Identification Methods For Structural Systems: Prof. Dr. Eleni Chatzi Lecture 1 - 24 February, 2015

Identification Methods for Structural Systems
Prof. Dr. Eleni Chatzi

Lecture 1 - 24 February, 2015
Institute of Structural Engineering
Course Information
Instructor
Prof. Dr. Eleni Chatzi, email: chatzi@ibk.baug.ethz.ch
Office Hours: HIL E14.3, Wednesday 10:00-12:00 or by email
Assistant
Dr. Vasileios Ntertimanis, email: v.derti@ibk.baug.ethz.ch
Office Hours: HIF B21, Tuesday,Thursday 10:00-12:00 or by email
Course Website
Lecture Notes and Homeworks will be posted at:
http://www.chatzi.ibk.ethz.ch/education/identification-methods-forstructural-systems.html
Suggested Reading
T. S
oderstr
om, P.G. Stoica, System identification, Englewood Cliffs,
Prentice-Hall, 1989
available for download from: http://user.it.uu.se/ ts/sysidbook.pdf
Grading Policy
Homeworks (30%) - Final Exam (70%)
Homework
3 Homework Problems will be assigned in total
Homeworks are due in class up to 3 weeks after assignment
HWs 2 and 3 will also require some light coding
This maybe done using any coding language (MATLAB, Fortran, C,
MAPLE) - example code will be provided in MATLAB
Final Exam
The final written examination will have a duration of 2 hours
Topics will address examples done in class or in Homework problems
No coding will be necessary
Background & Motivation

Operating under continually changing Environments
Wind Induced Vibrations

Wind Turbine
Pedestrian Vibrations
Millennium Bridge
(source: Youtube)
(source: Getty Images)
EVACES15, 19 - 21 October 2015
Monitoring based on Uncertainty

Operating under continually changing Environments
Wind Induced Vibrations

Wind Turbine
Pedestrian Vibrations
(source: imgur)
Millennium Bridge
(source: Youtube)

Deteriorating Infrastructure
Wake-up Call
I-35W highway bridge Collapse (2007)
American Society of Civil Engineerings (ASCE) report card that we have all come
much. Since its inception in 1988, there have been 5 complete report cards (at le
found) and one trend report. When growing up, I wonder if I brought home a repo
poorly, time and time again, if my parents wouldve awarded me with nice stimulus
Ha. The only stimulus I wouldve received would have been to my backside from t
Deteriorating Infrastructure
wooden spoon!
Take a look:
2003
1988 1998 2001 Trend 2005 2009
CATEGORY
Aviation
Bridges
Dams
Drinking Water
Energy
Hazardous Waste
Navigable Waterways
Public Parks & Rec
Railways
Roads
Schools
Solid Waste
Transit
Wastewater
BC+
N/A
BN/A
D
N/A
N/A
N/A
C+
N/A
CCC
CCD
D
N/A
DN/A
N/A
N/A
DF
CCD+
D
C
D
D
D+
D+
D+
N/A
N/A
D+
DC+
CD
N/A
N/A
D+
C
D
DD
D
DCCD
D
C+
D+
D-
D
C
D
DD+
D
DCCDD
C+
D
D-
(source ASCE)
I know that if my kids came home with these grades one marking period, you woul
you would see improvement the next. And then, as a parent, I would work with th
school to learn the root of problem and then make the necessary changes that wou
term success. Finding short term solutions and putting a band-aid over the situation

Ageing Infrastructure is a worldwide trend
In Western Europe, where
some infrastructure
systems are far older,
maintenance and repair
issues surfaced long before
they did in the US.
This country desperately needs new

infrastructure. The road network is
deteriorating.- Boris Johnson
European nations have

already drawn up extensive
infrastructure plans.
Bridge - dehumidification project

Structural Innovation

Structural Health Monitoring
The strategic and monetary value of the civil infrastructures
worldwide call for the development of SHM systems.
Smart
Materials
Damage
Sensors
SHM
IT
Network
Detection
Life
Cycle

Structural Health Monitoring
Current data acquisition technology.
Smart
Materials
Damage
Sensors
SHM
IT
Network
Detection
Life
Cycle

Collection of Sensory Information
Force
Displacement
Acceleration
Meteo
Strain and tilt
Data from GPS
Sensor Technology
Fiber Optics
Ultrasonic Sensor
Laser Vibrometer
Smart Sensors & Materials
Shape Memory
Alloys
Wireless Smart
Sensor
Bridge Skin
(source: University of
Michigan, Jerome Lynch)
Smart Sensors & Materials

Fiber Reinforced Polymer Materials
(courtesy of Dr. Fuggini, DAppolonia S.p.A)
Sensor Technology
Interferometric Radar
Generates maps of surface deformation over time
courtesy of A.W. Smyth
Sensor Technology
Acoustic Emission Detection Schemes
Strain sensor detects

approaching trains and wake AE
sensors.
Using Artificial Intelligence
Methods fatigue crack growth is
quantified.
Information is transmitted via
wireless network or satellite
transmission.
Decision making Process is
activated.
taken from http://www.tisec.com
IT Network Technology
Efficient SHM systems shall completely avoid the issue of wire management
the development of efficient data communication systems and energy
harvesting techniques is required.
Link between acquired data & modeling of structural behaviour ?
System Identification
Link between acquired data & modeling of structural behaviour ?
Definition
is the process of developing or improving the mathematical
representation of a physical system using experimental data.
analytical or numerical
model
excitation
dynamic response
Model
Forward Problem (analytical/numerical model exists a priori)
ambient
excitation
vibration
response
and/or
known applied forces
Time domain
x[t] = Ax[t-1]+Bu[t]
y[t] = Cx[t]+Du[t]
Structural
identification
Frequency Domain
H(ejt)
Modal space
, ,
Inverse Problem
(structural model is obtained from experimental data)

Turning Data Into Knowledge - System Identification
is the process of developing or improving the mathematical representation
of a physical system using experimental data.
(Manhattan Bridge Monitoring Project - Columbia University, 2008)

Application of Structural ID for Modal Analysis

Cross Section

Dynamic Differential GPS and Acceleration Sensing

Dynamic Differential GPS and Acceleration Sensing
The Manhattan Bridge - Instrumentation Plan
Courtesy of A. W. Smyth

Sensor Installation

The Manhattan Bridge - Identified Modes
Courtesy of Prof. A.W. Smyth
Application of Structural ID for Vibration Control

Tuned Mass Damper Installation to the Millennium Bridge, London
8 Horizontal TMD
Weight: 2500 kg
Frequency: 0.45 Hz
50 Vertical TMD
Weight: 1000 - 2000 kg
Frequency: 1.2 - 2.2 Hz
(source: www.gerbusa.com)
Background and Motivation
Multi-source Uncertainties
Random (stochastic) excitation: wind, turbulence, traffic, earthquake, combined effects

due to various sources, road or rail irregularities, etc
Operational conditions often assumed as WN.
Random (stochastic) noise: instrument noise, discretization noise, modelling errors
environmental effects and disturbances, interferences.
The structural system: Assumed to be deterministic usually (but not necessarily) and
either linear & time invariant (stationary) or less often nonlinear
Background and Motivation
Multi-source Uncertainties
Random (stochastic) excitation: wind, turbulence, traffic, earthquake, combined effects

due to various sources, road or rail irregularities, etc
Operational conditions often assumed as WN.
Random (stochastic) noise: instrument noise, discretization noise, modelling errors
environmental effects and disturbances, interferences.
The structural system: Assumed to be deterministic usually (but not necessarily) and
either linear & time invariant (stationary) or less often nonlinear
Damage Detection
Nondestructive testing (NDT): defines methods used to examine
an object, material or system without impairing its future usefulness.
SHM - Damage Detection:
Monitor changes in the dynamic
properties of a structure
Available Techniques: impedance

tomography, radiography,
ultrasounds
Application of Structural ID for SHM

Baselinefphasef?modellingfoffthefhealthyfstructuralfdynamics)
non-parametric
estimationfoffPDF
PDF
Temperaturef?oC)
vibration
response
Qo()
Temperaturef?oC)
Timef?h)
ambient
excitation
Structuralfmodel
estimation
PDF
Average
floadfmassf?kg)
Averagefloadfmassf?kg)
Timef?h)
Q: Characteristic statistical quantity that may be used for the

description of the structural state (e.g. natural frequencies)
: Vector of uncertainty parameters
non-parametric
estimationfoffPDF
Inspectionfphasef?damagefdetection)
structure under unknown state
measured conditions 1, 2
ambient
excitation
vibration
response
statisticalfdecisionfmaking
Structural
model
estimation
Qu()
Qo()
YES
healthy
state
Qu()
NO
faulty
state
Worldwide Monitoring Projects
Fiber Optic sensing system - Sutong Bridge (China)

Advantage: capability of distributed sensing and measurement
Obstacle: Lack of engineering demonstration of the durability and
long-term performance

Egnantia Highway - Greece
(source: Ntotsios et al 2009)
Stork Bridge Outdoor

Deployment - Winterthur
(source: EMPA)
Monitoring of Tall Structures
SHM System:
Monitoring of strain/stress
and structural temperature,
Acceleration, tilt and
displacement,
Ground motion, wind and
weather conditions
Corrosion
Monitoring Guangzhou TV tower - source:
Hong Kong Polytechnic University

CSMIP and Caltrans created the bridge strong motion program
after the Loma Prieta EQ (1989).
Includes instrumentation of highway bridges, free-field sites near
major bridges, and subsurface geotechnical arrays.
Goals of instrumentation:
Provide valuable information to improve
seismic design and analysis of bridges.
Near real-time recovery and processing
of recorded data provides significant
information for assessment of the safety
of the bridge structures right after
damaging EQ.
Chair of Structural Mechanics, ETH Zurich - Monitoring Activities

The ETH House of Natural Resources: An opportunity to implement,
demonstrate and validate innovative structures in hardwood
10
Chair of Structural Mechanics, ETH Zurich - ETH HoNR
SHM - Data Stream

Dynamic field tests during construction
Ambient dynamic recordings during operation
Long-term Static Monitoring (construction & operation)
Snow loads
Wind loads
BIBLIOTHEK / AUFENTHALT
BRO
BRO
SEKRETAR.
SITZUNGSZIMMER
BRO
User behaviour
BRO
ARCHIV
11
Data Stream: Dynamic Regime

Accelerometers
Accelerometer placement
Amplifier Box
12
Data Stream: Static Regime
16 Load cells
12 LVDTs (horizontal/
vertical)
12 Temperature and
humidity sensors
40 Moisture content
measurement points
20 FBG Strain sensors
2 LUNA Strain cables
13

Strain Monitoring - Elefantenhaus Z
urich Zoo
18

Strain Monitoring - Elefantenhaus Z
urich Zoo
Kaeng
Krachan
Elephant Shelter
at Zoo Zrich,
Switzerland
Wooden free-form cupola of 80 m

span.
Roof supported by a post-tensioned
concrete ring.
19
Infrastructure Management through SHM

Detect damage and deterioration before it poses a risk
Monitor expected design behavior of structural system not only
at initial stage but also during the life cycle of a structure
Prognosis, i.e., determine remaining life of structures
Trigger, remedial action, passive or active control of structure
Optimize investment in maintenance
Manage risk
Goal:
is not to supersede traditional inspections with monitoring

but to complement and optimize the inspection and assessment
process with modern tools
Chair of Structural Mechanics, ETH Zurich
Value of Information for Infrastructure Management
Facilitating Maintenance Decisions through Monitoring
44
Course Outline
Physics-based modeling
Time-domain (ODE and State-space)
Laplace-domain (Transfer function)
Frequency-domain (Frequency response function)
Data-based modeling
Fundamentals of Signal Processing
Non-parametric methods (Peak-picking, FDD)
Parametric methods (ARMA, Stochastic Subspace ID, KF)
Extension to non-linear and non-stationary structures

Recent advances and applications
Thank you for your attention!

We welcome questions/comments/collaboration
chatzi@ibk.baug.ethz.ch
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Identification Methods for Structural Systems

Prof. Dr. Eleni Chatzi

Institute of Structural Engineering