Innovative Methods and Materials in Structural Health Monitoring of Civil Infrastructures

In the past, when elements in sructures were composed of perishable materials, such as wood, the maintenance of houses, bridges, etc., was considered of vital importance for their safe use and to preserve their efficiency. With the advent of materials such as reinforced concrete and steel, given their relatively long useful life, periodic and constant maintenance has often been considered a secondary concern. When it was realized that even for structures fabricated with these materials that the useful life has an end and that it was being approached, planning maintenance became an important and non-negligible aspect. Thus, the concept of structural health monitoring (SHM) was introduced, designed, and implemented as a multidisciplinary method. Computational mechanics, static and dynamic analysis of structures, electronics, sensors, and, recently, the Internet of Things (IoT) and artificial intelligence (AI) are required, but it is also important to consider new materials, especially those with intrinsic self-diagnosis characteristics, and to use measurement and survey methods typical of modern geomatics, such as satellite surveys and highly sophisticated laser tools

Symmetry in Structural Health Monitoring

In this Special Issue on symmetry, we mainly discuss the application of symmetry in various structural health monitoring. For example, considering the health monitoring of a known structure, by obtaining the static or dynamic response of the structure, using different signal processing methods, including some advanced filtering methods, to remove the influence of environmental noise, and extract structural feature parameters to determine the safety of the structure. These damage diagnosis methods can also be effectively applied to various types of infrastructure and mechanical equipment. For this reason, the vibration control of various structures and the knowledge of random structure dynamics should be considered, which will promote the rapid development of the structural health monitoring. Among them, signal extraction and evaluation methods are also worthy of study. The improvement of signal acquisition instruments and acquisition methods improves the accuracy of data. A good evaluation method will help to correctly understand the performance with different types of infrastructure and mechanical equipment

On systematic approaches for interpreted information transfer of inspection data from bridge models to structural analysis

In conjunction with the improved methods of monitoring damage and degradation processes, the interest in reliability assessment of reinforced concrete bridges is increasing in recent years. Automated imagebased inspections of the structural surface provide valuable data to extract quantitative information about deteriorations, such as crack patterns. However, the knowledge gain results from processing this information in a structural context, i.e. relating the damage artifacts to building components. This way, transformation to structural analysis is enabled. This approach sets two further requirements: availability of structural bridge information and a standardized storage for interoperability with subsequent analysis tools. Since the involved large datasets are only efficiently processed in an automated manner, the implementation of the complete workflow from damage and building data to structural analysis is targeted in this work. First, domain concepts are derived from the back-end tasks: structural analysis, damage modeling, and life-cycle assessment. The common interoperability format, the Industry Foundation Class (IFC), and processes in these domains are further assessed. The need for usercontrolled interpretation steps is identified and the developed prototype thus allows interaction at subsequent model stages. The latter has the advantage that interpretation steps can be individually separated into either a structural analysis or a damage information model or a combination of both. This approach to damage information processing from the perspective of structural analysis is then validated in different case studies

Mapping of complex marine environments using an unmanned surface craft

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011.Cataloged from PDF version of thesis.Includes bibliographical references (p. 185-199).Recent technology has combined accurate GPS localization with mapping to build 3D maps in a diverse range of terrestrial environments, but the mapping of marine environments lags behind. This is particularly true in shallow water and coastal areas with man-made structures such as bridges, piers, and marinas, which can pose formidable challenges to autonomous underwater vehicle (AUV) operations. In this thesis, we propose a new approach for mapping shallow water marine environments, combining data from both above and below the water in a robust probabilistic state estimation framework. The ability to rapidly acquire detailed maps of these environments would have many applications, including surveillance, environmental monitoring, forensic search, and disaster recovery. Whereas most recent AUV mapping research has been limited to open waters, far from man-made surface structures, in our work we focus on complex shallow water environments, such as rivers and harbors, where man-made structures block GPS signals and pose hazards to navigation. Our goal is to enable an autonomous surface craft to combine data from the heterogeneous environments above and below the water surface - as if the water were drained, and we had a complete integrated model of the marine environment, with full visibility. To tackle this problem, we propose a new framework for 3D SLAM in marine environments that combines data obtained concurrently from above and below the water in a robust probabilistic state estimation framework. Our work makes systems, algorithmic, and experimental contributions in perceptual robotics for the marine environment. We have created a novel Autonomous Surface Vehicle (ASV), equipped with substantial onboard computation and an extensive sensor suite that includes three SICK lidars, a Blueview MB2250 imaging sonar, a Doppler Velocity Log, and an integrated global positioning system/inertial measurement unit (GPS/IMU) device. The data from these sensors is processed in a hybrid metric/topological SLAM state estimation framework. A key challenge to mapping is extracting effective constraints from 3D lidar data despite GPS loss and reacquisition. This was achieved by developing a GPS trust engine that uses a semi-supervised learning classifier to ascertain the validity of GPS information for different segments of the vehicle trajectory. This eliminates the troublesome effects of multipath on the vehicle trajectory estimate, and provides cues for submap decomposition. Localization from lidar point clouds is performed using octrees combined with Iterative Closest Point (ICP) matching, which provides constraints between submaps both within and across different mapping sessions. Submap positions are optimized via least squares optimization of the graph of constraints, to achieve global alignment. The global vehicle trajectory is used for subsea sonar bathymetric map generation and for mesh reconstruction from lidar data for 3D visualization of above-water structures. We present experimental results in the vicinity of several structures spanning or along the Charles River between Boston and Cambridge, MA. The Harvard and Longfellow Bridges, three sailing pavilions and a yacht club provide structures of interest, having both extensive superstructure and subsurface foundations. To quantitatively assess the mapping error, we compare against a georeferenced model of the Harvard Bridge using blueprints from the Library of Congress. Our results demonstrate the potential of this new approach to achieve robust and efficient model capture for complex shallow-water marine environments. Future work aims to incorporate autonomy for path planning of a region of interest while performing collision avoidance to enable fully autonomous surveys that achieve full sensor coverage of a complete marine environment.by Jacques Chadwick Leedekerken.Ph.D

STRUCTURAL INTEGRITY ASSESSMENT USING VIBRATION DATA

Engineering structures need to be assessed as part of activities to ensure their continued serviceability. Global methods of assessment which also give an indication of local conditions are most attractive since they are cost effective and flexible. A suitable method with these attributes is vibration monitoring which involves relating dynamic properties, or changes in them, to the integrity of the assessed structure. The present study investigates the application of vibration testing to structural integrity assessment of civil engineering structures. A survey of existing methods of damage detection, location and quantification in structures using vibration testing was conducted. Evaluation of the performance of some of the more promising methods was conducted using both simulated and experimental data. The results revealed that the damage identification process could be enhanced if appropriate modes are used. To this end, a new function, called Modal Sensitivity Values, has been proposed for identifying damage sensitive modes to be included in damage detection and location methods. It was also found that some success could be achieved if system identification and model updating procedures are applied to the problem of damage detection in structures. The literature survey revealed that most of the available methods are not applicable to general structural systems and are often limited by the damage model assumed. A new method, called Integrity Index Damage Location method, of assessing structural integrity using vibration data has also been proposed. The method is applicable to any structure and any damage type that affects the integrity/stiffness of the structure. Performance evaluation of the method using both numerical and experimental data is presented. Full-scale forced vibration tests were conducted before and after repairs on two reinforced concrete highway bridges. The vibrator used during the tests was developed during the research project and details of its development and operation are given in the thesis. As a background to the tests, a review of full-scale dynamic testing of bridge structures was conducted. Results from the tests were used to investigate the effectiveness of forced vibration testing as an integrity monitoring tool. It was found that the repair works caused slight (less than 5%) changes in the natural frequencies while there was no definite trend in the changes to the modal damping ratios. Comparison of frequency response functions and mode shapes, using modal analysis procedures, was found to give an indication of the presence and location of the repairs. The integrity assessment method proposed was also able to identify some of the affected parts of the structures. Results from the full-scale tests were also compared with predictions from finite element analysis. Good correlation was obtained between the measured and calculated natural frequencies and mode shapes, thus enabling validation of the analytical models within limits of the model assumptions and experimental errors. The results demonstrate the importance of accurate representation of boundary conditions. They (results) also showed that the vertical stiffness of new bearings installed on one of the bridges is not as high as was assumed in the design

Investigation of Computer Vision Concepts and Methods for Structural Health Monitoring and Identification Applications

This study presents a comprehensive investigation of methods and technologies for developing a computer vision-based framework for Structural Health Monitoring (SHM) and Structural Identification (St-Id) for civil infrastructure systems, with particular emphasis on various types of bridges. SHM is implemented on various structures over the last two decades, yet, there are some issues such as considerable cost, field implementation time and excessive labor needs for the instrumentation of sensors, cable wiring work and possible interruptions during implementation. These issues make it only viable when major investments for SHM are warranted for decision making. For other cases, there needs to be a practical and effective solution, which computer-vision based framework can be a viable alternative. Computer vision based SHM has been explored over the last decade. Unlike most of the vision-based structural identification studies and practices, which focus either on structural input (vehicle location) estimation or on structural output (structural displacement and strain responses) estimation, the proposed framework combines the vision-based structural input and the structural output from non-contact sensors to overcome the limitations given above. First, this study develops a series of computer vision-based displacement measurement methods for structural response (structural output) monitoring which can be applied to different infrastructures such as grandstands, stadiums, towers, footbridges, small/medium span concrete bridges, railway bridges, and long span bridges, and under different loading cases such as human crowd, pedestrians, wind, vehicle, etc. Structural behavior, modal properties, load carrying capacities, structural serviceability and performance are investigated using vision-based methods and validated by comparing with conventional SHM approaches. In this study, some of the most famous landmark structures such as long span bridges are utilized as case studies. This study also investigated the serviceability status of structures by using computer vision-based methods. Subsequently, issues and considerations for computer vision-based measurement in field application are discussed and recommendations are provided for better results. This study also proposes a robust vision-based method for displacement measurement using spatio-temporal context learning and Taylor approximation to overcome the difficulties of vision-based monitoring under adverse environmental factors such as fog and illumination change. In addition, it is shown that the external load distribution on structures (structural input) can be estimated by using visual tracking, and afterward load rating of a bridge can be determined by using the load distribution factors extracted from computer vision-based methods. By combining the structural input and output results, the unit influence line (UIL) of structures are extracted during daily traffic just using cameras from which the external loads can be estimated by using just cameras and extracted UIL. Finally, the condition assessment at global structural level can be achieved using the structural input and output, both obtained from computer vision approaches, would give a normalized response irrespective of the type and/or load configurations of the vehicles or human loads