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Implementation and validation of robot-enabled embedded sensors for structural health monitoring
(2024)
In the past decades, structural health monitoring (SHM) has matured into a viable supplement to regular inspections, facilitating the execution of repair and maintenance work in the early stages of structural damage. With the advent of wireless technologies and advancements in information and communication technologies, civil infrastructure has been increasingly instrumented with wireless sensor nodes to record, analyze, and communicate data relevant to SHM. A promising method for SHM is to embed sensors directly into concrete for recording SHM data from inside structural elements. In this paper, a sensor system for embedment into concrete is proposed, able to assess SHM data recorded from concrete. Power is supplied to the sensors on-demand by quadruped robots, which also collect the SHM data via radio-frequency identification (RFID), providing an automated and efficient SHM process. In laboratory experiments, the capability of the sensor system of automatically collecting the SHM data using quadruped robots is validated. In summary, the integration of RFID technology and robot-based inspection presented in this study demonstrates a vital approach to evolve current SHM practices towards more digitalized and automated SHM.
Implementation and validation of robot-enabled embedded sensors for structural health monitoring
(2024)
In the past decades, structural health monitoring (SHM) has matured into a viable supplement to regular inspections, facilitating the execution of repair and maintenance work in the early stages of structural damage. With the advent of wireless technologies and advancements in information and communication technologies, civil infrastructure has been increasingly instrumented with wireless sensor nodes to record, analyze, and communicate data relevant to SHM. A promising method for SHM is to embed sensors directly into concrete for recording SHM data from inside structural elements. In this paper, a sensor system for embedment into concrete is proposed, able to assess SHM data recorded from concrete. Power is supplied to the sensors on-demand by quadruped robots, which also collect the SHM data via radio-frequency identification (RFID), providing an automated and efficient SHM process. In laboratory experiments, the capability of the sensor system of automatically collecting the SHM data using quadruped robots is validated. In summary, the integration of RFID technology and robot-based inspection presented in this study demonstrates a vital approach to evolve current SHM practices towards more digitalized and automated SHM.
We present a distributed polymer optical fiber sensor system for deformation monitoring of geotechnical infrastructure. The sensor system is based on the digital incoherent optical frequency domain reflectometry (I-OFDR) for the detection of local strain events along a perfluorinated polymer optical fiber (PF-POF) used as a sensing fiber. For the best possible load transfer, the PF-POFs were integrated onto geosynthetics which pose a sensor carrier for the sensing fiber. By using elastic PF-POF instead of a standard glass fiber as a sensing fiber the strain range of geosynthetics-integrated fiber optic sensors could be extended up to 10 % in accordance with the end-user requirements.
Distributed fiber optic strain sensing for structural health monitoring of 70 MPa hydrogen vessels
(2024)
We report on the development and testing of 70 MPa hydrogen pressure
vessels with integrated fiber optic sensing fibers for automotive use. The paper deals with the condition monitoring of such composite pressure vessels (CPVs) using the optical backscatter reflectometry (OBR) applied for a distributed fiber optic strain sensing along fully integrated polyimide-coated single-mode glass optical fiber (SM-GOF). The sensing fibers were embedded into the vessel structure by wrapping them over the polymer liner during the manufacturing process of the carbon fiber reinforced polymer (CFRP). Detecting local strain events by the integrated fiber optic sensors can be an opportunity for monitoring the material degradation of CPVs under static and cyclic loading.
Distributed fiber optic strain sensing for structural health monitoring of 70 MPa hydrogen vessels
(2024)
We report on the development and testing of 70 MPa hydrogen pressure vessels with integrated fiber optic sensing fibers for automotive use. The paper deals with the condition monitoring of such composite pressure vessels (CPVs) using the optical backscatter reflectometry (OBR) applied for a distributed fiber optic strain sensing along fully integrated polyimide-coated single-mode glass optical fiber (SM-GOF). The sensing fibers were embedded into the vessel structure by wrapping them over the polymer liner during the manufacturing process of the carbon fiber reinforced polymer (CFRP). Detecting local strain events by the integrated fiber optic sensors can be an opportunity for monitoring the material degradation of CPVs under static and cyclic loading.
We present a distributed polymer optical fiber sensor system for deformation monitoring of geotechnical infrastructure. The sensor system is based on the digital incoherent optical frequency domain reflectometry (I-OFDR) for the detection of local strain events along a perfluorinated polymer optical fiber (PF-POF) used as a sensing fiber. For the best possible load transfer, the PF-POFs were integrated onto geosynthetics which pose a sensor carrier for the sensing fiber. By using elastic PF-POF instead of a standard glass fiber as a sensing fiber the strain range of geosynthetics-integrated fiber optic sensors could be extended up to 10 % in accordance with the end-user requirements.
Hydrogen pressure vessels are among the most essential components for reliable hydrogen technology. Under current regulations, a mostly conservative strategy is employed, restricting the usage time of hydrogen pressure vessels without providing information on the real remaining lifetime. During the service life, pressure vessels are inspected periodically. However, no established method that can provide continuous monitoring or information on the remaining safe service life of the vessel. In this paper, we propose a sensor network for Structural Health Monitoring (SHM) of hydrogen pressure vessels where data from all sensors are collected and centrally evaluated. Specifically, we integrate three different SHM sensing technologies namely Guided Wave ultrasonics (GW), Acoustic Emission testing (AT), and distributed Fiber Optic Sensing (FOS). This integrated approach offers significantly more information and could therefore enable a transition from costly and time-consuming periodic inspections to more efficient and modern predictive maintenance strategies, including Artificial Intelligence (AI)-based evaluation. This does not only have a positive effect on the operational costs but enhances safety through early identification of critical conditions in the overall system in real-time. We demonstrate an experimental set-up of a lifetime test where a Type IV Composite Overwrapped Pressure Vessel (COPV) is investigated under cyclic loading instrumented with AT, FOS, and GW methods. We acquired data from the sensor network until the pressure vessel failed due to material degradation. The data collected using the three different SHM sensor technologies is planned to be evaluated individually, using data fusion, and AI. In the future, we aim to integrate the measurement setup into a hydrogen refueling station with the data stream implemented into a digital signal processing chain and a digital twin.
Structural health monitoring of hydrogen pressure vessels using distributed fiber optic sensing
(2024)
We report on distributed fiber optic sensing-based monitoring of hydrogen composite overwrapped pressure vessels (COPV) to simultaneously increase the operational lifespan and mitigate maintenance costs. Our approach represents, to the best of our knowledge, the first application of distributed fiber optic sensing for COPV Type IV monitoring, where the sensing fibers are attached to the surface, rather than integrated into the composite material. Specifically, we attach an optical fiber of 50 m to the pressure vessel's surface, covering both the cylindrical and dome sections. We note that our fiber optic sensing technique relies on swept wavelength interferometry providing strain information along the entire length of the optical fiber with high spatial resolution even at the millimeter scale. When the vessel is pressurized, the sensing optical fiber shows a linear strain response to pressure at every position along the fiber. After thousands of load cycles, the vessel finally fails with the optical fiber detecting and precisely localizing the damage in the vessel’s blind dome area. Furthermore, we discuss the potential of state-of-the-art signal processing methods and machine learning for advancing predictive maintenance. This could reduce the number of regular inspections, mitigate premature maintenance costs, and simultaneously increase the vessel’s remaining safe service life. We believe that the structural health monitoring of hydrogen pressure vessels with fiber optic sensors can enhance trust in hydrogen technology contributing to the energy transition in the future.
Hydrogen pressure vessels are among the most essential components for reliable hydrogen technology. Under current regulations, a mostly conservative strategy is employed, restricting the usage time of hydrogen pressure vessels without providing information on the real remaining lifetime. During the service life, pressure vessels are inspected periodically. However, no established method that can provide continuous monitoring or information on the remaining safe service life of the vessel. In this paper, we propose a sensor network for Structural Health Monitoring (SHM) of hydrogen pressure vessels where data from all sensors are collected and centrally evaluated. Specifically, we integrate three different SHM sensing technologies namely Guided Wave ultrasonics (GW), Acoustic Emission testing (AT), and distributed Fiber Optic Sensing (FOS). This integrated approach offers significantly more information and could therefore enable a transition from costly and time-consuming periodic inspections to more efficient and modern predictive maintenance strategies, including Artificial Intelligence (AI)-based evaluation. This does not only have a positive effect on the operational costs but enhances safety through early identification of critical conditions in the overall system in real-time. We demonstrate an experimental set-up of a lifetime test where a Type IV Composite Overwrapped Pressure Vessel (COPV) is investigated under cyclic loading instrumented with AT, FOS, and GW methods. We acquired data from the sensor network until the pressure vessel failed due to material degradation. The data collected using the three different SHM sensor technologies is planned to be evaluated individually, using data fusion, and AI. In the future, we aim to integrate the measurement setup into a hydrogen refueling station with the data stream implemented into a digital signal processing chain and a digital twin.
Structural health monitoring of hydrogen pressure vessels using distributed fiber optic sensing
(2024)
We report on distributed fiber optic sensing-based monitoring of hydrogen composite overwrapped pressure vessels (COPV) to simultaneously increase the operational lifespan and mitigate maintenance costs. Our approach represents, to the best of our knowledge, the first application of distributed fiber optic sensing for COPV Type IV monitoring, where the sensing fibers are attached to the surface, rather than integrated into the composite material. Specifically, we attach an optical fiber of 50 m to the pressure vessel's surface, covering both the cylindrical and dome sections. We note that our fiber optic sensing technique relies on swept wavelength interferometry providing strain information along the entire length of the optical fiber with high spatial resolution even at the millimeter scale. When the vessel is pressurized, the sensing optical fiber shows a linear strain response to pressure at every position along the fiber. After thousands of load cycles, the vessel finally fails with the optical fiber detecting and precisely localizing the damage in the vessel’s blind dome area. Furthermore, we discuss the potential of state-of-the-art signal processing methods and machine learning for advancing predictive maintenance. This could reduce the number of regular inspections, mitigate premature maintenance costs, and simultaneously increase the vessel’s remaining safe service life. We believe that the structural health monitoring of hydrogen pressure vessels with fiber optic sensors can enhance trust in hydrogen technology contributing to the energy transition in the future.
The deployment of machine learning (ML) and deep learning (DL) in structural health monitoring (SHM) faces multiple challenges. Foremost among these is the insufficient availability of extensive high-quality data sets essential for robust training. Within SHM, high-quality data is defined by its accuracy, relevance, and fidelity in representing real-world structural scenarios (pristine as well as damaged). Although methods like data augmentation and creating synthetic data can add to datasets, they frequently sacrifice the authenticity and true representation of the data. Sharing real-world data encapsulating true structural and anomalous scenarios offers promise. However, entities are often reluctant to share raw data, given the potential extraction of sensitive information, leading to trust issues among collaborating entities.
Our study introduces a novel methodology leveraging Federated Learning (FL) to navigate these challenges. Within the FL framework, models are trained in a decentralized manner across different entities, preserving data privacy. In our research, we simulated several scenarios and compared them to traditional local training methods. Employing guided wave (GW) datasets, we distributed the data among different parties (clients) using IID (independent, identically distributed or in other words, statistically identical) mini batches of dataset, as well as non-IID configurations. This approach mirrors real-world data distribution among varied entities, such as hydrogen refueling stations.
In our methodology, the initial round involves individualized training for each client using their unique datasets . Subsequently, the model parameters are sent to the FL server, where they are averaged to construct a global model. In the second round, this global model is disseminated back to the clients to aid in predictive tasks. This iterative process continues for several rounds to reach convergence.
Our findings distinctly highlight the advantages of FL over localized training, evidenced by a marked improvement in prediction accuracy . This research underscores the potential of FL in GW-based SHM, offering a remedy to similar challenges tied to data scarcity in other SHM approaches and paving the way for a new era of collaborative, data-centric monitoring systems.
The built infrastructure ages and requires regular inspection and, when in doubt, monitoring. To ensure that older concrete bridges showing signs of deterioration can be used safely, several innovative monitoring tools have been introduced, including but not limited to optical, fiber-optic, or acoustic emission techniques. However, there are gaps in the portfolio. A sensing technique that covers a wide range of damage scenarios and larger volumes, while still being sensitive and specific, would be beneficial.
For about 15 years, research has been conducted on ultrasonic monitoring of concrete structures that goes beyond the traditional ultrasonic pulse velocity test (PV test), mostly using a very sensitive data evaluation technique called coda wave interferometry. At BAM we have developed sensors and instrumentation specifically for this method.
We have instrumented a 70-year-old, severely damaged prestressed concrete bridge in Germany in addition to a commercial monitoring system. We have now collected data for almost 3 years. We can show that we can provide information about the stress distribution in the bridge. We have also been able to confirm that there has been no significant additional damage to the bridge since the installation.
The through-life management of our constantly ageing infrastructure is a basic requirement in order to ensure their structural safety and serviceability. Each structure experiences deterioration processes with time leading to a decrease of structural safety and serviceability. The design of new structures considers the expected deterioration for a defined period, the design service life. However, a frequent survey of structural safety controlling structural condition should be mandatory and a maintenance plan should be an integral part of the design. In addition, many structures have exceeded their design service life already or are very close to it leading to an increasing demand for condition assessment. On the one hand, assumptions made during design are not valid any more due to change of the loads, e.g., increasing traffic loads in terms of number and weights. On the other hand, design codes evolved over time in such a way that existing structures do not comply with today’s standards. In all these cases, the through-life management is an important tool to maintain the accessibility of existing structures with known reliability.
In line with the new Model Code for Concrete Structures, which includes guidance for both – design of new structures and assessment of existing structures, the Task Group 3.3 focused on the compilation of a state-of-the-art guideline for the through-life management of existing concrete structures, including:
Data acquisition by testing and monitoring techniques;
Condition assessment for the evaluation of existing structures;
Performance prediction using advanced methods;
Decision-making procedures to perform a complete assessment of existing structure.
The overall objective of the through-life management is the assessment of the current condition and the estimation of the remaining service life under consideration of all boundary conditions.
The digitalization of quality control processes and the underlying data infrastructures for safety relevant components, such as hydrogen pressure vessels, plays a significant role in the transition towards Industry 4.0. In the current safety regulations for hydrogen pressure vessels, there is no established concept for structural health monitoring. The development of a reliable structural health monitoring methodology for monitoring the structural integrity of pressure vessels enables a fast-forward transition from personnel- and costintensive recurring inspections, a.k.a. periodic maintenance, to predictive maintenance. In the work presented; we investigated the application of ultrasonic guided wave propagation to monitor and assess the condition of Type IV composite overwrapped pressure vessel (COPV). A sensor network of fifteen piezo-electric wafers is placed on the carbon fibre reinforced composite cylinder. Five different artificial damage configurations are created by gluing two different weight blocks on three different locations. The database containing measured guided wave data sets is enriched by two different boundary conditions. We utilized an open-source software, openBIS labnotebook, to store and analyse experimental datasets. The guided wave ultrasonic signals were investigated and analysed by using commonly used ultrasonic features (e.g., amplitude, frequency, time of flight) as well as non-traditional time-series features (kurtosis, skewness, variance). The features were used to calculate damage index and the detection performance for the results has been evaluated. The results suggest that both traditional and non-traditional features assume significant importance in artificial damage detection. The future works will additionally involve the impacts of operational conditions, such as periodic pressure variations temperature loadings as well as material degradations.
The applications of composite overwrapped pressure vessels (COPVs) in extreme conditions, such as storing hydrogen gases at very high pressure, impose new requirements related to the system's integrity and safety. The development of a structural health monitoring (SHM) system that allows for continuous monitoring of the COPVs provides rich information about the structural integrity of the component. Furthermore, the collected data can be used for different purposes such as increasing the periodic inspection intervals, providing a remaining lifetime prognosis, and also ensuring optimal operating conditions. Ultimately this information can be complementary to the development of the envisioned digital twin of the monitored COPVs. Guided waves (GWs) are preferred to be used in continuous SHM given their ability to travel in complex structures for long distances. However, obtained GW signals are complex and require advanced processing techniques. Machine learning (ML) is increasingly utilized as the main part of the processing pipeline to automatically detect anomalies in the system's integrity. Hence, in this study, we are scrutinizing the potential of using ML to provide continuous monitoring of COPVs based on ultrasonic GW data. Data is collected from a network of sensors consisting of fifteen Piezoelectric (PZT) wafers that were surface mounted on the COPV. Two ML algorithms are used in the automated evaluation procedure (i) a long short-term memory (LSTM) autoencoder for anomaly detection (defects/impact), and (ii) a convolutional neural network (CNN) model for feature extraction and classification of the artificial damage sizes and locations. Additional data augmentation steps are introduced such as modification and addition of random noise to original signals to enhance the model's robustness to uncertainties. Overall, it was shown that the ML algorithms used were able to detect and classify the simulated damage with high accuracy.
We present a prototype of a distributed POF sensing system for strain detection in road construction and civil engineering ready to be used in practical applications. The system is based on a cost-efficient digital incoherent optical frequency domain reflectometry (I-OFDR). In this approach, the strain-induced changes in the Rayleigh backscattering profile along a perfluorinated polymer optical fiber (PF-POF) are determined by measuring the complex transfer function of the sensing fiber using a compact digital data acquisition unit. The digital unit replaces an oversized vector network analyzer (VNA) enabling suitability of the measurement system for out-door use and providing a significant reduction of the total system costs at the same time. The entire sensor con-cept includes the use of geosynthetics with integrated PF-POFs as two-dimensional sensor structures for geotech-nical applications. The robustness and the functionality of the distributed POF I-OFDR sensors were proven in the field. The field test involved embedding of two geomats, each with two polymer optical sensor loops, into the embankment of the federal road B 91 in a section near Leipzig. The measurements conducted after the sensor-based geomats had been installed confirmed both the potential of such smart geosynthetics and the functionali-ty of the digital I-OFDR prototype.
Brücken sind Teil der alternden Verkehrsinfrastruktur. Um die Nutzungsdauer zu verlängern und plötzliche Schäden zu detektieren kann Bauwerksmonitoring ("Structural Health Monitoring") eingesetzt werden. Der Einfluss von Umgebungsbedingungen, beispielsweise der Temperatur, auf das Bauwerksverhalten ist meist größer als der Einfluss von Schäden. Diese Einflüsse bestmöglich voneinander zu trennen und Veränderungen im Tragverhalten korrekt Schäden oder Umgebungsbedingungen zuzuordnen ist eine offene Forschungsfrage. Diese Arbeit zeigt eine mögliche Lösung, bei der gekoppelte Modelle von Umwelteinflüssen, Schäden und Tragverhalten des Bauwerks auf Grundlage von Monitoringdaten aktualisiert werden. Das Framework dazu wird vorgestellt und an einem Laborexperiment eines Stahlbetonbalkens in der Klimakammer angewandt. Die Ergebnisse bestätigen die Vorgehensweise. In nächsten Schritten müssen komplexere Tragwerke und die Sensitivität des Ansatzes untersucht werden.
Guided wave ultrasonic features in composite overwrapped pressure vessels towards digital twin
(2023)
The digitalization of quality control processes and the underlying data infrastructures for safety relevant components, such as hydrogen pressure vessels, plays a significant role in the transition towards Industry 4.0. In the current safety regulations for hydrogen pressure vessels, there is no established concept for structural health monitoring. The development of a reliable structural health monitoring methodology for monitoring the structural integrity of pressure vessels enables a fast-forward transition from personnel- and costintensive recurring inspections, a.k.a. periodic maintenance, to predictive maintenance. In the work presented; we investigated the application of ultrasonic guided wave propagation to monitor and assess the condition of Type IV composite overwrapped pressure vessel (COPV). A sensor network of fifteen piezo-electric wafers is placed on the carbon fibre reinforced composite cylinder. Five different artificial damage configurations are created by gluing two different weight blocks on three different locations. The database containing measured guided wave data sets is enriched by two different boundary conditions. We utilized an open-source software, openBIS labnotebook, to store and analyse experimental datasets. The guided wave ultrasonic signals were investigated and analysed by using commonly used ultrasonic features (e.g., amplitude, frequency, time of flight) as well as non-traditional time-series features (kurtosis, skewness, variance). The features were used to calculate damage index and the detection performance for the results has been evaluated. The results suggest that both traditional and non-traditional features assume significant importance in artificial damage detection. The future works will additionally involve the impacts of operational conditions, such as periodic pressure variations temperature loadings as well as material degradations.
Wavelength scanning coherent optical time domain reflectometer (WS-COTDR) is a good candidate to spatially resolve the environmental information at comparatively low frequency. This paper reveals it can also work as a traditional optical time domain reflectometer (OTDR) to identify Fresnel reflection by averaging the obtained signal over the wavelength scanning range. Simultaneous distributed vibration sensing and a traditional OTDR measurement are experimentally demonstrated using the WS-COTDR system.
We report on the development of a field-proven distributed fiber optic sensing system for structural health monitoring in road construction and civil engineering. The system is based on a cost-efficient digital incoherent optical frequency domain reflectometry (I-OFDR) for distributed strain detection along a polymer optical fiber. In this method, the strain-induced backscatter increase in a graded-index multimode perfluorinated polymer optical fiber (PF-POF) is determined by measuring the complex transfer function of the sensing fiber using a compact digital data acquisition unit.
Wavelength scanning coherent optical time domain reflectometer (WS-COTDR) is a good candidate to spatially resolve the environmental information at comparatively low frequency. This paper reveals it can also work as a traditional optical time domain reflectometer (OTDR) to identify Fresnel reflection by averaging the obtained signal over the wavelength scanning range. Simultaneous distributed vibration sensing and a traditional OTDR measurement are experimentally demonstrated using the WS-COTDR system.
Introduction to group 8.6
(2023)
Understanding on how a machine learning model interprets data is a crucial step to verify its reliability and avoid overfitting. While the focus of the scientific community is nowadays orientated towards deep learning approaches, which are considered as black box approaches, this work presents a toolbox that is based on complementary methods of feature extraction and selection, where the classification decisions of the model are transparent and can be physically interpreted. On the example of guided wave benchmark data from the open guided waves platform, where delamination defects were simulated at multiple positions on a carbon fiber reinforced plastic plate under varying temperature conditions, the authors could identify suitable frequencies for further investigations and experiments. Furthermore, the authors presented a realistic validation scenario which ensures that the machine learning model learns global damage characteristics rather than position specific characteristics.
In non-destructive testing and structural health monitoring with ultrasonic waves, the quantification of damage in components is one of the main tasks. In many shell-like structures, such as plates, pipes, or laminate components, ultrasonic waves propagate as guided waves. Although guided waves enable the testing of large areas, their multimodal and dispersive properties make it challenging to analyze signals. So, there is a need for more advanced algorithms to handle these properties, especially when reconstructing damage position and geometry.
The reconstruction can be formulated as an inverse problem where the measured signals are fitted with a simulative forward model. Due to the small wavelength of ultrasonic waves, classic forward models based on, e.g., the Finite Element Method are computationally intensive. In contrast, the authors use the semi-analytical Scaled Boundary Finite Element Method (SBFEM) to reduce the computational effort. The SBFEM approximates arbitrary long, undamaged parts of the structure with only a few degrees of freedom.
This contribution summarizes a general inverse procedure based on algorithmic differentiation in combination with the SBFEM. Results are presented for damaged 2D cross-sectional models of waveguides. These results include an analysis of the robustness of the proposed algorithms against noise.
In this paper, a cost-efficient distributed fiber optic measurement system based on Rayleigh scattering is presented. The distributed digital incoherent optical frequency domain reflectometry (I-OFDR) method is developed for detection of significantly large strain in the range from 3 % up to 10 % as required by end users. For this purpose, a vector network analyzer used in the I-OFDR is replaced by a compact and cost-effective digital data acquisition system. This digital emitting/receiving unit enables the recording of the complex transfer function carrying information about the local deformations along the entire sensing fiber.
This study aims to develop a real time structural health monitoring method by ultrasonic tests combined with advanced six component (6C) translation and rotation measurements. Conventionally, the investigation of the velocity and acceleration response in the translation direction is used to obtain the eigenfrequencies of structures. Recently the measurement of rotation has been considered to fully characterize the dynamic behavior of structures. This research undertakes the evaluation of a novel 6C sensor (IMU50-iXblue) with components originally developed for navigation for the purpose of bridge monitoring. However, as for all vibration recordings, there is a certain influence of environmental conditions (mainly temperature) which may affect evaluation and the results of structural assessment. We propose applying the cross-correlation function to the 6C ambient vibration signals to reconstruct wave propagation and using coda wave interferometry (CWI) to obtain internal velocity variation from waveforms. A field experiment on a large-scale prestressed concrete bridge model is presented. To verify that we are able to identify the pre-stress loss even in presence of temperature effects, we perform measurements in two different scales: the ultrasonic and output-only, vibration measurements. The change in the structural properties due to the pre-stress loss should be detected by the pulse velocity change. The results reveal both the performance and advantages of ultrasonic techniques and the capabilities of 6C sensors. To conclude, the application of CWI to wave signals contributes to a comprehensive assessment for bridge monitoring.
Support structures of wind turbines in German offshore wind farms are regularly inspected. Currently, inspection outcomes are generally not systematically recorded. This prevents their consistent handling and processing, which is a key requirement to enable an efficient structural integrity management. As part of the DiMoWind-Inspect project, a data model and reference designation system for such inspection results is developed to facilitate their identification, localization, quantification, tracing and linking throughout the lifetime of a wind farm and beyond. The inspection results together with structural health monitoring results and information on repairs form the basis for assessing and predicting the structural condition, estimating the remaining lifetime, and planning of future inspections, structural health monitoring, and repairs. As a basis for developing a digital structural integrity management, a generic framework is proposed in this paper, which describes the stakeholders, data, models, processes and workflows of the integrity management of support structures in offshore wind farms and their interrelations. The framework adopts a building information modelling approach to describe the information relevant to the structural integrity management. The central digital space of the framework is a common data environment. An implementation of the framework will enable a digital structural integrity management in which inspection, structural health monitoring, repair, assessment and planning outcomes generated throughout the life cycle of a wind farm can be consistently collected, managed, shared and processed by the relevant shareholders.
This study aims to develop a real-time monitoring method for the structural performance by ultrasonic testing in combination with six-component (6-C) translation and rotation measurements. So far, the recordings of the velocity and acceleration response in the translation direction have been used to obtain the eigenfrequencies of structures. Recently, measurement of rotation has been used to fully characterize the dynamic behavior of structures. In this research, 6-C sensors consisting of a three-component rotational seismometer and a three-component broadband seismometer are evaluated for their suitability for bridge monitoring. Since changes in environmental conditions such as temperature during vibration recordings affect the structural evaluation results, cross-correlation function is applied here to the 6-C ambient vibration signals to reconstruct the wave propagation on the one hand, and coda wave interferometry (CWI) is applied to obtain the internal velocity variation from waveforms on the other hand. In field tests on a large-scale prestressed concrete bridge model, it was verified whether the prestress loss can also be determined in presence of temperature effects. For this purpose, measurements were performed in two scales, ultrasonic and output-only vibration measurements. The change in structural properties due to the prestress loss should be detected by the pulse velocity change. The results demonstrate both the performance and advantages of ultrasonic techniques and the capabilities of 6-C sensors. Thus, the application of CWI to wave signals can contribute comprehensively to bridge monitoring.
Structural health monitoring (SHM) intends to improve the management of engineering structures. The number of successful SHM projects – especially SHM research projects – is ever growing, yielding added value and more scientific insight into the management of infrastructure asset. With the advent of the data age, the value of accessible data becomes increasingly evident. In SHM, many new data-centric methods are currently being developed at a high pace. A consequent application of research data management (RDM) concepts in SHM projects enables a systematic management of raw and processed data, and thus facilitates the development and application of artificial intelligence (AI) and machine learning (ML) methods to the SHM data. In this contribution, a case study based on an institutional RDM framework is presented. Data and metadata from monitoring the structural health of the Maintalbrücke Gemünden for a period of 16 months are managed with the RDM system BAM Data Store, which makes use of the openBIS data management software. An ML procedure is used to classify the data. Feature engineering, feature training and resulting data are performed and modelled in the RDM system.
Die Infrastruktursysteme der Industriestaaten erfordern heute und in Zukunft ein effizientes Management bei alternder Bausubstanz, steigenden Lasten und gleichbleibend hohem Sicherheitsniveau. Digitale Technologien bieten ein großes Potenzial zur Bewältigung der aktuellen und künftigen Herausforderungen im Infrastrukturmanagement. Im BMBF-geförderten Projekt Bewertung alternder Infrastrukturbauwerke mit digitalen Technologien (AISTEC) wird untersucht, wie unterschiedliche Technologien und deren Verknüpfung gewinnbringend eingesetzt werden können. Am Beispiel der Maintalbrücke Gemünden werden ein sensorbasiertes Bauwerksmonitoring, bildbasierte Inspektion mit durch Kameras ausgestatteten Drohnen (UAS) und die Verknüpfung digitaler Bauwerksmodelle umgesetzt. Die aufgenommenen Bilder dienen u. a. als Grundlage für spätere visuelle Anomaliedetektionen und eine 3D-Rekonstruktion, welche wiederum für die Kalibrierung und Aktualisierung digitaler Tragwerksmodelle genutzt werden. Kontinuierlich erfasste Sensordaten werden ebenfalls zur Kalibrierung und Aktualisierung der Tragwerksmodelle herangezogen. Diese Modelle werden als Grundlage für Anomaliedetektionen und perspektivisch zur Umsetzung von Konzepten der prädiktiven Instandhaltung verwendet. Belastungsfahrten und historische Daten dienen in diesem Beitrag der Validierung von kalibrierten Tragwerksmodellen.
Structural health monitoring (SHM) intends to improve the management of engineering structures. The number of successful SHM projects – especially SHM research projects – is ever growing, yielding added value and more scientific insight into the management of infrastructure asset. With the advent of the data age, the value of accessible data becomes increasingly evident. In SHM, many new data-centric methods are currently being developed at a high pace. A consequent application of research data management (RDM) concepts in SHM projects enables a systematic management of raw and processed data, and thus facilitates the development and application of artificial intelligence (AI) and machine learning (ML) methods to the SHM data. In this contribution, a case study based on an institutional RDM framework is presented. Data and metadata from monitoring the structural health of the Maintalbrücke Gemünden for a period of 16 months are managed with the RDM system BAM Data Store, which makes use of the openBIS data management software. An ML procedure is used to classify the data. Feature engineering, feature training and resulting data
are performed and modelled in the RDM system.
Application of Intensity-Based Coherent Optical Time Domain Reflectometry to Bridge Monitoring
(2022)
Although distributed fiber sensing techniques have been widely used in structural health monitoring, the measurement results of bridge monitoring, particularly under destructive testing, have rarely been reported. To the best of our knowledge, this paper is the first report of distributed vibration measurement results, which we obtained during a three-day destructive test on an abolished bridge. A coherent optical time domain reflectometry (COTDR) was used to acquire the vibration information while the bridge was being sawed. The obtained signal was analyzed in time and frequency domain. Some characteristics of the sawing-induced vibration were retrieved by the short-time Fourier transform; the vibration exhibited several high frequency components within the measured range up to 20 kHz and all the components appeared in the same time slot. Some unexpected signals were also detected. Thorough analysis showed that they are quite different from the sawing-induced vibration and are believed to originate from internal damage to the bridge (probably the occurrence of cracks).
Monitoring of repositories for radioactive waste requires techniques which can be applied long-term under harsh conditions. In this work, the reliability and suitability of materials and a capacitive sensor for measuring relative humidity are investigated, which are to be embedded in the special concrete components for the closure structures of underground repository. Preliminary tests with accelerated aging of the materials used, validation of the sensors under difficult conditions, investigations of the surfaces after aging by pH 14 solution, defined exposure of the sensors in a climatic chamber and the microscope images are discussed. The results will be used for further development and optimization of the RFID based sensor systems which can be applied to monitor the condition of different building structures without cabling.
The fourth dataset dedicated to the Open Guided Waves platform presented in this work aims at a carbon fiber composite plate with an additional omega stringer at constant temperature conditions. The dataset provides full ultrasonic guided wavefields. Two types of signals were used for guided wave excitation, namely chirp signal and tone-burst signal. The chirp signal had a frequency range of 20-500kHz. The tone-burst signals had a form of sine modulated by Hann window with 5 cycles and carrier frequencies 16.5kHz, 50kHz, 100kHz, 200kHz, 300kHz. The piezoceramic actuator used for this purpose was attached to the center of the stringer side surface of the core plate. Three scenarios are provided with this setup: (1) wavefield measurements without damage, (2) wavefield measurements with a local stringer debond and (3) wavefield measurements with a large stringer debond. The defects were caused by impacts performed from the backside of the plate. As result, the stringer feet debonds locally which was verified with conventional ultrasound measurements.
Damage detection of reinforced concrete (RC) structures is becoming a more attractive domain due to the safety issues arising in the last few decades. The damage in concrete can be caused by excessive exploitation of the structure or environmental effects. The cracks in concrete can be detected by different nondestructive testing methods. However, the available methods used for this purpose have numerous limitations. The technologies available in the market nowadays have difficulties detecting slowly progressive, locally limited damage. In addition, some of These methods cannot be applied, especially in hard-to-reach areas in the superstructures. In order to avoid these deficiencies, an embedded ultrasonic methodology can be used to detect cracks in RC structures. In this study, the methodology of crack detection supported with the advanced Signal processing algorithm was proposed and verified on RC structures of various types, and cracks occurring between embedded sensors can be detected. Moreover, different pairs of ultrasonic sensors located in the considered structures are used for the analysis of the sensitivity of distance between them. It is shown that the ultrasonic sensors placed in the range of 1.5–2 m can detect cracks, even when the other methods failed to detect changes in the structure. The obtained results confirmed that diffuse ultrasonic sensor methodology is able to monitor real structures more effectively than traditional techniques.
Understanding on how a machine learning model interprets data is a crucial step to verify its reliability and avoid overfitting. While the focus of the scientific community is nowadays orientated towards deep learning approaches, which are considered as black box approaches, this work presents a toolbox that is based on complementary methods of feature extraction and selection, where the classification decisions of the model are transparent and can be physically interpreted. On the example of guided wave benchmark data from the open guided waves platform, where delamination defects were simulated at multiple positions on a carbon fiber reinforced plastic plate under varying temperature conditions, the authors could identify suitable frequencies for further investigations and experiments. Furthermore, the authors presented a realistic validation scenario which ensures that the machine learning model learns global damage characteristics rather than position specific characteristics.
Data-driven analysis for damage assessment has a large potential in structural health monitoring (SHM) systems, where sensors are permanently attached to the structure, enabling continuous and frequent measurements. In this contribution, we propose a machine learning (ML) approach for automated damage detection, based on an ML toolbox for industrial condition monitoring. The toolbox combines multiple complementary algorithms for feature extraction and selection and automatically chooses the best combination of methods for the dataset at hand. Here, this toolbox is applied to a guided wave-based SHM dataset for varying temperatures and damage locations, which is freely available on the Open Guided Waves platform. A classification rate of 96.2% is achieved, demonstrating reliable and automated damage detection. Moreover, the ability of the ML model to identify a damaged structure at untrained damage locations and temperatures is demonstrated.
Ultrasonic monitoring, making use of the sensitivity of the coda of repeated transmission meas-urements to changes in stress, temperature, moisture, as well as localized or distributed damage, has gotten at-tention in structural health monitoring (SHM) research recently. Analysis methods such as coda wave inter-ferometry (CWI), including its nonlinear extension, have been shown to be able to measure ultrasonic wave velocity changes with a 1∙10-5 resolution, while indicators such as cross-correlation or cross-coherence have been used to distinguish between reversible and irreversible changes. Several small- and large-scale laboratory experiments have demonstrated that stress changes in structures can be captured or damage detected in a very early stage. The use of this technique for pre-warning before failure are currently under investigation, as well as detailed research on the physical causes and the connection between ultrasonic wave properties and materi-al/structural behavior. Recently, several of large-scale laboratory and real structures have been instrumented with embedded ultrasonic transducers to gather experience and evidence on how to use this technology in re-al-world applications. Preliminary results from installations on a new bridge, an existing bridge, a tunnel, a la-boratory earthquake test as well as a historic stadium in Germany, Poland, and the United States, respectively, are presented. Environmental influences (mainly temperature) and validation by load tests are discussed.
Gradual or sudden changes in the state of structural systems caused, for example, by deterioration or accidental load events can influence their load-bearing capacity. Structural changes can be inferred from static and/or dynamic response data measured by structural health monitoring systems. However, they may be masked by variations in the structural response due to varying environmental conditions. Particularly, the interaction of nominally load-bearing components with nominally non-load bearing components exhibiting characteristics that vary as a function of the environmental conditions can significantly affect the monitored structural response. Ignoring these effects may hamper an inference of structural changes from the monitoring data. To address this issue, we adopt a probabilistic model-based framework as a basis for developing digital twins of structural systems that enable a prediction of the structural behavior under varying ambient condition. Within this framework, different types of data obtained from real the structural system can be applied to update the digital twin of the structural system using Bayesian methods and thus enhance predictions of the structural behavior. In this contribution, we implement the framework to develop a digital twin of a simply supported steel beam with an asphalt layer. It is formulated such that it can predict the static response of the beam in function of its temperature. In a climate chamber, the beam was subject to varying temperatures and its static response wass monitored. In addition, tests are performed to determine the temperature-dependent properties of the asphalt material. Bayesian system identification is applied to enhance the predictive capabilities of the digital twin based on the observed data.
Gradual or sudden changes in the state of structural systems caused, for example, by deterioration or accidental load
events can influence their load-bearing capacity. Structural changes can be inferred from static and/or dynamic response data
measured by structural health monitoring systems. However, they may be masked by variations in the structural response due to
varying environmental conditions. Particularly, the interaction of nominally load-bearing components with nominally non-load
bearing components exhibiting characteristics that vary as a function of the environmental conditions can significantly affect the
monitored structural response. Ignoring these effects may hamper an inference of structural changes from the monitoring data. To
address this issue, we adopt a probabilistic model-based framework as a basis for developing digital twins of structural systems
that enable a prediction of the structural behavior under varying ambient condition. Within this framework, different types of data
obtained from real the structural system can be applied to update the digital twin of the structural system using Bayesian methods
and thus enhance predictions of the structural behavior. In this contribution, we implement the framework to develop a digital
twin of a simply supported steel beam with an asphalt layer. It is formulated such that it can predict the static response of the beam
in function of its temperature. In a climate chamber, the beam was subject to varying temperatures and its static response wass
monitored. In addition, tests are performed to determine the temperature-dependent properties of the asphalt material. Bayesian
system identification is applied to enhance the predictive capabilities of the digital twin based on the observed data.
Digitaler Zwilling: Verwaltungsschale BBox als Datenablage über den Lebenszyklus einer Brücke
(2021)
Auf dem Weg zur digitalen Brücke existieren bereits erste Lösungen, die den Lebenszyklus einer Brücke abbilden können. Für die Planung, den Bau und den Unterhalt stehen unterschiedlichste Werkzeuge, z. B. BIM, DIN 1076, SIB-Bauwerke, Monitoring etc. zur Verfügung, die jeweils mit unterschiedlichen Datenformaten arbeiten. Für ein intelligentes Erhaltungsmanagement müssen aber alle Daten mit den verschiedenen Datenformaten zusammengeführt, abgelegt und so verwaltet werden können, dass über den gesamten Lebenszyklus einer Brücke die Abbildung eines ganzheitlichen digitalen Zwillings eines Bauwerks möglich ist. Die Autoren haben dafür mit BBox den Prototyp einer Verwaltungsschale (VWS) auf Grundlage von Industrie 4.0 entwickelt. Damit wird das physikalisch-ingenieurtechnische Modell zur Zustandsbewertung der Brücke in den Mittelpunkt gestellt und der gesamte Lebenszyklus einer Brücke kann unabhängig von Datenformaten digital erfasst werden. Da der Aufbau der VWS durch die Granularität optimal strukturiert ist, bietet die Ablage und Einspeisung von Messdaten sowohl die Grundlage eines Live-Monitorings als auch den Grundstein für maschinelles Lernen (ML). Der Datenzugriff via S3-Schnittstelle erleichtert die Entwicklung von eigenen Prognosemodellen mit Informationsmustern (SHIP – Structural Health Information Pattern). Am Beispiel der Heinrichsbrücke Bamberg wird die praktische intelligente Umsetzung des Bauwerksmonitorings inkl. VWS mit Informationsmustern und ML gezeigt.
The aim of this work is to improve the current structural health monitoring (SHM) methods for civil structures. A field experiment was carried out on a two-span bridge with a built-in un-bonded prestressing system. The bridge is a 24-metre long concrete beam resting on three bear-ings. Cracks were formed subsequently when a prestressing force of 350 kN was changed to 200 kN, so that different structural states could be demonstrated. The structural assessment of this reference bridge was accomplished by the non-destructive testing using ultrasonic devices and vibration measurements. The ultrasonic velocity variations were investigated by using the coda wave interferometry method. The seismic interferometry technique was applied to the vi-bration recordings to reconstruct the wave propagation field in the bridge. This investigation shows that the wave velocity is sensitive to the current structural state and can be considered as the damage indicator. Overall, the implementation of coda cave interferometry and seismic interferometry technique facilitates structural health monitoring (SHM) in civil engineering.
Changes in the measured response of structural systems can be an indication of structural damages. However, such changes can also be caused by the effect of varying environmental conditions. To detect, localize and quantify changes or damages in structural systems subject to varying environmental conditions, physics-based models of the structural systems have to be applied which explicitly account for the influence of ambient conditions on the structural behavior. Data obtained from the structural systems should be used to calibrate the models and update predictions. Bayesian system identification is an effective framework for this task. In this paper, we apply this framework to learn the parameters of two competing structural models of a reinforced concrete beam subject to varying temperatures based on static response data. The models describe the behavior of the beam in the uncracked and cracked condition. The data is collected in a series of load tests in a climate chamber. Bayesian model class selection is then applied to infer the most plausible condition of the beam conditional on the available data.