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This paper addresses the quantification of the value of damage detection system and algorithm information on the basis of Value of Information (VoI) analysis to enhance the benefit of damage detection information by providing the basis for its optimization before it is performed and implemented. The approach of the quantification the value of damage detection information builds upon the Bayesian decision theory facilitating the utilization of damage detection performance models, which describe the information and its precision on structural system level, facilitating actions to ensure the structural integrity and facilitating to describe the structural system performance and its functionality throughout the service life. The structural system performance is described with its functionality, its deterioration and its behavior under extreme loading. The structural system reliability given the damage detection information is determined utilizing Bayesian updating. The damage detection performance is described with the probability of indication for different component and system damage states taking into account type 1 and type 2 errors. The value of damage detection information is then calculated as the difference between the expected benefits and risks utilizing the damage detection information or not. With an application example of the developed approach based on a deteriorating Pratt truss system, the value of damage detection information is determined,demonstrating the potential of risk reduction and expected cost reduction.
This paper addresses how the value of damage detection Information depends on key Parameters of the Structural Health Monitoring (SHM) system including number of sensors and sensor locations. The Damage Detection System (DDS) provides the information by comparing ambient vibration measurements of a (healthy) reference state with measurements of the current structural system. The performance of DDS method depends on the physical measurement properties such as the number of sensors, sensor positions, measuring length and sensor type, measurement noise, ambient excitation and sampling frequency, as well as on the data processing algorithm including the chosen type I error for the indication threshold. The quantification of the value of Information (VoI) is an expected utility based Bayesian decision analysis method for quantifying the difference of the expected economic benefits with and without information. The (pre-)posterior probability is computed utilizing the Bayesian updating theorem for all possible indications. If changing any key parameters of DDS, the updated probability of system failure given damage detection information will be varied due to different indication of probability of damage, which will result in changes of value of damage detection information. The DDS system is applied in a statically determinate Pratt truss bridge girder. Through the analysis of the value of information with different SHM system characteristics, the settings of DDS can be optimized for minimum expected costs and risks before implementation.
A method to determine the influencing parameters of a structural and damage detection system is proposed based on the value of Information analysis. The value of information analysis utilizes the Bayesian pre-posterior decision theory to quantify the value of damage detection system for the structural integrity management during service life. First, the influencing parameters of the structural system, such as deterioration type and rate are introduced for the performance of the prior probabilistic system model. Then the influencing parameters on the damage detection system performance, including number of sensors, sensor locations, measurement noise, and the Type-I error are investigated. The preposterior probabilistic model is computed utilizing the Bayes’ theorem to update the prior system model with the damage indication information. Finally, the value of damage detection system is quantified as the difference between the maximum utility obtained in pre-posterior and prior analysis based on the decision tree analysis, comprising structural probabilistic models, consequences, as well as benefit and costs analysis associated with and without monitoring. With the developed approach, a case study on a statically determinate Pratt truss bridge girder is carried out to validate the method. The analysis shows that the deterioration rate is the most sensitive parameter on the effect of relative value of information over the whole service life. Furthermore, it shows that more sensors do not necessarily lead to a higher relative value of information; only specific sensor locations near the highest utilized components lead to a high relative value of information; measurement noise and the Type-I error should be controlled and be as small as possible. An optimal sensor employment with highest relative value of information is found. Moreover, it is found that the proposed method can be a powerful tool to develop optimal service life maintenance strategies—before implementation—for similar bridges and to optimize the damage detection system settings and sensor configuration for minimum expected Costs and risks.
The use of load and structural performance measurement information is vital for efficient structural integrity management and for the cost of energy production with Offshore Wind Turbines (OWTs). OWTs are dynamically sensitive structures subject to an interaction with a control unit exposed to repeated cyclic wind and wave loads causing deterioration and fatigue. This study focuses on the quantification of the value of structural and environmental information on the integrity management of OWT structures, with the focus on fatigue of welded joints. By utilizing decision analysis, structural reliability methods, measurement data, as well as the cost-benefit models, a Value of Information (VoI) analysis can be performed to quantify the most beneficial measurement strategy. The VoI assessment is demonstrated for the integrity management of a butt welded joint of a monopile support structure for a 3 MW OWT with a hub height of approximately 71m. The conditional value of three-year measured oceanographic information and one-year strain monitoring information is quantified posteriori in conjunction with an inspection and repair planning. This paper provides insights on how much benefits can be achieved through structural and environmental information, with practical relevance on reliability-based maintenance of OWT structures.
Optimization of the duration of Structural Health Monitoring (SHM) campaigns is rarely performed.
This article provides a utility-based solution to posteriorly determine: i) optimal monitoring Durations and ii) the extension of the service life of the welds on a steel bridge deck. The approach is Illustrated with a case study focusing on remaining fatigue life estimation of the welds on the orthotropic steel deck of the Great Belt Bridge, in Denmark. The identification of the optimal monitoring duration and the decision about extending the service life of the welds are modelled by maximizing the expected benefits and minimizing the structural risks. The results are a parametric analysis, mainly on the effect of the target probability, benefit, cost of failure, cost of rehabilitation, cost of monitoring and Discount rate on the posterior utilities of monitoring strategies and the choice of service life considering the risk variability and the costs and benefits models. The results show that the decision on short-term monitoring, i.e., 1 week every six months, is overall the most valued SHM strategy. In addition, it is found that the target probability is the most sensitive parameter affecting the optimal SHM Durations and service life extension of the welds.
Quantification of the posterior utilities of SHM campaigns on an orthotropic steel bridge deck
(2019)
This paper contains a quantification and decision theoretical optimization of the posterior utilities for several options for monitoring campaigns on the particular case of fatigue life predictions of an orthotropic steel deck. The monitoring campaigns are defined by varying monitoring durations and phases. The decision analysis is performed with real data from the Structural Health Monitoring (SHM) of the Great Belt Bridge (Denmark) which, among others, consist of measured strains, pavement temperatures and traffic intensities. The fatigue loading prediction model is based on regression models linking daily averaged pavement temperatures, daily aggregated heavy-traffic Counts and derived S-N fatigue damages, all of them derived from the outcomes of different monitoring campaigns. A probabilistic methodology is utilized to calculate the fatigue reliability profiles of selected instrumented welded joints. The posterior utilities of SHM campaigns are then quantified by considering the structural fatigue reliability, various monitoring campaigns and the corresponding cost-benefit models. The decisions of identifying the optimal monitoring campaign and of extending the service life or not in conjunction with monitoring results are modelled. The optimal monitoring campaign is identified - retrospectively - by maximizing the expected benefits and minimize risks in dependency of the monitoring duration and the monitoring associated costs. The results, despite relying on a number of simplistic assumptions, pave the way towards the use of pre-posterior decision support to optimise the design of monitoring campaigns for similar bridges, with an overall goal to proof the cost efficiency of SHM approaches to civil infrastructure management.
Quantification of the posterior utilities of SHM campaigns on an orthotropic steel bridge deck
(2019)
This paper contains a quantification and decision theoretical optimization of the posterior utilities for several options for monitoring campaigns on the particular case of fatigue life predictions of an orthotropic steel deck. The monitoring campaigns are defined by varying monitoring durations and phases. The decision analysis is performed with real data from the Structural Health Monitoring (SHM) of the Great Belt Bridge (Denmark) which, among others, consist of measured strains, pavement temperatures and traffic intensities. The fatigue loading prediction model is based on regression models linking daily averaged pavement temperatures, daily aggregated heavy-traffic Counts and derived S-N fatigue damages, all of them derived from the outcomes of different monitoring campaigns. A probabilistic methodology is utilized to calculate the fatigue reliability profiles of selected instrumented welded joints. The posterior utilities of SHM campaigns are then quantified by considering the structural fatigue reliability, various monitoring campaigns and the corresponding cost-benefit models. The decisions of identifying the optimal monitoring campaign and of extending the service life or not in conjunction with monitoring results are modelled. The optimal monitoring campaign is identified - retrospectively - by maximizing the expected benefits and minimize risks in dependency of the monitoring duration and the monitoring associated costs. The results, despite relying on a number of simplistic assumptions, pave the way towards the use of pre-posterior decision support to optimise the design of monitoring campaigns for similar bridges, with an overall goal to proof the cost efficiency of SHM approaches to civil infrastructure management.
In the present paper, an approach for updating the continuous stress range distribution of a welded connection of a wind turbine support structure with predicted information from strain measurements is presented. Environmental conditions, such as wind or, in offshore fields, waves and currents, in combination with rotor excitations generate cyclic stresses affecting the reliability of welded joints of the support structure over the service life. Using strain measurements, these conditions can be monitored, and the resulting stress ranges, under consideration of measurement, mechanical and material uncertainties, can be reconstructed. These stress ranges can be used as an input for updating the prior probability density function (PDF) of the stress ranges predicted by the overall dynamics and a detailed design analysis. Applying Bayesian probability theory and decision theoretical implications, the predicted posterior probability density of the stress ranges is calculated based on the design information and uncertainties. This approach is exemplified, and it is shown how the predicted stress ranges and the design stress ranges are distributed. The prior and the predicted posterior stress ranges are used for a reliability calculation for potentially entering a pre-posterior decision analysis
Support structures of offshore wind turbines are subject to cyclic stresses generated by different time-variant random loadings such as wind, waves, and currents in combinationwith the excitation by the rotor. In the design phase, the cyclic demand on wind turbine support structure is calculated and forecasted with semi or fully probabilistic engineering models. In some cases, additional cyclic stresses may be induced by construction deviations, unbalanced rotor masses and structural dynamic phenomena such as, for example, the Sommerfeld effect. Both, the significant uncertainties in the design and a validation of absence of unforeseen adverse dynamic phenomena necessitate the employment of measurement Systems on the support structures. The quality of the measurements of the cyclic demand on the support structures depends on (a) the precision of the measurement System consisting of sensors, amplifier and data normalization and (b) algorithms for analyzing and converting data to structural health information. This paper presents the probabilistic modelling and analysis of uncertainties in strain measurements performed for the purposes of reconstructing stress resultants in wind turbine towers.
It is shown how the uncertainties in the strain measurements affect the uncertainty in the individual components of the reconstructed forces and moments. The analysis identifies the components of the vector of stress resultants that can be reconstructed with sufficient precision.
The levelized cost of energy (LCoE) is an important measure to quantify the macro-economic efficiency of an offshore wind farm and to enable a quantitative comparison with other types of energy production. The costs of the structural integrity management - which is required to ensure an adequate lifetime reliability of the turbine support structures - are part of the operational expenditures of an offshore wind farm. An optimization of the structural integrity management may reduce the operational expenditures and consequently the LCoE. However, the effect of the structural integrity management on the LCoE is hardly known. To investigate this effect, this paper presents a sensitivity analysis of the LCoE of a generic offshore wind farm. The probabilistic models of the parameters influencing the LCoE are based on a literature study including an explicit model for the structural integrity management.
The analysis reveals that LCoE may potentially be reduced if an optimization of the structural integrity management enables a service life extension.
Proof load testing may be performed to confirm the reliability of the bridge for an existing classification or to prove the reliability for a higher classification. In this paper, a probabilistic decision analysis approach is applied to the scenario for the evaluation of target proof load in the situation where information on the bridge resistance model is lacking. In this case, the resistance model is established by proof loading and taking very basic prior knowledge into account. The decision scenario is modelled in the context of the proof load test planner who shall choose the required load level for assessment of a bridge. The choice of the load level depends on the risks due to the testing and the expected benefit gain from the test. Information acquired about the loading response from monitoring during the proof load testing is modelled by taking basis in the model uncertainty formulation. The optimal proof load level for classification of a single lane, simply supported bridge of 8m span subjected to live load from very heavy (gross weight > 80 tons) transport vehicles was calculated. The optimal proof load level was identified as leading to a positive expected benefit gain to the decision maker while also satisfying target reliability criteria for remaining service life. The analysis was performed for the evaluation of bridge performance with respect to five classifications of very heavy transport vehicles with different vehicle weights and configurations.
Reclassification of bridges, i.e., a change in load rating, using reliability-based methods and a direct update with proof load information has been presented by many authors. However, bridge reclassification has hardly been studied from a decision analytic perspective, i.e., with quantification of the risks and benefits of different classification choices, and the expected benefit gain from proof loading. We derive, explain and exemplify a decision analytic approach for bridge reclassification along with models for (1) elastic and ultimate capacity and their adaptation with proof load information, (2) proof load information with classification outcomes accounting for target reliabilities and, (3) utilities including socio-economic benefits from reclassification. The approach and models are exemplified with a case study based on reclassification of bridges with a low existing classification. Decision rules, for practical use by a highway authority to find the optimal classification, are identified and documented based on: (1) the measurement of the capacity at elastic limit by proof loading, (2) the bridge reclassification benefits, and, (3) the required annual reliability level. From a Value of Information analysis, it is concluded that the proof load information is highly valuable for reclassification in cases of high socio-economic benefits and high reliability requirements.
A prototype of wind turbines in 5 megawatt dass was built and tested at the first German offshore wind energy test fteld in the North Sea. In order to investigate dynamic behaviors under a complex state of loads, a continuous dynamic monitoring System was implemented by Federal Institute for Material Research and Testing (BAM). It recorded structural responses and environmental/operational variables from November 2007 to October 2009.
This paper presents significant resonance phenomenon due to the interaction in the tower-nacelle System under operational conditions. Modal parameters are automatically estimated by the poly reference Least Square Complex Frequency domain (p-LSCF) method. Campbell plot demonstrates that a three-blade passage frequency and its multiples f3n match with the natural frequencies of the wind turbine System in several modal Orders. The damping estimates decrease and the Vibration amplitude increase significantly. A control System is necessary to minimize the excessive vibrations.
Vibration-based structural health monitoring of a wind turbine system. Part I: Resonance phenomenon
(2015)
This paper is focused on a resonance phenomenon of a wind turbine system in 5 MW class, on the basis of dynamic signals acquired continuously from the tubular tower under normal operational conditions during two years.
Firstly, technique specifications of the wind turbine system are introduced and a finite element model is developed to characterize the structural dynamic properties. The following part describes the continuous dynamic monitoring system integrated with an automated operational modal analysis procedure using the poly-reference Least Squares Complex Frequency domain (p-LSCF) method. Subsequently, variations and mutual relationships of environmental/operational factors such as vibration amplitude, temperature, wind speed, rotation speed of blades, pitch angle and nacelle direction are also presented. Finally, significant resonance is observed due to the fundamental frequency of the tower matching with the harmonic frequency induced by the rotation of three blades. As the rotation speed of rotor approaches to 8 rpm, the vibration amplitude of the tower increases significantly and the corresponding damping value decreases. With the further rising wind velocity, the rotation speed of blades stops increasing and the input energy just contribute to accumulate the vibration amplitude of tower. Such observation indicates the Sommerfeld effect that aggravates the resonance phenomenon. A vibration control device is necessary to minimize the excessive structural responses.
A companion paper will further discuss the environmental/operational effects on dynamic properties of the wind turbine system under the operational conditions.
The second part of these companion papers mainly researches environmental/operational influences on structural dynamic properties under normal operational conditions during two years, in order to extract a statistical based damage-sensitive indicator for health monitoring of a wind turbine system.
The correlation analyses between experimental identified frequencies, damping values as well as mode shapes and environmental/operational factors such as rotation speed of blades, wind speed, pitch angle, temperature and nacelle direction are presented. It is observed that the frequency estimates are influenced by the nacelle position, the activation of rotor, the rotation speed of blades and the wind speed as well as the temperature. Regarding to the damping estimates, they are mainly associated with variation of the aerodynamic damping due to the increasing wind speed. Besides, the resonance phenomenon is also observed in higher modes. The harmonic frequencies due to blades passing by tower are found and the corresponding damping value decreases. Moreover, the mode shapes in some modes are strongly affected by the position of the nacelle.
Subsequently, two types of simulated damage including the reduction of stiffness in both the rotor blade and the tubular tower are successfully detected by applying the Principal Component Analysis (PCA) based methods to these temperature-sensitive frequency estimates. Comparison of change of the extracted health features indicates that they are more sensitive with the tower damage.
Structural health monitoring of wind turbine blades by strain measurement and vibration analysis
(2011)
Wind turbine blades have to withstand a high number of load cycles in mostly hard weather conditions over 20 years. In a research project BAM and several partners have designed, evaluated and tested a condition monitoring system for all parts of a wind turbine. At a rotorblade with a length of 58 m fibre bragg grating sensors were applied for in-service strain measurement. Additionally a complex test rig was designed to enable real biaxial loading conditions at a representative test rotor blade to simulate the mechanical loading conditions in the lab. In this test blade with a length of 8 m also fibre bragg grating sensors were implemented to determine their influences for the structure and the condition monitoring system. Vibration measurements were carried out at different test phases. The results were compared with finite element strain and modal analysis.
Der vorliegende Bericht beschreibt Konzepte für eine intelligente Brücke auf der Grundlage einer zuverlässigkeitsbasierten Zustandsbewertung unter Berücksichtigung von Bauwerksinformationen, welche aus Prüfungen, Inspektionen und Überwachung gewonnen werden. Das Brückensystem wird durch ein Modell beschrieben, welches den zentralen Teil des Konzeptes darstellt. Das Modell wird in Schädigungsmodelle und ein Tragwerkssystem-Modell unterteilt. Dieses Modell wird a-priori durch die Eingangsdaten (welche etwa die Geometrie, die Materialien und die Verwendung der Brücke beschreiben) charakterisiert. Aus diesen ergeben sich dann auch die Ausgangsmodelle. Um die signifikanten Streuungen und Unsicherheiten adäquat abzubilden sind diese Modelle probabilistisch. Das Modell liefert eine sich kontinuierlich ändernde probabilistische Zustandsbewertung. Die Zustandsbewertung gibt eine Aussage über den Zustand und die Zuverlässigkeit des Brückensystems und seiner Bauteile und dient als Grundlage für die Planung und die Optimierung von Maßnahmen. Die Verwendung von Resultaten aus Inspektionen, Prüfungen und Überwachungen erfolgt durch eine Aktualisierung der Modellparameter. Die Aktualisierung beruht auf der Methode der Bayes'schen Aktualisierung und wird auf der Grundlage der entwickelten Klassifizierung der Bauwerksinformationen mit entsprechenden Methoden durchgeführt. Dieses Verfahren erlaubt es, alle Informationen in konsistenter Weise in ein einziges Modell einfließen zu lassen. Dabei wird die Genauigkeit und Aussagekraft der gewonnenen Daten und Beobachtungen explizit berücksichtigt. Durch die Aktualisierung der Modellparameter unter Berücksichtigung von Systemeffekten wird die Zustandsbewertung der Bauteile und des Brückensystems aktualisiert. Das ermöglicht die Planung und die Optimierung von Maßnahmen unter Berücksichtigung der Bauwerksinformationen. Auf diese Weise wird die intelligente Brücke mit Inspektionen und Überwachungen zu einem adaptiven System, welches sich Veränderungen anpassen kann.---------------------------------------------------------------------------------------------------------------------------------------------------------------------------This report describes concepts for an intelligent bridge on the basis of a reliability-based condition assessment utilizing inspection and monitoring data. The central part of the concept is a model describing the bridge system. The overall bridge model is comprised of deterioration models and a mechanical system model of the structure. The model is a-priori characterized by the input data (such as the geometry, the materials, and the utilization of the bridge). Significant uncertainties in the deterioration modeling as well as the load conditions motivate a probabilistic modeling. The model enables a continuously updated probabilistic condition assessment. It provides information about the condition and the reliability of the bridge system and its components and serves as a basis for the planning and the optimization of maintenance actions. Inspection, measurement, and monitoring information are included by updating the model parameters. Bayesian updating is utilized for the updating of the model parameters and is performed on the basis of the developed classification of structural information and the corresponding procedures. These methodologies allow to consistently incorporate all available information into the model and the prediction. Thereby, the precision and the validity of the data and observations are explicitly accounted for. The condition assessment of the bridge system and its components is updated by updating the model parameters, and maintenance actions can be planned and optimized taking into account all available information in a rational and consistent manner. In this way, the intelligent bridge with inspections, measurements, and monitoring information becomes an adaptive system, which has the ability to adjust to changes.
Predictive information and maintenance optimization for deteriorating structures is concerned with scheduling (a) the collection of information by inspection and monitoring and (b) maintenance actions such as repair, replacement, and retrofitting based on updated predictions of the future condition of the structural system. In this article, we consider the problem of jointly identifying—at the beginning of the service life—the optimal inspection time and repair strategy for a generic welded joint in a generic offshore wind turbine structure subject to fatigue. The optimization is performed based on different types of decision analyses including value of information analyses to quantify the expected service life cost encompassing inspection, repair, and fatigue damage for all relevant combinations of inspection time, repair method, and repair time. Based on the analysis of the expected service life cost, the optimal inspection time, repair method, and repair time are identified. Possible repair methods for a welded joint in an offshore environment include welding and grinding, for which detailed models are formulated and utilized to update the joint’s fatigue performance. The decision analyses reveal that an inspection should be scheduled approximately at mid-service life of the welded joint. A repair should be performed in the same year after an indication and measurement of a fatigue crack given an optimal inspection scheduling. This article concludes with a discussion on the results obtained from the decision and value of information analyses.
Ziel des vorliegenden Beitrages ist es, einen Überblick über die aktuellen Entwicklungen im Bereich der Bewertung und der Quantifizierung der Robustheit von Bauwerken zu geben. In diesem Sinne ist eine Zusammenstellung von Ansätzen und Ergebnissen aktueller Veröffentlichungen enthalten. Ein umfassender entscheidungstheoretischer Ansatz für die Berechnung und das Management der Robustheit wird vorgestellt. Dieser beinhaltet die Definition der Robustheit als eine Qualität eines Systems, welches das Bauwerk beinhaltet, d. h. eine Qualität, die auf der Grundlage einer Risikoanalyse bewertet werden kann. Um eine umfassende Risikoanalyse zu ermöglichen, wird ein szenarienbasierter Modellansatz eingeführt, welcher zwei Arten von Konsequenzen im System unterscheidet: direkte Konsequenzen (in Verbindung mit Schäden einzelner Komponenten des Systems) und indirekte Konsequenzen (in Verbindung mit einem Versagen des Systems). Die Definition des Systems spielt deshalb für die Risikoanalyse eine wichtige Rolle, und es wird diskutiert, wie die Robustheit für verschiedene Definitionen zu unterschiedlichen Ergebnissen und Erkenntnissen im Sinne des Managements der Integrität des Bauwerks im gesamten Lebenszyklus unter Berücksichtigung seiner Funktionalität führt. Weiterhin werden wichtige Aspekte der Standardisierung der Robustheitsanalyse, wie auch Anforderungen an die Robustheit, diskutiert und Vorschläge zum Umgang mit diesen Aspekten unterbreitet. Auf der Grundlage der vorgestellten Ansätze zur Berechnung der Robustheit eines Bauwerks wird beschrieben, wie Entscheidungen in Bezug auf den Entwurf, die Zustandsbewertung, auf Inspektionen und Wartung sowie in Bezug auf die Überwachung von Bauwerken, in Hinblick auf das Management der Risiken in allen Phasen des Lebenszyklus, optimiert werden können.