14 research outputs found
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A sub-Nyquist co-prime sampling music spectral approach for natural frequency identification of white-noise excited structures
Motivated by practical needs to reduce data transmission payloads in wireless sensors for vibration-based monitoring of civil engineering structures, this paper proposes a novel approach for identifying resonant frequencies of white-noise excited structures using acceleration measurements acquired at rates significantly below the Nyquist rate. The approach adopts the deterministic co-prime sub-Nyquist sampling scheme, originally developed to facilitate telecommunication applications, to estimate the autocorrelation function of response acceleration time-histories of low-amplitude white-noise excited structures treated as realizations of a stationary stochastic process. This is achieved without posing any sparsity conditions to the signals. Next, the standard MUSIC algorithm is applied to the estimated autocorrelation function to derive a denoised super-resolution pseudo-spectrum in which natural frequencies are marked by prominent spikes. The accuracy and applicability of the proposed approach is numerically assessed using computer-generated noise-corrupted acceleration time-history data obtained by a simulation-based framework pertaining to a white-noise excited structural system with two closely-spaced modes of vibration carrying the same amount of energy, and a third isolated weakly excited vibrating mode. All three natural frequencies are accurately identified by sampling at as low as 78% below Nyquist rate for signal to noise ratio as low as 0dB (i.e., energy of additive white noise equal to the signal energy), suggesting that the proposed approach is robust and noise-immune while it can reduce data transmission requirements in acceleration wireless sensors for natural frequency identification of engineering structures
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On the influence of frequency selectivity of wavelet bases for relative wavelet entropy-based structural damage localization
Wavelet analysis of vibration signals measured by sensors placed on dynamically excited linear structures has proved to be an effective tool for detection and localization of structural damage. Recently, it has been shown that the relative wavelet entropy (RWE) computed from signal energy-preserving wavelet coefficients of vibration signals from “healthy” (reference) and from “damage” structural states is a potent tool for structural damage assessment applications. Herein, the influence of the frequency domain (FD) properties of the adopted analysis wavelet basis on the efficiency and robustness of the RWE for structural damage localization is assessed. To this aim, simulated benchmark free vibration signals from different locations of a simply supported beam “damaged” at various different positions are discrete wavelet transformed by three different analyzing wavelet bases: Daubechies wavelets (non-compactly supported in the FD), Meyer wavelets (compactly supported in the FD with overlapping frequency bands among wavelet scales), and harmonic wavelets (compactly supported in the FD with non-overlapping frequency bands among wavelet scales) are utilized. A wavelet scale dependent RWE-related index plotted against the frequency axis along the length of the beam is utilized to compare the effectiveness of the wavelet bases considered for damage position inference. The reported numerical data demonstrate that compactness in the FD and frequency selectivity among wavelet scales offered by Meyer and harmonic wavelet bases enhances the damage localization potential of the RWE compared to the commonly considered in the literature Daubechies wavelet bases. Furthermore, it is shown that non-constant Q analysis readily achieved with harmonic wavelets is advantageous over the standard discrete wavelet transform constant Q analysis, Q being the ratio of central frequency over bandwidth at each wavelet scale, to discriminate RWE contributions at high frequencies. It is concluded that judicial construction of wavelet analysis bases or, equivalently, of discrete wavelet analysis filter banks, in the FD is an important aspect for effective damage localization of linear vibrating structures based on the concept of the RWE
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Effect of frequency domain attributes of wavelet analysis filter banks for structural damage localization using the relative wavelet entropy index
A novel numerical study is undertaken to assess the influence of the frequency domain (FD) attributes of wavelet analysis filter banks for vibration-based structural damage detection and localization using the relative wavelet entropy (RWE): a damage-sensitive index derived by wavelet transforming linear response acceleration signals from a healthy/reference and a damaged state of a given structure subject to broadband excitations. Four different judicially defined energy-preserving wavelet analysis filter banks are employed to compute the RWE pertaining to two benchmark structures via algorithms which can efficiently run on wireless sensors for decentralized structural health monitoring. It is shown that filter banks of compactly supported in the FD wavelet bases (e.g., Meyer wavelets and harmonic wavelets) perform significantly better than the commonly used in the literature dyadic Haar discrete wavelet transform filter banks since they achieve enhanced frequency selectivity among scales (i.e., minimum overlapping of the frequency bands corresponding to adjacent scales) and, therefore, reduce energy leakage and facilitate the interpretation of numerical results in terms of scale/frequency dependent contributors to the RWE. Moreover, it is demonstrated that dyadic DWT filter banks with large constant Q values (i.e., ratio of effective frequency over effective bandwidth) are better qualified to capture damage information associated with high frequencies. Finally, it is concluded that wavelet analysis filter banks achieving nonconstant Q analysis are most effective for RWE-based stationary damage detection as they are not limited by the dyadic DWT discretization and can target the structural natural frequencies in cases these are a priori known
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A multi-sensor sub-Nyquist power spectrum blind sampling approach for low-power wireless sensors in operational modal analysis applications
A novel multi-sensor power spectrum blind sampling (PSBS) approach is proposed supporting low-power wireless sensor networks (WSN) for Operational Modal Analysis (OMA) applications. The developed approach relies on arrays of wireless sensors, employing deterministic non-uniform in time multi-coset sampling to acquire structural response acceleration signals at sub-Nyquist sampling rates, treated as realizations of stationary random processes without making any assumption about the average signal frequency content and spectral support. The acquired compressed measurements are transmitted to a central server and collectively processed via a PSBS technique, herein extended to the multi-sensor case, to estimate the power spectral density matrix of an underlying spatially correlated stationary response acceleration random process directly from the compressed measurements. Structural modal properties are then extracted through standard frequency domain decomposition (FDD). The efficacy of the proposed approach to resolve closely-spaced modes is numerically tested for various data compression levels using noisy response acceleration signals of a white-noise excited finite element model of a space truss as well as field-recorded acceleration time-histories of an instrumented bridge under operational loading. It is shown that accurate mode shapes based on the modal assurance criterion can be obtained from as low as 89% less measurements compared to conventional non-compressive FDD at Nyquist sampling rate. Further, significant gains in energy consumption and battery lifetime prolongation of the order of years are estimated, assuming wireless sensors operating on multi-coset sampling at different data compression levels. It is, therefore, concluded that the proposed PSBS approach could provide long-term structural health monitoring systems with low-maintenance cost once wireless sensors with multi-coset sampling capabilities become commercially available
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Sub-Nyquist signal-reconstruction-free operational modal analysis and damage detection in the presence of noise
Motivated by a need to reduce energy consumption in wireless sensors for vibration-based structural health monitoring (SHM) associated with data acquisition and transmission, this paper puts forth a novel approach for undertaking operational modal analysis (OMA) and damage localization relying on compressed vibrations measurements sampled at rates well below the Nyquist rate. Specifically, non-uniform deterministic sub-Nyquist multi-coset sampling of response acceleration signals in white noise excited linear structures is considered in conjunction with a power spectrum blind sampling/estimation technique which retrieves/samples the power spectral density matrix from arrays of sensors directly from the sub-Nyquist measurements (i.e., in the compressed domain) without signal reconstruction in the time-domain and without posing any signal sparsity conditions. The frequency domain decomposition algorithm is then applied to the power spectral density matrix to extract natural frequencies and mode shapes as a standard OMA step. Further, the modal strain energy index (MSEI) is considered for damage localization based on the mode shapes extracted directly from the compressed measurements. The effectiveness and accuracy of the proposed approach is numerically assessed by considering simulated vibration data pertaining to a white-noise excited simply supported beam in healthy and in 3 damaged states, contaminated with Gaussian white noise. Good accuracy is achieved in estimating mode shapes (quantified in terms of the modal assurance criterion) and natural frequencies from an array of 15 multi-coset devices sampling at a 70% slower than the Nyquist frequency rate for SNRs as low as 10db. Damage localization of equal level/quality is also achieved by the MSEI applied to mode shapes derived from noisy sub-Nyquist (70% compression) and Nyquist measurements for all damaged states considered. Overall, the furnished numerical results demonstrate that the herein considered sub-Nyquist sampling and multi-sensor power spectral density estimation techniques coupled with standard OMA and damage detection approaches can achieve effective SHM from significantly fewer noisy acceleration measurements
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Multi-channel sub-Nyquist cross-Spectral Estimation for Modal Analysis of Vibrating Structures
Operational modal analysis (OMA) is a widely used construction verification and structural health monitoring technique aiming to obtain the modal properties of vibrating civil engineering structures subject to ambient dynamic loads by collecting and processing structural response acceleration signals. Motivated by the need for cost-efficient OMA using wireless sensor networks which acquire and transmit measurements at a lower than the Nyquist rate, a novel OMA approach is put forth to derive modal properties directly from sub-Nyquist sampled (compressed) acceleration measurements from arrays of sensors. This is achieved by adopting sub-Nyquist deterministic non-uniform multi-coset sampling devices and by extending a previously proposed in the literature power spectrum blind sampling (PSBS) method for single-channel spectral estimation of stochastic processes to treat the case of multiple channel cross-spectral estimation. The standard frequency domain decomposition is used to obtain the modal properties from the cross-spectral matrix derived directly from the sub-Nyquist measurements. The applicability and efficiency of the proposed approach is exemplified by retrieving mode shapes of a white-noise excited simply supported steel beam with good accuracy according to the widely used modal assurance criterion (MAC) using 70% less than the Nyquist rate measurements
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Compressive sensing spectral estimation for output-only structural system identification
In this paper a compressive sensing (CS), sub-Nyquist, non-uniform deterministic sampling technique is considered in conjunction with a computationally efficient power spectrum estimation approach for frequency domain output-only system identification of linear white noise excited structural systems. The adopted CS sensing spectral estimation approach assumes multi-band input random signals/stochastic processes without posing any signal sparsity requirements and therefore it is applicable to linear structures with arbitrary number of degrees of freedom and level of damping. Further, it applies directly to the sub-Nyquist (CS) measurements and, thus, it by-passes the computationally demanding signal reconstruction step from CS measurements. Numerical results pertaining to the acceleration response of a damped structure with closely-spaced natural frequencies are provided to demonstrate the effectiveness of the considered approach to provide reliable estimates of natural frequencies by means of the standard frequency domain peak-picking algorithm of operational modal analysis using up to 90% fewer measurements compared to the Nyquist rate sampled data. It is envisioned that this study will further familiarize the structural dynamics community with the potential of CS-based techniques for vibration-based structural health monitoring and condition assessment of engineering structures
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Compressive techniques for sub-Nyquist data acquisition & processing in vibration-based structural health monitoring of engineering structures
Vibration-based structural health monitoring (VSHM) is an automated method for assessing the integrity and performance of dynamically excited structures through processing of structural vibration response signals acquired by arrays of sensors. From a technological viewpoint, wireless sensor networks (WSNs) offer less obtrusive, more economical, and rapid VSHM deployments in civil structures compared to their tethered counterparts, especially in monitoring large-scale and geometrically complex structures. However, WSNs are constrained by certain practical issues related to local power supply at sensors and restrictions to the amount of wirelessly transmitted data due to increased power consumptions and bandwidth limitations in wireless communications.
The primary objective of this thesis is to resolve the above issues by considering sub-Nyquist data acquisition and processing techniques that involve simultaneous signal acquisition and compression before transmission. This drastically reduces the sampling and transmission requirements leading to reduced power consumptions up to 85-90% compared to conventional approaches at Nyquist rate. Within this context, the current state-of-the-art VSHM approaches exploits the theory of compressive sensing (CS) to acquire structural responses at non-uniform random sub-Nyquist sampling schemes. By exploiting the sparse structure of the analysed signals in a known vector basis (i.e., non-zero signal coefficients), the original time-domain signals are reconstructed at the uniform Nyquist grid by solving an underdetermined optimisation problem subject to signal sparsity constraints. However, the CS sparse recovery is a computationally intensive problem that strongly depends on and is limited by the sparsity attributes of the measured signals on a pre-defined expansion basis. This sparsity information, though, is unknown in real-time VSHM deployments while it is adversely affected by noisy environments encountered in practice.
To efficiently address the above limitations encountered in CS-based VSHM methods, this research study proposes three alternative approaches for energy-efficient VSHM using compressed structural response signals under ambient vibrations. The first approach aims to enhance the sparsity information of vibrating structural responses by considering their representation on the wavelet transform domain using various oscillatory functions with different frequency domain attributes. In this respect, a novel data-driven damage detection algorithm is developed herein, emerged as a fusion of the CS framework with the Relative Wavelet Entropy (RWE) damage index. By processing sparse signal coefficients on the harmonic wavelet transform for two comparative structural states (i.e., damage versus healthy state), CS-based RWE damage indices are retrieved from a significantly reduced number of wavelet coefficients without reconstructing structural responses in time-domain.
The second approach involves a novel signal-agnostic sub-Nyquist spectral estimation method free from sparsity constraints, which is proposed herein as a viable alternative for power-efficient WSNs in VSHM applications. The developed method relies on Power Spectrum Blind Sampling (PSBS) techniques together with a deterministic multi-coset sampling pattern, capable to acquire stationary structural responses at sub-Nyquist rates without imposing sparsity conditions. Based on a network of wireless sensors operating on the same sampling pattern, auto/cross power-spectral density estimates are computed directly from compressed data by solving an overdetermined optimisation problem; thus, by-passing the computationally intensive signal reconstruction operations in time-domain. This innovative approach can be fused with standard operational modal analysis algorithms to estimate the inherent resonant frequencies and modal deflected shapes of structures under low-amplitude ambient vibrations with the minimum power, computational and memory requirements at the sensor, while outperforming pertinent CS-based approaches. Based on the extracted modal in formation, numerous data-driven damage detection strategies can be further employed to evaluate the condition of the monitored structures.
The third approach of this thesis proposes a noise-immune damage detection method capable to capture small shifts in structural natural frequencies before and after a seismic event of low intensity using compressed acceleration data contaminated with broadband noise. This novel approach relies on a recently established sub-Nyquist pseudo-spectral estimation method which combines the deterministic co-prime sub-Nyquist sampling technique with the multiple signal classification (MUSIC) pseudo-spectrum estimator. This is also a signal-agnostic and signal reconstruction-free method that treats structural response signals as wide-sense stationary stochastic processes to retrieve, with very high resolution, auto-power spectral densities and structural natural frequency estimates directly from compressed data while filtering out additive broadband noise
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Vibration-based structural performance assessment via output-only sub-Nyquist/compressive wireless sensor data
This paper assesses two different approaches for efficient output - only Vibration - based Structural Health Monitoring (V - SHM) in large - scale civil engineering structures, promoting the use of dense arrays of low - power wireless sensors. Firstly, a non - uniform deterministic sub - Nyquist multi - coset sampling scheme is considered to acquire ambient stationary structural response signals. This sampling scheme is coupled with a power spectrum blind sampling technique along with the frequency domain decomposition algorithm of operational modal analysis to obtain structural modal properties. This is accomplished without necessitating either signal reconstruction in the time - domain or signal sparsity assumption . Secondly, a spectro-temporal compressive sensing approach is considered applicable to cases where sign al reconstruction in time - domain is desired. The latter approach considers non-uniform in time random sampling at sub - Nyquist average rates informed by prior knowledge of signal sparsity gained through smart on-sensor operations and sensor/server communication. The usefulness and applicability of two approaches is numerically demonstrated by considering field recorded data pertaining to the monitoring of an overpass open to the traffic and of an operating on-shore wind turbine
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A compressive MUSIC spectral approach for identification of closely-spaced structural natural frequencies and post-earthquake damage detection
Motivated by practical needs to reduce data transmission payloads in wireless sensors for vibration-based monitoring of engineering structures, this paper proposes a novel approach for identifying resonant frequencies of white-noise excited structures using acceleration measurements acquired at rates significantly below the Nyquist rate. The approach adopts the deterministic co-prime sub-Nyquist sampling scheme, originally developed to facilitate telecommunication applications, to estimate the autocorrelation function of response acceleration time-histories of low-amplitude white-noise excited structures treated as realizations of a stationary stochastic process. Next, the standard multiple signal classification (MUSIC) spectral estimator is applied to the estimated autocorrelation function enabling the identification of structural natural frequencies with high resolution by simple peak picking in the frequency domain without posing any sparsity conditions to the signals. This is achieved by processing autocorrelation estimates without undertaking any (typically computationally expensive) signal reconstruction step in the time-domain, as required by various recently proposed in the literature sub-Nyquist compressive sensing-based approaches for structural health monitoring, while filtering out any broadband noise added during data acquisition. The accuracy and applicability of the proposed approach is first numerically assessed using computer-generated noise-corrupted acceleration time-history data obtained by a simulation-based framework examining white-noise excited structural systems with two closely-spaced modes of vibration carrying the same amount of energy, and a third isolated weakly excited vibrating mode. Further, damage detection potential of the developed method is numerically illustrated using a white-noise excited reinforced concrete 3-storey frame in a healthy and two damaged states caused by ground motions of increased intensity. The damage assessment relies on shifts in natural frequencies between the pre-earthquake and post-earthquake state. Overall, numerical results demonstrate that the considered approach can accurately identify structural resonances and detect structural damage associated with changes to natural frequencies as minor as 1% by sampling up to 78% below Nyquist rate for signal to noise ratio as low as 10dB. These results suggest that the adopted approach is robust and noise-immune while it can reduce data transmission requirements in acceleration wireless sensors for natural frequency identification and damage detection in engineering structures