced in iTable 4. The outcome in Table 4 shows that the distin­
guished crack parameters are closely admissible by experimental results
with an error somewhere in the range of 0.8–3.3% in the crack location
and 2–3.67% in crack depth. These outcomes are as yet allowable when
contrasted with the outcomes got in different works [32,52]. As the end,
the forms of the initial four natural frequencies, relating flawless mode
shapes may be utilized to recognize crack dimentions in beams.
5. Discussion
Natural frequencies achieved in both TMT and EMT are slightly
differed due to the noise, which influenced the sensitiveness of the vi­
bration parameters. Vibration nodes are also observed in TMT only
because of the huge data, but it is not possible to find the exact nodal
points in EMT because of raw data got from the vibration analysis for
every small interval of crack location throughout the length.
In the first mode, the frequency decreases from 12.76 Hz to zero, if
damage depth changes from zero to 10 mm and damage position
changes from free end to the fixed end. The Frequency changes majorly
when crack location is nearer to the fixed end and crack depth increases
which is represented in Fig. 5(a). In the second mode, the frequency
decreases from 79.6 Hz to 38.71 Hz when crack location changes from
800 mm to 420 mm and crack depth varies from 0 to 10 mm. And fre­
quency increases from 38.71 Hz to 79.6 Hz as the crack location changes
from 420 to 170 mm with the same crack depth change. Still, the fre­
quency decreases from 79.6 Hz to 0 Hz; when crack location varies from
170 mm to fixed end. At the fixed end, frequency varies greatly if the
crack depth increases relative to other crack positions. Therefore, even
beam has damage at 170 mm from fixed side, no change in frequency
and it is independent of the crack depth shown in Fig. 5(b). Therefore,
the effect of 170 mm crack depth is independent in the second natural
frequency, thit crack location is known as a vibration node point for
second mode. By observing the Fig. 5(c), vibration nodal points for third
mode are developed at 400 mm and 105 mm from free end of the beam.
From Fig. 5(d) fourth mode, the effect of crack depth at 505 mm, 290
mm and 90 mm is independent in the fourth natural frequency, these
crack locations are known as a vibration nodal points for fourth mode.
Similarly from Fig. 5(e), fifth mode vibration nodes are 140 mm, 310
mm, 490 mm, 670 mm from free enf of beam. From sixth mode, by
observing Fig. 5(f) vibration nodes developed at 110, 250, 400, 550,
690 mm from free end.
The results achieved through the damage detection technique by an
experimental analysis show that slightly differs in error compared to the
results achieved in the numerical method. Due to the noise through
experimentation, the results are affected. The error range for crack
location/depth in numerical simulation is 0–2% in crack position, and
1–3.67% in crack depth. The error range for damage location/depth in
experimental analysis is 0.8–3.3% for the crack location and 2–3.67%
for crack depth.
1396
Structures 32 (2021) 1386–1397
6. Conclusion
An innovative method has been developed and implemented for
crack identification in beams in this article. In foremost step, governing
equations of damaged/undamaged beam motion in transverse direction
are formulated based on the moment of inertia to assess the frequencies
and mode shapes. In the second step, the difference in resonant fre­
quencies of the undamaged and damaged beam & mode shapes of the
undamaged beam is exclusively used for first four mode shapes to plot
the curves.
Frequency decreases if the crack depth increases at any point on the
beam except nodal points. The reason is that the damage will not in­
fluence the frequencies of the structure at that nodal points and ampli­
tude at those points is zero.
At that point, a condition has been created in an attempt to draw the
curves as the ability of the crack area detection and their corresponding
co-efficient (ζ) estimation. Those are drawn just using the calculated
frequencies and the mode shape curvatures got by mode shapes, the
intersecting point of those drawn curves of the initial four modes pro­
vide the crack position and co-efficient (ζ). At that point, an association
between the co-efficient (ζ) and the crack depth was established using a
reverse problem to anticipate the crack depth.
The primary benefit of the planned strategy was that which doesn’t
need the settling of the overseeing conditions theoretically to get the
deflected shape curve, and also not require the figuring of the fre­
quencies by shifting all crack depths and locations. A few arrangements
of numerical analysis have been done to analyze the strength and ade­
quacy of the crack identification technique. Results achieved demon­
strating that the proposed strategy can assess the crack position/depth in
the crack zone.
• The change in natural frequencies and mode shape curvatures are
exclusively used for the exact damage location and its depth identi­
fication easily with less computations when compared to Frequency/
Mode Shape Based Damage Detection Techniques (FBDDT/
MSBDDT).
• The opportunity to identifying the damage in the structure by using
just experimental information gathered from the structure.
• Fewer computations contrasted with different frequency contour
techniques or optimized techniques.
• Not requiring of any analytical model of the cracked structural
element to identify the crack.
• The modest investigative system is required for the estimation of
dynamical behavior of the beams using a single accelerometer.
Declaration of Competing Interest
The authors declare that they have no known competing financial
interests or personal relationships that could have appeared to influence
the work reported in this paper.
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