Ph.D.

Research Proposal
Structural Health Monitoring and Damage
Detection of Structures

Presented by Guided by
Hemant Kumar Vinayak Dr. S.K. Thakkar
Dr. Ashok Kumar
Dr. Pankaj Agrawal

Department of Earthquake Engineering

Indian Institute of Technology
Presentation Overview

 Introduction
 Objectives
 Methodology involved
 Experimental setup details
 Plan of work
Introduction (Contd..)

Structural Health Monitoring (Definition)

Focuses on techniques of :
Identifying the existence of damage
Identifying the location of damage
Estimating the magnitude of damage
Introduction
Structural Health Monitoring (Application)
Civil Infrastructure (Bridges, Highway, Buildings etc.)
Air Craft and Missile Structures
Space Structures
Land/ Marines Structures
Project Proposal (Contd..)

Objectives
 Present an overview of Damage Detection and Structural
Health Monitoring methods for buildings.
 Establish a correlation between damage in the model with
its known dynamic characteristics.
 Comparative study of damage detection techniques for
building structures
 Develop methodology of damage detection and health
status in pre and post earthquake scenario using Non-
destructive Evaluation (NDE) techniques
 Literature review

1. Literature review-
 Identification of various methods
 Selection of experimental procedure
 Identifying the set of controlling parameters that are
need to be computed through experimentation
Methodology Involved (Contd..)
Vibration based damage detection methods (Review by Doebling)
Changes in basic modal Dynamically measured Updating structural
properties flexibility model parameters
Frequency changes Comparison of flexibility Optimal Matrix update
changes methods
Mode shape changes Unity check method Sensitivity based
update methods
Mode shape curvature/ Stiffness error matrix Eigen structure
Strain mode shape method Assignment methods
changes
Changes in modal energy, Effect of residual Hybrid matrix update
Kinetic energy flexibility methods
Changes in measured
stiffness matrix
Methodology Involved (Contd..)

Structural Health Monitoring (Method for

Current Research)
Changes in basic model properties at each level of damage
during the experiment:
frequency
Mode shapes,
Modal strain energy,
Methodology Involved (Contd..)

Determine
Stiffness from displacement versus load graph
Natural frequency, mode shape and damping ratio from free
vibration test. Damping from logarithmic decrement
Natural frequency, mode shape and damping ratio from
forced vibration test. Damping ratio will be determined from
half power band width method
Mode shapes - The data acquired will coupled with the model
generated in ARTeMIS software
Methodology involved (Contd..)

Structural Health Monitoring (Method for

Current Research, Contd..)
Level of Hysteresis Mode shapes Hysteresis Natural
damage in % Loop Load vs. damping frequency
Deflection
curve
Negligible

Light

Moderate

Heavy
 Damage indices Methodology (Contd..)

Most traditional Displacement ductility  max

d 
indicator  yield

Koh Integrity index S di

Si 
S ui
DisPasquale E and Maximum deformation Ti , initial
Di  1 
Cakmak A.S. Ti , max
1990
Skaerbaek P.S. Drift ratio  max
Di 
1996 H
Park R 1996 ; Stiffness ratio failureM / 
Di 
Bachmann H 1996 firstyield
 Methodology Involved (Contd..)

Nagar, A ;1995, Flexural damage rotation K0

Bernal D; 1992, Di 
K max
Ghobarah, A;1999
SARCOF Damage Indicator EI (t ) 0.5
Di  1 
EI 0
Kraetzig W et al Softening index Ed
2000 Di  1 
Eo
 Methodology Involved (Contd..)
Ewins 1984 Salawu and Williams 1994
Modal assurance criteria [ ( nj ) d ( nj ) u ] 2
j
MAC 
 nj  nj u
(
j
) 2
d ( ) 2

Normalised area
NAD    d  u dx
difference
Relative difference ( nj ) d  ( nj ) u
RDnj 
( nj ) u
Experimental Setup Details

Model 1
A concrete cantilever column subject to lateral load
Experimental Setup Details

Model 2
A single story plane frame subject to lateral load
Experimental Setup Details (Contd..)

Model 3
One bay subject to uniaxial load
Experimental Setup Details (Contd..)

Model 4
Plan of Work

Jan 2004 to Oct 2004 i) Course work

ii) Comprehensive exam
iii) Literature review

Oct 2004 to Dec 2005 i) Fabrication of Models

ii) Testing of Models
Jan 2006 to Jun 2006 i) Analysis and Presentation of result
July 2006 to Dec 2006 i) Writing of PhD Thesis
Publications

Thank you
Future central monitoring station
 Methodology Involved (Contd..)

Changes in basic modal properties

Frequency changes (Review by O.S. Salawu)

 Loss of stiffness - When measured natural frequencies are substantially lower

than expected
 Damage Causes - Support failure, crack propagation, shear failure and overload
causing internal damage
 Degree of reduction - Dependent on the position of the defect relative to mode
shape for a particular mode of vibration
 Methodology Involved (Contd..)

Changes in basic modal properties

Equation of motion
[ [k] - 2[M] ]{} = {0}
Damage induction in the structure

[ (k+k) - (2 +  2 ) [M] ]{ + } = {0}

Stiffness depends upon -

Property of materials - Modulus of Elasticity E, Density
Dimension of element - b, d, L
Mode shapes of undamaged and damaged steel frame infilled with
unstiffened thin steel plate shear panels - Prion and Rezai 1996
 Methodology Involved (Contd..)

Modal strain energy change MSEC

MSE d ij  MSEij
MSECRij 
MSEij

Undamaged modal strain energy MSEij = iTkj i

Damaged modal strain energy MSEdij = diTkj di

 Methodology Involved (Contd..)

Changes in basic modal properties

Mode shape changes

 West 1984 - Changes in Modal Assurance Criterion to localize structural damage

 Fox 1992 - Graphical comparison of relative changes in mode shapes
 Cobb and Liebst 1997 - Prioritizing sensor location based on eigenvector
sensitivity analysis
 Skjaeraek 1996 - optimal sensor location for damage detection based on
changes in mode shapes using substructure iteration method
 Methodology Involved (Contd..)

Changes in basic modal properties

Mode shape curvature/ strain mode shape changes
Utilizes relationship between curvature and bending strain for beams plates
and shells
 Pandey et al 1991 - Changes in mode shape curvature can be a good indicator
for Fem beam structure.
 Chance et al. 1994 - Numerically calculating curvature from mode shapes
resulted in unacceptable errors. Measured strains improved the result
dramatically.
 Chen and Swamidas (1994), Dong et al (1994), Kondo and Hamamoto (1994),
Nwosu et al (1995) and Yao and Change (1995)
 Methodology Involved (Contd..)

Dynamically measured flexibility

Comparison of flexibility changes
Utilizes relationship between curvature and bending strain for beams plates
and shells
 Pandey et al 1991 - Changes in mode shape curvature can be a good indicator
for Fem beam structure.
 Chance et al. 1994 - Numerically calculating curvature from mode shapes
resulted in unacceptable errors. Measured strains improved the result
dramatically.
 Chen and Swamidas (1994), Dong et al (1994), Kondo and Hamamoto (1994),
Nwosu et al (1995) and Yao and Change (1995)
 Methodology Involved (Contd..)

Dynamically measured flexibility

Unit check method
An error matrix is defined which measures the degree to which
pseudoinverse relationship between the dynamically measured flexibility
matrix and structural stiffness matrix is satisfied

 Lim 1990 - Proposes for locating modeling error and uses the location of the
entry with maximum magnitude in each column to determine the error location.
 Lim 1991 - Defines a least square problem for the elemental stiffness changes
consistent with unity check error in potentially damaged members
 Methodology Involved (Contd..)

Dynamically measured flexibility

Stiffness Error Matrix Method
Based on computation of an error matrix function of flexibility changes and
undamaged stiffness matrix.

 He and Ewins 1986 - Indicator of errors between measured parameters and

analytical stiffness matrix.
 Gysin 1986 - Demonstrated dependency on type of reduction matrix used and on
number of modes used to form flexibility matrices. Compared the reduction
techniques of elimination (acceptable result), Guyan reduction (acceptable result)
and indirect reduction (unacceptable result)
 Methodology Involved (Contd..)

Dynamically measured flexibility

Effect of Residual Flexibility
Represents contribution to the flexibility matrix from modes outside
measured bandwidth so that exact flexibility matrix can be related to
measured modes.

 Doebling et al. 1996 - Technique to estimate unmeasured partition of residual

flexibility matrix .
 Methodology Involved (Contd..)

Dynamically measured flexibility

Changes in Measured Stiffness matrix
Pseudoinverse of dynamically measured flexibility matrix.

 Salawu and Williams 1993 - Used direct comparison of measured parameter to

estimate damage .
 Peterson et al. 1993 - Proposed a method to use measure stiffness and mass
matrices to locate damage
 Methodology Involved (Contd..)

Updating structural model parameters

Optimal matrix update methods
Pseudoinverse of dynamically measured flexibility matrix.

 Salawu and Williams 1993 - Used direct comparison of measured parameter to

estimate damage .
 Peterson et al. 1993 - Proposed a method to use measure stiffness and mass
matrices to locate damage