Damage detection approach based on the second derivative of flexibility estimated from incomplete mode shape data

The presence of damage in a structural member causes local and global deterioration of structural performance. The stiffness and flexibility can be predicted using the measured mode shapes. The stiffness and flexibility are estimated because it is not easy to collect the complete modal data corresponding to full modes and degrees of freedom (DOFs). The prediction using the lowest few modes provides a more accurate flexibility prediction compared with the stiffness. This work indicates that the updated flexibility matrix can extract more information concerning the state of the structural health compared with the stiffness matrix. Additionally, incomplete measurement data should be expanded to construct the flexibility matrix at damaged state. This study derives the analytical methods used to update the flexibility matrix based on an expanded full set of DOFs and to detect damage using the updated flexibility curvature. The validity of the proposed method is evaluated using a numerical experiment, and the method's effectiveness depending on the number of truncated modes is investigated.     

Correction of stiffness and mass matrices utilizing simulated measured modal data

Measured and analytical data are unlikely to be equal due to measured noise, model inadequacies and structural damage, etc. It is necessary to update the physical parameters of analytical models for proper simulation and design studies. Starting from simulated measured modal data such as natural frequencies and their corresponding mode shapes, this study presents the equations to update the physical parameters of stiffness and mass matrices simultaneously for analytical modelling by minimizing a cost function in the satisfaction of the dynamic constraints of orthogonality requirement and eigenvalue function. The proposed equations are straightforwardly derived by Moore–Penrose inverse matrix without using any multipliers. The cost function is expressed by the sum of the quadratic forms of both the difference between analytical and updated mass, and stiffness matrices. The results are compared with the updated mass matrix to consider the orthogonality requirement only and the updated stiffness matrix to consider the eigenvalue function only, respectively. Also, they are compared with Wei’s method which updates the mass and stiffness matrices simultaneously. The validity of the proposed method is illustrated in an application to correct the mass and stiffness matrices due to section loss of some members in a simple truss structure.     

Seleção de topologias ótimas de estruturas elásticas 2D com restrição de tensão – via Smooth Evolutionary Structural Optimization

This paper approaches the topology optimization problems in plane linear elasticity considering the minimization of the volume with restriction of the stress employing an index of performance for monitoring the meeting of the optimum region. It is used for this purpose the classical evolutionary structural optimization, or ESO ‐ evolutionary structural optimization. This procedure is based on systematic and gradual removal of the elements with lower stress compared with the maximum stress of the structure. This procedure also known as a process “hard‐kill”. It is proposed a variant of the ESO method, called SESO ‐ Smoothing ESO, which is based on the philosophy that if an element is not really necessary for the structure, its contribution to the structural stiffness will gradually diminish until it has no longer influence in the structure, so its removal is performed smoothly. That is, their removal is done smoothly, reducing the values of the constitutive matrix of the element as if it were in the process of damage. A new performance index for the monitoring of this evolutionary process smoothed is proposed herein. The applications of ESO and SESO are made with the finite element method, but considering a high order triangular element based on the free formulation. Finally, it is implemented a spatial filter in terms of stress control, which was associated with SESO technique proved to be very stable and efficient in eliminating the formation of the checkerboard.     

On a Sparse Representation of an n-Dimensional Laplacian in Wavelet Coordinates

Important parts of adaptive wavelet methods are well-conditioned wavelet stiffness matrices and an efficient approximate multiplication of quasi-sparse stiffness matrices with vectors in wavelet coordinates. Therefore it is useful to develop a well-conditioned wavelet basis with respect to which both the mass and stiffness matrices are sparse in the sense that the number of nonzero elements in each column is bounded by a constant. Consequently, the stiffness matrix corresponding to the n-dimensional Laplacian in the tensor product wavelet basis is also sparse. Then a matrix–vector multiplication can be performed exactly with linear complexity. In this paper, we construct a wavelet basis based on Hermite cubic splines with respect to which both the mass matrix and the stiffness matrix corresponding to a one-dimensional Poisson equation are sparse. Moreover, a proposed basis is well-conditioned on low decomposition levels. Small condition numbers for low decomposition levels and a sparse structure of stiffness matrices are kept for any well-conditioned second order partial differential equations with constant coefficients; furthermore, they are independent of the space dimension.     

Structural damage detection strategy using correlation functions under inconsistent excitation

Structural damage detection using vibration response signals is appealing in recent years since it does not require the identification of the modal parameters or building the structures' finite element model, among which the correlation-function-based damage detection methodologies is a novel topic [1]. Beginning with the introduction of the correlation function theory, this paper proposes a new damage detection strategy using the auto correlation function values of vibration response signals of the structure. The maximum value of the auto correlation functions of the vibration responses from different measurement points are used to form the damage index to locate the damage. Differences of the damage index are used to make the damage location more clearly. As in real world applications, structures may undergo different external excitations [2]. Different external excitations are input into the intact and damaged structure. The results from numerical simulation of stiffness reduction detection of a 12-story frame structure show that the proposed strategy can locate the damage correctly and has a very good anti-noise ability under inconsistent external excitations. As only the vibration responses before and after damage are used in this damage detection strategy, it can be a useful tool for structural health monitoring. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

基于增秩Kalman滤波的动态荷载识别和结构响应重构

针对传统的荷载识别方法受不适定性问题影响导致识别误差较大,且受传感器数上的限制也无法监测所有结构易损伤位置处振动响应的问题,提出了一种基于增秩Kalman滤波（augmented Kalman filter, AKF）算法的动态荷载识别和结构响应重构方法.基于结构状态空间方程,形成由荷载向量和状态向量组成的增秩状态向量（augmented-rank state vector,ASV）,利用Kalman滤波算法获得增秩状态向量的最小方差无偏（minimum variance unbiased, MVU）估计,实现了状态和荷载向量的同时识别.结合最优状态估计和观测矩阵,实现了未布置传感器处的结构动力响应重构.通过三个有限元案例,初步验证了该方法的可行性和有效性.结果表明,当荷载位置固定或移动时,所提方法均能有效地识别荷载和重构响应,精度较高且对测量噪声不敏感.传感器的种类、数量和布置位置对荷载识别和响应重构精度会有一定影响.     

环境激励下基于柔度矩阵分解的损伤诊断

为了解决环境激励作用下结构自由度不完备对损伤诊断的影响,提出了一种基于自由度缩聚的比例柔度矩阵分解损伤诊断法.利用附加质量法求解出环境激励作用下振型关于质量归一化因子.进而根据质量归一化因子和比例柔度矩阵系数之间的关系,构建出其比例柔度矩阵,再通过使用QR矩阵分解法对构建出的比例柔度矩阵进行分解.以分解后得到的三角矩阵(R矩阵)作为研究对象,将〖WTHX〗R〖WTBX〗矩阵经过相应的数学算法处理得到最终损伤定位指标.算例研究表明:在环境激励作用下考虑自由度缩聚的影响,无论对于单损伤还是多损伤,所提损伤定位指标均表现出较高的准确性,且具有一定的鲁棒性.该文基于矩阵分解法推导出的损伤定位指标可以应用在环境激励作用下的损伤诊断,同时也为自由度不完备结构的损伤诊断提供了新研究思路.     

Optimal Sensor Placement Method Considering the Importance of Structural Performance Degradation for the Allowable Loadings for Damage Identification

Considering the importance of damage for the structural performance and for decreasing the identification error, this paper proposes an optimal sensor placement method based on a weighted standard deviation norm (WSDN) index. The standard deviation of the identified damage parameters is solved using the series expansion theory and probabilistic method to quantify the effect of a measurement error on damage identification. The damage estimation weight (DEW) index, which can reflect the importance of each element in the structural capabilities, is established based on a performance-damage curve. A significant DEW for a specified element indicates that the element is important for the structure and that its identification error should be small. The WSDN index is obtained from the Hadamard product of the standard deviations (SDs) and DEWs. Thus, the identification error of the entire structure is measured using the weighting coefficient. The optimal sensor placement (OSP) procedure is performed by minimizing the WSDN index. The proposed method can clearly decrease the uncertainties of the identification results for the important elements. Other OSP criteria, including the condition number, information entropy, and standard deviation norm, which aim to decrease the identification error, are discussed in this paper for comparison with the proposed method. Two numerical examples and an experiment, which pertain to the deformation performance, buckling features, and dynamic characteristics, are discussed to verify the advantages of the proposed method.     

Analytical elastostatic stiffness modeling of parallel manipulators considering the compliance of the link and joint

This paper discusses the analytical elastostatic stiffness modeling of parallel manipulators (PMs) considering the compliance of the link and joint. The proposed modeling is implemented in three steps: (1) the limb constraint wrenches are formulated based on screw theory; (2) the strain energy of the link and the joint is formulated using material mechanics and a mapping matrix, respectively, and the concentrated limb stiffness matrix corresponding to the constraint wrenches is obtained by summing the strain energy of the links and joints in the limb; and (3) the overall stiffness matrix is assembled based on the deformation compatibility equations. The strain energy factor index (SEFI) is adopted to describe the influence of the elastic components on the stiffness performance of the mechanism. Matrix structural analysis (MSA) using Timoshenko beam elements is applied to obtain analytical expressions for the compliance matrices of different joints through a three-step process: (1) formulate the element stiffness equation for each element; (2) extend the element stiffness equation to obtain the element contribution matrix, allowing the extended overall stiffness matrix to be obtained by summing the element contribution matrices; and (3) determine the stiffness matrices of joints by extracting the node stiffness matrix from the extended overall stiffness matrix and then releasing the degrees of freedom of twist. A comparison with MSA using Euler–Bernoulli beam elements demonstrates the superiority of using Timoshenko beam elements. The 2PRU-UPR PM is presented to illustrate the effectiveness of the proposed approach. Finally, the global SEFI and scatter matrix are used to identify the elastic component with the weakest stiffness performance, providing a new approach for effectively improving the stiffness performance of the mechanism.     

Multi-variable grey model based on dynamic background algorithm for forecasting the interval sequence

The multi-variable grey model based on dynamic background algorithm improves the forecasting performance of the multi-variable grey model on the precise number sequence. In order to make this model suitable for the interval sequence, the matrix form of the multi-variable grey model based on dynamic background algorithm is proposed in the paper. In the modeling process, the interval is treated as a two-dimensional column vector, the parameters of the multi-variable grey model are replaced by matrices, and the dynamic background algorithm for interval sequences is proposed. The analysis results of the matrix algorithm for the dynamic background value and the prediction formula show that the new model is essentially a way to predict one of the two bounds of an interval by combining them, reflecting the integrity and interaction between the lower and upper bounds. The interval predictions of industrial electricity consumption of Zhejiang Province, China national electricity consumption and consumer price index show that the new model can well predict the minimum and maximum values of the interval sequence and has better prediction performance compared with the method of predicting each boundary sequence separately.     

Vibration analysis of rotating systems with open and breathing cracks

This paper is concerned with vibration analysis of rotating systems containing cracks. The flexibility matrix of cracked element is calculated with modified integration limits which is more accurate than conventional methods. The effect of this modification on the coefficients of flexibility matrix is presented for a simple rotor system containing open crack. To model the crack breathing behavior, a new finite element approach is introduced and implemented. Then, the dynamic response of a rotor with a breathing crack is evaluated by using the frequency/time domain approach (short time Fourier transform). The ability of short time Fourier transform to detect small cracks is investigated and compared with the transient response. The results provide a possible basis for an on-line monitoring system.     

Detection and localisation of structural damage based on the error in the constitutive relations in dynamics

In the present work the authors revisit the problem of detecting and localising errors in the finite element modelling of structures subjected to dynamic loading, with the objective of adapting it to the development of a reliable tool that may be used to indicate zones that may be damaged, when applied to structural heath monitoring. It can also be applied in the context of an updating process and in that case the aim is to obtain important information on zones that are not sufficiently well modelled, leading to the improvement of the numerical model. The problem is formulated by establishing an indicator based upon an error function focused on the constitutive relations of the material and on the discrepancy between the healthy and damaged states of a structure. In both cases the experimental results are introduced in the form of frequency response functions (FRFs), which are supposed to be known at just a few locations along the structure, as it happens in real applications. The developed indicator accommodates possible errors in the stiffness, mass and (proportional) damping properties. Numerical examples simulating the measured FRFs are given to assess the capability of the proposed indicator when applied to the damage detection and localisation problem.     

Curve fitting with a Sobolev gradient method

Consider the problem of constructing a mathematical representation of a curve that satisfies constraints such as interpolation of specified points. This problem arises frequently in the context of both data fitting and Computer Aided Design. We treat the most general problem: the curve may or may not be constrained to lie in a plane; the constraints may involve specified points, tangent vectors, normal vectors, and/or curvature vectors, periodicity, or nonlinear inequalities representing shapepreservation criteria. Rather than the usual piecewise parametric polynomial (B-spline) or rational (NURB) formulation, we represent the curve by a discrete sequence of vertices along with first, second, and third derivative vectors at each vertex, where derivatives are with respect to arc length. This provides third-order geometric continuity and maximizes flexibility with an arbitrarily large number of degrees of freedom. The free parameters are chosen to minimize a fairness measure defined as a weighted sum of curve length, total curvature, and variation of curvature. We thus obtain a very challenging constrained optimization problem for which standard methods are ineffective. A Sobolev gradient method, however, is particularly effective. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

车辆-轨道垂向耦合系统求解过程的改进算法

考虑到轨道结构长度随系统响应持时的增加而增长，提出了一种改进的车辆 轨道垂向耦合系统的动力响应求解算法.该算法事先选定某一定长度的轨道结构，并获得该轨道结构的质量矩阵、阻尼矩阵和刚度矩阵；通过在求解过程中不断地对车辆子系统定位，判断是否需要对车辆子系统的位置和轨道结构的响应矩阵进行调整，以此来达到仅增加系统响应持时而不增加轨道结构长度的目的.算例表明:该改进加快算法是精确、高效的，不仅可以真实地模拟车辆在轨道上的前进运行状态，而且可以保证轨道子系统的轨道单元数量不随系统响应持时的增加而增长，这为快速求解车辆 轨道垂向耦合系统提供了一种有效的计算方法.     

Approximation and contamination bounds for probabilistic programs

In many applications of manufacturing and service industries, the quality of a process is characterized by the functional relationship between a response variable and one or more explanatory variables. Profile monitoring is for checking the stability of this relationship over time. In some situations, multiple profiles are required in order to model the quality of a product or process effectively. General multivariate linear profile monitoring is particularly useful in practice due to its simplicity and flexibility. However, in such situations, the existing parametric profile monitoring methods suffer from a drawback in that when the profile parameter dimensionality is large, the detection ability of the procedures commonly used T ²-type charting statistics is likely to decline substantially. Moreover, it is also challenging to isolate the type of profile parameter change in such high-dimensional circumstances. These issues actually inherit from those of the conventional multivariate control charts. To resolve these issues, this paper develops a new methodology for monitoring general multivariate linear profiles, including the regression coefficients and profile variation. After examining the connection between the parametric profile monitoring and multivariate statistical process control, we propose to apply a variable-selection-based multivariate control scheme to the transformations of estimated profile parameters. Our proposed control chart is capable of determining the shift direction automatically based on observed profile data. Thus, it offers a balanced protection against various profile shifts. Moreover, the proposed control chart provides an easy but quite effective diagnostic aid. A real-data example from the logistics service shows that it performs quite well in the application.     

Numerical calculation of the tangent stiffness matrix in materials modeling

The Finite Element Method in the field of materials modeling is closely connected to the tangent stiffness matrix of the constitutive law. This so called Jacobian matrix is required at each time increment and describes the local material behavior. It assigns a stress increment to a strain increment and is of fundamental importance for the numerical determination of the equilibrium state. For increasingly sophisticated material models the tangent stiffness matrix can be derived analytically only with great effort, if at all. Numerical methods are therefore widely used for its calculation. We present our method to calculate the tangent stiffness matrix for the logarithmic strain measure. The approach is compared with other commonly used procedures. A significant increase in accuracy can be achieved with the proposed method. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Exact bounds for the sensitivity analysis of structures with uncertain-but-bounded parameters

Based on interval mathematical theory, the interval analysis method for the sensitivity analysis of the structure is advanced in this paper. The interval analysis method deals with the upper and lower bounds on eigenvalues of structures with uncertain-but-bounded (or interval) parameters. The stiffness matrix and the mass matrix of the structure, whose elements have the initial errors, are unknown except for the fact that they belong to given bounded matrix sets. The set of possible matrices can be described by the interval matrix. In terms of structural parameters, the stiffness matrix and the mass matrix take the non-negative decomposition. By means of interval extension, the generalized interval eigenvalue problem of structures with uncertain-but-bounded parameters can be divided into two generalized eigenvalue problems of a pair of real symmetric matrix pair by the real analysis method. Unlike normal sensitivity analysis method, the interval analysis method obtains informations on the response of structures with structural parameters (or design variables) changing and without any partial differential operation. Low computational effort and wide application rang are the characteristic of the proposed method. Two illustrative numerical examples illustrate the efficiency of the interval analysis.     

Some comparisons for damage detection on structures using genetic algorithms and modal sensitivity method

The last decade witnessed the development of a large number of non-destructive tests for structural integrity evaluation. This growth is due to attracted interest to reduce time and costs to perform damage monitoring and predictive maintenance. In this way, several methods intended to detect structural damage based on sensitivity and statistical methods were proposed. However, some of these methods present some practical problems in measuring structural dynamic characteristics such as dynamic mode shapes. Some methods based exclusively on structural responses show disadvantages in finding the damage position on structures.     

利用近似能量极小构造平面C1三次Hermite插值曲线

研究了利用近似能量极小构造平面$C^1$三次Hermite插值曲线的方法.该方法的主要的目是求出$C^1$三次Hermite插值曲线的最佳切矢.通过将应变能、曲率变化能和组合能的近似函数极小化,得到了求解最佳切矢的线性方程组.通过求解发现,近似曲率变化能极小不存在唯一解, 而近似应变能极小和近似组合能极小由于方程系统的系数矩阵为严格对角占优故都存在唯一解.最后, 通过实例表明了本文方法构造平面$C^1$三次Hermite插值曲线的有效性.