ARTeMIS Extractor

Output-only Modal Identification
"Output-only modal identification" is when the modal properties are identified from
measured responses only. In mechanical engineering it is normal to use the term
"operational modal identification" or "operational modal" for the same situation. In civil
engineering the terms "ambient identification" or "ambient response analysis" are often
used.
What is modal identification?
Modal identification means: to determine the modal parameters from experimental data.
The modal parameters are: mode shapes (the way the structure moves at a certain
resonance frequency), natural frequencies (the resonance frequencies) and damping ratios
(the degree to which the structure itself is able of damping out vibrations).
In input-output modal identification the modal parameters are found by fitting a model to the
so-called Frequency Response Function, a function relating excitation and response. The
traditional techniques in input-output modal identification is described in many textbooks,
see for instance the references [1] and [2] below.
When modal identification is based on the measured response (output) only, things become
more complicated for several reasons:
The excitation (input) is unknown.
The measured response (output) is often noisy
For these reasons, in the past, doing output-only modal identification was a job only for the
few specialists. However, ARTeMIS Extractor offers you all the known techniques available
in a user-friendly software design - the software is doing most of the job for you. Now every
engineer can do it himself !
What is output-only modal Identification?
Output-only modal identification is used for large civil engineering structures, operating
machinery or other structures that are not easily excited artificially. If a structure is easily
excited it is always - or nearly always - an advantage to excite the structure artificially and
measure the excitation and the response at the same time. As mentioned above this
technology is called input-output modal identification, and has been used extensively in
mechanical engineering for the last 20 years.
Large civil engineering structures are often excited by natural loads that cannot easily be
controlled, for instance wave loads (offshore structures), wind loads (Buildings) or traffic
loads (bridges). For operating machinery the problems are the same. They are also excited
by natural sources like noise from bearings or vibrations from the environment around the
structure. The same accounts for on-the-road vehicle testing where the road and the engine
excites the vehicle. In these cases, it is an advantage to use output-only modal
identification. Instead of exciting the structure artificially and dealing with the natural
excitation as an unwanted noise source, the natural excitation is used as the excitation
source.
The idea of output-only modal identification is illustrated in the following figure:
The unknown loads are assumed to be produced by a virtual system loaded by white noise.
The white noise is not assumed to drive the structural system but the total system
consisting of the real structural system and the virtual loading system. Thus, in the
identification process, the user identifies not only the structure itself, but might also identify
some 'modes' that belongs to the virtual loading system. Also, the user might identify
computational modes that appear because the signals are contaminated with noise. This
means, that the art of output-only modal identification is the art of identifying all modes, and
then to be able to separate the structural modes from the noise modes and excitation
modes.
The main advantages of this kind of testing are:
Testing is cheap and fast, since the equipment for excitation is unnecessary.
Testing does not interfere with the operation of the structure.
The measured response is representative for the real operating conditions of the
structure.
However, using this kind of testing, the response of the structure is small and often partly
covered in noise. Further, the excitation is unknown, and thus, the identification becomes
more difficult than in input-output modal identification. The main difficulties are:
Sensitive equipment is needed.

Careful data analysis is needed.
These drawbacks are the main reasons that output-only modal identification has not been
used in a large scale in the past. However, the problems are vanishing: The last few years
prices on high quality equipment has dropped significantly, analysis techniques are
developing, and the necessary large scale computer analysis can now be performed on a
PC. The conclusions are:
Equipment of the necessary quality is now avalilable from many vendors.
The analysis tools that you need is now available in this piece of software.
How do you perform an output-only modal identification
To perform a good output-only modal identification you need good equipment, experience
and good planning. Some guide lines will be given here.
Once you have bought your accelerometers, supplied them with high quality cables or a
wireless transmission system, all hooked up to a high quality data acquisition system, you
need to know how to plan your measurements:
Measured Degrees-Of-Freedom's (Measurement Points):
You need to decide in how many point you want to know the mode shapes, i.e. the spatial
resolution of the mode. For small structures it might be just 5-10 points, for large structures
it might be 100-200 points. However, there are no clear guidelines for this choice. It is
mainly up to you what you want. If you have no close modes and if you are not really
interested in the mode shapes, but only in the natural frequencies and the damping, you can
do with only one measurement point.
Data Sets (Setups):
You need to decide how to distribute the many measurement points in groups, the so-called
data sets or setups. When you want to know the mode shape in say 100 points, you could
use 100 transducers - typically accelerometers. However, this is too expensive and also not
practical. Typically, you have a smaller set of accelerometers, like 8, 12 or 16. You keep 2
or 3 at the same location (the reference points) moving the other ones around until you have
time series from all the measurement points. Only one issue is important here: If you expect
close modes, you must have the close modes well represented in all data sets - and for
every data set the corresponding pieces of mode shape for the close modes must be easily
distinguished.
Reference Points:
The reference points are the measurement points that are common in all data sets. The
main rule is, that you place the reference points in such a way, that all modes contribute
well to the response signal at the reference points. If close modes are expected, you pay
some extra attention to these modes having them well represented in the reference signals.
Concerning this matter, you need to have some ideas of the modes shapes. This you can
get from a finite element analysis.
Data Acquisition:
You need to decide how to filter and how to sample the signals, and you need to decide
how many data points you want in your time series. The good rule is to sample a little
higher than you really need and then decimate the signal afterwards. How many points do
you need ? - there is no final answer. However, a good rule of thumb is to say, that you
need at least points corresponding to 500 cycles of the lowest natural frequency that you
expect. This is when your data is totally noise-free and when you have no close modes. In
most cases it is necessary to take time series corresponding to say 1000 cycles of the
lowest natural frequency that you expect or more.
Analysis and validation:
After you have taken your measurements, and on the spot checked your data to see if you
do not have clipping, outliers and other measurement errors, when you have checked that
you have a suitable amount of information, i.e. a good signal to noise ratio and a suitable
length on the data records, then you can start the analysis. If you are testing a structure
that is difficult to access, it is a good idea to perform a preliminar analysis on the test site
with the ARTeMIS Extractor software to check if the desired information can be obtained
from the data. If you can conclude that the data are good enough, then you take them back
home and you start analyzing them using the ARTeMIS Extractor software starting with the
simplest techniques going trough a series of identifications that ends with a validation of
your results.
References
1. D.J. Ewins: Modal Testing: Theory and Practise, John Wiley & Sons Inc. 1995
2. Editors Maia, Nuno M.M. and Jlio M.M. Silva: Theoretical and Experimental Modal
Analysis, John Wiley & Sons Inc., 1997.
Validation of Results
Validation is the key to all good modal identification. The value of any estimation is
determined solely on basis of the validation.
Validation is an evaluation of the quality of the results and is performed on two levels:
Validation of individual models.
Validation of the estimated modal results.
Validation of individual models.
Now, when we say 'models' we do not necessarily mean parametric models. Models in this
sense is a more generalized concept, a way of thinking, a way of processing data. At this
step we try to justify the model, the way of thinking or what ever we are doing.
If it is a parametric model, we might look at how this individual model fits the data. For
instance we might look at how the model fits the spectral density functions, the correlations
functions, or even the raw time series.
If it is a non-parametric model, we might look at how well the results of the different signal
processing comply with what we expect. For instance, in the Enhanced Frequency Domain
Decomposition (EFDD) technique, we try to identify the single-degree-of freedom
contribution to the singular value decomposition of the spectral density matrix. In this case,
we know that this contribution is expected to be a nice single-bell spectral density function.
Thus, in this case, the model validation is an evaluation of how the different bell-functions
comply with our expectations.
Validation of the estimated modal results.
An estimation should never be performed using only one model or one technique only. If only
one technique is used, the user should perform several estimations using the same
technique but spreading over a suitable variation of user choices.
If the user wants to use a parametric model, he should perform identifications using several
model orders. If the user wants to apply non-parametric estimation, he can vary some user
choices to obtain different modal estimates.
The best is to use several different techniques, for instance to use a non-parametric
technique and one or more parametric techniques, and to vary the user choices in order to
obtain several estimates for each technique.
At the end the user validates the modal estimates against each other. This is the final and
most important validation. Without this validation the user cannot know if the identification is
reliable.
However, the modal estimates that appear in all estimations with small deviations are the
most reliable. The larger deviations, the smaller the reliability, and modes that only appear
in some identifications have the lowest reliability.
The user should validate all the results of the modal identification, the natural frequencies,
the damping ratios and the mode shapes.
About ARTeMIS Extractor
ARTeMIS Extractor is the tool for effective modal identification in the cases where only the
output is known. The software allows you to perform accurate modal identification under
operational conditions and in situations where the structure is impossible or difficult to excite
by externally applied forces.
Uses
Modal identification from responses only.
Modal identification of structures under real operating or ambient conditions.
Modal analysis without use of shaker or hammer excitation.
Mode shape animation and comparison of different mode shape estimates.
Features
Direct geometry and data transfer from ARTeMIS Testor and Brel & Kjr PULSE
using OLE Automation.
Guided measurement procedures using ARTeMIS Testor and Brel & Kjr Modal Test
Consultant.
Processed number of channels and amount of data only limited by PC.
Fast identification in frequency domain of mode shapes, natural frequencies and

damping ratios.
Time domain data-driven algorithms for unbiased identification of mode shapes, natural
frequencies and damping ratios.
Handle multiple data-sets and multiple reference points, including automatic mode
shape merging.
Effective and easy-to-use signal processing configuration wizard.
Two Frequency Domain Decomposition algorithms, producing immediate mode shape

animation.
Three time domain Stochastic Subspace Identification algorithms, Principal Component,

Unweighted Principal Component and Canonical Variate Analysis.
Stabilization diagrams to discriminate between physical and computational modes.
Synthesis of response spectra and correlation functions for validation.
Modal Assurance Criterion, calculates MAC matrix between mode shapes from
different projects.
OLE support for graphics and tables.
OLE automation support for e.g. Excel and MATLAB. Allows also the user to call the
software from his own application.
Open
Based on Windows NT Technology, ARTeMIS Extractor easily integrates into your vibration
lab and its computing environment.
Data Sharing: ARTeMIS Extractor runs under Windows 2000/XP, so all your data is
easily available to everyone else on the network.
Microsoft Office: Once youve generated data and results, ARTeMIS Extractor makes
it easy to export them to the popular Microsoft Office applications like Word. This lets
you create professional reports.
File Transfers: With ARTeMIS Extractor, your data will never get caught in a dead-end.
Thats because ARTeMIS Extractor supports both Universal File Format (UFF) as well
the SVS format for exporting and importing your data to and from other popular
analysis applications.
Programmability: ARTeMIS Extractor is programmable via ActiveX (OLE Automation)

technology using off-the-shelf programming tools such as Visual Basic and Visual
C++. This is an invaluable feature for automating routine tasks and creating
customised and systems integration solutions.
About Pro, Handy and Light Versions
ARTeMIS Extractor is produced in three different versions. The difference between the
versions is only what is included of modal identification techniques. The graphical interface
and the overall functionality is the same. For this reason all three versions are using this
help system. In the table below it is shown what the different version includes of modal
identification techniques
Version Modal Identification Techniques Modal Results
Natural frequencies, damping ratios

and mode shapes using both
FDD Frequency Domain Decomposition frequency and time domain
Peak Picking techniques.
EFDD Enhanced Frequency Domain This version is for those who want all
Decomposition Peak Picking the best techniques available, needs
the highest accuracy and the best
Pro UPC Stochastic Subspace Identification validation of the results. With this
version you can perform accurate
PC Stochastic Subspace Identification identifications in time domain as well
as in the frequency domain using the
CVA Stochastic Subspace Identification strongest identification tools available
today. The safest validation one can
perform is to validate frequency and
time domain results against one
another.
Natural frequencies, damping ratios

FDD Frequency Domain Decomposition and mode shapes using both
Peak Picking frequency domain techniques.
Handy EFDD Enhanced Frequency Domain
This version is for those who wants
Decomposition Peak Picking efficiency but can compromise a bit
on the possibility to get optimum
results in any case.
Natural frequencies and mode

shapes using a frequency domain
FDD Frequency Domain Decomposition
Light Peak Picking technique.
For those who only need a fast and

easy identification of mode shapes
and natural frequencies.
If a help topic is specific to one or more of the version it will be marked just below the title
of the topic. An example could be:
Stochastic Subspace Identification (SSI)
(Pro version only)

About Help - Contents
Main Help
This is accessed from the Help menu. There are a number of "books" in the Help Contents.
Selecting one of these provides a listing of the main topics for that section. The Help also
contains an alphabetical index and full search facilities with wild cards.
Where relevant, help topics give access to information available on the web sites of
Structural Vibration Solutions, for example www.svibs.com.
Context-sensitive Help
Context-sensitive Help is built into ARTeMIS Extractor. This accesses the topic in the main
Help that is related to menu items, dialog boxes, etc., for which you request help.
About Help - Conventions
Throughout the help system, a number of conventions are used:
Menu items and buttons in dialog boxes are indicated in bold, e.g., Select File, Save,
Press OK
Text in dialog boxes is indicated in italics, e.g., In the Save As dialog box, enter a File
name. Select the Color tab
Actions taken using the keyboard are indicated in bold with "<" and ">" symbols, e.g.,
Press <F1>, Press <Shift + F1>
About Help - Accessing Help
To obtain help on a subject, you can obtain context-sensitive help, or display the Help
Contents tab pages using the Help menu and then select the Contents, Index or Search tab
page to search for the help you require.
Navigate through the Help system by clicking on words that are highlighted and are related
to your interest, or by clicking the Related Topics button to obtain a pop-up menu of
related topics.
If a topic title contains words in parentheses, these words generally relate to the menu from
which the command is available or to the main subject under which the topic is located.
Context-sensitive Help
To obtain help related to a selected menu item, window or dialog box:
Select the item or control of interest, then press <Shift + F1>.
Point on the item or control of interest, then press the right-hand side mouse button.
On simple controls such as radio buttons etc. the context sensitive help appear in a
small text-box. For windows the context sensitive help is displayed by selecting the
<What's This> menu item that appear.
What's New
ARTeMIS Extractor version 3.4 offers many news and enhancements.
All Versions
Computational speed has been increased with up to 50 times using native processing.
Up to 200 measurements channels can now be handled in single data set.
A new way of reducing computational modes and redundant information.
A new binary data input format is available allowing fast upload of data.
New XP look of the graphical user interface.
Pro Version
Automatic SSI model estimation during signal processing.

Getting Started (Help Menu)
To get you started with ARTeMIS Extractor, we have included a number of predefined
application projects. They allow you to easily perform a number of modal identifications.
The projects are located in the "Examples" folder.
The easiest way to get started is by loading an example project from the from the 'Building
Model' folder. Try open the file called 'mes32set.axp'. This example consists of two data
sets. The modal identification has already been made.
Normal and Demo Mode
The ARTeMIS Extractor software can run in two different modes demo mode and normal
mode.
For normal mode, you need a license. The software provides full functionality in normal
mode.
You can run the software in demo mode if you do not have a valid license. Demo mode
allows you to explore some of the possibilities of the ARTeMIS Extractor software, but a
number of restrictions apply regarding functionality:
You cannot create a new project (thus, you have to open and work with a demo project
from the Examples folder see Predefined Application Projects).
You cannot print or copy from the tables as well as the 2D and 3D displays.
You cannot export any results to files.

Using the Mouse
Note: This help system assumes that you have a right-handed mouse.
The mouse is used extensively when working within ARTeMIS Extractor.
When the program requests you to click on an item, this means that you must click the left-
hand mouse button when the mouse (cursor) is placed over the area, item or button
specified.
Pop-up menus are used extensively in all editors and displays. These are displayed by
clicking the right-hand mouse button. The menu shown depends on the position of the
mouse when you click. If it is required that you use the right-hand mouse button, it will be
mentioned in the related text.
Using Menus
ARTeMIS Extractor uses two types of menu. These are the menus displayed on the menu
bar and context-sensitive pop-up menus that are used in the editors, displays, etc.
Displaying Menus from the Menu Bar
The menus on the menu bar can be displayed in one of the following ways:
Place the mouse cursor over the menu and click the left-hand mouse button.
Press <Alt> followed by the key for the underlined character in the menu title.
Displaying Context-sensitive Pop-up Menus in the editors and the

displays
To display the pop-up menu for an item do one of the following:
Place the mouse cursor over the item' and click the right-hand mouse button.
Select the item using the mouse and press the Windows menu key on the keyboard.
Selecting Menu Commands
To select a command option in a menu, do one of the following:
Display the menu, then select the desired option with the mouse.
Display the menu, then press the key for the underlined character in the desired menu
option.
Using Shortcut Keys
You can use the keyboard as a shortcut or alternative to using a mouse for selecting menu
commands and changing the display window.
Selecting Menus and Menu Commands
To select the menu bar, press <Alt>.
To deselect the menu bar, press <Esc>.
To select a menu, press the key for the underlined menu character after selecting the
menu bar using <Alt>.
To select a pop-up menu, press <Shift + F10>.
To select a menu command, after selecting the menu, as above, press the key for the
underlined menu command character or use the arrow keys followed by <Enter> to
select a command.
Changing the Application Window
To move through the other applications currently running and select one, press <Alt +
Tab>.
To select the application that is running immediately behind the current application
window, press <Alt + Esc>.
To close the current application window, press <Alt + F4>.
To display the switch to Task List dialog box using Windows NT/2000, press <Ctrl +
Shift + Esc>
Selecting the Active Window
To display the next window, press <Ctrl + F6>.
To close the active window, press <Ctrl + F4>.

Units
Metric (SI) units are used throughout the program for the following values:
Logarithmic Display Decibels [dB]
Phase Angle Degrees []
Time (e.g. Sampling Interval and Record

Seconds [s]
Length)
Frequency (e.g. Sampling Frequency) Hertz [Hz]
The units of the measured data as well as the geometry is of the users own choice. The
only guidelines that should be followed are:
The X, Y and Z coordinate units in the geometry should be the same.
If different units are used from transducer to transducer, the mode shape estimates will
not be reliable.
When using different transducer types that returns measurements of different type this will
result in unreliable mode shape estimates. An example could be if a measurement session
was performed with a set of accelerometers and a set of strain gages. In such case the
measurements should be calibrated to yield the same units before using them.
Notation
The units are always displayed in square brackets [].
Example:
Assume that the transducer unit is m/s and that the dB reference value is 1E-6 m/s.
In this case the notation of the unit of the spectral density in a linear display is [(m/s) / Hz].
So the unit of the spectral density is the square of the transducer unit divided by the
frequency unit.
In the case of the logarithmic display a decibel axis is used. In this case the unit in the
above case will be [dB | (1E-6 m/s) / Hz]. In this case the spectral density of the
transducer is presented in a dB axis where the spectral density has been normalized with
the square of the dB reference.
The floating-points of all displays can be presented in either fixed, scientific or engineering
(alpha numeric) format. In each case it can be specified how many significant digts to use.
The preferences can be set in the preference dialog and changed locally the respective
windows. When using the engineering notation values are represented alpha numerically.
For example, if the unit is seconds, an m after the numerical value indicates it is
milliseconds, or k after a frequency value denotes kilohertz. The following characters are
supported:
a atto 10E-18
f femto 10E-15
p pico 10E-12
n nano 10E-9
u mikro 10E-6
m milli 10E-3
k kilo 10E3
M mega 10E6
G giga 10E9
T tera 10E12
P peta 10E15
E exa 10E18
Introduction to Task-oriented User Interface
The user interface of ARTeMIS Extractor is a task-orientated user interface.
Task Bar
The area of the display that contains the Project Control icon is known as the Task Bar.
As shown above, there are six task bar panes, Project, Data, FDD, SSI, Select & Link and
Validate. To switch between them, you simply click on the task bar pane.
The idea of the task bar is to simplify the overview of a project and make the modal
identification procedure more organised and less liable to operator error.
You can change between large and small icons in the individual task bar panes.
Introduction to Projects
An ARTeMIS Extractor project encompasses all project related setup, measured data,
estimated parametric models, estimated modes and documentation related to a modal
identification.
Specifically, ARTeMIS Extractor projects includes:
The measured data.
The geometry to animate.
The measured locations on the geometry (DOF's) and how the measurements have
been organized in data sets.
How to process the measured data in order to make the modal identification.
The processed data, modal results and textural documentation.
Note: The default extension for a project file is .axp.
Creating a New Project
To create a new ARTeMIS Extractor project from a configuration file:
1. Select File, New or click the New button on the main toolbar or press <Ctrl + N>.
This displays the Create New Project dialog box.
2. Double-click on the type of input files you intent to create the project from. This is
either a configuration file or a set of Universal File Format files.
Note: The default extension for a configuration file is .cfg and the default extension for
Universal File Format files is .uff.
Opening a Project
To open an existing ARTeMIS Extractor project, for example, an application project:
1. Select File, Open... or click the Open button on the main toolbar or press <Ctrl +
O>. This displays the Open dialog box.
2. In the Open dialog box, select the path and file name for the project file you want to
open, then click Open.
Saving a Project
To save your work on an ARTeMIS Extractor project in a file under a defined name and
path:
1. Select File, Save As... or, if the file has not been previously saved, click on the
main toolbar or press <Ctrl + S>. This displays the Save As dialog box.
2. In the Save As dialog box, select the path to where the file is to be stored, enter a file
name for the project file, and click Save.
To save an ARTeMIS Extractor project under its previously specified file name and path:
1. Select File, Save, click on the main toolbar or press <Ctrl + S>.
Remember to save your projects regularly when working on them.
Deleting a Project
Run Windows Explorer, select the project file to be deleted and then press <Delete>
Working with Multiple Projects
The ARTeMIS Extractor platform can have several projects opened at the same time. For
this reason its user-interface is called a Multiple Document Interface (MDI). The way the
user-interface work is according to the following guidelines:
A project can have several windows open at the same time, and the project is open
until the last window of it is closed.
To activate a specific project simply activate one of its open windows.
There are windows such as the Mode Comparison window that does not relate to any
specific project. As long as such windows are active there will not be any active
projects.
All control bars (the toolbars, the Task bar and the Control Panel) will work on the
active window.
If a button on the Task bar is pressed while there is no active project the Window List
dialog will appear so that you can select which project/window you want to activate.
This situation happens e.g. when the active window is the Mode Comparison window.
The Information Bar will indicate which project is currently the active one. This is also
indicated in the window captions.
Note: You can always use the Window List dialog to determine which project is active.
Predefined Application Projects
To get you started, a number of predefined ARTeMIS Extractor Application Projects are
supplied. These cover the common uses of ARTeMIS Extractor.
The predefined projects can be found in the Examples directory of your ARTeMIS Extractor
installation. Select the directory for the application in which you are interested and open one
of the projects from that directory. All projects contain comments to help you learn about
the project.
Customisation
The appearance of toolbars, menus etc. can be customised in e.g. its located whether ithey
are docked or floating. New toolbars can be created and the existing can be modified.
If several projects are loaded at the same time or if a certain organization of project
windows and controls are desired this can be saved as a workspace that always can be
reloaded later on.
An external program written in, for example, Visual Basic can control the creation of new
projects, as ARTeMIS Extractor has an OLE 2.0 Automation interface. This allows the
development of customised initialization procedures for, for example, performing repetitive
modal identification applications. It is also the interface that is used when a new ARTeMIS
Extractor project is created with the Brel & Kjr Modal Test Consultant Type 7753.
Note: If some control bars or menus accidently disappear as a result of the customization
run the following command from the Run dialog:
artx /RegServer
This command register the application and resets all control and menu bar settings. Please
note that you must have administrative privileges to perform this registration.
Main Menu Bar
The following menus are available on the menu bar.
File
Edit
View
Project
Tools
Window
Help
File Menu
Most of the File menu options are standard Windows commands. The commands available
are:
New Creates a new ARTeMIS Extractor project.
Open Allows you to select an ARTeMIS Extractor project file and open it.
Close Closes the current ARTeMIS Extractor project file.
Save Saves the current ARTeMIS Extractor project to disk.
Use this to save the current ARTeMIS Extractor project under a specified
Save As ...
name and path.
Import Import Surface Definitions or Slave Node Equations.
Export Data Sets, Signal Processing Configurations, Modes, Plot Data

Export
and AVI movie files.
Open
Open an ARTeMIS Extractor workspace.
Workspace
Save
Save an ARTeMIS Extractor workspace.
Workspace
Close
Close an ARTeMIS Extractor workspace.
Workspace
Send Send the active ARTeMIS Extractor project with electronic mail.
Print Displays the Print dialog box.

Print Preview Displays the active view as it will look when printed.
Print Setup Displays the Print Setup dialog box.
Preferences Displays the Preferences dialog box.
Recent Projects Lists the last 4 ARTeMIS Extractor project files worked on.
Recent
Lists the last 4 ARTeMIS Extractor workspace files worked on.
Workspaces
Exit Exits ARTeMIS Extractor.

New (File Menu)
Shortcuts: , <Ctrl + N>
Use this to create a new ARTeMIS Extractor project file from an SVS configuration file or
from Universal File Format files. The specific file format to use is selected in the Create
New Project dialog.
Note: The default extensions for SVS configuration files and Universal File Format files are
.cfg and . uff, respectively. ARTeMIS Extractor project files are using the extension .axp.
Open (File Menu)
Shortcuts: , <Ctrl + O>
Use this to open an existing ARTeMIS Extractor project file.
Note: The default extension for ARTeMIS Extractor project files, .axp.
Close (File Menu)
Use this to close the active project file. The program displays a message dialog box asking
whether you want to save any changes that you have made to the project before closing it.
Select Yes to save your changes.
Save (File Menu)
Shortcuts: , <Ctrl + S>
Use this to save the latest changes to the ARTeMIS Extractor project file to disk. If the file
has not been saved before, this acts as the Save As command.
Note: Even though it can be time consuming, we recommend that you save your projects
frequently.
Save As (File Menu)
Selecting this displays the Save As dialog box from which you can save the current
ARTeMIS Extractor project under a specified file name and path.
Import (File Menu)
Selecting this command in the File menu displays a sub-menu with two options. The options
are:
Slave Node Equations Import slave node equations for use with mode shape
(ASCII)... estimates.
Import surface definitions to enhance the graphics of the

Surfaces (ASCII)...
active project.
Slave Node Equations (ASCII)... (File Menu)
Use this to overwrite existing slave node equations in the active project. The new equations
are loaded from an SVS configuration file.
Note: The default extension for SVS configuration files is .cfg.

Surfaces (ASCII)... (File Menu)
Use this to import surface definitions to use with the currently active project. The import
format is SVS configuration file format and the content should at least be a Surface group
starting with the keyword Surfaces.
Export (File Menu)
Selecting this command in the File menu displays a sub-menu with four options. The options
are:
Current Data Set (ASCII)... Export the currently selected data set to an ASCII file.
Signal Processing Export the currently selected signal processing configuration

Configuration (ASCII)... to an ASCII file.
Modes Sub-menu for export of modes.
Slave Node Equations

Export the Slave Node Equations of the project.
(ASCII) ...
Geometry Sub-menu for export of project geometry.
Export the plotted data of the currently active window to an

X-Y Display Data (ASCII)...
ASCII file.
Current Data Set (ASCII)... (File and Pop-up Menus)
Use this to save the currently selected data set of the active project to an ASCII file in the
same data file format as used when creating a new project from an SVS configuration file.
Signal Processing Configuration (ASCII)... (File and Pop-up
Menus)
Use this to save the currently selected signal processing configuration (the currently active
window) to an ASCII file in the same data file format as used when importing a signal
processing configuration.
Modes (File Menu)
Selecting this command in the File menu displays a sub-menu with three options. The
options are:
SVS Format (ASCII)... Export the selected modes to a file in SVS ASCII Format.
Export the selected modes to a file in ASCII Universal File

UFF Format (ASCII)...
Format.
AVI Movie File... Export the animation of the active window to an AVI file.
SVS Format (ASCII)... (File and Pop-up Menus)
Shortcut:
Save the selected modes of the active window to an ASCII file in SVS format.
Note: The default extension for SVS format files is .svs.

UFF Format (ASCII)... (File and Pop-up Menus)
Shortcut:
Save the selected modes of the active window to an ASCII file in Universal File Format.
Note: The default extension for Universal File Format files is .uff.
AVI Movie File... (File and Pop-up Menus)
Shortcut:
Save the current 3D animation of the active window in AVI Movie file format.
Note: The extension for AVI Movie files is .avi.

Slave Node Equations (ASCII) ... (File and Pop-up Menus)
Use this to save the Slave Node Equations of the active project to an ASCII file in the same
format as used when creating a new project from an SVS configuration file.
Geometry (File Menu)
Selecting this command in the File menu displays a sub-menu with two options. The options
are:
SVS Format (ASCII)... Export the project geometry to a file in SVS ASCII Format.
Export the project geometry to a file in ASCII Universal File

UFF Format (ASCII)...
Format.
SVS Format (ASCII)... (File and Pop-up Menus)
Save the project geometry to an ASCII file in SVS Configuration File format.
Note: The default extension for SVS Configuration files is .cfg.

UFF Format (ASCII)...(File and Pop-up Menus)
Save the project geometry to an ASCII file in Universal File Format.
Note: The default extension for Universal File Format files is .uff.
Plot Data (File and Pop-up Menus)
Use this to save the plotted data of the active window to an ASCII file. The first column of
data will be the plotted X-values and the remaining columns will be the plotted Y-values line
by line. The order will be the same as presented in the associated legend.
Open Workspace (File Menu)
Use this to open an existing ARTeMIS Extractor workspace file.
The workspace manager keeps track of the current status of the application when the
workspace is saved. When you save the workspace and restore it on start-up, you have the
possibility of continuing exactly where you left the analysis last time you closed ARTeMIS
Extractor.
Note: The default extension for ARTeMIS Extractor workspace files, .axw.
Save Workspace (File Menu)
Use this to save the current state of the application to an ARTeMIS Extractor workspace
file.
Extractor.
Close Workspace (File Menu)
Use this to close the currently open ARTeMIS Extractor workspace file.
Extractor.
Send (File Menu)
Use this command to send the active project through electronic mail. This command
presents a mail window with the active project attached to it. You may then fill out the To:
field, Subject: field, etc., and add text to the body of the message if you wish. When you
are finished you may click the "Send" button to send the message.
Print (File and Pop-up Menus)
Shortcuts: , <Ctrl + P>
Use this command to display the Print dialog box where you can set up the printer settings.
Print can be used to print out a picture of a display, tables or comments.

Print Dialog Box
The following options allow you to specify how the active window should be printed:
Printer
This is the active printer and printer connection. Choose the Setup option to change the
printer and printer connection.
Setup
Displays a Print Setup dialog box, so you can select a printer and printer connection.
Print Range
Specify the pages you want to print:
All - Prints all.
Selection - Prints the currently selected text.
Pages - Prints the range of pages you specify in the From and To boxes.
Copies
Specify the number of copies you want to print for the above page range.
Collate Copies
Prints copies in page number order, instead of separated multiple copies of each page.
Print Quality
Select the quality of the printing. Generally, lower quality printing takes less time to
produce.
Print Preview (File and Pop-up Menus)
Use this command to display the active window as it would appear when printed. When you
choose this command, the main window will be replaced with a print preview window in
which one or two pages will be displayed in their printed format. The print preview toolbar
offers you options to view either one or two pages at a time; move back and forth through
the printout; zoom in and out of pages; and initiate a print job.
Print Preview Toolbar
The print preview toolbar offers you the following options:
Print
Bring up the print dialog box, to start a print job.
Next Page
Preview the next printed page.
Prev Page
Preview the previous printed page.
One Page / Two Page
Preview one or two printed pages at a time.
Zoom In
Take a closer look at the printed page.
Zoom Out
Take a larger look at the printed page.
Close
Return from print preview to the editing window.

Print Setup (File Menu)
Use this command to select a printer and a printer connection. This command presents a
Print Setup dialog box, where you specify the printer and its connection.
Print Setup Dialog
The following options allow you to select the destination printer and its connection.
Printer
Select the printer you want to use. Choose the Default Printer; or choose the Specific
Printer option and select one of the current installed printers shown in the box. You install
printers and configure ports using the Windows Control Panel.
Orientation
Choose Portrait or Landscape.
Paper Size
Select the size of paper that the document is to be printed on.
Paper Source
Some printers offer multiple trays for different paper sources. Specify the tray here.
Options
Displays a dialog box where you can make additional choices about printing, specific to the
type of printer you have selected.
Network...
Choose this button to connect to a network location, assigning it a new drive letter.
Preferences (File Menu)
Shortcuts: <Ctrl + Alt + P>
The preferences dialog is used to for prefered settings of the environment. All settings are
persistent for a given user. The dialog consist of five tabs:
General
Tab 1
In this dialog you can specify your temporary files directory. The default temporar
on the drive containing the \Windows\temp\ directory. If however you do not have
on this drive, specify another drive with sufficient space.
The default setting of the workspace manager can also be changed in this dialog.
manager keeps track of the current status of the application when the workspace
you save the workspace and restore it on start-up, you have the possibility of con
where you left the analysis last time you exiting the program. By default the works
does not save your workspace automatically when closing the application neither
last active workspace automatically on startup. However, you can change this beh
dialog.
You can also specify if you want to open the project windows using default setting
and other window specific settings. By default the windows are opened without th
However, that can be changed by the first check box in the Project group. By defa
box of that group is set, indicating that settings are saved for the project windows
is saved. This feature can be disabled by unchecking the chack box.
Export
Tab 2
Due to the difference in usage of escape characters when writing ASCII files in a
environment, it is necessary to specify to what environment files are exported. By
environment is selected. In addition, it is sometimes preferred only to export node
which case the export of surfaces can be disabled by unchecking the last box.
EFDD Mode Estimation

Tab 3
In this dialog initial values of the mode estimation parameters of the Enhanced Fre
Decomposition (EFDD) is supplied. The three parameters that can be set are the
rejection level, the minimum and maximum corrrelation limits. These values are us
estimation of every new mode in the EFDD editor.
Mode Marker Lines
Tab 4
In this dialog the appearance (line style and color) of the global mode marker line
By default the mode marker lines are dashed red. These default settings can be r
pressing the button Default Settings.
Line Colors
Tab 5
In this dialog the first 16 line colors can be predefined. If more than 16 lines exist
remaining will be dark green, like the default color of line number 1. Select the line
hand side list and press the button Change Color. When pressing the button the
color dialog appear. To restore all 16 predefined colors to default press the button
Colors.
Numeric Format
Tab 6
In this dialog the default numerical floating-point display format can be chosen for
linear and dB axes of all 2D-displays. In all case the floating-point format can be f
engineering. In addtion it is possible to set up the default number of significant dig
AVI Movie Recording
Tab 7
In this dialog the default settings of the mode animation AVI movie recorder can b
the application is started the computer is searched for applicable AVI compressio
are displayed in the drop-down list called Compression Mode. It is also possible
uncompressed file format. However, this is not recommendable due to the unnece
generated AVI movie files.
There are two different modes for recording an AVI movie file of an animation. If a
animation is desired the radio button Cyclic show (one cycle) should be selected
a single cycle recording that can be repeated infinitely in e.g. the Microsoft Windo
If a specific number of seconds of recording is desired the Time capture radio bu
selected. This will result in an AVI recording of a specific number of seconds of th
animation.
Recent Projects (File Menu)
Opens one of the last four ARTeMIS Extractor projects you have worked on.
Press the key for the number that corresponds to the ARTeMIS Extractor project you want
to open, or select the file name with the mouse.
Recent Workspaces (File Menu)
Opens one of the last four ARTeMIS Extractor workspaces you have worked on.
Press the key for the number that corresponds to the ARTeMIS Extractor workspace you
want to open, or select the file name with the mouse.
Exit (File Menu)
Shortcuts: <Alt + F4>
Use this command to quit ARTeMIS Extractor.
If a project is still open, a dialog box asks you whether you want to save it before quitting.
Click Yes if you want to save the project.
Edit Menu
The Edit menu commands are standard Windows commands. Some or all of the following
will be available, depending on the active window:
Undo Undoes the latest command or typing.
Cut Cuts the selected object and places it on the Clipboard.
Copy Copies the selected object to the Clipboard.
Paste Pastes the Clipboard contents into the current document.
Clear Deletes the selected information.
Select All Selects the entire selectable contents.

Undo (Edit Menu)
Shortcut: <Ctrl + Z>
This is the standard Windows Undo command. Use it to undo the last command, deletion or
typing.
Cut (Edit and Pop-up Menus)
Shortcuts: , <Ctrl + X>
This is the standard Windows Cut command. Use the command to cut an item and store it
on the clipboard. This command can be used in a control, a comment field or the equation
editor.
Copy (Edit and Pop-up Menus)
Shortcuts: , <Ctrl + C>
This is the standard Windows Copy command. Use it to copy selected information and
store it on the clipboard. This command can be used with a control, a comment field, the
equation editor, tables or 2D and 3D displays.
Paste (Edit and Pop-up Menus)
Shortcuts: , <Ctrl + V>
This is the standard Windows Paste command. Use this command to paste an object on the
Clipboard into a control, a comment editor or the equation editor.
Clear (Edit and Pop-up Menus)
Shortcut: <Delete> or <Del>
Use this to delete selected information.

Select All (Edit and Pop-up Menus)
Shortcut: <Ctrl + A>
Use this to select the entire selectable contents of the active window.
View Menu
The View menu allows you to show or hide toolbars and components of the task-oriented
user interface.
Displays the toolbars dialog from where you can show or

Toolbars
hide the different toolbars.
Show / hide the status bar of the application or the active

Status Bars
project window.
Task Bar Show / hide the Task bar.
Control Panel Show / hide the Control Panel.
Information Bar Show / hide the Information Bar.
Full Screen Enable the Full Screen Mode
Large Icon View Show the currently active table using large icons.
Small Icon View Show the currently active table using small icons.
List View Show the currently active table in list view.
View Details Show the currently active table in details.
Mode Marker
Show / hide the Mode Marker Lines of the active project.
Lines
Geometry Sub-menu for geometry related options.

Geometry Node Show / hide the Geometry Node Numbers of the active 3D
Numbers display.
Reset Viewpoint Reset the active 3D display to its default viewpoint.
Previous Data Set Select the previous data set of the active project.
Next Data Set Select the next data set of the active project.
Properties Show the property dialog of the currently active window.

Toolbars (View Menu)
Displays the toolbars dialog from where you can show or hide the different toolbars as well
as changing their appearance.
The Toolbars Dialog (View Menu)
With this you can show or hide the different toolbars as well as changing their appearance.
In the Toolbars list all toolbars as well as the menu bar are presented. You can only show
or hide the toolbars from this dialog which are the Main Toolbar, the Modal Toolbar and the
Project Toolbar.
To show or hide a toolbar click the check box located to the left of the toolbar name in
the list.
To show or hide all application tooltips click the check box named Show Tooltips.
To change the appearance from traditional button-like appearance to the cool look for
all the toolbars in the list click the check box named Cool Look.
Main Toolbar (View Menu)
Displays or hides the main toolbar. If selected, the toolbar is displayed in the ARTeMIS
Extractor window.
The toolbar has buttons that provide shortcuts for operations general to the application:
File, New Creates a new project file.
Displays the Open dialog box where you can select the
File, Open
project file to open.
File, Save Saves the current project.
Edit, Cut Cuts the selected item and places it on the Clipboard.
Copies the selected display and stores it on the

Edit, Copy
Clipboard.
Pastes the object on the Clipboard into the active

Edit, Paste
window.
Prints out the contents of an active window using the

File, Print
current printer.
View, Large Icon View Show the currently active table using large icons.
View, Small Icon View Show the currently active table using small icons.
View, List View Show the currently active table in list view.
View, View Details Show the currently active table in details.
Help, About ARTeMIS Display a dialog box with information about the
Extractor application.
View, Full Screen Enables the Full Screen Mode.
View, Control Panel Show / hide the Control Panel.
View, Task Bar Show / hide the Task bar.
View, Information Bar Show / hide the Information bar.
Windows, Windows... Display the window list dialog.

Modal Toolbar (View Menu)
Displays or hides the modal toolbar. If selected, the toolbar is displayed in the ARTeMIS
Extractor application window.
Pro Version:
Handy and Light Versions:
The toolbar has buttons that provide shortcuts for operations related to modal identification:
Project, Stochastic Subspace Identification,

Estimate Model(s) and Pop-up Menu in Estimate Model(s).
Stochastic Subspace Identification editors.
Project, Stochastic Subspace Identification,

Stop Estimation and Pop-up Menu in Stop Estimation.
Stochastic Subspace Identification editors.
Project, Modes, New Mode and Pop-up

Menus in FDD, EFDD and Select & Link New Mode.
editors.
Project, Modes, Edit Mode and Pop-up

Menus in FDD, EFDD and Select & Link Edit Mode.
editors.
Project, Modes, Delete Mode and Pop-up

Menus in FDD, EFDD and Select & Link Delete Mode.
editors.
Shortcut to corresponding Stochastic

Pop-up Menus in Select & Link editors. Subspace Identification editor.
Pop-up Menus in Stochastic Subspace Shortcut to corresponding Select & Link

Identification editors. editor.
Project, Frequency Domain Decomposition,

Toggle use of average Singular Value
Show Averaged SVD Lines and Pop-up
lines on and off.
Menus in FDD and EFDD editors.
File, Export, Modes, AVI Movie File... and

Save the current 3D animation of the
Pop-up Menus in FDD, EFDD, Select & Link
active window in AVI Movie file format.
editors and Mode Comparison window.
File, Export, Modes, UFF Format (ASCII)... Save the selected modes of the active
and Pop-up Menus in FDD, EFDD, Select & window to an ASCII file in Universal File
Link editors and Mode Comparison window. Format.
File, Export, Modes, SVS Format (ASCII)...

Save the selected modes of the active
and Pop-up Menus in FDD, EFDD, Select &
window to an ASCII file in SVS format.
Link editors and Mode Comparison window.
Project Toolbar
Displays or hides the project toolbar. If selected, the toolbar is displayed in the ARTeMIS
Extractor application window.
The toolbar has buttons that provide shortcuts for general project related operations.
Select current data set.
View, Previous Data Set. Select previous data set as current.
View, Next Data Set. Select next data set as current.
Project, Modes, Update Modes

Update Mode Shapes with new Slave
Pop-up Menu in Slave Node
Node Equations.
Equations editor.
Show / hide Mode Marker Lines of the

View, Mode Marker Lines.
active project.
View, Geometry, Node Show / hide the node numbers on the

Numbers. active geometry.
Enable / disable the light sources on

View, Geometry, Light.
the active geometry.
Show / hide the surfaces on the active

View, Geometry, Surfaces.
geometry.
Status Bar (View Menu)
Selecting this command in the View menu displays a sub-menu with two options. The
options are:
Active Project
Displays or hides the status bar of the active project window.
Window
Application
Displays or hides the application status bar.
Window
Active Project Window Status Bar (View Menu)
Shortcut: <Ctrl + B>
Displays or hides the status bar of the active project window such as the Project Control
window. If selected, the status bar is displayed at the bottom of the active window and a
tick is shown beside the command in the View menu.
The status bar gives information on the current status of any process specific to the window
and information about the visible contents of the window.
Note: This command is also applicable to the status bar of the Mode Comparison window.
Application Window Status Bar (View Menu)
Shortcut: <Ctrl + D>
Displays or hides the application status bar. If selected, the status bar is displayed at the
bottom of the application window and a tick is shown beside the command in the View
menu.
The status bar gives information on the current status of the application and indicates any
action that you should take.
You can also use the status bar to obtain basic information about the task that a menu
command performs. When the mouse cursor is over a menu command, the status bar gives
you a description of the command.
Task Bar (View Menu)
Shortcuts: , <Ctrl + T>
Displays or hides the task bar to the left of the ARTeMIS Extractor
application window. If selected the bitmap beside the command will
appear pressed in the View Menu and in the Main Toolbar.
Control Panel (View and Pop-up Menus)
Shortcuts: , <Ctrl + Shift + C>
Displays or hides the task bar to the left of the ARTeMIS Extractor application window. If
selected the bitmap beside the command will appear pressed in the View Menu and in
the Main Toolbar.
The Information Bar (View and Pop-up Menus)
Shortcuts:
Displays or hides the Information bar located below the toolbars in the application window.
If selected the bitmap beside the command will appear pressed in the View Menu and in
the Main Toolbar.
From the context sensitive menu of the Infomation Bar, shown below:
you can change the apperance by selecting large font instead of the default small font. In
this case the Infomation Bar looks as shown below.
Full Screen (View Menu)
Shortcut:
Enables the application full screen mode. In this mode all control bars are hidden and the
remaining windows are presented on the full screen. To disable this mode press the <ESC>
key or click on the close full screen window
using the mouse.

Large Icon View (View Menu and Pop-up Menus)
Shortcut:
Displays large icons for the items of the table in the active window. If selected the bitmap
beside the command will appear pressed in the View Menu and in the Main Toolbar. An
example of a large icon view is shown below.
Small Icon View (View Menu and Pop-up Menus)
Shortcut:
Displays small icons for the items of the table in the active window. If selected the bitmap
example of a small icon view is shown below.
List View (View Menu and Pop-up Menus)
Shortcut:
Displays the items of the table in the active window in list view. If selected the bitmap
example of a list view is shown below.
View Details (View Menu and Pop-up Menus)
Shortcut:
Displays the details of the items of the table in the active window. If selected the bitmap
example of a detailed view is shown below.
Mode Marker Lines (View Menu and Pop-up Menus)
Shortcuts: , <Ctrl + M>
Displays or hides the Mode Marker Lines of the active project. If selected the bitmap
beside the command will appear pressed in the View Menu and in the Project Toolbar.
Geometry (View Menu and Pop-up Menus)
Selecting this command in the View menu displays a sub-menu with five options. The
options are:
Node Numbers Show / hide the node numbers on the active geometry.
Light Enable / disable the light sources on the active geometry.
Surfaces Show / hide the surfaces on the active geometry.
Allow Continuous Enable / disable the continuous rotation feature of the active
Rotation geometry.
Reset Viewpoint Reset the viewpoint of the active geometry.

Node Numbers (View Menu and Pop-up Menus)
Shortcuts: , <Ctrl + G>
Displays or hides the node numbers of the active geometry. If selected the bitmap
beside the command will appear pressed in the View Menu and in the Project Toolbar.
Light (View Menu and Pop-up Menus)
Shortcut:
Enables or disables the light on the active geometry. Enabling light is only possible if there
are any surface definitions in the geometry. If selected the bitmap beside the command
will appear pressed in the View Menu and in the Project Toolbar.
If the light is enabled a geometry will look like the example below with non-transparant
metallic surfaces:
If the light is off the surfaces becomes transparent like the example below:
Surfaces (View Menu and Pop-up Menus)
Shortcut:
Displays or hides the surfaces on the active geometry. If selected the bitmap beside the
command will appear pressed in the View Menu and in the Project Toolbar.
If the surfaces are displayed a geometry will look like the example below with non-
transparant metallic surfaces:
If the surface are hidden only node numbers and trace lines will be displayed like the
example below:
Allow Continuous Rotation (View Menu and Pop-up Menus)
Enables or disables the continuous rotation feature of the active 3D display. If enabled a
check mark will appear pressed to the left of the command. If enabled the continuous
rotation can be "kick-started" with a rapid movement of the mouse while kepping the left
mouse button down.
Reset Viewpoint (View Menu and Pop-up Menus)
Selecting this command will reset the viewpoint of the active 3D display. Any panning,
rotation or zoom will be reset back to the default state.
Previous Data Set
Shortcuts: , <Ctrl + Arrow Up>
Sets the previous data set in the list of data sets of the active project as the currently
selected.
Next Data Set
Shortcuts: , <Ctrl + Arrow Down>
Sets the next data set in the list of data sets of the active project as the currently selected.
Properties (View and Pop-up Menus)
Shortcuts: <Alt + Enter>
Display the properties related to the active view. The properties of a view will typically be a
dialog as shown in the example below.
Project Menu
The Project menu contains commands that specifically relate to the active project. The
commands available in the menu are:
Project Control Display the Project Control window of the active project.
Define Signal Processing

Display the Signal Processing Configuration wizard.
Configuration ...
Test Trial Signal

Display the Test Trial Signal Processing Configuration window.
Processing Configuration
Process Data ... Display the Process Data dialog.
View Processed Data Display the View Processed Data window.
Compare Processed
Display the Compare Processed Reference Data window.
Reference Data
Frequency Domain Display submenu for the Frequency Domain Decomposition

Decomposition editors.
Stochastic Subspace Display submenu for the Stochastic Subspace Identification

Identification editors.
Select and Link Modes Display submenu for the Select and Link Modes editors.
Modes Display submenu for mode estimation.

Project Control (Project Menu and Task Bar)
Shortcut: <Alt + 1>
Displays the Project Control window of the active project.

Define Signal Processing Configuration (Project Menu and
Task Bar)
Shortcut: <Ctrl + Shift + W>
Displays the Signal Processing Configuration wizard of the active project.

Test Trial Signal Processing Configuration (Project Menu
and Task Bar)
Shortcut: <Alt + 2>
Displays the Test Trial Signal Processing Configuration window of the active project.
Process Data (Project Menu and Task Bar)
Shortcut: <Ctrl + Shift + P>
Displays the Process Data dialog of the active project.

View Processed Data (Project Menu and Task Bar)
Shortcut: <Alt + 3>
Displays the View Processed Data window of the active project.

Compare Processed Reference Data
Shortcut: <Alt + 4>
Displays the Compare Processed Reference Data window of the active project.
Frequency Domain Decomposition (Project Menu)
Selecting this command in the Project menu displays a sub-menu with the following options:
Peak Picking Display the Frequency Domain Decomposition Peak Picking editor.
Display the Frequency Domain Decomposition Enhanced Peak

Enhanced Peak Picking
Picking editor. (Pro and Handy versions only)
Show Averaged SVD

Toggle use of average Singular Value lines on and off.
Lines
Peak Picking (Project Menu and Task Bar)
Shortcut: <Alt + 5>
Selecting this command in the Project, Frequency Domain Decomposition menu display
the FDD Peak Picking editor.
Enhanced Peak Picking (Project Menu and Task Bar)
(Pro and Handy versions only)
Shortcut: <Alt + 6>
Selecting this command in the Project, Frequency Domain Decomposition menu display
the EFDD Peak Picking editor.
Show Averaged SVD Lines (Project Menu, Pop-up Menu
and Modal Toolbar)
Shortcuts: , <Ctrl + Shift + S>
Select or deselect the use of averaged singular values. If selected the bitmap beside the
command will appear pressed in the Project, Frequency Domain Decomposition Menu
and in the Modal Toolbar.
Stochastic Subspace Identification (Project Menu)
(Pro version only)
Selecting this command in the Project menu displays a sub-menu with two options. The
options are:
Estimate
Estimate the models that corresponds to the state space dimensions
Selected
selected in the active Stochastic Subspace Identification editor.
Model(s)
Stop model estimation in the active Stochastic Subspace Identification

Stop Estimation
editor.
Data Driven Display a sub-menu with the available data driven Stochastic Subspace
Estimation Identification estimators.
Estimate Selected Models (Project Menu)
(Pro version only)
Shortcut:
Estimate the models that corresponds to the state space dimensions selected in the
Stochastic Subspace Identification editor.
Stop Estimation (Project Menu)
(Pro version only)
Shortcut:
Stop the current model estimation of the active Stochastic Subspace Identification editor.
Data Driven Estimation (Project Menu and Task Bar)
(Pro version only)
Selecting this command in the Project, Stochastic Subspace Identification menu displays
a sub-menu with three options. The options are:
Unweighted Principal Display the Stochastic Subspace Identification editor initialized

Component for Unweighted Principal Component model estimation.
Display the Stochastic Subspace Identification editor initialized

Principal Component
for Principal Component model estimation.
Canonical Variate Display the Stochastic Subspace Identification editor initialized

Analysis for Canonical Variate Analysis model estimation.
Select and Link Modes (Project Menu)
(Pro version only)
Selecting this command in the Project menu displays a sub-menu with the option for
displaying a sub-menu with the Select and Link Modes editors available for the data driven
Stochastic Subspace Identification estimators.
Data Driven Estimation (Project Menu and Task Bar)
(Pro version only)
Selecting this command in the Project, Select and Link Modes menu displays a sub-menu
with three options. The options are:
Unweighted Principal Display the Select and Link Modes editor for selecting and linking
Component modes based on Unweighted Principal Component model estimation.
Display the Select and Link Modes editor for selecting and linking
Principal Component
modes based on Principal Component model estimation.
Canonical Variate Display the Select and Link Modes editor for selecting and linking
Analysis modes based on Canonical Variate Analysis model estimation.
Modes (Project Menu)
Selecting this command in the Project menu displays a sub-menu with four options. The
options are:
New Mode Create a new mode.
Edit Mode Edit the currently selected mode.
Delete
Delete the currently selected mode.
Mode
Update
Update Mode Shapes with new Slave Node Equations.
Modes
New Mode (Project Menu, Pop-up Menu and Modal Toolbar)
Shortcuts: , <Ctrl + Shift + N>
This command initialize the creation of a new mode in the active mode estimation editor.
The actually mode creation depends on which mode estimation editor is used. The available
editors are:
Frequency Domain Decomposition - Peak Picking editor
Frequency Domain Decomposition - Enhanced Peak Picking editor (Pro and Handy
versions only)
Select and Link Modes editor (Pro version only)

Edit Mode (Project Menu, Pop-up Menu and Modal Toolbar)
Shortcuts: , <Ctrl + Shift + E>
This command enable/disable editing of the currently selected mode in the active mode
estimation editor. If enabled the bitmap beside the command will appear pressed in the
Project, Modes Menu, the Pop-up Menu and in the Modal Toolbar. The actually edit
operations depends on which mode estimation editor is used. The available editors are:
versions only)

Delete Mode (Project Menu, Pop-up Menu and Modal
Toolbar)
Shortcuts: , <Del> or <Delete>
This command deletes the currently selected mode in the active mode estimation editor.
The available editors are:
versions only)

Update Modes (Project Menu, Pop-up Menu and Project
Toolbar)
Shortcuts: , <Ctrl + U>
This command update the mode shapes of all project modes with new Slave Node
Equations. Slave Node Equations can be added to the project either by the File, Import,
Slave Node Equations (ASCII)... Menu or the Slave Nodes Equation editor.
Tools Menu
The Tools menu contains commands that do not relate to any specific project. It also
includes tools for customization of the toolbars and the menu. The commands available in
the menu are:
Compare modes estimated by different estimators and across

Mode Comparison
projects.
Menu and Toolbar

Customize the appearance of the menu and the toolbars.
Customization ...
Mode Comparison (Tools Menu and Task Bar)
Shortcut: <Alt + C>
Displays the Mode Comparison window.

Menu and Toolbar Customization (Tools Menu)
Display the Menu and Toolbar Customization dialog.
From the first page of the dialog you can do the following operations:
Show / hide toolbars using the check box to the left of the toolbar / menu name in the
Toolbars list box.
Show / hide tooltips on the toolbars using the Show Tooltips check box.
Enable / disable the cool look apperance of the buttons of the toolbars using the Cool
Look check box.
Reset the apperance of the menu and toolbars if they have been modified using the
Reset button.
Create / delete a custom made toolbar using the buttons of the original toolbars.
To create a new custom made toolbar do the following:

Press the New... button and the following dialog will appear:
1.
Enter the name of the new toolbar:
and press OK. A new empty toolbar will appear next to the dialog:
2.
Switch to the Command page of the dialog and select the toolbar from where you
want to use buttons in your new toolbar (In this case the Main toolbar):
3.
Now drag the buttons of interest from the dialog page to the new toolbar and drop
them (In this case the Print button):
4.
5. You can also customize all existing toolbars in the same manner.
To delete a custom made toolbar:
Go to the first page of the dialog and select the custom made toolbar you want to
delete and press the Delete button:
1.
Note: If some control bars or menus accidently disappear as a result of the customization
run the following command from the Run dialog:
artx /RegServer
This command register the application and resets all control and menu bar settings.
Window Menu
The Window menu offers the following commands, which enable you to arrange multiple
windows of multiple projects in the application window:
Window List Display the Window List dialog.
Cascade Arranges windows in an overlapped fashion.
Tile
Arranges windows in non-overlapped horizontal tiles.
Horizontally
Tile Vertically Arranges windows in non-overlapped vertical tiles.
Arrange Icons Arranges icons of closed windows.
Window 1, 2,
Goes to specified window.
...
Window List (Window Menu)
Shortcuts: , <Ctrl + W>
Display the Window List dialog.
From the Select Project(s) combo box you can select which active project to look at. In the
list below you will see which windows are open for the selected project. If you want to have
a complete list of all open windows select the All Windows option in the Select Project(s)
combo box.
From the list of open windows you have the following options:
Select a window to activate and then press the button Activate. The chosen window
will become the active.
Select one or more windows to close and then press the Close Window(s) button.
The chosen windows will then be closed.
If you select more than one window you can tile these windows either horizontally or
vertically, by pressing one of the tile buttons. The rest of windows will be minimized and
displayed in the bottom as icons only. Below an example show how to tile three
windows of a specific project horizontally.
Cascade (Window Menu)
Use this command to arrange multiple opened windows in an overlapped fashion.
Tile Horizontally (Window Menu)
Use this command to arrange multiple opened windows in a non-overlapped horizontal tiled
fashion.
Tile Vertically (Window Menu)
Use this command to arrange multiple opened windows in a non-overlapped vertical tiled
fashion.
Arrange Icons (Window Menu)
Use this command to arrange the icons for minimized windows at the bottom of the main
window. If there is an open window at the bottom of the main window, then some or all of
the icons may not be visible because they will be underneath this window.
Window 1, 2, .... (Window Menu)
Displays a list of currently open windows at the bottom of the Window menu. A check mark
appears in front of the name of the active window.
Help Menu
Welcome to ARTeMIS Displays the welcome dialog with new- and open project /
Extractor workspace options.
Help Contents Use this command to display the opening screen of Help.
Help Topics Displays the Help and its Contents window.
Getting Started Describes a way to get started quickly with ARTeMIS Extractor.
About ARTeMIS
Displays information about the ARTeMIS Extractor software.
Extractor...
Help Contents (Help Menu)
Use this command to display the opening screen of Help. From the opening screen, you can
jump to step-by-step instructions for using ARTeMIS Extractor and various types of
reference information.
Help Topics (Help Menu)
Displays the Help and its Contents window from which you can navigate through the
Contents or use the Index or Search to find the topic of interest.
About ARTeMIS Extractor Dialog (Help Menu)
Displays information about the ARTeMIS Extractor software version installed and the
copyrights.
Welcome Dialog (Help Menu)
The Welcome dialog appear either by using the help menu command or by starting the
application from the Start menu or by double-clicking the desktop icon. In either case the
dialog has the following three tabs:
The New Project Tab
The Open Project Tab
The Open Workspace Tab

The New Project Tab
The New Project tab gives you two options for creating a new project.
The options are:
SVS Configuration File
Universal File Format

The Open Project Tab
The Open Project tab presents a list of the most recently opened projects.
When a project file is highlighted in the list, additional information about the project is
presented below. If the desired project is not in the list you can select the first option "More
files...", which will start the usual Open Project dialog.
The Open Workspace Tab
The Open Workspace tab presents a list of the most recently opened workspaces.
When a workspace file is highlighted in the list, additional information about it is presented
below. If the desired workspace is not in the list you can select the first option "More
files...", which will start the usual Open Workspace dialog.
Working with the Task Bar
The Task Bar is used to assist in the management of projects. The task bar is extremely
useful since it visualizes the flow of a modal identification project.
The first operation for you to do when a new modal identification

session is started is to create a new project. When the project has
been created the task bar becomes active. The task bar can now be
used to open and activate windows relating to the active project.
1. The Project task bar pane is the place where the Project Control
window can be opened from. This window is the first to appear
when an existing project is opened or a new is created, and it is
from this window that e.g. the selection of the active data set can be
performed.
The next operation to perform is to prepare the data to use in the

modal identification. The different estimators need to have the
measured data processed in different ways before it can be used.
Also, you should inspect the processed data to get a feeling about
how many modes there are, where the modes are located and the
quality of the data. All this is done using the Data task bar pane.
In this pane you can set up how the data should be prepared for the
modal identification using the Signal Processing Configuration
wizard. You can test how different signal processing configurations
affect the data without actually performing the changes permanently
2. to the data. This is accomplished in the Test Trial Signal Processing
Configuration window.
When a signal processing configuration has been defined it can be

applied to the data using the Process Data dialog.
You can then use the View Processed Data window and the
Compare Processed Reference Data window to document how the
data preparation has been performed. It is also in these windows
only that the Mode Marker Lines can be added as well as edited.
Having prepared the data it is now possible to do the modal

identification. There are two types of estimators. The first type is the
fastest and most intuitive and is working in the frequency domain
relying on a singular value decomposition of the spectral density
matrices estimated in Step 2. For this reason estimators of this type
3.
are commonly called Frequency Domain Decomposition (FDD)
techniques, and is also why this is called the FDD task bar pane.
From this task bar pane you can start the FDD Peak Picking Editor
and the EFDD Peak Picking Editor.
The second type of estimators are all working in the time domain
and are commonly called the Stochastic Subspace Identification
(SSI) estimators, which is why this is called the SSI task bar pane.
From this pane you can start the Stochastic Subspace Identification
editor, initialized for either the Unweighed Principal Component
(UPC), the Principal Component (PC) or the Canonical Variate
4. Analysis (CVA) estimation. Instead of relying on the intuitively, but
subjective, peak picking, these methods estimates the modes using
highly mathematical approaches.
Since these methods works per data set, it might at this point be
necessary to go back to Step 1 in the task bar and activate the
Project Control window to change to the next data set or use the
shortcuts in the Project Toolbar.
When using the Stochastic Subspace Identification estimators the

result is always a set of estimated modes for each data set. In order
to complete the modal identification using one of these estimators it
is necessary to complete two additional operations.
1. In each the set of modes, select which modes are structural
and which are not.
5. 2. Link the selected modes across the data sets.
Due to the nature of these two operations this is called the Select &
Link task bar pane. For each of the estimators presented in step 4
there is a Select and Link Modes editor that is used to perform the
above operations. For easy jump between step 4 and step 5 for the
same estimator use the shortcuts in the Modal Toolbar.
The final operation to perform is to validate that all estimators gives

comparable results. If this is not the case some of the previous step
has probably not been completed successfully, and it might be
necessary to go back and redo some of them. Therefore, this is
6. called the Validate task pane.
From this pane you can start the Mode Comparison window where
the estimated modes can be cross-validated. If the mode estimates
can be validated successfully they can then be exported out of
ARTeMIS Extractor.
2D Display Options
The 2D-displays are all the windows that presents information in two dimensions. There are
a number of options that are general to all these displays:
The X-axis of all 2D-displays can be changed from the 2D-Displays tab of the Control
Panel.
All 2D-displays have an information window located on their right with information
relating to the display. Typical information is cursor values and legends.
Copy the displayed to the Windows clipboard in enhanced meta file format.
Print and print preview of the displayed.
Settings are saved in the project file if the Save project settings are enabled in the
preference dialog.
There are two categories of 2D-displays. These are:
Data Displays.
Editor Displays.
Data Displays
In the data display categori there are windows such as the View Processed Data window,
the Test Trial Signal Processing Configuration window and the Compare Processed
Reference Data window. Also the validation windows of the Frequency Domain
Decomposition Enhanced Peak Picking editor and the Stochastic Subspace Identification
editor belong to this class.
An example of a data display is the window that presents the Singular Value Decomposition
of the Spectral Density Matrix. This window is an integrated part of the View Processed
Data window and the Test Trial Signal Processing Configuration window. For the Building
Model Example (mes32set.axp) this display looks as below when opened:
To the left, the 2D display is shown and on its right the information window is located. All
data displays have a title as well as labels and tic-marks on both axes. By default the lines
uses colors defined the Preferences dialog. The color and style of each line is reflected in
the legend for the line in the information window.
Various options for changing the operation and appearance of the data displays exist.
These are:
Cursor Facilities.
Exporting Line Data.
Annotations Creation.
Mode Marker Lines Creation.

Changing General Data Display Properties.
Data Displays - Cursor Facilities
There is a cursor available in the data displays. The cursor can be enabled / disabled in the
Properties Dialog. When it is enabled it can be activated by clicking on the display as shown
below:
The cursor snap to the data point nearest to the mouse pointer. By keeping the left mouse
button down you can move the cursor around. It will still snap to the nearest data point. You
can also use the arrow keys on the keyboard. The <Arrow Left> and <Arrow Right> keys
moves the cursor on the same line. The <Arrow Up> and <Arrow Down> keys change the
line the cursor is located on.
The cursor has the same color as the line it is located on. If cursor is moved from one line
to another in the display and if the new line has another color, then the color of the cursor
will change to the color of the new line. The X and Y cursor values are presented in the
information window. If the cursor is disabled the X and Y cursor values presents a [None].
Data Displays - Exporting Line Data
If you want to have the data of the lines (or the part of the lines) that are displayed
exported you right-click your mouse to show the context-menu:
By selecting the Export X-Y Display Data (ASCII)... menu item a Save dialog appear and
you can type the name of the file you want to store the data in.
Exporting the data of the display shown below:
will result in a file that contains five columns. From the left these columns are:
1. The common X-axis.
2. The first line according to the legend.
3. The second line according to the legend.
4. The third line according to the legend.

5. The fourth line according to the legend.
Note: It is only the data presented in the display that is exported. If you e.g. plot from 20 to
40 Hz you will only get the data corresponding to this range. If you e.g. the magnitude of
the spectral densities, you will only get the magnitude. If you plot with a dB scaled Y axis,
all columns in the file relating to this axis will be dB scaled.
Data Displays - Annotations
You can make an annotation for a specific data point on a line. This annotation can be any
single line comment and it will stay fixed to the data point until you either delete it or close
the window.
To define an annotation you must first select the data point to place it at using the cursor:
Then you click on the right mouse button to show the context-menu. From the context-menu
you select the Annotation, New menu item:
A new annotation box appear right on top of the selected data point:
The default text in the annotation box is the cursor calues for the selected data point. To
edit this text you double click on the box which will turn the box into a edit field as shown
below:
When you have finished editing you either click somewhere outside the box with the mouse
or press <Return>. If you want to cancel what you have just been writing press <ESC>
while being in edit mode. Finally, you can move the annotation box away from the data point
by dragging it with the mouse as shown below:
You can define as many annotations as you like in each data display, which is shown in the
example below:
You can always edit the annotations either by double-clicking on it or by using the context-
menu. You can only delete the annotations from the context-menu.
Data Displays - Mode Marker Lines Creation
A special feature that is presented across data set boundaries in all 2-dimensional displays,
having a frequency abcissa, is the socalled Mode Marker Lines. The lines are used to
indicate where you believe that modes are present in the frequency domain.
The reason for this feature is that all modes almost never reveal themselfs clearly in a
single display. A specific transducer might be placed in a node of a mode, which will make it
impossible to see the mode in the corrsponding autospectral density display. A reference
might also have difficulties in seeing a specific mode for a specific data set, whereas it is
very easy in another data set. It can therefore be difficult to have a clear picture of how
many modes that are present in the data. This is the reason for using the Mode Marker
Lines that are global to the project.
The Mode Marker Lines are optionally shown by choosing the menu item View, Mode
Marker Lines or by pressing the button in the Project Toolbar.
Creating a Mode Marker Line
The only places the lines can be added and edited are in the View Processed Data window
and the Compare Processed Reference Data window. In order to create a mode marker
line make sure that showing of the lines are enabled. If this is the first Mode Marker Line to
be created the showing of the lines is already enabled and the menu item View, Mode
Marker Lines will be grayed.
Put the cursor at the frequency where you believe there is a mode as shown below:
When you have placed the cursor right-click on the mouse to activate the context menu.
Select the menu item Mode Marker Line, New:
The Mode Marker Line is now created and look as shown below:
You can now move the cursor to another position and create more Mode Marker Lines as
shown below:
The Mode Marker Lines will now be shown in all 2D-displays having a frequency abcissa.
Editing the position of a Mode Marker Line

To edit the position a Mode Marker Line move the mouse close to Mode Marker Line you
want to edit. When you get close enough the color and style of the line will change as
shown below:
While the line is highlighted right-click on the mouse to activate the context menu. Select the
menu item Mode Marker Line, Edit:
The display is now put in a edit mode. If you click some where on display with the mouse
the Mode Marker Line will move to the frequency position closest to the point. You can also
keep the left mouse button pressed and drag the Mode Marker Line to the desired position.
To stop editing the position, activate the context menu and select the menu item Mode
Marker Line, Edit again. You do not have to select the Mode Marker Line to perform this
operation.
Delete a Mode Marker Line

To delete a single Mode Marker Line move the mouse close to Mode Marker Line you want
to delete. When you get close enough the color and style of the line will change as shown
below:
While the line is highlighted right-click on the mouse to activate the context menu. Select the
menu item Mode Marker Line, Delete:
This operation will remove the Mode Marker Line from all displays where it is shown.
Delete all Mode Marker Lines
To delete all Mode Marker Lines right-click on the mouse to activate the context menu.
Select the menu item Mode Marker Line, Delete All:
You do not have to select any Mode Marker Line to perform this operation.
Data Displays - Properties Dialog
From the View, Properties menu item or from the context menu you can get the display
properties dialog shown:
If you want to disable the cursor you click the check box Enable Cursor to remove the
check mark and press the <OK> button.
Changing Line Color and Style
You can change the color and style of the individual lines. This is performed using the Lines
group in the properties dialog. To change the color, click on the left-most combo box:
Select the line you want to change the color of and press the button. if you
want to change color of all lines just select the All Lines item in the combo box.
To change the line style you start by selecting the line you want to change from the left-
most combo box. Then from the right-most combo box you select the line style as shown
below:
When you have changed the line color and / or style press the <OK> button to update the
display.
Changing Axes from Linear to dB Scale
When allowed you can change the axes from Linear scale to dB scale or vice versa. This is
performed from the X Axis and Y Axis groups in the display properties dialog:
In this case, it is only allowed to change the Y axis. By selecting the Linear in the Scaling
combo box and pressing the <OK> button the display will change to linear. Below the
display of the above example is shown afterwards:
Note: When changing the axes the cursor as well as any annotations will disappear.
You can also select the numeric format of the axis tic marks and units. The formats are:
fixed, scientific and engineering (alpha numeric). The default setting can be changed in the
Preferences dialog.
Editor Displays
Editor displays are the definition of the 2D-displays where you can make more
sophisticated actions relating to e.g. estimation of modes etc. The editor displays are:
The Frequency Domain Decomposition Peak Picking Editor.
The Frequency Domain Decomposition Enhanced Peak Picking Editor.
The Stochastic Subspace Identification Editor.
The Select and Link Modes Editor.
It is not typical that all the special features of the data displays exist in the editor displays
since they would interfere with the specialized functions of the editor. For the individual
editors some of the features such as the cursor has been specialized for e.g. Peak Picking
or Linking of modes etc. The specialized features are explained in the help relating to the
specific editors.
3D Display Options
The 3D-displays are all the windows that presents information in three dimensions. There
are a number of options that are general to all these displays:
Zooming. You can zoom the displayed by pulling the slider called zoom in the 3D-
Displays tab of the Control Panel, or you can keep the left mouse button and the
<Shift> key down while you move the mouse. If your mouse has a wheel it will also
work.
Translation. You can perform translation (panning) both in vertical and horizontal
directions of the displayed. You simply keep the left mouse button and the <Ctrl> key
down while you move the mouse. You can also use the four Translate buttons in the
3D-Displays tab of the Control Panel.
Rotation. You can rotate both in vertical and horizontal directions. You simply point at
the display that you want to rotate and click the left mouse button and keeping it down.
A rotating box appear as long as rotation is enabled.
Continuous Rotation. The continuous rotation can be "kick-started" with a rapid

movement of the mouse while kepping the left mouse button down. The displayed will
then keep on rotating at the same speed.
Copy the displayed to the Windows clipboard in bitmap format.
Print and print preview of the displayed.
Right hand-side legends on all 3D-displays.
There are two categories of 3D-displays. These are:
Static Displays.
Animated Displays.
The static displays are e.g. the geometry display in the Project Control window and the
MAC matrix display in the Mode Comparison window. The animated displays are all the
displays that presents mode shapes. These displays are located in the FDD Peak Picking
editor, the EFDD Peak Picking editor, the Select and Link Modes editor and in the Mode
Comparison window. During animation you can save the displayed in an AVI Movie file.
In both categories you have the above descibed features available. If the displayed contain
the project geometry you have the possibility to show or hide the node numbers, show or
hide surfaces and enable or disable light sources.
Table Options
All the windows that presents information as a list are in general called tables and there are
some operations that are common to all of them.
View Formats
In general, the tables support four different view formats. These are:
Large Icon View
1.
Small Icon View
2.
List View
3.
View Details
4.
Some tables does not support all four view formats. Typically, all formats are supported or
just theView Details format. Windows that only support the View Details format are e.g. the
tables of the Project Control window.
Printing and Copying a Table
It is in general possible to print and copy all tables. However, no matter what format they
are currently presented in they are always printed and copied in a format that corresponds
to the View Details format. If none or all items are selected the complete table is
printed/copied. If only specific items have been selected a table containing only these items
is printed/copied. The table grid is always printed/copied in black and the background
always in white.
When copied the following formats will be available on the Windows Clipboard:
Unformatted Text (Text): Each column is separated by a tab and each row by a
newline character. When pasting in Microsoft Excel this is the default paste format.
Rich Text Format (RTF): Each column is separated by a tab and each row by a
newline character. When pasting in Microsoft Word this is the default paste format.
Comma Spaced Values (CSV): Each column is separated by a comma and each row
by a newline character. Can e.g. be accessed by Microsoft Excel using the Paste
Special command.
Enhanced Metafile Format: By pasting in this format it is impossible to edit the table.
The appearance is similar to printing the table directly. Can e.g. be accessed by
Microsoft Word and Microsoft Excel using the Paste Special command.
Sorting Items in Ascending or Descending Order
If the header control that appear in the View Details format is button-like, as shown below:
it indicate that the items of the table are sortable. If you click on the Frequency [Hz] header
the complete list is sorted so that the frequencies are appearing in descending order. The
left-aligned triangle shows the sorting direction. If the triangle is pointing upwards the values
are sorted in descending order. If the triangle points downwards the sorting is performed in
ascending order. If the items are numerical values the sorting is performed by simple
comparison of the size of them. If the items are strings they are compared from the left,
character by character, instead.
Editable and Read-only Items
In general an item of a table in the View Details format is either read-only or editable. If the
item is read-only the background is gray whereas the background is white if the field is
editable. To edit an editable item simply double-click with the left-hand side mouse button on
the item, an edit box or a drop-down box will then appear. To close the edit or drop-down
box press the <Return> key or click somewhere outside the edit or drop-down box. To
abort the editing press the <Esc> key.
Editor Options
All editor windows support the usually editor capabilities for cut, copy and paste. In
addition, the Comments windows in the Project Control window supports Rich Text
Formatting (RTF). So if you are copying formatted text from e.g. Microsoft Word the
formatting will be persistent in these windows.
In all editor windows there will be a context-sensitive menu with cut, copy and paste menu
items. You can also use the Clear and Select All commands if you like which are found in
the Edit menu.
The Control Panel
Some actions are commonly applicable to all the available child windows in ARTeMIS
Extractor. The 2D displays can e.g all be zoomed on the X-axis and all 3D displays can be
zoomed etc. So, to prevent having a small dialog open for each of these windows in order
to control them, the ARTeMIS Extractor software has a so-called Control Panel from where
these control actions are performed.
The only thing you need to do in order to change the settings of a window is to activate it.
The Control Panel is always locked on the active window.
Typically, the Control Panel will be docked at the bottom of the application window.
However, if you would like it to float or to be docked somewhere else you can do that as
you like.
The Control Panel has three tabs that logically group the options available. These are:
The 2D-Displays Tab.
The 3D-Displays Tab.
The Processing Status Tab.
The options that are applicable to the active window will be enabled whereas the rest are
grayed.
The 2D-Displays Tab (Control Panel)
You use the 2D-Displays tab to change the options that are related to the 2D displays of
the active window. The active window can include several 2D displays in which all the
displays will respond to the changes. The 2D-Displays tab looks as show below:
If you are displaying a spectral density function estimate or a correlation function estimate
the Elements of Matrices group will be active. When you are displaying e.g. a spectral
density function you are only displaying a single entry from the spectral density matrix at a
certain frequency. So what you can select here is that entry, i.e. the row and column
number.
If you take a look on the transducer list of the first data set of the building model example:
From this list that Row = 1 and Column = 1 corresponds to plotting the auto-spectral
density function for Free Transducer 1. In case that Row = 2 and Column = 4 you are
plotting the cross-spectral density between Ref. Transducer 1 and Ref. Transducer 2.
So you can select the entry either by row / column entry numbers or by using the labels of
the desired transducers. If you are only interested in displaying the diagonal entries with the
same row and column number, i.e. the auto-spectral densities or auto-correlation function,
then check the box called Display only diagonal. Every time you update either the row or
column the other entry is changed automatically.
If the active window contains 2D displays with frequency based X-axes, the group called
Frequency Axis for Spectral Densities becomes active. You can then use the left slider of
the group to adjust the lower part of the frequency axis, and use the right to adjust the
upper. The minimum and maximum displayed frequencies are displayed on top of the
respective sliders. If you have zoomed in so that you are only looking at a small window of
the data, you can lock the width of this window by checking the Lock Interval box. You can
the move this window by moving one of the sliders to inspect other parts of the data.
If the active window contains 2D displays presenting correlation functions, the group called
Time Axis for Correlation Functions becomes active. The operation of this group are
similar to the Frequency Axis for Spectral Densities group.
By default the axes updates when you release the mouse button after you have dragged a
slider. If you want the displays to update continuously as you move the slider, then check
the Display continuously box
The 3D-Displays Tab (Control Panel)
You use the 3D-Displays tab to change the options that are related to the 3D displays of
the active window. The active window can include several 3D displays in which case only
the display in focus will respond to the changes. The 3D-Displays tab looks as show below:
If the active window contains any animated 3D displays the first group becomes active. This
group contains buttons to control the animation. The buttons are explained below:
Start. Start the animation.
Stop. Stop the animation.
Step Backward. Step one or more frames

backward in the animation.
Step Forward. Step one or more frames

forward in the animation.
From the second group you can change the appearance of the displayed. If you are
animating you can change the amplitude of the mode shape using the Amplitude slider. You
can also change the speed of the animation from a maximum down to a completely static
display. You can also zoom the displayed in and out using the Zoom slider. Finally, you can
translate and rotate the displayed using the two four-buttons controls right-most called
Translate and Rotate.
There are some additional options located in the Display Options group. If you are
animating a mode shape you can remove the static undeformed geometry by removing the
check mark from the Undeformed geometry check box. If your geometry is very
complicated or if your system cannot update the animation fast enough, you can remove the
check mark from the Show more frames per cycle check box. By doing so only the half
number of frames will be used in the animation.
The Processing Status Tab
In the Processing Status tab you can monitor and stop the signal processing started in the
Process Data dialog of the active project. The processing is divided in two steps:
Irreversible and Reversible processing.
The irreversible step is processed first for all data sets and cannot be stopped. This is
necessary in order preserve consistency of the raw data.
The reversible processing of the spectral density matrices, the correlation functions and the
common SSI input matrix are running in parallel and can be stopped whenever you like by
pressing the buttons . Everything that has been processed at the time of stopping is
saved and can be used for analysis.
The current status of a process can be monitored to the left in the progress bar and the
data set currently being processed can be seen to the right.
Create a New Project
When you want to create a new project you will need the following information:
Geometry in terms of node and line definitions.
Measured data as well as the sampling interval used in the data aquisition.
DOF information relating the measurements to the geometry, i.e. in what nodes and in
what directions the measurements have been taken.
Optionally, slave node equations to make the complete geometry move in an

animation when measurements have not been taken in all nodes of the geometry.
ARTeMIS Extractor supports three ways to enter this information and create a new project.
The three ways are:
1. SVS Configuration File definition.
2. Universal File Format.
3. OLE Automation.
Creating a Project using the SVS Configuration File
Since ARTeMIS Extractor offers a fairly new way to perform a modal identification
Structural Vibration Solution A/S (SVS) found it convenient to define their own input
standard that was easy to use and general enough to cover the special input requirements
for this kind of analysis.
The SVS Configuration File is an ASCII file. The file can be created by any ASCII editor, for
instance the Notepad editor, and should have the extension *.cfg.
The SVS Configuration File is the file that specifies the title of the project, the sampling
interval, the geometry of the structure, DOF information (measurement locations and
directions), the data file names and the organisation of the data in different data sets. Also,
in this file you can specify unmeasured motions of the structure in terms of slave node
equations.
The structure of the file is to define a series of groups all beginning with a keyword that
identifies the individual group. Below the structure is shown:
Comments
Keyword 1
Record 1 / Field 1 Record 1 / Field 2 Record 1 / Field 3 ........
(A free line indicate that the definition of the group is finished)
Comments
Keyword 2
Comments are shown in green, keywords in bold red and the record values in blue.
The available keywords/groups are:
Header Defines the project title.

T Defines the sampling interval.
Nodes Defines the geometry node numbers and their coordinates.
Lines Defines the trace lines to be drawn between nodes in the geometry displays.
Surfaces Defines the surfaces to be drawn between nodes in the geometry displays.
Defines the DOF information of the data sets (setups) and the location of the
Setups
data.
Defines any linear combination of measured motions in terms of slave node

Equations
equations.
Note: The keywords are case-insensitive. The Header, T, Nodes, and Lines keywords
must always be present in the SVS Configuration File. The keyword must be the only word
on that line. A free line indicates that the group is finished. In between the groups you can
enter comments as much as you like. However, be careful not to include a comment where
the only word on a line is one of the keywords. This will result in an error.
An example of an SVS Configuration File is show below (Examples Folder: \Building

Model\Mes32set.cfg) :
------------------------------------------------------------------------
This is the header group with the title of the project.
The title can be a string of any length.
Header
Axi-symmetrical Building Model with Closely Spaced Modes
------------------------------------------------------------------------
This is the sampling interval specified in sec.
0.00666888962988
------------------------------------------------------------------------
This is the node definition group.
Node Number, X-coordinate, Y-coordinate, Z-coordinate.
Nodes
1 0 0 0
2 0 0 15
3 0 0 30
4 15 0 0
5 15 0 15
6 15 0 30
7 0 15 0
8 0 15 15
9 0 15 30
10 15 15 0
11 15 15 15
12 15 15 30
------------------------------------------------------------------------
This is the line definition group.
From Node Number, To Node Number.
Lines
1 2
2 3
3 6
6 5
5 4
2 5
7 8
8 9
10 11
11 12
8 11
9 12
5 11
2 8
6 12
3 9
1 4
4 10
10 7
7 1
------------------------------------------------------------------------
This is the surfaces definition group.
From first Node Number, second Node Number, To third Node Number.
Surfaces
2 1 4
2 4 5
3 2 5
3 5 6
5 4 10
5 10 11
6 5 11
6 11 12
8 7 1
8 1 2
9 8 2
9 2 3
11 10 7
11 7 8
12 11 8
12 8 9
3 6 12
3 12 9
4 1 7
4 7 10
------------------------------------------------------------------------
This is the definition group for the DOF information.
Description of the setups block
Record 1:
Field 1: (string) Data set label
Record 2:
Field 1: (string) File name where data is stored columnwise in ASCII
Record 3 through end
Field 1: (non-zero positive integer) Global transducer number
Field 2: (floating point) X-directional coordinate of the transducer
Field 3: (floating point) Y-directional coordinate of the transducer
Field 4: (floating point) Z-directional coordinate of the transducer
Field 5: (floating point) Reference value to apply on dB plots
Field 6: (string) Record unit - No blank spaces allowed
Field 7: (string) Record type - No blank spaces allowed

Field 8: (string) ID string of the transducer.
Note:
Records 1 to 3 are repeated for each data set.
Fields 5 through 8 are optionally. However, leaving out a field means
leaving out the rest of the fields as well. The default value of field 5
is 1.0.
Setups
Measurement 1
mes31set.asc
2 0 1 0 0.000001 m/s Acceleration Transducer 1
11 -1 0 0 0.000001 m/s Acceleration Transducer 3
Measurement 2
mes32set.asc
12 -1 0 0 0.000001 m/s Acceleration Transducer 4
------------------------------------------------------------------------
This is the definition group for slave node equations.
Left side node should move according to the right side equation.
Equations
node(8,1) = node(11,1)
node(8,2) = node(2,2)
node(11,2) = node(5,2)
node(9,1) = node(12,1)
node(9,2) = node(3,2)
node(12,2) = node(6,2)
node(5,1) = node(11,1) - node(2,2) + node(5,2)
node(2,1) = node(5,1)
node(3,1) = node(6,1)
------------------------------------------------------------------------
The Header Keyword (Must be Specified)
The group starting with the Header keyword defines the title of the project. For the building
model example the definition is like this:
------------------------------------------------------------------------
This is the header group with the title of the project.
The title can be a string of any length.
Header
Axi-symmetrical Building Model with Closely Spaced Modes
The red word is the case-insensitive keyword. The blue string is the enterred project title.
This group has only this single record with this single field. The green lines are comments,
which can be placed between the definition groups, i.e. the lines before the keyword and
after one free line which closes the definition group.
The T Keyword (Must be Specified)
The group with T as its keyword defines the sampling interval. For the building model
example the definition is like this:
------------------------------------------------------------------------
This is the sampling interval specified in seconds.
0.00666888962988
The sampling interval must be in seconds. The red word is the case-insensitive keyword.
The blue number is the enterred sampling interval. This group has only this single record
with this single field. The green lines are comments, which can be placed between the
definition groups, i.e. the lines before the keyword and after one free line which closes the
definition group.
The Nodes Keyword (Must be Specified)
The group that starts with the Nodes keyword defines the numbering and the coordinates
of the nodes. For the building model example the definition is like this:
------------------------------------------------------------------------
This is the node definition group.
Node Number, X-coordinate, Y-coordinate, Z-coordinate.
Nodes
1 0 0 0
2 0 0 15
3 0 0 30
4 15 0 0
5 15 0 15
6 15 0 30
7 0 15 0
8 0 15 15
9 0 15 30
10 15 15 0
11 15 15 15
12 15 15 30
This group has three fields per record and as many records as there are nodes in the
geometry. The first field of a record (column number 1) is the global node number which
must be unique, the next tree fields (columns) are the (X,Y,Z) coordinates of the node.
There are no restriction on which units to use for the coordinates except that X, Y and Z
should be specified with the same units. In this example, the dimensions are specified in
cm.
Note: A node number must be a positive non-zero integer.

The Lines Keyword (Optionally)
The group that starts with the Lines keyword defines the trace lines to be drawn between
nodes in the geometry displays. For the building model example the definition is like this:
------------------------------------------------------------------------
This is the line definition group.
From Node Number, To Node Number.
Lines
1 2
2 3
3 6
6 5
5 4
2 5
7 8
8 9
10 11
11 12
8 11
9 12
5 11
2 8
6 12
3 9
1 4
4 10
10 7
7 1
This group has two fields per record and as many records as there are trace lines in the
geometry. The two fields indicate from what node and to what node the trace line should be
drawn. In the example a line has to be drawn between node 1 and node 2, between 2 and
node 3... etc. There can only be one line definition per record. If a specified node does not
exist an error will occur.
The Surfaces Keyword (Optionally)
The group that starts with the Surfaces keyword defines the triangular surfaces to be
drawn between nodes in the geometry displays. For the building model example the
definition is like this:
------------------------------------------------------------------------
This is the surfaces definition group.
From first Node Number, second Node Number, To third Node Number.
Surfaces
2 1 4
2 4 5
3 2 5
3 5 6
5 4 10
5 10 11
6 5 11
6 11 12
8 7 1
8 1 2
9 8 2
9 2 3
11 10 7
11 7 8
12 11 8
12 8 9
3 6 12
3 12 9
4 1 7
4 7 10
This group has three fields per record and as many records as there are surface triangles
in the geometry. The three fields indicate the nodes of the corners of the surface triangle. In
the example a surface triangle has to be drawn between node 2, node 1 and node 4,
between node 2, node 4 and node 5... etc. There can only be one surface definition per
record. If a specified node does not exist an error will occur.
The Setups Keyword (Optionally)
The group that starts with the Setups keyword is where the measured data is specified
and linked to the geometry described be the lines and nodes. So this group define both
where to load the data from and the DOF information. The required definitions for
specification of one data set (FrontEnd Object) are shown below, where < > specify a
record field:
Setups
<Data set Label>
<Data File Name>
<DOF Node 1> <X> <Y> <Z> [<dB Ref> <Unit> <Type> <Label>]
In the first record you can enter a string with a short description of the data set. In the
second record you must specify the name, and optionally include the path, of the file that
contains the measurements of this data set.
Record three is the DOF definition record. The fields of this record are:
1. The node number where the transducer is mounted as integer.
2. The X-component of the directional vector that describes the direction of the
transducer. This value can be any floating-point.
3. The Y-component of the directional vector that describes the direction of the
4. The Z-component of the directional vector that describes the direction of the
5. Reference value used to normalize e.g. spectral densities with when presented in dB
displays. This value can be any positive floating-point.
6. String describing the unit of the measurements, e.g. m, m/s or m/s.
7. String describing the type of measurement, e.g. Displacement, Velocity, Acceleration.
8. A label string that serves as an ID of this particular transducer, e.g. Transducer #1.
Field 1 is the location of the specified DOF, and fields 2 to 4 is the vector that define the
direction in which the transducer is pointing.
Note: The directional vector defined by fields 2 to 4 should usually be defined as a unit
vector. The estimated mode shapes will be divided into the X, Y and Z directions by
multiplication of these directional components. Thus, if the directional vector has a length
different from unity this will affect the mode shape value in the point accordingly.
The fields 5 to 8 can be omitted. However, omitting one field imply that all remaining field
also must be omitted. In other words, if you leave out field 5 you must also leave out 6 to 8.
The DOF definition records are repeated for all degrees of freedom in the data set. These
records must be defined in the same order as the measurements of the DOF's are stored in
the data file. The default data file format is a standard ASCII format where the
measurements of the DOF's are stored column-wise. So the first DOF definition record
corresponds to the first column, the second DOF definition record corresponds to the
second column and so on. If you want to use the SVS binary data file format you must
specify /binary after the file name in the <Data File Name> record.
All the above records define one data set only. If you have multiple data sets all the above
records are repeated with values describing the next data set.
Note: In the case of multiple data sets there must be at least one reference transducer
that is located in the same node and in the same direction in all data sets. That means in all
the data set definitions there must be at least one record in which the at least first four
fields are the same.
The building model example consist of two data sets with two reference transducer, which
are located in nodes 5 and 6. The definition of the data sets is shown below. To the right of
the definition there are comments describing the record and which data set it belong to:
Setups
Setup 1 Data set label. (Data Set 1)
mes31set.asc
Name of the file containing the measured data.
(Data Set 1)
2 0 1 0 0.000001 m/s Acceleration Transducer 1 1st. DOF definition record. (Data Set 1)
5 0 1 0 0.000001 m/s Acceleration Transducer 2 2nd. DOF definition record. (Data Set 1)
11 -1 0 0 0.000001 m/s Acceleration Transducer 3 3rd. DOF definition record. (Data Set 1)
6 0 1 0 0.000001 m/s Acceleration Transducer 4 4th. DOF definition record. (Data Set 1)
Setup 2 Data set label. (Data Set 2)
mes32set.asc
Name of the file containing the measured data.
(Data Set 2)
5 0 1 0 0.000001 m/s Acceleration Transducer 1 1st. DOF definition record. (Data Set 2)
3 0 1 0 0.000001 m/s Acceleration Transducer 2 2nd. DOF definition record. (Data Set 2)
6 0 -1 0 0.000001 m/s Acceleration Transducer 3 3rd. DOF definition record. (Data Set 2)
In the following the geometry as well as the location of the transducers of the two data sets
are shown. The green arrows indicate the transducers relating only to the specific data set,
whereas the blue arrows indicate the reference transducers. The direction of the arrows
indicate the orientation of the directional vectors. If the length of one of these arrows is
different from the others, it is an indication that the length of this directional vector is
different from the others.
Setup 1
(Data Set 1)
Setup 2
(Data Set 2)
The Data File Format
The ASCII data file format used to import measured data and export processed data is a
general text format that can be imported e.g. into Microsoft Excel or MATLABTM
(MathWorks Inc). It is the similar way MATLABTM stores a data matrix in an ASCII file.
The measurements of a specific transducer are stored as a single column in the ASCII file.
So the data in the ASCII file can be interpreted as a matrix whose columns are the different
transducers and the rows the measurements of these.
An example (Examples Folder: \Building Model\Mes31set.asc) of a data file is show below:
In this case there are four columns corresponding to four transducers and 18 rows which
corresponds to 18 samples per transducer. The measurements of the first transducer is
column number 1 from the left.
The following should noted:
All transducers must have the same number of samples.
There must not be any other information stored in the file, such as comments in the
beginning.
Formatting such as scientific or fixed formats are allowed.

The delimiters between the samples must be either blank spaces or tabs. No other
delimiters are allowed.
The SVS Binary Data File Format
The SVS binary data file format used to import measured data in a fast and compressed
format.
If you want to make use of this format you must store the following information (here
explained using the C-language variable types) in the specified order.
1. Save the number of samples (measurements) per channels (transducers) as a long

integer.
2. Save the number of channels as a long integer.
3. Save all samples of channel number one as either float or double values.
4. Save all samples of channel number two as either float or double values.
5. ... and so on until all channels have been saved for a specific data set.
The following should noted:
All transducers must have the same number of samples.
There must not be any other information stored in the file, such as comments in the
beginning.
You must create a new file for each of the data sets.
The Equations Keyword (Optionally)
The group that starts with the Equations keyword is used to define linear combinations of
the measured motions. The slave node equations can be used for definitions of rigid body
motions and slave nodes. This is very helpfull when the mode shapes are animated. Even
though the measurements only are available in few nodes of the geometry the equations
can be used to make the complete geometry move.
Each record in the group contains only one field which is a string of any length. This string is
one equation, which imply that equations must be defined in one line only. All equations start
in the same way as shown below:
node( <Node Number>, <Direction> ) =
This equation defines the the motion of the node specified by <Node Number> in the direction
specified by <Direction>. The <Direction> field is a number from 1 to 3. 1 correponds to X
direction, 2 correponds to Y direction and 3 correponds to Z direction.
Note: To define that the motion is in the negative direction must be performed on the right-
hand side of the equation sign. In other words, the motion in one direction of a node must
always be done in the positive direction.
Making a Nodes Direction Static
If you want to set the nodes motion in a specific direction to a static values you can simply
write an equation like
node( <Node Number>, <Direction> ) = 3.1415926535
This equation sets the motion of the node specified by <Node Number> in the direction
specified by <Direction> to pi. Incidently, pi is actually the only predefined constant available
which means that in the present case you also write:
node( <Node Number>, <Direction> ) = pi
Making a Nodes Direction a Linear Combination of other Nodes
You can also make a nodes motion in a specific direction a linear combination of other
nodes by writing an equation like
1.5*node( <Node Number 2>, <Direction 3> ) + 2*pi -

node( <Node Number 1>, <Direction
1> ) = cos( node( <Node Number 4>, <Direction 2> ) )
This equation sets the motion of the node specified by <Node Number 1> in the direction
specified by <Direction 1> equal to a motion that is a linear combination of the motion of
<Node Number 2> in <Direction 3> and the cosine of <Node Number 4> in <Direction 2>. Please
note that the splitting of the equation into two lines as shown above is not allowed in
ARTeMIS Extractor.
The following functions are available and can be used with numerical or functional
arguments:
node( <Node Number>, Returns the motion node <Node Number> in direction
<Direction> ) <Direction>.
sqrt( x ) Returns the square root of the input argument x.
sin( x ) Returns the sine of the input argument x.
sinh( x ) Returns the hyperbolic sine of the input argument x.
cos( x ) Returns the cosine of the input argument x.
cosh( x ) Returns the hyperbolic cosine root of the input argument x.
log( x ) Returns the natural logarithm of the input argument x.
The following operators and predefined constant are available:
* Muliplication
+ Addition
- Subtraction
/ Division
pi The number Pi = 3.141592653589793108624468950438
()
Brackets with possibility to have up to 20 bracked terms
inside each other.
Building Model Example
For the building model example the group of equations is like this:
Equations
node(8,1) = node(11,1)
node(8,2) = node(2,2)
node(11,2) = node(5,2)
node(9,1) = node(12,1)
node(9,2) = node(3,2)
node(12,2) = node(6,2)
node(2,1) = node(5,1)
node(3,1) = node(6,1)
Here the motion of node 8 in direction 1 (x-direction) is defined to be equal to node 11

direction 1. A more sofisticated example is that the motion of node 5 in direction 1 is
specified as:
In order to understand the equations in the example, consider the following figure illustrating
the movements of one of the deck plate in the building model:
It is assumed that the deck plate moves as a rigid body, i.e. the movement can be
described by two displacements and one angle. The deformation angle is given by:
where a is the depth of the plate. Now, assuming the plate is moving like a rigid body, the
deformation in the x-direction of the lower right corner of the plate is given by
or if we introduce the formula for the angle
and this is what the 7th equation says. Exchange u(5,x) with node(5,1), u(5,y) with
node(5,2) etc. and you arrive at the equation in the 7th line. The idea is simply to specify
the motions of the nodes that are not defined directly by the measurements by the rigid
body motions.
If you want to postpone the equation definition or if you have found an error you can always
reload the equations from the File menu. You will then be asked to specify a SVS
Configuration File containing the equations to be loaded. In this case you can still use you
existing configuration file now with equations added or modified. However, in the file you
load only the Equations group needs to be present.
You can also add the equations directly in the Project Control window in the Slave Node
Equations Editor at any time after the project has been created and compile them
immediately.
Trouble Shooting Load Errors
If you get an error while loading the SVS Configuration File you will get an error meassage
indicating the kind of error and where in the file you have the error. The line number given in
the error message is either where you have the error or the last line of the group in which
the error has been located.
If you get load errors that relate to problems with reading the file, try to load at the file in
e.g. the Microsoft Notepad and verify that everything is good. These error can be caused
by the use of third party editors that inserts unsupported escape characters.
Creating a Project from Universal File Format
It is possible to import a multiple data set ARTeMIS Extractor project from a set of files with
data stored using the so-called ASCII Universal File Format (ASCII UFF), see e.g WEB-site
of the Structural Dynamics Research Laboratory at University of Cincinnati, Ohio.
In the Universal File Format, data is stored in various so-called UFF data sets that has
different numbers. The UFF data sets that are necessary in order to create a full ARTeMIS
Extractor project are:
1. A UFF Data Set Number 15. This data set contains the node definitions and is equal to
the group in the SVS Configuration File format that starts with the keyword Nodes.
2. UFF Data Sets Number 82. These data sets contain the trace line definitions and are
equal to the group in the SVS Configuration File format that starts with the keyword
Lines. These data sets are optionally.
3. A UFF Data Set Number 2412. This data set contains the triangular surface definitions
and is equal to the group in the SVS Configuration File format that starts with the
keyword Surfaces. This data set is optionally.
4. UFF Data Sets Number 58. These data sets contains the data at a specific node in a
specific direction and is closely related to the group in the SVS Configuration File
format that starts with the keyword Setups. These data sets are optionally.
In the following the example located in Examples\BK_Plate will be used. This example
contains geometry and measurements of a simple plate. The plate is modelled using 9
nodes, which is the places where the accelerometers were mounted. The measurements
were organized in two data sets using three reference accelerometers. The nodes, trace
lines and surfaces of the geometry is located in the file BK_Plate_Geometry.uff. The UFF
data sets number 58 containing the measured data of the first ARTeMIS Extractor data set
is located in the file BK_Plate_Meas1.uff, whereas the UFF data sets number 58
containing the measured data of the second ARTeMIS Extractor data set is located in the
file BK_Plate_Meas2.uff.
To create a project from UFF ASCII format select the Universal File Format option in the
New Project dialog shown below:
After pressing OK the dialog shown below will then appear:
Loading Nodes, Trace Lines and Surfaces
The first step in the creation process is to load information about the nodes, trace lines and
surfaces. All this information must be stored in the same file and concist of a UFF data set
#15 (Nodes), and optionally one or more UFF data sets #82 (Trace Lines) and one UFF
data set #2412 (Surface). The file containing all this information is specified in the edit field
of the upper group called UFF Data Sets for Geometry Definition. In the example the
geometrical information is stored in the file BK_Plate_Geometry.uff.
Optionally, you can use the browse button to the right. When succesfully loaded it will be
shown how many nodes, trace lines and surfaces that has been loaded.
Note: If there are multiple UFF data set # 82 in the file they are all loaded and used when
drawing the geometry. However, the color specifications of the data sets are disregarded
and all lines are drawn with the same color.
It is possible to stop here and create an ARTeMIS Extractor project that only contains a
geometry. This can sometimes be a good idea if you are not sure about the quality of the
geometry. To stop just press the OK button.
Loading Measured Data
The last step is to open the files containing the measured data. Measured time series are in
Universal File Format stored in ASCII files containing the UFF data set # 58. The ARTeMIS
Extractor data sets must be stored in separate files, one for each data set. The current
version only support loading of the ASCII version of UFF data sets 58 storing real time
response of either single or double precision.
In the example all UFF data sets 58 belonging to the first ARTeMIS Extractor data set is
stored in the file BK_Plate_Meas1.uff, and all belonging to the second ARTeMIS Extractor
data set is stored in BK_Plate_Meas2.uff. The data sets can be loaded sequentially but
also by multiple selection by pressing the browse button to the right of the edit field of
the group called UFF Data Sets with Time Response Data, see below:
Pressing the button starts the open file dialog shown below:
and the two files with the time response data for the two ARTeMIS Extractor data sets can
be selected. When the Open button is pressed the data is uploaded. When the data is
uploaded the corresponding ARTeMIS Extractor data set are presented as shown below:
As seen it might happen that the first ARTeMIS Extractor data set does not correspond to
the first data file. This is matter of the order the files have been selected. If you want to be
absolutely sure to select the files in a specific order you should do the upload sequentially.
In other words, browse and open one file before continuing with the next file.
When all files are uploaded you simply press the OK button.
General Notes:
Within each ARTeMIS Extractor data set the order of the transducers will be the same
as the order the UFF data set 58 are stored in the file.
Please note that since the data is loaded from an ASCII file it may take some time to
load large data sets.
If you have very long paths and/or file names and you are using multiple selection of
the files you might experience that nothing is loaded. In this case please upload the
files sequentially. The error is caused by a limitation in the Open Dialog used when
browsing for the files.
The Universal File Format does not support the definition of slave node equations.
However, these can be loaded into a project afterwards from the File, Import, Slave
Node Equations. You can also type in the equations directly in the Project Control
window in the Slave Node Equations Editor.
Trouble Shooting Load Errors
If you have load errors when uploading the measured data please check the following field
in your UFF data sets #58:
Record 6 - Field 1: Function Type. Must be 1 (Time Response).
Record 6 - Field 6: Response Node. The node must be present in the uploaded UFF
data set #15.
Record 7 - Field 1: Data Type. Must be either 2 or 4 (Real single or double precision).
Record 7 - Field 3: Abscissa Spacing. Must 1 (Even spacing).
Record 8 - Field 1: Specific Abscissa Data Type. Must be 17 (Time).
There might of course be other reasons for errors but typically the data set have been
exported with some of the above options set differently.
UFF Data Set Number 15
This is the Universal File Format data set for Nodes. For more information see e.g WEB-
site of the Structural Dynamics Research Laboratory at University of Cincinnati, Ohio.
Record 1: FORMAT(4I10,1P3E13.5)
Field 1 Node label.
Field 2 Definition coordinate system number. (Not used)
Field 3 Displacement coordinate system number. (Not used)
Field 4 Color. (Not used)
Field
3 - Dimensional coordinates of node in the definition system.
5-7
Note: Repeat record for each node. Only one data set number 15 with global node
definitions is supported.
This is the Universal File Format data set for Data at Nodes. For more information see e.g
WEB-site of the Structural Dynamics Research Laboratory at University of Cincinnati, Ohio.
In ARTeMIS Extractor it is used for export of modal results.
RECORD 1: Format (40A2)
Field 1 ID Line 1.
Field 1 ID Line 2.
Field 1 ID Line 3.
Field 1 ID Line 4.
Field 1 ID Line 5.
RECORD 6: Format (6I10)
Data Definition Parameters
Model Type
0: Unknown
Field 1 1: Structural
2: Heat Transfer
3: Fluid Flow
Analysis Type
0: Unknown
1: Static
2: Normal Mode
Field 2 3: Complex eigenvalue first order
4: Transient
5: Frequency Response
6: Buckling
7: Complex eigenvalue second order
Data Characteristic
0: Unknown
1: Scalar
Field 3 2: 3 DOF Global Translation Vector
3: 6 DOF Global Translation & Rotation Vector

4: Symmetric Global Tensor
5: General Global Tensor
Specific Data Type
0: Unknown
1: General
2: Stress
3: Strain
4: Element Force
5: Temperature
6: Heat Flux
7: Strain Energy
8: Displacement
Field 4
9: Reaction Force
10: Kinetic Energy
11: Velocity
12: Acceleration
13: Strain Energy Density
14: Kinetic Energy Density
15: Hydro-Static Pressure
16: Heat Gradient
17: Code Checking Value
18: Coefficient Of Pressure
Data Type
Field 5 2: Real
5: Complex
Field 6 Number Of Data Values Per Node (NDV)
Records 7 And 8 Are Analysis Type Specific
General Form
RECORD 7: Format (8I10)
Number Of Integer Data Values

Field 1
1 < Or = Nint < Or = 10
Number Of Real Data Values

Field 2
1 < Or = Nrval < Or = 12
Field
Type Specific Integer Parameters
3-N
RECORD 8: Format (6E13.5)
Field
Type Specific Real Parameters
1-N
For Analysis Type = 0, Unknown
RECORD 7:
Field 1 1
Field 2 1
Field 3 ID Number
RECORD 8:
Field 1 0.0
For Analysis Type = 1, Static
RECORD 7:
Field 1 1
Field 2 1
Field 3 Load Case Number
RECORD 8:
Field 1 0.0
For Analysis Type = 2, Normal Mode
RECORD 7:
Field 1 2
Field 2 4
Field 4 Mode Number
RECORD 8:
Field 1 Frequency (Hertz)
Field 2 Modal Mass
Field 3 Modal Viscous Damping Ratio
Field 4 Modal Hysteretic Damping Ratio
For Analysis Type = 3, Complex Eigenvalue
RECORD 7:
Field 1 2
Field 2 6
Field 4 Mode Number
RECORD 8:
Field 1 Real Part Eigenvalue

Field 2 Imaginary Part Eigenvalue
Field 3 Real Part Of Modal A
Field 4 Imaginary Part Of Modal A
Field 5 Real Part Of Modal B
Field 6 Imaginary Part Of Modal B
For Analysis Type = 4, Transient
RECORD 7:
Field 1 2
Field 2 1
Field 4 Time Step Number
RECORD 8:
Field 1 Time (Seconds)
For Analysis Type = 5, Frequency Response
RECORD 7:
Field 1 2
Field 2 1
Field 4 Frequency Step Number
RECORD 8:
Field 1 Frequency (Hertz)
For Analysis Type = 6, Buckling
RECORD 7:
Field 1 1
Field 2 1
RECORD 8:
Field 1 Eigenvalue
RECORD 9: Format (I10)

Field 1 Node Number
RECORD 10: Format (6E13.5)
Field
Data At This Node (NDV Real Or Complex Values)
1-N
Records 9 And 10 Are Repeated For Each Node.

This is the Universal File Format data set used for importing/exporting the data of a
transducer sitting in a specific node and pointing in a specific direction. In the case of
ARTeMIS Extractor it is the raw time series of a transducer. For more information see e.g
Record 1: Format(80A1)
Field 1 ID Line 1.
Note: ID Line 1 is generally used for the function description.
Field 1 ID Line 2.
Field 1 ID Line 3.
Note: ID Line 3 is generally used to identify when the function was created. The date is in
the form DD-MMM-YY, and the time is in the form HH:MM:SS, with a general
Format(9A1,1X,8A1).
Field 1 ID Line 4.
Field 1 ID Line 5.
Record 6: Format(2(I5,I10),2(1X,10A1,I10,I4))
DOF Identification
Function Type
0: General or Unknown
1: Time Response (Must be used)
2: Auto Spectrum
3: Cross Spectrum
4: Frequency Response Function
5: Transmissibility
6: Coherence
7: Auto Correlation
8: Cross Correlation
9: Power Spectral Density (PSD)
10: Energy Spectral Density (ESD)
11: Probability Density Function
12: Spectrum
Field 1 13: Cumulative Frequency Distribution
14: Peaks Valley

15: Stress/Cycles
16: Strain/Cycles
17: Orbit
18: Mode Indicator Function
19: Force Pattern
20: Partial Power
21: Partial Coherence
22: Eigenvalue
23: Eigenvector
24: Shock Response Spectrum
25: Finite Impulse Response Filter
26: Multiple Coherence
27: Order Function
Field 2 Function Identification Number
Field 3 Version Number, or sequence number
Load Case Identification Number

Field 4
0: Single Point Excitation
Field 5 Response Entity Name ("NONE" if unused)
Field 6 Response Node (Must be present in the associate data set #15)
Response Direction
0: Scalar
1: +X Translation
4: +X Rotation (Not allowed)
-1: -X Translation
-4: -X Rotation (Not allowed)

Field 7 2: +Y Translation
5: +Y Rotation (Not allowed)
-2: -Y Translation
-5: -Y Rotation (Not allowed)
3: +Z Translation
6: +Z Rotation (Not allowed)
-3: -Z Translation
-6: -Z Rotation (Not allowed)
Field 8 Reference Entity Name ("NONE" if unused)
Field 9 Reference Node
Field
Reference Direction (same as field 7)
10
Note: Fields 8, 9, and 10 are only relevant if field 4 is zero.
Record 7: Format(3I10,3E13.5)
Data Form
Ordinate Data Type
2: Real, single precision

Field 1 4: Real, double precision
5: Complex, single precision (Not allowed)
6: Complex, double precision (Not allowed)
Number of data pairs for uneven abscissa spacing, or number of data values
Field 2
for even abscissa spacing
Abscissa Spacing
Field 3 0: uneven (Not allowed)
1: even (no abscissa values stored)
Field 4 Abscissa minimum (0.0 if spacing uneven)
Field 5 Abscissa increment (0.0 if spacing uneven)
Field 6 Z-axis value (0.0 if unused)
Record 8: Format(I10,3I5,2(1X,20A1))
Abscissa Data Characteristics
Specific Data Type
0: unknown
1: general
2: stress
3: strain
5: temperature
6: heat flux
8: displacement
9: reaction force
Field 1
11: velocity
12: acceleration
13: excitation force
15: pressure
16: mass
17: time (Must be used)
18: frequency
19: rpm
20: order
Field 2 Length units exponent
Field 3 Force units exponent
Temperature units exponent
Field 4 Note: Fields 2, 3 and 4 are relevant only if the Specific Data Type is General,
or in the case of ordinates, the response/reference direction is a scalar, or the
functions are being used for nonlinear connectors in System Dynamics Analysis.
Field 5 Axis label ("NONE" if not used)
Field 6 Axis units label ("NONE" if not used)

Note: If fields 5 and 6 are supplied, they take precendence over program generated labels
and units.
Ordinate (or ordinate numerator) Data Characteristics
Ordinate Denominator Data Characteristics
Z-axis Data Characteristics
Note: Records 9, 10, and 11 are always included and have fields the same as record 8. If
records 10 and 11 are not used, set field 1 to zero.
Record 12:
Data Values
Ordinate Abscissa
Case Type Precision Spacing Format
1 real single even 6E13.5
2 real single uneven 6E13.5

3 complex single even 6E13.5
4 complex single uneven 6E13.5
5 real double even 4E20.12
6 real double uneven 2(E13.5,E20.12)
7 complex double even 4E20.12
8 complex double uneven E13.5,2E20.12
General Note: ID lines may not be blank. If no information is required, the word "NONE"
must appear in columns 1 through 4.
This is the Universal File Format data set for Trace Lines. For more information see e.g
Record 1: FORMAT(3I10)
Field 1 Trace line number. (Not used)
Field 2 Number of nodes defining the trace line. (maximum of 250)
Field 3 Color. (Not used)
Record 2: FORMAT(80A1)
Field 1 Identification line. (Not used)
Nodes defining trace line:
Field 1 > 0 draw line to node.
0 move to node (a move to the first node is implied)
Notes:
1. MODAL-PLUS node numbers must not exceed 8000.
2. Identification line may not be blank.
3. Systan only uses the first 60 characters of the identification text.

4. MODAL-PLUS does not support trace lines longer than 125 nodes.
5. Supertab only uses the first 40 characters of the identification line for a name.
This is the Universal File Format data set for Elements. For more information see e.g WEB-
site of the Structural Dynamics Research Laboratory at University of Cincinnati, Ohio. The
surfaces used is modelled as Thin Shell Linear Triangles. The definition below reflects this
restriction.
Field 1 Element label (Not used)
Field 2 FE descriptor ID (Must be 91 for Thin Shell Linear Triangle)
Field 3 Physical property table number (Not used)
Field 4 Material property table number (Not used)
Field 5 Color (Not used)
Field 6 Number of nodes on element (Must be 3)
Field 1 Node label 1
Field 4 (Not used)

Field 5 (Not used)
Field 6 (Not used)
Field 7 (Not used)
Field 8 (Not used)
Note: Records 1 and 2 are repeated for every triangular surface.

Creating a Project using the OLE Automation Interface
Object Linking and Embedding (OLE) 2.0 automation is supported in ARTeMIS Extractor for
project creation. This allows you to use visual programming tools, such as Visual BASIC or
Visual C++, to develop custom programs for initializing ARTeMIS Extractor. Such programs
allow a predefined sequence of events to be performed automatically. For example, clicking
a start button in a custom Visual BASIC program could start the execution of ARTeMIS
Extractor, create a new project and flush data directly from the custom made program into
the newly created project. The custom program acts as the user interface. This interface
can be very simple, for example, it may only have a start and a cancel button allowing
unskilled workers to use it. In such a custom program, ARTeMIS Extractor becomes the
server for the external custom program and performs defined tasks as a slave under the
control of it.
It is through this OLE automation interface that ARTeMIS Extractor is controlled by e.g the
Brel & Kjr Modal Test Consultant Type 7753. A type library and an example showing how
the automation works with MATLABTM is included with ARTeMIS Extractor. The type library
is the artx.tlb file located in the Bin folder. The example file to run is artx.m located in the
Examples folder: MATLAB.
Working with Slave Node Equations
The slave node equations can be used for definitions of rigid body motions and slave nodes.
This is very helpful when the mode shapes are animated. Even though the measurements
only are available in few nodes of the geometry the equations can be used to make the
complete geometry move.
The slave node equations can be entered directly into the project using the Slave Node
Equations editor in the Project Control window, or they can be loaded together with the rest
of the project when the project is created using the SVS Configuration File, see here to
have a detailed explanation of the possibilities. Finally, you can load a new set of equation
that will replace all other previously entered equations from the File menu.
Project Control Window
The first window to appear when a new project is created or an existing project is opened
is the Project Control window. In case of the example mes32set.axp the windows as
shown below:
As seen the window contain several tabs in the bottom and a tree to the left. The four
lowest tabs called Project, Data set, Geometry and Signal Processing are all referred to as
the main group tabs of the Project Control window. As seen above some of the groups also
include a set of sub-tabs. Below the different part of the Project Control windowis
explained.
The Data Sets Tree
To the left in the Project Control window there is a Data Sets Tree that list all the available
data sets in the project. The open data set is the one that is currently active. When you
have to change the current data set this is a place to do it.
The Project Main Tab
What you see in the above example is the default main group called Project. This group
presents and accepts information general to the whole project.
The Data Set Main Tab
The next main group is located under the Data Set main tab. This window presents
information and accepts information related to the currently selected data set.
The Geometry Tab
When pressing the tab called Geometry the project geometry is presented.
The Signal Processing Settings Main Tab
This tab present the Trial Signal Processing Configuration and the Signal Processing
Configuration Selected for Analysis.
The Signal Processing Log Main Tab
This tab present all the Signal Processing Configurations Selected for Analysis that has
been applied to the data from the creation of the project.
The Data Sets Tree
The Data Sets Tree is the tree control located in the left-hand side of the Project Control
window as shown below:
The Data Sets Tree has several functions. These are
Selection of current data set.
Renaming of data set labels.
Enabling / disabling data sets.

Select Current Data Set
The Data Set Tree is one of the controls that can be used to select the current data set.
The current data set is what will be presented in e.g. the View Processed Data window and
all other windows that present information of a specific data set.
Below is shown how the first of two data sets is selected:
The tree item having the blue background is the currently selected. You can also use the
following controls located in the Project Toolbar and in the View menu:
Select current data set from the drop down list.
Select previous data set as current.
Select next data set as current.

Rename Data Set Labels
If you want to rename the label of a data set the Data Set Tree is where you do it.
In the Data Set Tree shown below you simply double-click on the label you would like to
rename:
When you have double clicked a edit box appear:
where you can enter the new label. To accept the new label press <Enter> or click
somewhere outside the edit box. To abort the change press <ESC>.
Enabling / Disabling Data Sets
The most advanced feature of the Data Set Tree is the ability to enable and disable data
sets. To the left of the data set label there is a check box as shown below:
In the above both data sets are enabled which is indicated by the check marks and
. You can disable a data set by unchecking the corresponding check box. The data set
will then become inaccessible which is indicated by . In the project geometry tab
window the transducers of the inaccesseible data sets will be drawn as red arrows to
indicate that they are disabled. The suggested usage of this feature is primarely for close-
up inspection of mode shape parts and to disable data sets containing bad measurements.
The enabling / disabling of data sets has different effects depending on whether the
disabling / enabling is performed before or after an operation.
Disabling a data set before an operation
Below it is describe what happens if a data set is disabled before a specific action:
Action Consequence
None. All data sets are processed.

Processing Measured Data
Only enabled data sets will be included in the

modal estimation. In other words, mode
shapes will be zero for transducers belonging
to disabled data sets, and natural
frequencies will only be calculated solely on
the basis of picked frequencies of enabled
data sets.
FDD Mode Estimation The disabled data sets will be prepared to
use the frequency picked in the averaged
SVD display and the corresponding mode
shape. If the data sets later on are enabled
the Spectral Density Matrices of these data
sets will be updated automatically (if
necessary) and the natural frequencies /
mode shapes determined.
Only enabled data sets will be included in the

modal estimation. In other words, mode
shapes will be zero for transducers belonging
to disabled data sets, and natural
frequencies and damping ratios will only be
calculated solely on the basis of picked
frequencies of enabled data sets.
The disabled data sets will be prepared to

use the frequency picked in the averaged
SVD display and the corresponding mode
EFDD Mode Estimation shape in the enhanced estimation of the
modal parameters. In addition, the MAC
rejection level and the correlation limits used
in the enhanced estimation will be initialized
to the values setup up by the Preference
dialog. If the data sets later on are enabled
the Spectral Density Matrices of these data
sets will be updated automatically (if
necessary) and the natural frequencies /
damping ratios / mode shapes determined.
The estimation of parametric models can

only be performed on enabled data sets. In
the Select and Link Modes editor only the
selected parametric models of the enabled
data sets are presented and included in the
link procedure. In other words, mode shapes
will be zero for transducers belonging to
disabled data sets, and natural frequencies
and damping ratios will only be calculated
SSI Mode Estimation solely on the basis of picked frequencies of
enabled data sets.
If the data set are enabled later on the

modes of the selected models of these data
sets must be selected and linked afterwards.
This part is not done automatically as with
the non-parametric estimators (FDD and
EFDD).
Disabling a data set after an operation
Action Consequence
None. All data sets are processed.

The modes are re-estimated. Only enabled

data sets will be included in this modal re-
estimation. In other words, mode shapes will
be zero for transducers belonging to disabled
data sets, and natural frequencies will only
be calculated solely on the basis of picked
FDD Mode Estimation frequencies of enabled data sets.
The information needed to include the

disabled data sets if they are enabled later
on is preserved.
The modes are re-estimated. Only enabled

data sets will be included in this modal re-
estimation. In other words, mode shapes will
be zero for transducers belonging to disabled
data sets, and natural frequencies and
damping ratios will only be calculated solely
EFDD Mode Estimation on the basis of picked frequencies of
enabled data sets.
The information needed to include the

disabled data sets if they are enabled later
on is preserved.
Any parametric models of the disabled data

sets already estimated are preserved.
However, in the Select and Link Modes
editor only the selected parametric models of
the enabled data sets are presented and
included in the link procedure. In other
SSI Mode Estimation words, mode shapes will be zero for
transducers belonging to disabled data sets,
and natural frequencies and damping ratios
will only be calculated solely on the basis of
picked frequencies of enabled data sets.
The Project Main Tab
What you see in the below example is the main group called Project.
This group presents and accepts information general to the whole project. This group has a
list of sub-tabs which are listed below:
General.
Nodes.
Lines.
Surfaces.
Comments.
Slave Node Equations.

The General Tab (Project Main Tab)
The General sub-tab window located under the Project main tab presents the current
status of the project. In the case of the Building Model example the General tab looks as
shown below right after the project has been created using the SVS Configuration File:
There are four different items presented. These are:
General. In this item the project title is shown in a editable field. Double-click with the
mouse on the field and you will be able to edit the text. In the next field the operator or
author can enter his name. Also, the SVS Configuration File used to create this project
is shown below. The project title as well as the author is show as summary information
in the Windows Explore, see below.
Geometry. List how many nodes and trace lines that are presented in the geometry
displays.
Data. Presents how many data sets there are in the project. Also, the number of
reference transducers are presented. This number will be zero if only one data set is
available. Finally, the sampling interval, sampling frequency and Nyquist frequency are
presented.
No. Estimated Modes by. Present the number of modes currently estimated using the
different estimators.
This table supports the general table options for copy and print.
Example showing the summery information tooltip of the Windows Explore for the above
project.
The Nodes Tab (Project Main Tab)
The Nodes sub-tab window located under the Project main tab presents a list of the nodes
and their X, Y and Z coordinates. In the case of the Building Model example the Nodes tab
looks as shown below when the project has been created using the SVS Configuration File:
The coordinates are presented in the same units as they have been entered into the
project. This table supports the general table options for copy and print.
The Lines Tab (Project Main Tab)
The Lines sub-tab window located under the Project main tab presents a list of the lines
defined by the connecting nodes. In the case of the Building Model example the Lines tab
looks as shown below when the project has been created using the SVS Configuration File:
The lines are presented in the same order as they have been entered into the project. This
table supports the general table options for copy and print. If you want to hide some of the
lines it can be accomplished by double-clicking at the line in the Visible column.
The Surfaces Tab (Project Main Tab)
The Surfaces sub-tab window located under the Project main tab presents a list of the
surfaces defined by the connecting nodes. In the case of the Building Model example the
Surfaces tab looks as shown below when the project has been created using the SVS
Configuration File:
The surfaces are presented in the same order as they have been entered into the project.
This table supports the general table options for copy and print. If you want to hide some of
the surfaces it can be accomplished by double-clicking at the line in the Visible column.
The Comments Tab (Project Main Tab)
The Comments sub-tab window located under the Project main tab is an editor where you
can write or paste information relating to the project in general. Comments specific to the
individual data set should not be written here but rather under the Comments sub-tab
located under the Data Set main tab. This editor supports the general editor options for
copy, cut, paste and print.
Since this is a Rich Text Format window all text formatting is preserved when copying text
from e.g. Microsoft Word.
The Slave Node Equations Tab (Project Main Tab)
The Slave Node Equations sub-tab window located under the Project main tab is an
editor where you can write or paste new Slave Node Equations. In the case of the Building
Model example the Slave Node Equations tab looks as shown below right after the project
has been created using the SVS Configuration File:
You can modify existing or add new equations while you are animating the mode shapes,
and immediately see the change. In the case of the above example, we have estimated a
mode using the Frequency Domain Decomposition Peak Picking estimator a put the mode
shape animation of this mode beside the Slave Node Equations editor. We have also put the
Project Toolbar next to it.
Now, try and add a new constraint value of -10 cm in the Z-direction of node 1:
When you start edit the Update Modes button on the Project Toolbar becomes active.
Pressing the button immediately updates the displayed mode:
The update of course depends on whether the new equation has been correctly entered. If
an error occurs a message will appear explaining the error, and the line where the error
occurred will be highlighted. You can also update the equations/modes using the context-
sensitive menu by right-clicking the mouse inside the editor.
If you have created the project using the SVS Configuration File and you want to return to
the original equations, use the File, Import, Slave Node Equations. This import will overwrite
all current equations.
This editor supports the general editor options for copy, cut, paste and print.
The Data Set Main Tab
What you see in the below example is the main group called Data Set.
This group presents and accepts information general to the currently selected data set. This
group has a list of sub-tabs which are listed below:
General.
Transducers.
Measured DOFs.
Comments.
The General Tab (Data Set Main Tab)
The General sub-tab window located under the Data Set main tab presents information as
well as the status of the currently active data set. In the case of the Building Model example
the General tab looks as shown below right after all the signal processing has been
completed:
There are four different items presented. These are:
General. In this item the label and number of the data set is presented as well as the
status of the data set. Also the state of the data set is shown. If the data set is
checked in the Data Sets Tree the status will say Enabled and Disabled otherwise.
Data. Presents how many measured records or DOF's that are in the data set. This
number includes the records of the reference transducers. Also, the length of record
both in samples and time is presented.
Data Source. Display information about the origin of the data that forms the data set.
In this case the data comes from the file mes31set.asc. In addition to the file name the
size, type and creation date and time are presented.
Signal Processing Status. Display information about the signal processing status of
this particular data set. If all parts of the signal processing has been applied to the
data the status is marked Complete. If some parts are missing the status will be Not
Complete, and the missing parts are shown below with a label saying Not Applied.
The Transducers Tab (Data Set Main Tab)
The Transducers sub-tab window located under the Data Set main tab list information
about the transducers that forms the currently selected data set. In the case of the Building
Model example the Transducers tab looks as shown below.
There are seven columns presented. These are:
Transducer. This column presents the label of the transducer. The label of a
transducer can be edited by double-clicking on the label. By doing so an edit box
appear. Type in the new label and press <Enter> to close the edit box. If you press
<ESC> the edit box disappear and the original label is restored.
Node. Display the node where the transducer is located.
Status. Display the status of a particular transducer. The transducer status can either
be Enabled or Disabled. The status can be changed by double-clicking in the column on
the particular transducer. If you change the status of one or more transducers all
previous estimated modes will be delete. Also, any parametric models of the specific
data set is deleted and you will have to re-estimate the Common SSI Input Matrix for
this specific data set. If the transducer is a reference the status of the same
transducer of all the other data sets will be changed accordingly.
Reference. Identified whether the transducer is a reference or not. If the transducer is
a reference the label will say Yes and No otherwise.
dB Reference. Lists the reference values to be used in dB displays of e.g. spectral

densities.
Record Unit. Shows the unit of the measured record.
Record Type. Presents what type of measurement the transducer has returned.
The Measured DOFs Tab (Data Set Main Tab)
The Measured DOFs sub-tab window located under the Data Set main tab list information
about the which degrees-of-freedom (DOF) that has been measured using the transducers
of the currently selected data set. In the case of the Building Model example the Measured
DOFs tab looks as shown below right after the project has been created using the SVS
Configuration File:
There are six columns presented. These are:
Transducer. This column presents the label of the transducer. The label of a
transducer can be edited by double-clicking on the label. By doing so an edit box
appear. Type in the new label and press <Enter> to close the edit box. If you press
<ESC> the edit box disappear and the original label is restored.
Node. Display the node where the transducer is located.
X-Component. List the X-component of the directional vector of the transducer.
Y-Component. List the Y-component of the directional vector of the transducer.
Z-Component. List the Z-component of the directional vector of the transducer.

Vector Length. Display the resulting length of the directional vectors. Usually, all
numbers in this column should be equal to 1.
The Comments Tab (Data Set Main Tab)
The Comments sub-tab window located under the Data Set main tab is an editor where
you can write or paste information relating to the currently selected data set. Comments
that relate to the hole project should not be written here but rather under the Comments
sub-tab located under the Project main tab. This editor supports the general editor options
for copy, cut, paste and print.
Since this is a Rich Text Format window all text formatting is preserved when copying text
from e.g. Microsoft Word.
The Geometry Tab
The Geometry main tab presents geometry as well as the transducer location and
orientation of the currently active data set.
The 3D - View Tab
In the case of the Building Model example the geometry looks as shown below right after
the project has been created using the SVS Configuration File:
In the corner where the X-, Y- and Z-coordinate is smallest the arrows of the standard
coordinate system are shown in cyan colors.
Together with the geometry the transducers of the currently selected data set are
presented as arrows pointing in the positive direction of the transducer. The blue arrows
indicates the transducers that are common and represented in all data sets. The green
arrows represent the rest of the transducers of the current data set that are enabled. Red
arrows are the disabled transducers of the current data set. In the above example all
transducers are seen to be enabled.
Besides the general 3D-display options the following features are available:
The node numbers can be hidden by releasing the button in the modal toolbar. If
you have selected some nodes in the Nodes tab of the Project Control Window these
nodes remain on the display.
If you point at an object (node, line or surface) it will be highlighted and the X, Y and Z
coordinates pointed at, on the object, are presented just below the title.
The color of the background, lines, coordinate arrows, transducer arrows can be
changed in the properties dialog.
The Quad View Tab
The second tab is the Quad View which presents the same infomation from three fixed
angles and one general angle.
The three fixed angles are:
1. Side (+Y). From the side looking in the positive Y direction
2. Side (+X). From the side looking in the positive X direction

3. Top (+Z). Looking from the bottom towards the top in the positive Z direction
The genral view can be manipulated just like the 3D-View described above.
The Properties Dialog
When the Geometry tab of the Project Control Window is active you can display the
properties dialog associated with it.
By pressing the color-well buttons you can change the colors in the active 3D display of:
Background.
Coordinate system arrows.
The geometry (lines and surfaces).
The inactive transducers.
The active transducers.
The reference transducers.

The Signal Processing Settings Tab
The Signal Processing Settings main tab present the Trial Signal Processing Configuration
and the Signal Processing Configuration Selected for Analysis. Both of these are initialized
and edited by the Signal Processing Configuration wizard.
Using the above example you will get the following shown when both the Trial Signal
Processing Configuration and the Signal Processing Configuration Selected for Analysis are
initialized using the Signal Processing Configuration wizard. Before the initialization both
displays of this tab will be empty.
To the left the trial signal processing configuration is shown. The items presented
(Decimation, Filtering, Spectral Density Matrices Estimation, Correlation Function
Estimation and Common SSI Input Matrix Estimation) all display the corresponding
information selected using the Signal Processing Configuration wizard and saved as the
project trial configuration.
On the right-hand side is the equivalent presentation of the signal processing configuration
selected for analysis. To emphasize the irreversible part of the signal processing the
headline of these items explicitly says Irreversible Action.
In the File, Export menu items or from the context sensitive menu you can export the signal
processing configuration of the active one of the two views. So, if your point at the Trial
Signal Processing Configuration window this will be the exported configuration. In this way
you can re-use the configuration in other projects. The configuration is saved in the SVS
Signal Processing Configuration format.
The Signal Processing Log Tab
The last main tab is called Signal Processing Log. This tab present the Trial Signal
Processing Configuration and the Signal Processing Configuration Selected for Analysis.
Both of these are initialized and edited by the Signal Processing Configuration wizard.
Using the above example you will get the following shown when both the Trial Signal
Processing Configuration and the Signal Processing Configuration Selected for Analysis are
initialized using the Signal Processing Configuration wizard. Before the initialization both
displays of this tab will be empty.
This tab present all applied signal processing configuration selected for analysis. In
addition, it is marked which of the signal processing configuration items that has been
applied to the data of all data sets. In case it has not been applied the right-aligned text
says Not Applied and otherwise it say Applied. So in the above example everything has
currently been applied.
If multiple configurations has been applied they will appear in separate sub tabs. The label
of the tab will be a number starting from 1 as well as the date and time of the creation of
the configuration.
In the ARTeMIS Extractor software there is a so-called Signal Processing Configuration
wizard available which can be shown by clicking the button Define Sign. Proc. Conf. in the
Data task bar pane or from the Project menu item. This wizard is available for several
reasons:
You might want to filter or decimate the data before you start using it in the analysis.
The modal identification estimators need to have the measured data processed in
different ways before it can be used.
The signal processing configuration wizard is used to specify basic signal processing like
filtering and decimation of the signals. Once this kind of processing has been performed,
the raw data has been changed, and the only way to get back to the original data is to read
in the raw data files once again. For this reason this kind of signal processing is called
irreversible signal processing.
The wizard is also used to specify estimation of spectral density functions, correlation
functions and the estimation of the common input matrix that is used by the Stochastic
Subspace Identification techniques. Since these results are derived from the measured
data, they can be changed at a later stage in the process. For this reason this kind of signal
processing is called reversible signal processing. However, even though you can change
the settings of the reversible signal processing later on without having to reload the
measured data, the modes that depends on the parts of the signal processing that are
changed will be deleted.
There are two kinds of signal processing configurations available in a project. These are
Trial Signal Processing Configuration.
Signal Processing Configuration Selected for Analysis.
When a new project is created both of these configurations are empty. The idea with these
two configuration is to have one to play with in a safe mode that will not destroy the data,
and one that is selected for use in the analysis once the user has convinced himself about
the right signal processing choices.
Note: You cannot do any signal processing or modal estimation before you have initialized
the Signal Processing Configuration Selected for Analysis using the Signal Processing
Configuration wizard. Also note that you cannot use the Trial Signal Processing
Configuration before it has been initialized using the wizard.
The signal processing configuration contain information about how to process the data. This
information can be put into the following groups:
Processing
Action Irreversible/Reversible
Order
Decimation: The decimation is an irreversible signal

processing used to narrow the frequency range to work
with. The configuration stores the information needed to
perform this action. This information is the number of
time to decimate. If the configuration is selected for
analysis the decimation is reset when the last data set
1. has been decimated. To be reset means not to be Irreversible
applied later on.
Note: Changing this setting will delete all modes

already estimated.
Filtering: After decimation but before any of the

reversible signal processing it is possible to filter the
data using a filter that you define yourself. The
configuration stores the information needed to perform
this action. This information is the filter type, order and
cut-off frequencies. If the configuration is selected for
2. analysis the filter is reset when the last data set has Irreversible
been filtered. To be reset means not to be applied later
on.
Note: Changing these settings will delete all modes

already estimated.
Spectral Density Matrices Estimation: After all the

irreversible signal processing has been completed the
spectral density matrices can be estimated. The
this action. This information is the frequency resolution.
3. Reversible
Note: Changing this setting will delete all Frequency
Domain Decomposition modes (FDD and EFDD)
already estimated.
Correlation Functions Estimation: After all the

correlation function matrices can be estimated. The
4.
configuration stores the information needed to perform Reversible
this action. This information is the number samples in
the estimated correlation function.
Common SSI Input Matrix Estimation: After all the

Common SSI input matrix for use with all the stochastic
5. subspace identification techniques is estimated. The
(Pro this action. This information is the expected number of Reversible
version structural modes, harmonics, and noise modes.
only)
Note: Changing these settings will delete all Stochastic
Subspace Identification modes already estimated.
The irreversible signal processing is processed first for all data sets and cannot be
stopped. This is necessary in order preserve consistency of the raw data. When the
irreversible signal processing is started it always starts with the part of the configuration
that has been modified that has the lowest Processing Order. The reversible processing of
the spectral density matrices, the correlation functions and the common SSI input matrix are
running in parallel and can be stopped whenever you like. Everything that has been
processed at the time of stopping is saved and can be used fior analysis. The signal
procesing is started in the Process Data dialog, and the status of the signal processing can
be monitered in the Processing Status tab of the Control Panel.
When modifying a signal processing configuration using the Signal Processing Configuration
wizard the order in which the configuration is modified reflects the above mentioned order.
The Trial Signal Processing Configuration
When the signal processing applied in "safe mode" the signal processing is performed using
the trial signal processing configuration. This signal processing configuration is applied to a
copy of the measured data of the currently selected data set. So the irreversible as well as
the reversible signal processing is only applied on this copy of the data. The result of using
the trial signal processing configuration is presented in the Test Trial Signal Processing
Configuration window.
You should play around with the settings in the trial signal processing configuration using the
Signal Processing Configuration wizard and inspect how the settings affects the data in the
Test Trial Signal Processing Configuration window until you are sure which settings to use.
You should inspect how the settings work in all data sets for two reasons. First of all, some
of the settings might be good in some data sets and might not be good in other data sets.
This could e.g. be the frequency resolution that need to be adjusted due to more noise in
one data set compared to another. Secondly, by forcing yourself to inspect the configuration
using all data sets, you also force yourself to check the quality of the data. In this your will
be able to discover unexpected errors in the data, such as dead channels etc.
Note: Be sure to actually define your own trial signal processing configuration. In earlier
releases a default configuration would have been used. However, now you cannot start the
Test Trial Signal Processing Configuration window before this configuration is initialized
using the Signal Processing Configuration wizard.
The Signal Processing Configuration Selected for Analysis
When you are sure that you have a good trial signal processing configuration you can save
it as the configuration selected for analysis using the Signal Processing Configuration
wizard. Any existing configuration that were selected for analysis before is then overwritten
and all the modes that are related to the part of the configuration that has changed will be
deleted. In the Signal Processing window in Project Control it will be indicated which parts
of the configuration that has been applied, and already is up to date, and which have not
been applied.
If you know how to set up the signal processing to use in the analysis in advance, you could
e.g. be doing repeated testing of the same structure, then you do not need to create a trial
signal processing configuration first. In this case you can use the Signal Processing
Configuration wizard to set up the configuration selected for analysis directly using the
wizard dialogs or by importing a signal processing configuration from a file.
Note: Be sure to actually define your own configuration selected for analysis. In earlier
releases a default configuration would have been used. However, now you cannot start any
signal processing before this configuration is initialized using the Signal Processing
Configuration wizard.
The Signal Processing Configuration Wizard
The Signal Processing Configuration wizard is a versatile tool. The idea is that you initialize
the wizard with a copy of an already defined configuration. You then modify this
configuration and export the modified configuration to a desired location.
The input and output of the Signal Processing Configuration wizard is shown below:
Wizard Input Wizard Wizard Output
Trial Signal Processing

Configuration (If already initialized)
Trial Signal Processing Configuration

Signal Processing Configuration
Selected for Analysis (If already
initialized) -> Configure -> Signal Processing Configuration
Selected for Analysis
Preset Signal Processing

Configuration Export a Signal Processing
Configuration to a File
Import a Signal Processing

Configuration from a File
The left-hand side of the above figure list the possible input to the wizard, and the right-
hand side list the possible output of the wizard. You can only select one input to the wizard
but as output you can save the configuration to all the listed outputs.
So, let's say you want to modify the trial signal processing configuration of the project then
you will select this as your input to the wizard. You can then modify the copy of the trial
configuration in the wizard, and then export this modified copy as the new trial configuration
of the project.
If you just want to save the trial configuration as the configuration selected for analysis you
will still import the trial configuration into the wizard and step through all the steps of the
wizard. When you reach the end you can then save the copy of the trial configuration as the
one selected for analysis.
Note: When a new project is created there will not be a trial signal processing configuration
or a signal processing configuration selected for analysis available. At this point there will
only be a preset signal processing configuration available as well as the ability to import a
signal processing configuration from a file.
The wizard consists of seven pages. These are:
1. Define Signal Processing Configuration.
2. Decimation.
3. Filtering.
4. Spectral Density Matrices Estimation.
5. Correlation Function Estimation.
6. Common SSI Input Matrix Estimation.
7. Finish Signal Processing Configuration.

Define Signal Processing Configuration (Step 1)
When you have launched the Signal Processing Configuration wizard the first page to
appear is the page where you select which signal processing configuration to use a copy of
inside the wizard. In the case of the Building Model example, the page looks as below:
Here you have four options for choosing the signal processing configuration. These are:
Trial configuration.
Configuration selected for analysis.
Preset configuration.
Import configuration from a file.
You can only select one of these options and at this state you do not have to be concerned
about whether it should be saved as one signal processing configuration or another. If you
select the import from file option the browse button on the page will be enabled to allow you
to browse for the file.
The Preset Signal Processing Configuration (Step 1)
If you need to restore one of the signal processing configuration in the project you can
initialize the Signal Processing Configuration wizard with a preset signal processing
configuration. This configuration is the typically starting point when you want to establish a
Trial Signal Processing Configuration as well as the Signal Processing Configuration
Selected for Analysis.
Importing a Signal Processing Configuration (Step 1)
If you have created a signal processing configuration in one project and exported it from
e.g. the Project Control window in an SVS Signal Processing Configuration format, you can
import this configuration into another project using the Import configuration from a file
option on the first page of the Signal Processing Configuration wizard. If you select this
option a <Browse> button becomes active so that you can browse for the desired file. The
extension of this type of file is .spc. When you have uploaded a configuration you are
allowed to go to the last step of the wizard. You can do this pressing the button <Go To
Last Step>.
The SVS Signal Processing Configuration Format
To show the SVS Signal Processing Configuration Format we can try and see how the Trial
Signal Processing Configuration presented in the Project Control window below appear in
the file format:
When save to a file using e.g. the context-menu the result looks as below:
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% This file contains the ASCII file representation of a Signal

Processing Configuration.
% This configuration was created by the project:
% C:\Development\Installation Files\Examples\Version 3.1\Building

Model\mes32set.axp
%
% EDIT THIS FILE WITH EXTREME CAUTION
% ONLY EDIT INFORMATION TO THE RIGHT OF THE ":" SYMBOL.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DECIMATION
Number of Decimations : 1
FILTERING
Filter (Not Editable) : Butterworth
Order : 0
Type : 0
Nyquist Frequency : 7.497500e+001
Lower Cut-Off Frequency : 0.000000e+000
Upper Cut-Off Frequency : 7.497500e+001
SPECTRAL_DENSITY
Segment Length : 2048
Segment Overlap : 1365
Window Function : 0
CORRELATION
Correlation Length : 256
SSI
Number of Structural Modes: 10
Number of Harmonics : 0
Number of Noise Modes : 30
Note: This file is only displayed so that you can see how the different settings are saved.
You should not try to edit this file manually but only use it to transfer a signal processing
configuration from one project to another. This type of file has the extension .spc.
Decimation (Step 2)
The first signal processing to perform on the measured data is the decimation. The purpose
of decimation is to reduce the frequency range to the frequency range of interest. For
instance, if a signal has been sampled at 200 Hz, i.e. 200 samples per second, then the
Nyquist frequency is 100 Hz and the spectral density estimates will defined from 0-100 Hz.
Now, if only you are interested in the modal properties under 10 Hz, then you should
decimate the signal 10 times.
If you want to work in the frequency domain it is desirable to decimate to zoom to the range
of interest. If you are working with parametric models in the time domain, you should
decimate in order to introduce poles only in the frequency range of interest.
The decimation is basically a process where some samples are discarded and some
samples are kept. However, in order to prevent aliasing the signal is first low-pass filtered
and then the excessive samples are discarded. If the signal is decimated 2 times then every
2nd sample is kept and the rest is discarded. If the signal is decimated 3 times every 3rd
sample is kept the rest is discarded, etc.
The following figures show how a signal looks before and after it is decimated by 2:
Now, since the anti-aliasing filter is active into the frequency range of the decimated signal,
you should only use the modal results in the frequency range from 0 to 80 % of the new
Nyquist frequency. In ARTeMIS Extractor the applied anti-aliasing filter is an 8th order
Chebyshev Type 1 low-pass filter.
Note: Decimation is an irreversible process which will change the data of the project
permanently when applied in the signal processing configuration selected for analysis. After
the decimation has been applied to the data the decimation of this configuration is reset and
if the project contains any estimated modes they will all be deleted.
Setting up the Decimation
The setting up of the decimation is performed as the second step in the Signal Processing
Configuration wizard. In the case of the Building Model example, the page looks as below:
If you do not want to perform any decimation but just continue press the <Next> button.
The order of decimation is selected from the combo box located on the left-hand side of the
page. The default order of decimation is 1 indicating that no decimation should be
performed at all. To the right the result of the selected order of decimation is presented in
terms of the new sampling interval and the new sampling frequency.
The possible orders of decimation are listed in the table below together with the influence
the chosen decimation has on the original sampling interval Ts and the original sampling
frequency Fs.
Order of New Sampling New Sampling

Decimation Interval Frequency
1 Ts Fs
2 2 Ts Fs / 2
3 3 Ts Fs / 3
4 4 Ts Fs / 4
5 5 Ts Fs / 5
10 10 Ts Fs / 10
20 20 Ts Fs / 20
30 30 Ts Fs / 30
40 40 Ts Fs / 40
50 50 Ts Fs / 50
100 100 Ts Fs / 100
200 200 Ts Fs / 200
300 300 Ts Fs / 300
400 400 Ts Fs / 400

500 500 Ts Fs / 500
1000 1000 Ts Fs / 1000
When you have selected the desired order of selection press the <Next> button to
continue.
Note: When you change the order of decimation you also change all maximum values that
relates to the maximum number of samples and the sampling interval in the following steps
of the wizard.
Filtering (Step 3)
Filtering is used to shape the signal in the frequency domain. Typical reason for filtering
could e.g. be to high-pass filter the signal to get rid of a slowly varying zero-offset of the
signal, or to band-pass filter the signal to reduce the necessary parametric model order for
cases with high modal density.
In ARTeMIS Extractor you have the posibility to apply one of the following types of filters:
low-pass, high-pass, band-pass and band-stop. In each case the filter is of the Butterworth
type and you can select filter orders between 1 and 50. The Butterworth filter is a good all-
round filter that is simple to use. At the specified cut-off frequencies it attenuates 3 dB.
In the case of the Building Model example, the Filtering page looks by default as below:
As seen it is by default disabled. If you do not want to specify any filter but just continue
press the <Next> button. To enable filtering check the box called Enable. The controls will
the be active:
The default filter type to appear is an 8th order low-pass filter which is a reasonable order
to start from. You can then select different types of filters from the Type combo box and
different order from the Order edit field. The order depended slope of the filter is presented
both in Slope per octave and Slope per decade.
In case you are specifying a low-pass filter you will have to specify an Upper cut-off
frequency. In case it is a high-pass filter you will to specify a Lower cut-off frequency. For
the band-stop and stop-band filter types you must specify both.
Note: If the filter is unrealizable you will get an error when pressing either the <Back> or
the <Next> button. The most commom reason for a filter to be unrealizable is that the filter
is un-stable. To reduce the risk of a filter becomming un-stable, choose a lower model order
or move the cut-off frequency further away from the frequency boundaries, i.e. towards the
midle of the frequency band from zero to the Nyquist frequency.
Also note that filtering is an irreversible process which will change the data of the project
permanently when applied in the signal processing configuration selected for analysis. After
the filtering has been applied to the data the filter settings of this configuration is reset and
if the project contains any estimated modes they will all be deleted.
You can view the selected filter characteristic while working with the trial signal processing
configuration using the Test Trial Signal Processing Configuration window.
Projection Channels (Step 4)
To avoid too much redundant cross information when estimating Correlation Functions,
Spectral Density Matrices and the Common SSI Input Matrix you can manually select the
number of projection channels to use.
Technically, what is selected is actually the column space to make use of in the estimation
of Correlation Functions and Spectral Density Matrices. In case of the Common SSI Input
Matrix estimation it corresponds to the selection of the row space to project the
measurements on.
The selection of the projection channels are done automatically. The first columns chosen
are the reference channels if they are available. The rest of the columns are the ones that
on average correlates the least with the reference channels. This is done to maximize the
amount of independent information.
In the case of the Building Model example, the page looks as below when 3 projection
channels has been chosen for both data sets:
You activate the option by clicking the check box called Enable. By doing so the drop-down
box is activated and the available number of channels are presented.
If multiple data sets are available it is not allowed to select less than the number of
reference channels available. It is never recommended to use less than 3 projection
channels. The philosophy behind this is that in case of two close modes at least two
projection channels are needed to separate the modes plus one additional channel to
account for the measurement noise.
NOTE: Since selecting a limited amount of projection channels will remove redundant
information, it is likely that the number of noise modes in the configuration of the Common
SSI Input Matrix Estimation can be decreased significantly.
Spectral Density Matrices Estimation (Step 5)
The fifth step of the Signal Processing Configuration wizard is to configure the spectral
density matrices estimation. The spectral density matrices are the estimate of the spectral
density function at discrete equally spaced frequency lines in a range between zero (DC)
frequency and the Nyquist frequency. In order to set this estimation up it is necessary to
specify how many discrete frequency lines (DC excluded from this number) to estimate.
In the case of the Building Model example, the Spectral Density Matrices Estimation page
looks by default as below:
The only action you need to make is to select the number of Frequency Lines in the
combo box. This is a radix-2 number due to the use of the Fast Fourier Transform (FFT).
Below the combo box you can get some information about the Sampling Interval, the
Sampling Frequency and the Nyquist Frequency. Please observe that these values as
well as the maximum number of frequency lines depends on the chosen order of
decimation.
To the right, the Spectral Analysis Configuration is listed. Here you can see the
Frequency Line Spacing, i.e. the distance between two estimates on the frequency axis.
You can also see which Window Function that is used. The window function has been
choosen permanently to be a Hanning window. Finally, you can also see that the Overlap
between two data segments is 66.67%.
The window function is introduced to minimize the wrap-around bias introduced by the
periodicity assumption introduced by using the FFT algorithm. The bias introduced this way
can be reduced but not removed, and it will appear as a leakage bias in the frequency
domain, i.e. spectral peaks will be blunted. The overlap is introduced in order to
compensate for the loss of information due to tapering of the data segments when the data
segments are multiplied by the window function. The estimated spectral density matrices
are primarely used to estimate the modes in the Frequency Domain Decomposition
technique but also as validation tool for the Stochastic Subspace Identification techniques.
Note: Changing the number of Frequency Lines is an reversible action that does not change
the measured data when applied in the signal processing configuration selected for
analysis. In this case, only the modes estimated using the Frequency Domain
Decomposition technique will be deleted.
The less number of frequency lines you use the more averages you get, and the more
smooth your spectral densities will look. The smooth appearance is caused by averaging
out the noise. However, not only does it look nicer, your mode shape estimates obtained
from the Frequency Domain Decomposition will also be more accurate.
So the advice is not to use too many frequency lines, but allow the estimation algorithm to
make some averages. Use only the resolution that is necessary to clearly distinguish the
individual peaks of the modes.
The default number of frequency lines, 256, is a number that is reasonable if only a few
modes are to be identified. If you are dealing with a problem of high modal density, for
instance having something like 20 modes to identify, then you should use a much higher
number of frequency lines, and thus in order to have enough averages to minimize the noise
on the spectral densities, you might need longer data segments.
Note: The number of frequency lines choosen corresponds to the number of samples in the
correlation function estimation. By default the estimation of the correlation functions is
simply done by an inverse Fourier transformation of the spectral densities. This approach is
the fastest way to obtain the estimates but the result is biased because of the leakage bias
in the spectral estimates. If the check box Use unbiased estimation is checked the
correlation functions are estimated using an unbiased estimation technique based on
doubling the length of each data segment by zero padding before using the FFT algorithm.
This changes the unpredictable wrap-around bias into the well-defined basic lag window
bias. This bias can be removed in the time domain by dividing with the basic lag window,
which is also called a Bow-Tie correction.
The correlation functions are only used as a validation tool for the Stochastic Subspace
Identification techniques. If an estimated parametric model is optimal in a statistical sense
the covariance functions of the data and the model will coincide. The model is said to be
covariance equivalent. It is therefore a good validation tool to use for the Stochastic
Subspace Identification techniques. You can also view the correlation functions in the View
Processed Data window, the Compare Processed Reference Data window and in the Test
Trial Signal Processing Configuration window.
Common SSI Input Matrix Estimation (Step 6)
(Pro version only)
The initialization of the Common SSI Input matrix Estimation is something that you cannot
really do before you have looked at the data using e.g. the Test Trial Signal Processing
Configuration window, or processed what is needed to inspect the spectral densities in the
View Processed Data window. The reason is that you need to have an idea of how many
modes that are present in the data.
The modes that are estimated using the Stochastic Subspace Identification techniques can
be grouped into the following types:
Structural Modes.
Harmonics.
Noise Modes.
Usually, it is the structural modes that we are interested in since these describe the
dynamics of the structure we are analyzing. Besides, these modes there will also be
harmonics in the data as soon as there rotating parts in the structure or in the excitation.
Finally, there will always be noise modes or computational modes present. They are not
always easy to see in a spectral density plot because of their tendency of being highly
damped. However, you will always have computational modes arising e.g. from the anti-
aliasing filter. Computational modes also appear if your system is not completely linear, or if
the excitation is far from being a realization of a shaped Gaussian white noise, or if in other
ways the assumption for using the estimation techniques are not met. The computational
modes are then added by the estimation algorithm to take account of the discrepancies.
It is usually a very good idea to inspect the Singular Value Decomposition of the Spectral
Density Matrices because this very elegantly reveal the structural modes, the harmonics
and any closely spaced modes. By counting the structural modes and the harmonics you
will be well prepared for making the initialization of the Common SSI Input matrix
Estimation.
In the case of the Building Model example, the Common SSI Input matrix Estimation page
looks by default as below:
Even though the estimation of the common input matrix only requires one number which is
the sum of all modes, we have divided it in to the above mentioned categories. So, in the
edit field called No. of Structural Modes you enter how many structural modes you believe
there are in the data. If you have detected any harmonics they are entered in the edit field
No. of Harmonics. Finally, you will have to guess on how many noise modes you are
suspecting. In this case you should always over-specify instead of under-specifying the
number - the quality of the estimate improves as this number is increased. A good rule of
thumb is to multiply the sum of structural modes and harmonics by 3. As an absolute
minimum you should never specify less computational modes than the sum of the structural
modes and harmonics.
The total number of modes is then presented as the Maximum No. of Modes. Since the
Stochastic Subspace Identification estimators returns parametric model in the so-called
stochastic state space format, the Maximum State Space Dimension is also presented.
The state space dimension is the same as the number of eigenvalues or poles in the
dynamic model.
Note: Remember if your Stochastic Subspace Identification estimates turns out to be

inaccurate, or if the state space dimension of the best-fit model comes to close to the
maximum state space dimension, you should go back to the Signal Processing Wizard and
increase the number of modes. Also, note that changing the number of modes in any of the
above edit field forces ARTeMIS Extractor to reestimate the common SSI input matrix and
consequently delete all modes estimated by any of the stochastic subspace identification
techniques.
Finish Signal Processing Configuration (Step 7)
This is the final step in the Signal Processing Configuration wizard. This is where you
specify which signal processing configuration that should be overwritten with the modified
copy of the wizard.
So, now you simply check the boxes of the configurations you want to overwrite as shown
below:
Check the first box to save the configuration As the trial configuration of the project.
Check the second box to save it As the configuration selected for analysis. Finally,
check the last box to save the configuration To a signal processing configuration file.
Note: If you have imported a configuration from a file in the first step of the wizard, and if
you are absolutely sure you want to use this configuration. This imported configuration can
then be selected for analysis by checking the second box.
This last page of the wizard is the only place where you can modify the signal processing
configurations of the project. It is on purpose that you are forced to go through the hole
wizard every time, since this will decrease the probability that you overwrite the
configuration selected for analysis by accident. Because once you have overwritten the
existing configuration selected for analysis the already estimated modes might be deleted.
The Test Trial Signal Processing Configuration window
The Test Trial Signal Processing Configuration window is used to view how the Trial Signal
Processing configuration affects the data of the currently selected data set. The testing is
performed on a copy of the data so that the original data remain unchanged. You can view
the results of all the parameter choices made in the trial signal processing configuration
except the parameters relating to the estimation of the Common SSI Input Matrix.
When started from either the Data Pane of the Task Bar or from the Project menu the
window first becomes visible when the copy of the data has been processed with the Trial
Signal Processing Configuration. The signal processing can be monitored in the Status Bar.
When the signal processing is finished the window appear.
Note: You have to initialize the Trial Signal Processing Configuration using the Signal
Processing Configuration Wizard.
In the case of the building model example the window look as below:
In this example we have specified a 10th order band-pass filter with cut-off frequencies at
10 Hz and 70 hz.
As seen it is a splitted window that enable you to view two different representations of the
data at the same time. You switch among the different view using the tabs located below
the views. All the views are 2D data displays and they all support the general 2D display
options.
You can view the following representations of the data:
Magnitude of Spectral Densities.
Phase Angle of Spectral Densities.
Coherence.
Singular Value Decomposition of Spectral Density Matrices.
Average of Diagonal Elements of Spectral Density Matrices.
Average of All Elements of Spectral Density Matrices.
Normalized Correlation Functions.
Magnitude of Filter Transfer Function.
Unwrapped Phase Angle of Filter Transfer Function.
All representations of the data except the two relating to the filter are also used for
presentation of the processed data in the View Processed Data window.
The Magnitude Tab
This display presents the magnitude of the estimated spectral density function between two
measured degrees of freedom (DOF's).
The two DOF's being displayed are presented in the title in terms of the labels of the
transducers and the currently selected data set, in this case Free Transducer 1, Ref.
Transducer 1 and Measurement 1, respectively. This entry in the spectral density
matrices has been selected using the 2D-Displays tab of the Control Panel.
In the present case the displayed is a cross-spectral density function. If it were the same
transducer, e.g. a display of Free Transducer 1 and Free Transducer 1, then it would be
the auto-spectral density function which is also the power spectral density function.
Note: The above plot uses a dB scale but can also use a linear scale. You can use the
general 2D data display options with this display.
The Phase Tab
This display presents the wrapped phase angle in degrees of the estimated spectral density
function between two measured degrees of freedom (DOF's).
transducer, e.g. a display of Free Transducer 1 and Free Transducer 1, then it would be
the auto-spectral density function having a zero phase angle.
Note: You can use the general 2D data display options with this display.
The Coherence Tab
This display presents the coherence of the estimated spectral density function between two
measured degrees of freedom (DOF's).
In the present case the displayed is coherence between two different transducers. If it
were the same transducer, e.g. a display of Free Transducer 1 and Free Transducer 1,
then the coherence would exactly 1.
The coherence function
The coherence function between two signals, a(t) and b(t) relates how much of the
measured output signal, a(t) is linearly related to the measured output signal, b(t) at any
given frequency. A coherence of 1 indicates a perfect linear relationship, and 0, no
relationship. The coherence is always bounded between 0 and 1. Coherence function is
very similar to the Correlation Coefficient Function between two stochastic variables, and is
defined as the covariance of the two variables divided by the product of the standard
variation of the two variables. At each given frequency the Coherence function corresponds
to the Correlation Coefficient Function squared.
Coherence less than one can be due to one or more of the following situations.
1. Uncorrelated noise in the measurement of a(t) and/or b(t).
2. Non-linearity of the system under investigation.
3. Leakage in the analysis (resolution bias error).
4. Delays in the system not compensation for.
Coherence function is widely used for input/output measurement for validating Frequency
Response Function measurements.
For output only measurements Coherence Function is also a very useful function since it is
expected that the coherence will take high values at resonance frequencies (except at node
points / lines), where a strong vibration pattern exist and a high signal to noise ratio is
found.
Note: The MAC (Modal Assurance Criteria) is defined in a similar way as the Coherence,
and expresses the degree of linear relationship (similarity) between mode shapes.
The SVD Tab
This display presents the singular values of the matrices of the estimated spectral density
function. At each frequency there are as many singular values as there are measured
degrees of freedom (DOF's) in the currently selected data set.
This display is a very usefull tool because you can detect close modes, but also because
the frequency content is presented in a single display. The singular value display the rank of
each of the spectral density matrices. If only one mode is dominating at the frequency only
one singular value will be dominating at this frequency. This is why only one singular value
pop up at about 34 Hz in the example below. There is only one dominating mode at this
frequency. If you have close or repeated modes you will see as many dominating singular
values as there are close or repeated modes. Above you can see two singular values pop
up at around 20 Hz and again around 55 Hz. At both frequencies there are two close
modes.
The Average Diagonal Tab
This display presents the average of the diagonal elements of each of the matrices of the
estimated spectral density function of the currently selected data set. In other words, it
presents the average of all auto-spectral density functions.
This average line is an alternative to the Singular Value Decomposition of the estimated
matrices of the spectral density function. It provides a fast indication of where the most
dominating modes are located. However, you cannot see the presence of close modes.
The Average All Tab
This display presents the average of all the elements of each of the matrices of the
estimated spectral density function of the currently selected data set. In other words, it
presents the average of all auto-spectral density functions and all cross-spectral density
functions.
This average line is an alternative to the Singular Value Decomposition of the estimated
matrices of the spectral density function. It provides a fast indication of where the most
dominating modes are located. However, you cannot see the presence of close modes.
The Correlation Tab
This display presents the correlation function between two measured degrees of freedom
(DOF's). The presented correlation function have been normalized so that the auto-
correlation function starts in 1 or -1.
The correlation function is only used as a validation tool in the Stochastic Subspace
Identification editor and in the Compare Processed Reference Data window. In order to
take full advantage of these validation features you should make sure that the time lag is
large enough.
The Filter Magnitude Tab
This display presents the magnitude of the transfer function of the filter that can be used as
a part of the signal processing. In the example below the filter is an 10th order band-pass
filter with cut-off frequencies at 10 Hz and 70 Hz. The dB scale is always presented with a
reference value equal to 1.
The filter is a Butterworth type filter and at the cut-off frequencies it attenuates 3 dB.
The Filter Phase Angle Tab
This display presents the unwrapped phase angle of the transfer function of the filter that
can be used as a part of the signal processing. In the example below the filter is an 10th
order band-pass filter with cut-off frequencies at 10 Hz and 70 Hz.
The Process Data Dialog
Once you have set up the Signal Processing Configuration Selected for Analysis using the
Signal Processing Configuration Wizard you can start processing the data. This is done
using the Process Data dialog. The first time this dialog is started it will have the
appearance shown below:
(Handy and Light versions)
(Pro version)
In this dialog you can specify what to process. By default everything is processed for all
data sets when you press the <OK> button. However, in certain situations it is beneficial to
be able only to do a part of the processing.
The first check box from the top allows you to select the Spectral Density Matrices
Estimation as a part of the processing. As seen this will delete all modes estimated by the
Frequency Domain Decomposition techniques (FDD and EFDD peak picking).
In the table below it is shown which editor / windows that require the spectral density
matrices estimated. The table is divided into operations that require all enabled data sets
and which that only require the currently selected data set processed. Required means that
this operation cannot work without the processed data. Optionally means that the operation
can work without the processed data.
Selected Data All Enabled Data

Operation
Set Sets
View Processed Data window Optionally -
Compare Processed Reference

Optionally Optionally
window
FDD Peak Picking editor - Required
EFDD Peak Picking editor - Required
Stochastic Subspace Identification

Required -
editor
Select and Link Modes editor - Required
The second check box allows you to select the Correlation Functions Estimation as a
part of the processing. In the table below it is shown which editor / windows that require the
correlation functions estimated.
Selected Data All Enabled Data

Operation
Set Sets
View Processed Data window Optionally -

Compare Processed Reference Optionally Optionally
window
FDD Peak Picking editor - -
EFDD Peak Picking editor - -
Stochastic Subspace Identification

Required -
editor
Select and Link Modes editor - -
In the Pro version the third check box allows you to select the Common SSI Input Matrix
Estimation as a part of the processing. As seen this will delete all modes estimated by the
Stochastic Subspace Identification (SSI) techniques. It is only the Stochastic Subspace
Identification editor that require this operation to be completed for the selected data set. If
the box is checked you will be allowed to activate the Automatic Model Estimation, which
will then enable an automatic model estimation as a part of the processing. In the
Estimators group you select the SSI estimators to apply (UPC, PC and CVA). In the group
called State Space Dimensions, you specify the smallest and largest model order (state
space dimension) as well as the increment in state space dimension between two
consequtive models. This action is the most time consuming part of the processing. So, a
good advice is to wait with this part of the processing until you have inspected the data in
e.g. the View Processed Data window and perhaps also completed the modal identification
using the FDD Peak Picking Editor and the EFDD Peak Picking Editor. When you have done
this and found that the signal processing configuration is working good you can go back and
do this processing.
If you have many data sets and if you only need to process the current data set you can
check the box labeled Only process currently selected data set. The requested
processing actions will then only be performed for the selected data set.
Note: If you have a window open that require a signal processing action performed for the
selected or all data sets, then if you change the data set from the Project Control window
the signal processing will be performed automatically. Therefore, in order to concentrate the
waiting for completion of the signal processing it is a good practice to complete as much as
possible in the first step. So the advice is: Process the Spectral Density Matrices
Estimation action and the Correlation Functions Estimation action immediately the first
time for all data sets.
If you are trying to open a window that require a specific unfinished processing action you
will get an error message informing you about what to process. If you try to start the
Stochastic Subspace Identification editor without having completed any processing actions
you will get the following error message:
Unable to open the requested window. The signal processing is

incomplete. Please perform the following processing:
Processing on currently selected data set:
- Spectral Density Matrices Estimation.
- Correlation Functions Estimation.
- Common SSI Input Matrix Estimation.
You will then have to go back to the Process Data dialog and perform the requested
processing actions.
The View Processed Data Window
The View Processed Data window presents the results of the signal processing of the data
of the currently selected data set. You can view the results of all the parameter choices
made in the signal processing configuration selected for analysis except the parameters
relating to the estimation of the Common SSI Input Matrix.
The window can be started either from the Data Pane of the Task Bar or from the Project
menu. In the case of the building model example the window look as below:
options.
Coherence.
Singular Value Decomposition of Spectral Density Matrices.

All representations of the data are also used for presentation of the processed data in the
Test Trial Signal Processing Configuration window.
The Compare Processed Reference Data Window
The Compare Processed Reference Data window presents the processed data results of
the reference transducers of all enabled and signal processed data sets. You can view the
results of all the parameter choices made in the signal processing configuration selected for
analysis except the parameters relating to the estimation of the Common SSI Input Matrix.
The window can be started either from the Data Pane of the Task Bar or from the Project
menu. In the case of the HCT building in Vancouver, Canada example (Examples Folder:
HCT Building\hct.axp) the window look as below:
In this window you can compare the quality of the measured data across the data sets.
There are essentially two things that you can analyze using this window.
You can verify that all the modes are represented properly in all the data sets. If a
mode is badly represented in one or more data sets, you must expect that at least
some of the modal parameters of the mode will be poorly estimated in these data sets.
You can also verify if the energy level of the measurements changes significantly from
data set to data set. In such cases you should also expect modal estimates of bad
quality in the low energy level data sets.
options.
Coherence.
The different tabs of this window are highly related to the tab windows of the Test Trial
Signal Processing Configuration window and the View Processed Data window.
The Magnitude Tab (Compare Processed Reference Data
Window)
This display presents the magnitude of the estimated spectral density function between two
measured degrees of freedom (DOF's) of all signal processed and enabled data sets. In
the case of the HCT building in Vancouver, Canada example (Examples Folder: HCT
Building\hct.axp) the window look as below:
reference transducers, in this case Ref. Transducer 2 and Ref. Transducer 1. This entry
in the spectral density matrices has been selected using the 2D-Displays tab of the Control
Panel. The color coding of the four enabled and signal processed data sets are
documented in the legend to the right.
transducer, e.g. a display of Ref. Transducer 1 and Ref. Transducer 1, then it would be
the auto-spectral density function which is also the power spectral density function.
If the label of a specific reference node is the same in all data sets, then this label is used.
If not, a default label will be assigned to it.
The Phase Angle Tab (Compare Processed Reference Data
Window)
This display presents the wrapped phase angle in degrees of the estimated spectral density
function between two measured degrees of freedom (DOF's) of all signal processed and
enabled data sets. In the case of the HCT building in Vancouver, Canada example
(Examples Folder: HCT Building\hct.axp) the window look as below:
the auto-spectral density function which is also the power spectral density function having
zero phase.
The Coherence Tab (Compare Processed Reference Data
Window)
This display presents the coherence of the estimated spectral density function between two
measured degrees of freedom (DOF's) of all signal processed and enabled data sets. In
the case of the HCT building in Vancouver, Canada example (Examples Folder: HCT
the auto-spectral density function which is also the power spectral density function having
coheremce 1.
The Average Diagonal Tab (Compare Processed Reference
Data Window)
This display presents the average of the diagonal elements of each of the matrices of the
estimated spectral density function. This is presented for all signal processed and enabled
data sets. In the case of the HCT building in Vancouver, Canada example (Examples Folder:
HCT Building\hct.axp) the window look as below:
This average line provides a fast indication of where the most dominating modes are
located and what the average energy level is. The color coding of the four enabled and
signal processed data sets are documented in the legend to the right.
The Average All Tab (Compare Processed Reference Data
Window)
This display presents the average of all elements of each of the matrices of the estimated
spectral density function. This is presented for all signal processed and enabled data sets.
In the case of the HCT building in Vancouver, Canada example (Examples Folder: HCT
This average line provides a fast indication of where the most dominating modes are
located and what the average energy level is. The color coding of the four enabled and
signal processed data sets are documented in the legend to the right.
The Correlation Tab (Compare Processed Reference Data
Window)
This display presents the correlation function between two measured degrees of freedom
(DOF's) of all signal processed and enabled data sets. The presented correlation function
have been normalized so that the auto-correlation function starts in 1 or -1. In the case of
the HCT building in Vancouver, Canada example (Examples Folder: HCT Building\hct.axp)
the window look as below:
in the correlation function has been selected using the 2D-Displays tab of the Control Panel.
The color coding of the four enabled and signal processed data sets are documented in the
legend to the right.
In the present case the displayed is a cross-correlation function. If it were the same
the auto-correlation function.
The FDD Peak Picking Editor
The idea of the Frequency Domain Decomposition (FDD) technique is to perfom an
approximate decomposition of the system response into a set of independent single degree
of freedom (SDOF) systems, one for each mode. The theory is described in R. Brincker, L.
Zhang and P. Andersen: Modal Identification from Ambient Responses using Frequency
domain Decomposition. Proc. of the 18th International Modal Analysis conference (IMAC),
San Antonio, Texas, 2000.
The decomposition is performed simply by decomposing each of the estimated spectral

density matrices. In the above reference it is shown that the singular values are estimates
of the auto spectral density of the SDOF systems, and the singular vectors are estimates of
the mode shapes.
The FDD technique involves the main steps listed below:
1. Estimate spectral density matrices from the raw time series data.
2. Perform singular value decomposition of the spectral density matrices.
3. If multiple data sets are available, then average the first singular value of all data sets
and average the second etc.
4. Peak pick on the average singular values. For well-separated modes always pick on
the first singular value. In case of close or repeated modes, pick on the second
singular value, the third singular value etc. as well.
5. Optionally, if multiple data sets are available, inspect the singular values of each data
set and edit the peak picking position if necessary.
The first three steps are performed automatically when the data is processed. The last
steps require your input and are done using the FDD Peak Picking editor. The technique is a
completely non-parametric technique where the modes are estimated purely by signal
processing.
In the case of the building model example the FDD Peak Picking editor looks as below
when started right after the signal processing of the data is complete:
The editor consists of three windows which are:
The Peak Pick Tab.
The Animate Tab.
The Mode List Tab.
The peak picking is performed in the editor of the Peak Pick tab window and the result can
be verified immediately after in the Animate tab window. The estimated modes are listed in
the mode list window. In the above case this list is empty and the window is gray.
Below is the same example presented. However, now there is five modes estimated:
The Peak Pick Tab (FDD Modal Identification)
In the case of the building model example the Peak Pick tab window of the Frequency
Domain Decomposition (FDD) technique looks as below when started right after the signal
processing of the data is complete:
The left-most window is the Peak Picking editor where you pick the modes. To the right you
can get information about the currently selected frequency and singular value. In addition,
there is a legend explaining that an estimated mode is marked using a brown box and an
estimated and selected mode is marked by a blue box.
The Peak Picking editor displays singular values of the spectral density matrices. These
singular values have been normalized with respect to the area under the first singular value
curve (the top curve). If multiple data sets are present the normalized singular values
calculated for each data set have been averaged to obtain the displayed curves. In the
present example there are two data sets each with four transducers, and in order to obtain
the presented four curves the following operations have been performed:
1. The 4x4 dimensional spectral density matrices of data sets 1 and 2 have been
estimated.
2. For both data sets all the spectral density matrices have been decomposed using the
singular value decomposition. The result is 4 singular values and 4 singular vector for
each of the spectral density matrices. The singular values and the singular vectors are
ordered in singular value descending order for each of the spectral density matrices,
i.e. the first singular value is the largest.
3. For each data set the singular values are normalized. The normalization factor
corresponds to the area under the first singular value curve. This normalization prevent
that week modes only appearing in one or few data sets disappear.
4. Finally, the first singular value curve of both data sets are averaged frequency by
frequency. This operation is repeated for the second, third, fourth etc. singular value
curves.
By using these averaged singular value curves all modal information can be presented in
one display no matter how many transducers and data sets there are. Since this normalized
and averaged curve is constructed from several transducers and several data sets the dB
reference value of this display is always chosen as 1. If you want to zoom to a specific
frequency range you can do this from the 2D-Displays tab of the Control Panel.
Note: If you have multiple data sets it is possible to display the singular values of the
currently selected data set instead.
Estimating a New Well-separated Mode
The way to estimate a mode in this Peak Picking editor is illustrated below:
You can either press the New Mode button in the Modal Toolbar as shown in the lower
left corner, or you can use the context-sensitive menu and select the New Mode menu item.
In both cases a blue vertical cursor will appear together with a blue cross that snaps to the
nearest point of the singular value curves as shown below:
The cursor line show the frequency position of the mouse pointer, whereas the cross show
the peak nearest to the mouse cursor. In the right-hand side information window the
location of the cross is presented in terms of the frequency (Frequency) and singular value
curve (SVD Line) number.
To estimate the mode at the peak where the cross is located simply double-click on the left-
hand side mouse button. To abort the estimation press the <Esc> key instead.
When the estimation is finished the vertical line lock itself on the frequency at the picked
mode. Further, a blue box will appear instead of the cross to indicate which singular value
the mode has been picked on. Below the complete editor is shown after the estimation:
As seen the mode is now drawn in blue and listed in the Mode List below. The mode
remains drawn in blue as long as it is selected. You can now immediately press the Animate
tab to inspect the estimated mode shape.
Estimating Repeated Modes
If you have a system as the building model example with repeated modes you might need
to pick the modes on several singular value curves at the same frequency. This means that
if you have two repeated modes you will have to pick them on the first and the second
singular value curve. It also means that the maximum number of repeated modes that can
be estimated is equal to the minimum number of transducers in the data sets.
To estimate the two repeated modes at 55 Hz in the building model example it is

recommendable to zoom to a small frequency range around the repeated modes:
It is now clear that the two largest singular value curves peaks at the same frequency.
Therefore, you will need to pick the first mode on the first singular value curve and the
second mode on the second singular value curve as shown below:
Since the modes are estimated on the basis of the singular value decomposition the two
estimates are only valid if the two modes indeed are orthogonal.
Estimating Closely Spaced Modes
There might also be situations where the modes are closely spaced as it is the case of the
modes around 20 Hz in the building model example. In this case it might still be possible to
pick the modes on the first singular values. However, the difference between being closely
spaced and being repeated depends both on the actual system but also on the frequency
resolution of the spectral density estimation. Anyway, in the building model example the two
close modes around 20 Hz can be picked on the first singular value curve as shown below:
When you pick the modes you should try to visualize that you are picking the individual
modes on the top of their correponding single degree of freedom (SDOF) spectral density
bell function. If you can visualize that the bell of e.g. two modes have peaks on different
frequencies then they are not repeated and can both be picked on the first singular value
curve. If they have peaks at the same frequency you will have to pick them at different
singular value curves instead. This is what the Enhanced Peak Picking take advantage of. It
simply identifies these SDOF bell functions constructed from singular values.
Switching Between Average and Individual Singular Value Lines
Until now all operations relating to estimation of a mode has been performed using the
averaged singular value display in the peak picking editor. As long as you use this display
the same frequency and singular value will be used when the estimator picks out the
singular vectors in the individual data sets. This way of estimating the modes are the
easiest one and therefore also the most recommendable and it will work in most cases.
However, sometimes you are forced to change either frequency and / or singular value in
one or more data sets. This can happen if the frequency of the mode drifts a bit or if
another mode suddenly become much more energetic. For this reason you can disable the
average display and display the individual data set instead. The switch between the two
displays can be performed by selecting the menu item Project, Frequency Domain
Decomposition, Show Averaged SVD Lines or in the context-sensitive menu:
You can also use the Modal Toolbar and press button . When you are displaying the
averaged singular value lines the button will appear pressed.
When you choose to display the singular value lines of the individual data set it is always the
lines of the currently selected data set that are displayed.
Editing a Mode Already Estimated
You can always edit the currently selected (blue) mode. You might want to adjust the
frequency you are picking the mode on or selecting another singular value curve. The latter
is applicable when dealing with closely spaced modes. To activate the edit mode, start by
selecting the mode you want to edit. Then click the edit mode button on the Modal
Toolbar. You can also activate the edit mode from the context-sensitive menu by selecting
the menu item Edit Mode as shown below:
You have then activated the edit mode which will stay active until you either press the button
/ menu item agin or press the <Return> key, or the <Esc> key or the Animate tab in the
editor. When you press the left-hand mouse button down and keep it down you will see a
blue cross with a gray cursor image behind as shown bellow:
The gray cursor image show which mode you are editing since the gray lines are drawn
from the original position of the mode. The blue cross shows you the currently snapped
position. If you release the mouse button the mode will move to this position and be re-
estimated using the new frequency and singular value position.
Note: While you are displaying the average singular value lines the changes are reflected in
all data sets. However, if you are editing while displaying the singular value lines of an
individual data set only the frequency and singular value of this specific data set is changed.
Deleting a Mode
You can always delete the currently selected (blue) mode either by pressing the <Del> or
<Delete> keys, or from the context-sensitive menu by selecting the Delete Mode menu
item as shown below:
For every mode you are deleting you are asked to confirm the deletion. This is the only
place where you can delete modes estimated by the FDD Peak Picking editor.
The Animate Tab (FDD Modal Identification)
When you have selected a mode either from the Peak Pick editor window or from the Mode
List you will immediately be able to see its mode shape animated by pressing the Animate
tab.
In case of the building model example a mode being animated is show below:
Note: The same window is used for mode shape validation in the Enhanced Frequency
Domain Decomposition (EFDD) technique.
The animation window supports the general 3D display options. While the window is active
it is not possible to create new mode nor edit modes nor delete modes. Further, it is only
possible to copy and print the window when the animation is stopped.
The Mode List (FDD Modal Identification)
The mode list is continuously updated with the modes estimated by the Frequency Domain
Decomposition technique. You can use the list to select the mode to animate the mode
shape of in the animate tab window or the mode to edit in the Peak Pick tab window.
You can also use the list to select the modes you want to export out of the application as
shown in the example below:
First you select the modes to export, then you select the export format from the File,
Export, Modes menu item or from the context-sensitive menu as shown above. Two
different export formats are available, the UFF Format (ASCII) or the SVS Format (ASCII).
The mode currently being animated can be saved in an AVI Movie file.
This list supports the four different form of table views and all other general table options. If
you select View Details you are able to enter comments specific to the individual modes.
The comments are entered by double-clicking with the left-hand side mouse button on the
white fields as shown below:
The comments are presented in printouts or if you copy the list to the clipboard and paste it
in e.g. Microsoft Word.
The Properties Dialog (FDD Modal Identification)
You can change the appearance of the singular value curves of the Peak Picking editor
window by selecting the Properties... menu item either from the View menu or from the
context-sensitive menu as shown below:
In either case the following dialog with five tabs appear:
The General tab enables you to change the 2D-display options.
From the SVD tab you can select how many singular value curves you want to display:
Since you are always picking the modes from the largest singular value, selecting a number
less than the actual number of curves will hide the curves of the smallest singular values.
The Geometry tab belong to the Animate tab window of the Peak Picking editor.
Here you can change the colors of the background, coordinate system arrows, undeformed
and deformed geometry. You change the colors by pressing the appropiate color-well
button.
In the Export tab you can select the export format to use when saving modes in ASCII files.
Due to the difference in usage of escape characters when writing ASCII files in a PC and a
UNIX environment, it is necessary to specify to what environment files are exported. By
default the PC environment is selected. In addition, it is sometimes preferred only to export
nodes and trace lines in which case the export of surfaces can be disabled by unchecking
the last box.
Finally, in the last tab you can set up the AVI Movie recorder. In this dialog the default
settings of the mode animation AVI movie recorder can be modified. When the application is
started the computer is searched for applicable AVI compression drivers. These are
displayed in the drop-down list called Compression Mode. It is also possible to select the
uncompressed file format. However, this is not recommendable due to the unnecessary size
of the generated AVI movie files.
There are two different modes for recording an AVI movie file of an animation. If an infinite
cyclic animation is desired the radio button Cyclic show (one cycle) should be selected. The
result will be a single cycle recording that can be repeated infinitely in e.g. the Microsoft
Windows Media Player. If a specific number of seconds of recording is desired the Time
capture radio button should be selected. This will result in an AVI recording of a specific
number of seconds of the current animation.
The EFDD Peak Picking Editor
The EFDD Peak Picking editor adds a modal estimation layer to the FDD Peak Picking
editor. The modal estimation is therefore divided into two steps. The first step is to perform
the FDD Peak Picking, and the second step is to use the FDD identified mode shapes to
identify the Single-Degree-Of-Freedom (SDOF) Spectral Bell functions and from these
SDOF Spectral Bells estimate all modal parameters.
The SDOF Bell Identification
The identification of the SDOF Spectral Bell is performed using the FDD identified mode
shape as reference vector in a correlation analysis based on the Modal Assurance Criterion
(MAC). On both sides of the FDD picked frequency a MAC vector between the reference
vector and the singular vectors corresponding to a certain frequency is calculated. If the
largest MAC value of this vector is above a user-specified MAC Rejection Level the
corresponding singular value is included in the description of the SDOF Spectral Bell. The
search on both sides of the reference frequency is continued until no MAC values are above
the rejection level. Outside the search range the values of the SDOF Spectral Bell is set to
zero. This means that the lower MAC Rejection Level the more singular values are included
in the SDOF Spectral Bell. However, at the same time the lower MAC Rejection Level the
deviation from the reference vector is allowed. Therefore, a good compromise is to use an
initial MAC Rejection Level at 0.8.
The Modal Parameter Estimation
Besides storing the singular values that describe the SDOF Spectral Bell, the corresponding
singular vectors are averaged together to obtain an improved estimate of the mode shape.
The average is being weighted by multiplying the singular vectors with their corresponding
singular values. This means that the closer the singular vectors is to the peak of the SDOF
Spectral Bell the more weight it has on the mode shape estimate.
The natural frequency and the damping ratio of the mode is estimated by transforming the
SDOF Spectral Bell to time domain. What we then obtain is a SDOF Correlation Function,
and by simple regression analysis we obtain the estimates of both the natural frequency as
well as the damping ratio.
The estimation of the damping ratio is performed by identification of the positive and
negative extremes of the correlation function. Taking the logarithm of this decaying curve will
for viscous damped linear systems result in a straight line on which the damping ratio can
be estimated by linear regression. However, due to broad-banded noise and / or non-
linearities the beginning and end of the curve might not be straight. Such non-straight parts
should not be included in the regression.
The estimation of the natural frequency is performed by a linear regression on the straight
line that describes the correlation crossing times. However, again the beginning and end of
the curve might not be straight and should not be included in the regression.
These modal estimates will be good if the correlation function decays to a sufficiently small
level of correlation. This can be accomplished by having sufficient frequency resolution. In
this case the bias of the natural frequency and the damping ratio will be small.
The EFDD Modal Parameter Estimation at a Glance
In the case of the building model example the EFDD Peak Picking editor looks as below
when started right after the signal processing of the data is complete:
The editor consists of four windows which are:
The Peak Pick Tab.
The Modal Estimation Tab.
The Animate Tab.
The Mode List.

The peak picking is performed in the editor of the Peak Pick tab window and the result can
be verified immediately after in the Animate tab window. The estimated modes can be
validate and fine-tuned in the Modal Estimation tab window and they are listed in the mode
list window.
References
1. R. Brincker, L. Zhang & P. Andersen: Modal Identification from Ambient Responses

using Frequency Domain Decomposition. Proceedings of the 18th International Modal
Analysis Conference (IMAC), San Antonio, Texas, 2000.
2. R. Brincker, J. Frandsen & P. Andersen: Ambient Response Analysis of the Great Belt
Bridge. Proceedings of the 18th International Modal Analysis Conference (IMAC), San
Antonio, Texas, 2000.
3. R. Brincker & P. Andersen: Ambient Response Analysis of the Heritage Court Tower
Building Structure. Proceedings of the 18th International Modal Analysis Conference
(IMAC), San Antonio, Texas, 2000.
4. R. Brincker, P. Andersen & Nis Mller: Output-Only Modal Testing of a Car Body
Bubject to Engine Excitation. Proceedings of the 18th International Modal Analysis
Conference (IMAC), San Antonio, Texas, 2000.
5. N. Mller, R. Brincker & P. Andersen: Modal Extraction on a Diesel Engine in

Operation. Proceedings of the 18th International Modal Analysis Conference (IMAC),
San Antonio, Texas, 2000.
6. R. Brincker, L. Zhang & P. Andersen: Output-Only Modal Analysis by Frequency

Domain Decomposition. Proceedings of the 25th International Seminar on Modal
Analysis (ISMA), Leuven, 2000.
7. R. Brincker, C.E. Ventura & P. Andersen: Damping Estimation by Frequency Domain

Decomposition. Proceedings of the 19th International Modal Analysis Conference
(IMAC), Kissimmee, Florida, 2001.
The Peak Pick Tab (EFDD Modal Identification)
In the case of the building model example the Peak Pick tab window of the Enhanced
Frequency Domain Decomposition (EFDD) technique looks as below when started right
after the signal processing of the data is complete:
As seen it looks exactly like the FDD Peak Picking Editor window, and the operation of is
also exactly the same. The only difference from FDD Peak Picking is that the EFDD Peak
Picking is used only to obtain a reference frequency and mode shape to be used in the
EFDD Modal Estimation.
When you estimate these reference parameters you will usually get the best result by
picking on top of the peaks. Here the reference mode shape estimate will most accurate in
case of well-separated modes. If the modes are repeated or closely spaced you should
follow the guidelines listed in the description of the FDD Peak Picking Editor window, for
estimation of these special cases.
When you have picking a reference mode shape and frequency, the modal parameters
estimation is performed immidiately with the default setting of it. The default modal
estimation settings are editeed in the Preference dialog.
To adjust and / or validate the estimation of the natural frequency and the damping ratio,
you click on the Modal Estimation Tab window. To validate the estimated mode shape by
animation you click on the Animate Tab window.
The Modal Estimation Main Tab (EFDD Modal Identification)
When you have estimated a reference frequency and mode shape using the EFDD Peak
Picking Editor, you can go to the Modal Estimation Tab window where you will find the
following windows
The Frequency Domain Tab.
The Time Domain Tab.
The Validate Damping Tab.
The Validate Frequency Tab.
for editing and validation of the damping ratio and natural frequency estimates.
As an example the Building Model (Example\Building Model) is used to illustrate the use of
this tab window. Before you step into this part you should have completed a peak picking in
the Peak Picking editor as shown below:
Optionally, you should step through all the individual data sets to verify, and if necessary
correct, that you have picked the peak of the mode you are estimating. By then you are
ready to verify, and if necessary correct, the identification of the SDOF Spectral Bell. This is
what is done in the Frequency Domain tab of the Modal Estimation tab window.
The Frequency Domain Tab (Modal Estimation Main Tab -
EFDD)
This tab window is where you verify the identification of the SDOF Spectral Bell. In the case
of the Building Model example (Examples\Building Model) the SDOF Spectral Bell, identified
using a default MAC Rejection Level of 0.8, is shown below:
What you need to verify here is that you have a good representation of the SDOF Spectral
Bell around the peak. In this case the representation is good because the peak has been
identified completely down to where the noise begin to affect it.
If we decrease the MAC Rejection Level using the Modal Estimation Control Panel we get
the following result:
where we can see that the SDOF Spectral Bell identification becomes inaccurate in the
tails. There is no reason to include all this noise in the modal estimation. Therefore, do not
go to low in MAC Rejection Level, but only as low as required to get a good identification of
the peak of the bell.
In addition to the visual impression that using 0.6 as MAC Rejection Level is bad, you can
also see that the estimated standard deviations of both natural frequency and damping ratio
increases when this value is used. This is an additional indication of the improved quality of
the SDOF Spectral Bell identified using a MAC Rejection Level equal to 0.8. So we will use
this value when we proceed to validate the SDOF Correlation Function obtained from the
SDOF Spectral Bell.
The Time Domain Tab (Modal Estimation Main Tab - EFDD)
The SDOF Spectral Bell is transformed using an algorithm based on the Fast Fourier
Transform to obtain the SDOF Correlation Function that is normalized so it always start with
the correlation 1. This function is what is presented in the Time Domain tab of the Modal
Estimation Tab window. In the case of the Building Model example (Examples\Building
Model) the SDOF Correlation Function, identified using a default MAC Rejection Level of
0.8, is shown below:
From time lags 0 to around 5m s the function is seen to decay exponentially. After time lag
5m s noise start to interfere significantly. This part should of course be avoided in the
estimation of the natural frequency and the damping ratio.
The scattered region indicates the part of the correlation function that by default is used by
the estimation algorithm. The choice of the maximum and minimum correlation limits to
include is perfomed in the Modal Estimation Control Panel below. As default it uses a
maximum equal to 0.95. Now since the maximum correlation is 1 this means that the first
values of the correlation function by default are excluded. This is because this part of the
correlation function sometimes is polluted by a broad-banded noise. At the same time the
minimum correlation limit is by default set at 0.3 because large time lags typically are
estimated with increasing uncertainty.
In the example, however, it seems that the maximum correlation limit can be 1 and the
minimum limit a value that allows us to use the correlation function up to a time lag around
5m s. Below the adjusted limits are presented:
We can immediately see how the estimated uncertainties of both the natural frequency and
the damping ratio dropped by the inclusion of more regression points. What remian to be
done is to validate the damping ratio estimate and the natural frequecy estimate.
The Validate Damping Tab (Modal Estimation Main Tab -
EFDD)
Based on the SDOF Correlation function presented in the Time Domain Tab window as well
as the maximum and minmum correlation limits selected in the Modal Estimation Control
Panel this windows presented the result of the regression leading to the damping ratio
estimate.
In the case of the Building Model example (Examples\Building Model) the regression result
is shown below:
The green curve presents the logarithm of the absolute value of all the positive and negative
extremes. The red straight line is the result of the linear regression problem. The damping
ratio can be found directly from the slope of this straight line. The standard deviation of the
damping ratio is estimated by a linear transformation of the estimation error of the
estimated slope.
Finally, what remains is to validate the natural frequency estimation.

The Validate Frequency Tab (Modal Estimation Main Tab -
EFDD)
Based on the SDOF Correlation function presented in the Time Domain Tab window as well
as the maximum and minmum correlation limits selected in the Modal Estimation Control
Panel this windows presented the result of the regression leading to the natural frequency
estimate.
In the case of the Building Model example (Examples\Building Model) the regression result
is shown below:
This window is typically not important to check. The reason is that the zero-crossing times
can be determined extremely accurately from the correlation function. In the above window
they are presented as the green line. The result of the regression problem is presented as
the red straight line. This regression result is based on the part of the correlation function
that is inside the correlation limits selected in the Modal Estimation Control Panel. The
natural frequency estimate is obtained from the slope of this estimated straight line as well
as the estimated damping ratio.
Note: Because of the coupling of the regression problems the estimated standard deviation
of the natural frequency depends on the estimation error of the slope of both regression
problems.
The Modal Estimation Control Panel (EFDD Modal
Identification)
There are three values that together with the reference mode shape and frequency uniquely
controls the modal estimation using the EFDD Peak Picking Editor. The reference mode
shape and frequency are determined by peak picking using the Peak Picking Tab window,
whereas the remaining three values are set in the Modal Estimation Control Panel shown
below:
The three values are:
The MAC Rejection Level.
The Maximum Correlation Limit.
The Minimum Correlation Limit.
The MAC Rejection Level controls how many singular values that are included in the
identified SDOF Spectral Bell displayed in the Frequency Domain Tab window located under
the Modal Estimation Tab. See the paragraph The SDOF Bell Identification in the
description of the EFDD Peak Picking Editor.
The Maximum and Minimum Correlation Limits controls how much of the SDOF Correlation
Function, obtained by transformation of the SDOF Spectral Bell, to include in the regression
problems that leads to the estimates of the natural frequency and damping ratio. See the
paragraph The Modal Parameter Estimation in the description of the EFDD Peak Picking
Editor.
The Mode List (EFDD Modal Identification)
The mode list is continuously updated with the modes estimated by the Frequency Domain
Decomposition technique. You can use the list to select the mode to animate the mode
shape of in the animate tab window or the mode to edit in the Peak Pick tab window.
Specifically, the list presents the following information about an estimated mode:
Mode. A short information string presenting the natural frequency and the estimator.
Natural frequency (Frequency [Hz]). In case of multiple data sets, the presented value
is the average of the natural frequency estimates of the individual data sets. In this
case the standard deviation of the resulting natural frequency is also presented (Std.
Frequency [Hz]).
Damping ratio (Damping Ratio [%]). In case of multiple data sets, the presented value
is the average of the damping ratio estimates of the individual data sets. In this case
the standard deviation of the resulting damping ratio is also presented (Std. Damping
Ratio [%]).
Comment. A user-specified comment about the mode.
Creation Date & Time. The time and date this mode were created.
different export formats are available, the UFF Format (ASCII) or the SVS Format (ASCII).
The mode currently being animated can be saved in an AVI Movie file.
The Properties Dialog (EFDD Modal Identification)
The properties dialog of the EFDD Peak Picking Editor is the same as explained in the FDD
Peak Picking Editor.
Stochastic Subspace Identification (SSI)
(Pro version only)
In the Stochastic Subspace Identification (SSI) techniques a parametric model is fitted

directly to the raw times series data returned by the transducers. A parametric model is a
mathematical model with some parameters that can be adjusted to change the way the
model fits to the data. In general we are looking for a set of parameters that will minimise
the deviation between the predicted system response (predicted transducer signal) of the
model and measured system response (transducer signal). This process is often called
model calibration. See the following picture
All known time domain modal identification techniques can be formulated in a generalised
form as an innovation state space formulation
where the A-matrix contains the physical information, the C-matrix extracts the information
that can be observed in the system response and the K-matrix contains the statistical
information. The statistical information allows for a covariance equivalent modelling, so that
the model can have the correct correlation function and thus also the correct spectral
density function.
The number of parameters in the model is essential. If this number is to small, then the
dynamical- and statistical behaviour cannot be modeled correctly. On the other hand, if the
number is too high, then the model becomes over-specified resulting in unnecesary high
statistical uncertainties of the model parameters.
So the art of parametric model estimation is to determine a model with a reasonable

number of parameters. This means that what you must do when you are estimating state
space models is to choose the model order also known as the state space dimension,
which is the dimension of the A-matrix.
In ARTeMIS Extractor there are three different implementations of the Stochastic Subspace
Identification technique. These are:
Unweighted Principal Component
Principal Component
Canonical Variate Analysis
However, even though they estimate the state space models in different ways, you will not
feel any difference when operating them.
See the Technical Paper on the Stochastic Subspace Identification Techniques for a more
comprehensive description about how the Stochastic Subspace Identification techniques
works and what the mathematical difference between the three implementations are.
Extracting Modal Parameters from the State Space System
When the stochastic state space system is being estimated using e.g. the Stochastic
Subspace Identification techniques we obtain what is called a realization of the true but
unknown system. So the paramters of the state space system
is only estimates of the true system. You will never be able to estimate the 100% correct
parameters but you can indeed estimate very accurate parameters by not using a too large
state space dimension.
The above system is shown in time domain but can of course also be represented in
frequency domain by its transfer function H(z) as below
where z is a frequency dependent complex number. By a complex transformation of this transfer function using the
eigenvectors of A the modal decomposed transfer function appear as
This representation of the transfer function expose all the modal parameters. From the eigenvalues j defined as the
diagonal elements of the matrix
the natural frequencies and damping ratios are extracted using the following definition
In this equation T is the sampling interval.
The mode shape that are associated with the jth mode is given by the jth column of the matrix . The last matrix that
completes the modal decomposition contains a set of row vectors. The jth row vector corresponds to the jth mode. This
vector distributes the white noise excitation et in modal domain to all the degrees of freedom. So the amplitude values of the
degrees of freedom depends on this vector as well as the eigenvalue and the mode shape.
At the initial time step the state vector is zero. This imply that the contribution of e0 to from a specific
mode solely is given by the row vector of that corresponds to that mode. For this reason this vector is called the initial
modal amplitude. Since this vector describes how the white noise is distributes in modal domain, this vector describes the
statistical part of the modal decomposition. All the other modal parameters relates to the dynamic system and are therefore
deterministic parameters that should not change if the excitation changes.
Estimating Models (SSI)
(Pro version only)
In the Stochastic Subspace Identification techniques the order of the model is characterized
by the state space dimension. Since structural modes typically are lightly damped they are
described by two eigenvalues. Thus for every time you increase the state space dimension
by two you actually add the extra parameters that are necessary in order to fit one extra
mode.
To choose the right state space dimension is essential in the Stochastic Subspace
Identification techniques. If the dimension is to small, then the dynamics cannot be modeled
correctly. On the other hand, if the dimension is too high, then the estimated state space
model becomes over-specified, and as a results, the statistical uncertainty on the estimated
parameters increases unnecessarily. This dilemma is illustrated in the following figure:
When you are estimating try to do is the following:
Try to over-specify the state space model a little. It is better to over-specify than to
under-specify.
When you have over-specified the model, you will have some computational modes or
noise modes that you want to get rid of before you present your modal results.
First of all, get rid of the modes that does not comply with you expectations. You might
have some apriori knowledge about the expected range of the modal parameters. For
instance, you might know that structural modes must have a damping ratio smaller than
2 % otherwise they are not structural - so you exclude all modes with a damping larger
than 2 %.
Secondly, verify which modes repeats themselves when you estimate model with
different state space dimension. This is done by creating a stabilization diagram.
Creating this diagram you can specify the maximum allowed deviations on natural
frequency, damping ratio, mode shape and initial modal amplitude.
Increase the stabilization demands until you have only one or a few models left in the
stabilization diagram.
Make your choice of model taking into account the fitting quality of the different models
and that a model with a smaller state space dimension is better than one with a large
dimension.
The Stochastic Subspace Identification Editor (SSI)
(Pro version only)
No matter which of the three Stochastic Subspace Identification techniques you use the
editor to use looks the same. You start the editor of one of the techniques either from the
Project, Stochastic Subspace Identification, Data Driven Estimation menu item or from
the SSI pane of the Task Bar.
Below the editor window is shown in case of the building model example:
This editor consist of several windows that relate to the estimation of an optimal state
space realization. The upper part of the editor is vertically divided into two.
The upper left part contains four tab windows which are:
Estimate Tab.
Validate Response Predictions Tab.
Validate Prediction Errors Tab.
The Estimate tab is where the actual estimation take place. The two remaining tabs are
windows used to validate the selection of the optimal model.
The upper right part consist of two tab windows. The SVD window presents the singular
values of the weighted Common SSI input matrix. The weighting of this matrix is what
makes the available techniques different. There are three types of weighting: Unweighted
Principal Component, Principal Component and Canonical Variate Analysis. The FPE
window display the socalled Final Prediction Error (FPE) criterion, which is a bar diagram
helping you to select the optimal model.
The lower part of the editor consist of three tab windows which are:
Modal Indicators Tab.
Estimation Status Tab.
Modal Results Tabs.
When estimation is in progress the Estimation Status tab presents information about the
currently estimated state space realization. In the Modal Results tab you can get a list of
the modal parameters of the currently selected state space realization. Finally, the Modal
Indicators tab documents the modal indicators used as they have been entered in the
Modal Indicators tab of the Control Panel.
The Estimate Tab (SSI)
(Pro version only)
The window that is found under the Estimate tab of the Stochastic Subspace Identification
editor is presented below in the case of the Building Model example:
In the example, it is the Canonical Variate Analysis (CVA) technique that has been chosen.
However, it could just as well be the Unweighted Principal Component (UPC) algorithm or
the Principal Component (PC) algorithm.
The window is divided vertically in two. To the left a stabilization diagram is shown and to
the right some information relating to the stabilization diagram is presented.
Stabilization Diagram
The validation of the time domain estimation of the state space models is actually
performed in frequency domain. The reason for this is that it is very easy in frequency
domain to see the repeated trend of structural modes when estimating multiple state space
models. But you should remember that the actual estimation behind the screen is performed
on the raw time series data of the currently selected data set in time domain.
The stabilization diagram presents the natural frequencies of all the estimated eigenvalues
as well as a background wall-paper of the Singular Value Decomposition of the spectral
density matrices of the currently selected data set. This wall-paper has nothing direct to do
with the estimation. However, it is a valuable help in the search of structural modes since
these will be located at the spectral density peaks.
The horizontal axis is a frequency axis ranging from zero to the Nyquist frequency. The
vertical axis list the dimensions of the available state space models. This range goes from 1
to the maximum state space dimension specified in the Signal Processing Configuration
Selected for Analysis.
The Concept of Stabilization
The problem of parametric model estimation is that you do not know the true model order.
In our case it means that that the exact state space dimension is unknown. The way to
overcome this is to estimate a range of candidate state space models. The important issue
here is that the information of the structural (physical) system will be contained in all the
estimated models if the state space dimension is high enough. This is revealed as a
repeated trend across the state space models of some of the estimated eigenvalues (the
vertical line of red crosses in the above figure). If such a repeated trend is located at a
resonance frequency it is a strong indication that a structural modes has been estimated.
The problem is that there can be a lot of candidate models and in order to minimize this
number you should make use of the so-called modal indicators. You set up a series of
requirements that the repeated modes must fullfill in order to be called stable.
A stable mode of a model is one that compared with one of the estimated modes of the
previous model fullfill the union of the following requirements:
1. A user-specified maximum allowed deviation of the natural frequency of the mode when
compared with one of the modes of the previous model.
2. A user-specified maximum allowed deviation of the damping ratio of the mode when
compared with one of the modes of the previous model.
3. A user-specified maximum allowed deviation of the Modal Assurance Criterion of the

mode shape vector of the mode when compared with one of the modes of the previous
model.
4. A user-specified maximum allowed deviation of the Modal Assurance Criterion of the

initial modal amplitude vector of the mode when compared with one of the modes of
the previous model.
If the deviations of all the above requirements of a mode is less than the specified maximum
allowed deviations then a mode is characterized as stable and will be marked with a red
cross. If one or more of the above requirements are not fullfilled then the mode is
characterized as unstable and will be marked with a green diagonal cross. So by
decreasing the maimum allowed deviation the number of candidate models will also
decrease. The setting of the requirements are performed in the Modal Indicator tab of the
Control Panel. The modal indicators used are documented in the Modal Indicators tab of the
Stochastic Subspace Identification editor.
Eliminating Noise or Computational Modes
When a state space model is estimated from measured data not only structural modes will
be estimated but also socalled noise (computational) modes. These noise modes are used
by the algorithms to account for non-fullfilled assumptions. Noise modes appear e.g. in the
following situations:
Limited data records (Accounts for the violation of the infinite amount of data
assumption).
Non-linearities (Accounts for the violation of the linear system assumption).
Colored noise caused e.g. by non-white excitation and / or filtering (Accounts for the
violation of the assumption of having white noise disturbance only).
Typically, noise modes are spread in a non-systematic and non-repeated way. Because
they usually are very heavily damped and because structural modes usually are lightly
damped we can exclude a large parts of the noise modes from the analysis by looking at
the damping of a mode. If the damping ratio is larger than some predefined value, say e.g.
5%, then the mode is problably a noise mode. The setting of the range of the damping ratio
of a structural mode is performed in the Modal Indicator tab of the Control Panel. Modes
having damping ratios outside this range are characterized as noise modes and marked in
the stabilization diagram with yellow diagonal crosses. Besides being marked they are also
excluded completely from the evaluation of stable/unstable modes.
Estimating a Range of State Space Models

When you start the Stochastic Subspace Identification editor the first time after having
processed the loaded data you will see a window like below:
As seen no state space models have been estimated yet. Now in order to find a sensible
range of models to estimate you should firstly inspect the singular values of the weighted
common SSI input matrix. These value can be inspected in the window located right-most in
the editor. For the above example the window is shown below:
The singular values (the yellow horizontal bars) indicate the rank of the weighted common
SSI input matrix. What you are doing when you estimate a state space model is to specify
what subspace of singular values of this matrix to include in the estimation. This subspace
should at least include all singular values significantly different from zero. In order to make
the inspection easier we have normalized the singular values so that they are located
between 0 and 1.
In the figure we have as illustration selected a model with state space dimension 11. In this
case the blue horizontal bars indicate the subspace being included in the estimation of this
model. However, in the present case a good starting point is to estimate models with
dimension around 40 (shown at the vertical axis).
So let us estimate models with state space dimensions from 30 to 50. We select the
desired range by pointing at the dimension 50 with the mouse and pressing the left mouse
button. Keeping the mouse button down drag the mouse to the dimension 30 as shown
below:
In the information window to the right we see that we have selected 21 models. To estimate
these you can either press the <Return> key, press the Estimate Model(s) button on
the Modal Toolbar or select the menu item Estimate Selected Models from the context
sensitive menu or the Project, Stochastic Subspace Identification, Data Driven
Estimation menu.
Note: You can also select the range using the keys <Shift + Arrow Down> or <Shift +
Arrow Up>.
The state space models are then estimated as shown below:

When finished estimating a result as below appear:
During the estimation information is written to the Estimation Status window. Here you get
information about the condition of the state space models that also can assist you in judging
whether you should increase the estimated range of models or not.
The next task is then to verify if one of the estimated state space models is adequate. First
you narrow range by decreasing the maximum allowed deviation of the modal indicators.
Then you inspect the modal result of the candidate models by pointing the blue cursor
rectangle at the models and looking in the Modal Results window and the three validation
windows. If you are unsure about the result try to extent the range of estimated models. If a
state space model seems to be apropiate you select it for Mode Selection and Linkage
(see below).
If you have more than one data set in the project you open the Project Control window and
changes to the next data set. You can then go back to the Stochastic Subspace
Identification editor and estimate an adequate state space model for this data set.
Note: If the modes does not seem to stabilize properly, or if a presumably adequate model
is close to the maximum state space dimension, or if the singular values of the weighted
common SSI matrix does not drop close to zero at say half of the maximum state space
dimension, you should definitely try to increase the maximum state space dimension in the
Signal Processing Configuration Selected for Analysis. This is done in the Signal Processing
Configuration wizard. An example of a bad situation is shown below for the same building
model data set and with the same choice of modal indicators. The problem is that the
maximum state space dimension only is 16 instead 80 as before.
Find the Optimal of State Space Model
When you have estimated a range of models that seem to stabilize properly the next task is
to find the optimal model among the estimated ones. There might not be one, but a tool that
can help you figure this out is the socalled Final Prediction Error (FPE) criterion. In the
figure below a range of models have been estimated.
To the right the Final Prediction Error criterion is presented for all the estimated models.
The absolute value of this criterion is unimportant which is why it has been normalized with
the maximum value to yield values between 0 and 1. The idea of the criterion is the
following: When the model order increase more and more details of the measured response
are modelled resulting in a smaller error between the measured response and what can be
predicted by the model. So tha variance of the socalled prediction error descrease as the
model order increase. On the other hand, when the model order increase more and more
parameters are used resulting in an increase of the estimation uncertainty of the individual
parameters. So as the model order increase so do the parameter uncertainties. This
seemingly paradox is what the FPE criterion is trying to visualize, and is why there is a
minimum around model order 40 in the above FPE diagram. For the small model order the
criterion is descreasing because the prediction error variance is decreasing. For large
model orders the criterion is increasing because the number of parameters is becoming
unnecessary large. The criterion is actually constructed by merging the two lines in the
figure below:
The model order (state space dimension) where lines are crossing is where the FPE
criterion will be minimum. At minimum there is a good balance between the use of
parameters and the accuracy of the model. This minimum is a good initial place to start
your model validation.
Selecting a Candiate Model for Mode Selection and Linkage
When you have found an adequate state space model you must select it for mode selection
and linkage. The mode selection and linkage is performed in the associated Select and Link
Modes editor, and it means that you select which of the modes of the state space model
that are structural and you link the mode shapes of these modes together across the data
sets.
First you move the blue cursor rectangle to the adequate model, then secondly you select
the menu item Select Cursor Model for Mode Selection and Linkage from the context
sensitive menu as shown below:
You are then informed that any previous selected and linked modes now will be overwritten
by this action, and when you remove the cursor rectangle from the model you will then see
a red rectangle that is locked to this model to indicate the selection.
You can always go to the associated Select and Link Modes editor and inspect how the
stable modes of this state space model compares to the stable modes of the other data
sets.
Change the Appearance of the Stabilization Diagram
You can modify the appearance of the wall-paper with the Singular Value Decomposition of
the spectral density matrices as well as the color of the eigenvalue markers. This is done
by activating the Properties dialog from either the context-sensitive menu or the View menu.
In both cases, select the menu item Properties ....
Zooming on the Axes
As explained above, the horizontal axis is a frequency axis ranging from zero to the Nyquist
frequency. This frequency range can be adjusted using the 2D-Displays tab of the Control
Panel. Use the sliders of the group shown below:
The vertical axis list the dimensions of the available state space models, ranging from 1 to
the maximum state space dimension specified in the Signal Processing Configuration
Selected for Analysis. To select another range of models to present you should do the
following:
Use the mouse to select the range of models you want to have presented. Click with the
left mouse button on the state space dimension of the first model to present. Keep the
mouse button down and drag the mouse to the state space dimension of the last model
to present.
1.
Click on the right mouse button to activate the context-sensitive menu. Select the menu
item Show Models in Selected Range as shown below.
2.
To return to the full range that presents all available models just activate the context-
sensitive menu and select the menu item Show all Models.
Exporting Estimated State Space Models
You can export the estimated state space models to a file in ASCII format. To export either
the Cursor Model of the Model Selected for Mode Selection and Linkage, right-click the
mouse to activate the context-sensitive menu. From the Export menu item select the model
you want to export.
The Properties Dialog (SSI)
(Pro version only)
You can modify the appearance of the wall-paper of the stabilization diagram with the
Singular Value Decomposition of the spectral density matrices as well as the color of the
eigenvalue markers. This is done by activating the Properties dialog from either the context-
sensitive menu or the View menu. In both cases, select the menu item Properties ....
Changing the color of the eigenvalue markers is performed in the property page called
Mode Markers shown below:
Just press the color-well button of the markers you want to change the color of. Select one
of the predefined colors or press the Other button to define any color you like from the
standard Windows color dialog. When you change the colors the changes are also made in
the Select and Link Modes editor.
Changing the wall-paper with the Singular Value Decomposition of the spectral density
matrices is performed in the property page called SVD shown below:
If there are many transducer in the data set it might be too much to present all the singular
value lines. Typically you can see all the modal content of the data using only a few of the
dominating singular value lines. You can change the number of singular values presented in
the edit box.
Validate Response Predictions (SSI)
(Pro version only)
One way to validate an estimated model is to compare the response that can be
synthezised using the model with the actual measurements. This is what can be done when
activating the Validate Response Predictions. The are three ways of doing this:
Compare Spectral Density Magnitudes
Compare Spectral Density Phase Angles
Compare Correlation Functions

The Validate Response Tabs - Spectral Density Magnitude
(SSI)
(Pro version only)
To assist in the selection of an adequate state space model you can display the magnitude
of the spectral densities of the data together with synthesized spectral densities of the
selected model and the model selected for mode selection and linkage. You simply select
the state space models in the stabilization diagram and press the Spectral Density
Magnitude tab under the Validate Response Predictions main tab in the Stochastic
Subspace Identification editor.
If the dynamics as well as the statistical properties are correctly estimated the synthesized
spectral densities should be comparable with the spectral densities of the data.
Below the magnitude of the spectral densities of the data of the building model example are
displayed together with two different state space models estimated using the Canonical
Variate Analysis algorithm:
The green curve is the magnitude of the spectral density of the measured data. The blue
curve is the magnitude of the synthesized spectral density of the cursor model, i.e. the state
space model selected using the blue cursor rectangle in the stabilization diagram. Finally,
the red curve is the magnitude of the synthesized spectral density of the model selected for
mode selection and linkage, i.e. the state space model selected using the red cursor
rectangle in the stabilization diagram.
The Validate Response Tabs - Spectral Density Phase (SSI)
(Pro version only)
To assist in the selection of an adequate state space model you can display the phase
angle of the spectral densities of the data together with synthesized spectral densities of
the selected model and the model selected for mode selection and linkage. You simply
select the state space models in the stabilization diagram and press the Spectral Density
Phase tab under the Validate Response Predictions main tab in the Stochastic Subspace
Identification editor.
spectral densities should be comparable with the spectral densities of the data.
Below the phase angle of the spectral densities of the data of the building model example
are displayed together with two different state space models estimated using the Canonical
The green curve is the phase angle of the spectral density of the measured data. The blue
curve is the phase angle of the synthesized spectral density of the cursor model, i.e. the
state space model selected using the blue cursor rectangle in the stabilization diagram.
Finally, the red curve is the phase angle of the synthesized spectral density of the model
selected for mode selection and linkage, i.e. the state space model selected using the red
cursor rectangle in the stabilization diagram.
The Validate Response Tabs - (SSI)
(Pro version only)
To assist in the selection of an adequate state space model you can display the correlation
function of the data together with synthesized correlation function of the selected model and
the model selected for mode selection and linkage. You simply select the state space
models in the stabilization diagram and press the Correlation Function tab under the
Validate Response Predictions main tab in the Stochastic Subspace Identification editor.
The presented correlation function have been normalized so that the auto-correlation
function starts in 1. For this reason it is called a normalized correlation function.
normalized correlation function should be comparable with the normalized correlation
function of the data.
Below the normalized correlation function of the data of the building model example are
The green curve is the normalized correlation function of the measured data. The blue curve
is the synthesized normalized correlation function of the cursor model, i.e. the state space
model selected using the blue cursor rectangle in the stabilization diagram. Finally, the red
curve is the synthesized normalized correlation function of the model selected for mode
selection and linkage, i.e. the state space model selected using the red cursor rectangle in
the stabilization diagram.
Note: Correlation functions can only be calculated for stable state space models. Whether
a model is stable or not can be seen in the Estimate tab window. You can use the general
2D data display options with this display.
Validate Prediction Errors (SSI)
(Pro version only)
Another way to validate an estimated model is to compare the prediction errors between
the response that can be synthezised using the model with the actual measurements. This
is what can be done when activating the Validate Prediction Errors. The are four ways of
doing this:
Compare Spectral Density Magnitudes
Compare Spectral Density Phase Angles
Compare Correlation Functions

The Validate Prediction Errors Tabs - Spectral Density
Magnitude (SSI)
(Pro version only)
To assist in the selection of an adequate state space model you can display the magnitude
of the spectral densities of the prediction errors between the response, that can be
synthezised using the model, with the actual measurements. These results can be displayed
for the selected model and the model selected for mode selection and linkage. You simply
Magnitude tab under the Validate Prediction Errors main tab in the Stochastic Subspace
If the dynamics as well as the statistical properties are correctly estimated the spectral
densities of the prediction errors should be a flat spectrum, indicating that the prediction
errors are a realization of a white noise stochastic process. In practice the spectrum can
only be flat in the parts where no deterministic components are present. This means e.g.
below the cut-off frequency of the anti-alias filter. If the measurements contain information
about e.g. rotating machinery there will also be errors around the harmonics presented.
However, prediction errors can efficiently reveal the good and bad areas of the model fit.
Below the magnitude of the spectral densities of the data of the building model example are
The blue curve is the magnitude of the spectral density of the prediction errors of the cursor
model, i.e. the state space model selected using the blue cursor rectangle in the
stabilization diagram. Finally, the red curve is the magnitude of the spectral density of the
prediction errors of the model selected for mode selection and linkage, i.e. the state space
model selected using the red cursor rectangle in the stabilization diagram. It is seen that the
red curve is completely flat from 0 to the cut-off frequency, indicating that all significant
information is present in the model. The blue curve on the other hand reveal that some
information in the data is not present in the model. So the red curve model is in the case the
most optimal one.
Note: Prediction errors of a model can only be calculated if response predictor of it is

stable. This can be verified in the Estimate tab window.You can use the general 2D data
display options with this display.
The Validate Prediction Errors Tabs - Spectral Density
Phase (SSI)
(Pro version only)
To assist in the selection of an adequate state space model you can display the phase of
the spectral densities of the prediction errors between the response, that can be
synthezised using the model, with the actual measurements. These results can be displayed
for the selected model and the model selected for mode selection and linkage. You simply
Phase tab under the Validate Prediction Errors main tab in the Stochastic Subspace
If the dynamics as well as the statistical properties are correctly estimated the spectral
densities of the prediction errors should be a flat spectrum with random phase angles for all
off-diagonal elements of the spectral density matrix, indicating that the prediction errors are
a realization of a white noise stochastic process. In practice this can only be accomplished
in the parts where no deterministic components are present. This means e.g. below the cut-
off frequency of the anti-alias filter. If the measurements contain information about e.g.
rotating machinery there will also be deterministic phase angles around the harmonics
presented. However, prediction errors can efficiently reveal the good and bad areas of the
model fit.
Below the phase angles of the spectral densities of the data of the building model example
are displayed together with two different state space models estimated using the Canonical
The blue curve is the phase angles of the spectral density of the prediction errors of the
cursor model, i.e. the state space model selected using the blue cursor rectangle in the
stabilization diagram. Finally, the red curve is the phase angles of the spectral density of the
prediction errors of the model selected for mode selection and linkage, i.e. the state space
model selected using the red cursor rectangle in the stabilization diagram. It is seen that the
red curve is switching randomly between +180 degrees and -180 degrees, indicating that all
significant information is present in the model. The blue curve on the other hand reveal that
some information in the data is not present in the model. So the red curve model is in the
case the most optimal one.

stable. This can be verified in the Estimate tab window.You can use the general 2D data
The Validate Prediction Errors Tabs - Correlation Function
(SSI)
(Pro version only)
To assist in the selection of an adequate state space model you can display the correlation
functions of the prediction errors between the response, that can be synthezised using the
model, with the actual measurements. These results can be displayed for the selected
model and the model selected for mode selection and linkage. You simply select the state
space models in the stabilization diagram and press the Correlation Function tab under
the Validate Prediction Errors main tab in the Stochastic Subspace Identification editor.
If the dynamics as well as the statistical properties are correctly estimated the correlation
function of the prediction errors should be nearly zero for all time lags greater that zero,
indicating that the prediction errors are a realization of a white noise stochastic process. In
practice this can only be accomplished if no deterministic components are present.
However, there will almost always be some influence from the anti-alias filter. This is a high-
frequent contamination of the data which will turn up as contamination of the beginning of
the correlation function. Compared to the spectral density inspections of the prediction
errors, the correlation functions are a more global measure of the quality of the model fit. If
the is only a slight contamination in the beginning it is an indication that overall the model is
good.
Below a prediction error correlation function of the data of the building model example is
The blue curve is the correlation function of the prediction errors of the cursor model, i.e.
the state space model selected using the blue cursor rectangle in the stabilization diagram.
Finally, the red curve is the correlation function of the prediction errors of the model
selected for mode selection and linkage, i.e. the state space model selected using the red
cursor rectangle in the stabilization diagram.
It is seen that the red curve is overall close to zero correlation for the non-zero time lags,
indicating that all significant information is present in the model. The blue curve on the other
hand reveal that some information in the data is not present in the model. So the red curve
model is in the case the most optimal one. The display also present the 95% confidence
limits of white noise. If all correlation function estimates available, for all non-zero time lags,
are lying inside these limits, it can cannot with more that 5% confidence be rejected that the
prediction errors are not a realization of a white noise process.

stable. This can be verified in the Estimate tab window. You can use the general 2D data
The Modal Indicators Tab
(Pro version only)
You use the modal indicators tab to set the modal indicators used in the Stochastic
Subspace Identification editor.
To enable the use of different symbols for stable/unstable modes as well as noise noise in
the Stabilization Diagram of the Stochastic Subspace Identification editor you should check
the box labeled Enable Mode Indication on Stabilization Diagram.
If the deviations of the Natural Frequency, the Damping Ratio, the Mode Shape MAC and
of the Initial Modal Amplitude MAC all are less than the maximum allowed deviations
specified in the Control Panel, then a mode is charaterized as stable. You set these
maximum allowed deviations in the four edit boxes of the control group called Deviations
for Stable Modes between Consequtive Models. Deviations for one model are
determined by comparing with the model one model order lower.
Typically, structural modes are lightly damped. This means that many modes can be
excluded from the search for stable modes. The exclusion can be obtained by setting the
range of the damping ratio of stable structural modes. You set this range using the two edit
boxes of the control group called Expected Range of Modal Parameters. This range is
characterized by a minimum damping ratio and a maximum damping ratio both specified in
per cent.
When you have set the values you want to change you simply press the <Return> key.
The Estimation Status Tab (SSI)
(Pro version only)
The Estimation Status window present you with information about the progress and
condition of the state space realization estimation. In general there are three types of
information presented for each of the estimated model as shown in the example below:
In this a state space realization with a dimension of 17 has been estimated. The information
you get is:
Numerical performance of the estimation algorithm.
The following messages are possible events:
The estimation were successfully

Estimation: OK completed without numerical
problems.
The estimation were skipped

Estimation: Skipped - Already estimated since the state space model
already is estimated.
1.
An unexpected internal error
Estimation: Warning - Internal estimation failure
occurred during estimation.
The part of the state space

model that relate to the
Estimation: Warning - Statistical part of model
statistical modelling of the data
may be inaccurate
could not be completed
successfully.
Model stability.
The estimated state space model is of the following form (see the Technical Note on
the Stochastic Subspace Identification Techniques for more information)
As you can see the upper part of the state space system is a recursive formula. The
recursion will only be stable if all the eigenvalue of the state matrix A are located
inside the complex unit circle. In this case the model is called stable. If one or more
eigenvalues are outside the complex unit circle this recursion breaks down due to
floating-point overflow. In this case the model is called unstable. Therefore, unstability
2. is an indicator for that at least some parts of the system dynamics are porely
estimated.
Model: All eigenvalues of the state matrix A are located inside the complex
Stable unit circle.
Model: One or more eigenvalues of the state matrix A are located outside the
Unstable complex unit circle.
Response predictor stability.
From the estimated state space model a socalled steady-state Kalman filter can be
established as shown below (see the Technical Note on the Stochastic Subspace
Identification Techniques for more information)
With this filter you can make predictions of the future system response based on your
measured system response. You can also use the filter the calculate the socalled
prediction error which is actually a very powerfull validation tool.
As you can see the upper part of the filter is a recursive formula. The recursion will
only be stable if all the eigenvalue of the matrix A-KC are located inside the complex
3. unit circle. In this case the filter is called stable. If one or more eigenvalues are
outside the complex unit circle this recursion breaks down due to floating-point
overflow. In this case the filter is called unstable. Therefore, unstability is an indicator
for that at least some parts of the system dynamics and / or the statistical modelling
are porely estimated.
Response Predictor: All eigenvalues of the state matrix A-KC are located inside
Stable the complex unit circle.
Response Predictor: One or more eigenvalues of the state matrix A-KC are
Unstable located outside the complex unit circle.
You can use the following quadrature as a rough guideline when evaluating the health of an
estimated state space model. However, always use all the available validation techniques of
the Stochastic Subspace Identification editor. There are not two identifications that are the
same.
Model: Unstable / Response Predictor:

Stable
In this case the overall dynamics will

Model: Stable / Response Predictor:
probably be estimated more or less
Stable
correctly. However, the modal parameter
This is the most desirable condition for the estimates may be inaccurate since parts of
estimate. Both dynamics as well as the the dynamics are wrongly estimated. Since
statistical modeling seems to be good. the response predictor is stable it is an
indication that the unstable part of the model
If the model is large enough the modal only contribute a little to the system
parameters as well as synthesized spectral response.
densities and correlation functions will
probably be of good quality. If the model is large enough the modal
parameters as well as synthesized spectral
densities and correlation functions could be
of fairly good quality.
Model: Stable / Response Predictor:

Unstable
In this case the dynamics will probably be Model: Unstable / Response Predictor:
estimated more or less correctly. However, Unstable
the modal parameter estimates may be
This is the most undesirable condition for the
inaccurate since the statistical modeling of
estimate. Both dynamics as well as the
the state space model is wrongly estimated.
statistical modeling are wrongly estimated.
If the model is large enough the modal You should avoid using a model like this.
parameters could be of fairly good quality.
However, the synthesized spectral densities
and correlation functions will probably be of
bad quality.
The Modal Results - Cursor Model Tab
(Pro version only)
The Modal Results - Cursor Model window present the natural frequencies and damping
ratios of all the modes of the currently selected state space model, i.e. the model selected
by the blue cursor rectangle.
In the case of the building model example the window could look like below:
Here the result of a 21 dimensional state space model is presented. What is presented
from left to right in the stabilization diagram is presented from top to bottom in the Modal
Results window. For each mode the table present the natural frequency, the damping ratio
and a remark. If the mode is visible in the stabilization diagram the remark indicate literally
and with a color if the mode is stable, unstable or just a noise mode. If the natural frequncy
is outside the current frequency axis or larger than the Nyquist frequency the remark is Not
Plotted. If the natural frequency becomes negative or the damping ratio is lying outside the
range from 0 to 100% the remark will say NaN (Not a Number). This can happen for
computational (noise) modes.
As shown above, it is sometimes difficult to see very close modes in the stabilization
diagram. However, this is of course not a problem in the table of the Modal Results window.
The Modal Results - Model Selected for Select & Link Tab
(Pro version only)
The Modal Results - Model Selected for Select & Link window present the natural
frequencies and damping ratios of all the modes of the mode selected for Select & Link, i.e.
the model selected by the red cursor rectangle.
In the case of the building model example the window could look like below:
Here the result of a 30 dimensional state space model is presented. What is presented
from left to right in the stabilization diagram is presented from top to bottom in the Modal
Results window. For each mode the table present the natural frequency, the damping ratio
and a remark. If the mode is visible in the stabilization diagram the remark indicate literally
and with a color if the mode is stable, unstable or just a noise mode. If the natural frequncy
is outside the current frequency axis or larger than the Nyquist frequency the remark is Not
Plotted. If the natural frequency becomes negative or the damping ratio is lying outside the
range from 0 to 100% the remark will say NaN (Not a Number). This can happen for
computational (noise) modes.
As shown above, it is sometimes difficult to see very close modes in the stabilization
diagram. However, this is of course not a problem in the table of the Modal Results window.
Unweighted Principal Component (SSI)
(Pro version only)
The Stochastic Subspace Identification techniques all uses the same estimation engine for
estimation of state space realizations (models). In general, the input to this engine is a
weighted version of the so-called Common SSI Input matrix that consist of compressed
time series data. The difference between the three Stochastic Subspace Identification
techniques is how this matrix is weighted.
The Unweighted Principal Component algorithm is the most simple because no weighting is
performed at all. So the input to the estimation engine is the Common SSI Input matrix
itself. This algorithm works best with data having modes with comparable energy level. In
such cases it will produce good results using resonable small state space dimensions.
The Stochastic Subspace Identification editor initialized for state space estimation using the
Unweighted Principal Component algorithm can be launched either from the SSI Pane of the
Task Bar by pressing the button called UPC Estimation or from the Project, Stochastic
Subspace Identification, Data Driven, Unweighted Principal Component menu item.
works and the specific mathematical formulation of the Unweighted Principal Component
algorithm.
Principal Component (SSI)
(Pro version only)
Principal Component algorithm can be launched either from the SSI Pane of the Task Bar by
pressing the button called PC Estimation or from the Project, Stochastic Subspace
Identification, Data Driven, Principal Component menu item. This algorithm works best
with data having modes with comparable energy level. In such cases it will produce good
results using resonable small state space dimensions.
works and the specific mathematical formulation of the Principal Component algorithm.
Canonical Variate Analysis (SSI)
(Pro version only)
Canonical Variate Analysis algorithm either from the SSI Pane of the Task Bar by pressing
the button called CVA Estimation or from the Project, Stochastic Subspace
Identification, Data Driven, Canonical Variate Analysis menu item. This algorithm
typically forces the use of a larger state space dimension that the two other available
algorithms. The reason is its ability to estimate modes with a large difference in energy
level. In order to see low excited modes among well-excited modes, it is necessary to force
a large state space dimension. If you have data only with well-excited modes use e.g. the
Unweighted Principal Component algorithm instead as your first choice.
works and the specific mathematical formulation of the Canonical Variate Analysis
algorithm.
The Select and Link Modes Editor
(Pro version only)
When you have completed the estimation of state space models for all data sets using a
specific Stochastic Subspace Identification technique the next step is to launch the Select
and Link Modes editor associated with the specific estimation technique. The Select and
Link Modes editor can be initialized for use with the three different Stochastic Subspace
Identification techniques:
Unweighted Principal Component
Principal Component
Canonical Variate Analysis
However, no matter which technique you have used to estimate the state space models for
each of the data sets of the project the way to operate the Select and Link Modes editor is
the same.
The Select and Link Modes editor have three windows which are:
The Select & Link window.
The Animate window.
The Mode List window.
The mode selection and linkage is performed in the editor of the Select & Link tab window
and the result can be verified immediately after in the Animate tab window. The estimated
modes are listed in the mode list window. When no modes have been found this list is
empty and the window is gray.
In case of the building mode example the editor look as below after selecting and linking the
stable modes of the state space models estimated using the Stochastic Subspace
Identification editor for both data sets:
The Select & Link Tab (Select and Link Modes)
(Pro version only)
In the case of the building model example the Select & Link tab window looks as below
when started after an adequate state space model has been estimated and selected for
each of the two data sets:
The left-most window is the Select & Link editor where you estimate the modes. The
horizontal axis is a frequency axis ranging from zero to the Nyquist frequency. The vertical
axis list the data sets by their order in the Data Set tree in the Project Control window. Data
set number 1 is the first tree item and so on.
To the right you can get information about the currently selected frequency and the data set
the mouse will snap on. In addition there is a legend explaining that an estimated mode is
marked using a brown box and an estimated and selected mode is marked by a blue box.
Further, there are three legends explaining how the mode markers of stable, unstable and
noise modes appears.
As a wall-paper, the Select & Link editor displays singular values of the spectral density
matrices that has been normalized with respect to the area under the largest singular value
curve. If multiple data sets are present the normalized singular values calculated for each
data set have been averaged to obtain the displayed curves. The absolute scaling of the
singular values is arbitrary since their peaks are only used to indicate where structural
modes might be.
In the present example there are two data sets each with four transducers, and in order to
obtain the presented four curves the following operations have been performed:
1. The 4x4 dimensional spectral density matrices of data sets 1 and 2 have been
estimated.
2. For both data sets all the spectral density matrices have been decomposed using the
singular value decomposition. The result is 4 singular values and 4 singular vector for
each of the spectral density matrices. The singular values and the singular vectors are
ordered in singular value descending order for each of the spectral density matrices,
i.e. the first singular value is the largest.
3. For each data set the singular values are normalized. The normalization factor
corresponds to the area under the first singular value curve. This normalization prevent
that week modes only appearing in one or few data sets disappear.
4. Finally, the first singular value curve of both data sets are averaged frequency by
frequency. This operation is repeated for the second, third and fourth singular value
curves.
By using these averaged singular value curves all modal information can be presented in
one display no matter how many transducers and data sets there are. Since this normalized
and averaged curve is constructed from several transducers and several data sets the dB
reference value of this display is always chosen as 1. If you want to zoom to a specific
frequency range you can do this from the 2D-Displays tab of the Control Panel.
Estimating a New Well-separated Mode
The way to estimate a mode in this Select & Link editor is illustrated below:
You can either press the New Mode button in the Modal Toolbar as shown in the lower
left corner, or you can use the context-sensitive menu and select the New Mode menu item.
In both cases a blue vertical cursor will appear together with blue diamonds that snaps to
the nearest local mode of each data set as shown below:
The cursor line shows the frequency position of the mouse pointer. In the right-hand side
information window the location of the mouse pointer is presented in terms of the frequency
(Frequency) and nearest data set (Data Set) number.
To select and link all the snapped local modes, represented by the crosses selected by the
diamonds, simply double-click on the left-hand side mouse button. To abort the estimation
press the <Esc> key instead.
When the estimation is done the vertical line link the crosses that were used to create the
global mode. In the top and bottom the vertical line lock itself on the average frequency of
the estimated global mode. Further, a blue box will appear instead of the diamond to
indicate the crosses that were used to create the mode. Below the editor is shown after the
estimation:
As seen the global mode is now drawn in blue and in the Mode List below it is presented as
an icon. The mode remains drawn in blue as long as it is selected. You can now
immediately press the Animate tab to inspect the estimated mode shape.
A valuable hint is that you should normally make sure that the local modes you are snapping
on are stable modes (having red crosses). In this case you can inform the snap function to
disregard all local modes except the stable ones. This is accomplished by selecting the
menu item Snap on stabilized modes in the context-sensitive menu as shown below:
When enabled the menu item is replace by the Snap on all modes as shown below:
which will bring the snap function back to the default which is snapping on all the available
local modes.
Estimating Repeated Modes

If you have a system as the building model example with repeated modes things are a little
more complicated than if all modes are well-separated as above.
To estimate the two repeated modes at 56 Hz in the building model example it is

recommendable to zoom to a small frequency range around the repeated modes:
It is now clear that there are two almost repeated local modes in both data sets and it is no
longer a difficult task to estimate both of them as shown below:
Editing a Mode Already Estimated
You can always edit the currently selected (blue) mode. In this case you edit the existing
local modes data set per data set.
This feature is very applicable in cases with close modes as is the case in the example
below:
It might be that the local mode seems wrong for e.g. data set number 2. To activate the edit
mode, start by selecting the mode you want to edit. Then click the edit mode button on
the Modal Toolbar. You can also activate the edit mode from the context-sensitive menu by
selecting the menu item Edit Mode as shown below:
You have then activated the edit mode which will stay active until you either press the button
/ menu item agin or press the <Return> key, or the <Esc> key or the Animate tab in the
editor.
When you press the left-hand mouse button down and keep it down you will see a blue
diamond drawn around the cross of the local mode nearest to the mouse pointer with a
gray cursor image behind as shown bellow:
The gray cursor image show which local mode/data set you are editing since the gray lines
are drawn from the original position of the local modes of the surrounding data sets. The
blue diamond shows you the currently snapped local mode. If you release the mouse button
the new local mode will be used instead of the old and the global mode is be re-estimated
as shown below:
Removing a the Local Mode of a Data Set
If the project has nultiple data sets and you want to exclude the influence of some of these
data sets on a mode you can remove the data set while the edit mode is turned on.
Point at the local mode/data set you want to exclude an select the menu item Remove
Data Set from Mode from the context menu as shown below:
There will then no longer be a blue box surrounding the local mode. To include the data set
again simply point and click on a local mode of the data set.
Deleting a Mode
You can always delete the currently selected (blue) mode either by pressing the <Del> or
<Delete> keys, or from the context-sensitive menu by selecting the Delete Mode menu
item as shown below:
The Animate Tab (Select and Link Modes)
(Pro version only)
When you have selected a mode either from the Select & Link editor window or from the
Mode List you will immediately be able to see its mode shape animated by pressing the
Animate tab.
In case of the building model example a mode being animated is show below:
The animation window support the general 3D display options. While the window is active it
is not possible to create new mode nor edit modes nor delete modes. Further, it is only
possible to copy and print the window when the animation is stopped.
The Mode List (Select and Link Modes)
(Pro version only)
The mode list is continuously updated with the modes estimated by the Select & Link editor.
You can use the list to select the mode to animate the mode shape of in the animate tab
window or the mode to edit in the Select & Link tab window.
Specifically, the list presents the following information about an estimated mode:
Mode. A short information string presenting the natural frequency and the estimator.
Natural frequency (Frequency [Hz]). In case of multiple data sets, the presented value
is the average of the natural frequency estimates of the individual data sets. In this
case the standard deviation of the resulting natural frequency is also presented (Std.
Frequency [Hz]).
Damping ratio (Damping Ratio [%]). In case of multiple data sets, the presented value
is the average of the damping ratio estimates of the individual data sets. In this case
the standard deviation of the resulting damping ratio is also presented (Std. Damping
Ratio [%]).
Comment. A user-specified comment about the mode.
Creation Date & Time. The time and date this mode were created.
different export formats are available, the ASCII Universal File Format or the SVS ASCII
format.
(Pro version only)
You can change the appearance of the singular value curves of the Select & Link editor
window by selecting the Properties... menu item either from the View menu or from the
context-sensitive menu as shown below:
In either case the following dialog with five tabs appear:

From the SVD tab you can select how many singular value curves you want to display:
Since you are always picking the modes from the largest singular value, selecting a number
less than the actual number of curves will hide the curves of the smallest singular values.
The Geometry tab belongs to the Animate tab window of the Select and Link Modes editor.
and deformed geometry. You change the colors by pressing the appropiate color well
button.
In the Export tab you can select the export format to use when saving modes in ASCII files.
UNIX environment, it is necessary to specify to what environment files are exported. By
default the PC environment is selected. In addition, it is sometimes preferred only to export
nodes and trace lines in which case the export of surfaces can be disabled by unchecking
the last box.
Finally, in the last tab you can set up the AVI Movie recorder. In this dialog the default
settings of the mode animation AVI movie recorder can be modified. When the application is
started the computer is searched for applicable AVI compression drivers. These are
displayed in the drop-down list called Compression Mode. It is also possible to select the
uncompressed file format. However, this is not recommendable due to the unnecessary size
of the generated AVI movie files.
Mode Comparison Window
The philosophy of ARTeMIS Extractor is that you use different modal identification
techniques to actually identify the same modes. In this way you cross-validate the results
and thereby make a quality control of the modal results. It is pretty straight forward to
compare natural frequencies and damping ratios of the estimates modes. However, to
compare the mode shapes in case of complex structure ARTeMIS Extractor has a visual
tool for this purpose. This tool is called the Mode Comparison window.
In the Mode Comparison window you can compare the modes from different techniques of
the same project but also across projects as long as the geometries of the two projects are
exactly the same. Below you can see a typical comparison situation:
The Mode Comparison window consist of the following windows:
The Project Modes Trees.
The Information Tab.
The Overlaid Animation Tab.

The Error Animation Tab.
The Side by Side Animation Tab.
The MAC Tab.
The idea is to compare only two project modes A and B at the same time. You select the
modes to compare from the Project Modes trees. From the Information tab window you
can get some information about the selected projects and modes as well as the nodal
differences between the modes. The Overlaid Animation tab window is shown above and is
used to animate the mode shapes together. In the Error Animation tab window the two
mode shapes are subtracted and the result is animated. In the Side by Side Animation the
two modes are animated next to each other. Finally, the Modal Assurance Criterion (MAC)
matrix between all the modes of the two selected modal identification techniques is shown
in the MAC tab window.
The Project Modes Tree (Mode Comparison Window)
When you start the Mode Comparison window the two Project Modes trees will look like
the example below:
Both of them list the project loaded into ARTeMIS Extractor. In this case we have the
building model example (mes32set.axp) and another project (AnotherProject.axp) loaded. If
you expand one of the projects you will get a list of the modal identification techniques
available:
You can see the four available techniques: the Frequency Domain Decomposition (FDD)
Peak Picking technique, the data driven Unweighted Principal Component (UPC) technique,
the data driven Principal Component (PC) technique and the data driven Canonical Variate
Analysis (CVA) technique. The techniques that have been used in the modal identification
are expandable, and as leaves the estimated modes of that specific technique are list:
For each of the modes the natural frequency (f) is presented as well as the damping ratio
(z).
Comparison Within the Same Project
The idea is that you select two modes A and B from the two threes which are then
compared in various ways in the other windows. Below we compare the third FDD mode
(Project Modes - A) with the third UPC mode (Project Modes - B):
Comparison Across Two Projects
You can also compare modes from different projects as long as the geometry of both
projects are equal. The geometries are equal if the node number, the node coordinates and
trace lines are the same. Such a case is shown below:
Comparison of Project Modes and Imported Modes
You can compare the modes of a project with modes created by modal software from third
party software vendors. The third party software could be other modal analysis software
packages or Finite Element Method (FEM) software. In this way you can make verification
of results obtained in different ways using the Mode Comparison Window.
Importing a Mode
First you have to select the project you want to import a mode to. You do this by clicking
anywere on the Project Modes Tree of that specific project:
Then right-click the mouse button to activate the context-sensitive menu and select the
menu item Import Modes, UFF ASCII Format:
An Open dialog will appear and you will be asked to enter the name and location of the file
that contains the ASCII Universal File Format representation of the mode you want to
import. The ASCII Universal File Format representation of the mode must fullfill the same
requirements as modes being exported in ASCII Universal File Format.
Note: The imported mode must contain the same node numbers and node coordinates as
the project modes.
The imported modes will then be located in the Imported Modes folder as shown below:
The modes can now be accessed on the same terms as any other modes of that specific
project.
Delete an Imported Mode
To delete an imported mode from a project you simply select the imported mode and right-
click the mouse to activate the context-sensitive menu. From this menu you select the menu
item Delete Imported Mode:
You can also use the <Del> key to delete the selected mode.
The Information Tab (Mode Comparison Window)
When you start the Mode Comparison window the first tab window to appear is the
Information window. In the example below two modes from different modal identification
techniques but from the same project have been selected using the Project Modes trees:
This window is divided horizontally into two. In the lower window the errors between the
mode shapes of the two modes in each of the principal X, Y and Z directions of each node
are presented in a table. The table consists of the following columns:
1. DOFs - The node number.
2. Direction - The principal direction in the global X, Y and Z coordinate system.
3. Magnitude(A-B) - The absolute value of the complex valued error.
4. Phase(A-B) - The phase angle of the complex valued error.
5. Real(A-B) - The real part of the complex valued error.
6. Imag(A-B) - The imaginary part of the complex valued error.

Each of the columns are sortable in both ascending and descending order which makes it
easy to inspect where the largest and smallest error are.
Note: The errors presented are the resulting errors of all nodes after slave node equations
have been applied.
In the upper part, textural information about the two project modes are presented. For each
of the two project its title is shown and which mode is selected and from what modal
identification technique. Additionally, the Modal Assurance Criterion between these two
modes is presented. Finally, information relating to the selected node in the lower window is
presented.
The Overlaid Animation Tab (Mode Comparison Window)
When you start the Mode Comparison window the second tab window to appear is the
Overlaid Animation window. In the example below two different estimates of the same
mode but from the same project have been selected using the Project Modes trees:
The blue deformed geometry relates to the selection in the Project Modes - A tree,
whereas the red deformed geometry relates to the selection in the Project Modes - B tree.
The yellow undeformed geometry can be removed from the 3D-Displays tab of the Control
Panel.
Note: The two mode shapes are automatically phase corrected for synchronized animation.
The window support the general 3D display options. While the window is animating it is not
possible to copy and print the window.
The Error Animation Tab (Mode Comparison Window)
When you start the Mode Comparison window the third tab window to appear is the Error
Animation window. In the example below two different estimations of the same mode but
from the same project have been selected using the Project Modes trees:
The blue slightly deformed geometry is the animation of the error added to the undeformed
geometry. The yellow undeformed geometry can be removed from the 3D-Displays tab of
the Control Panel. The scale of the animated error is the same as the scale of the Overlaid
Animation.
Note: The two mode shapes are automatically phase corrected before the errors are
calculated. The window support the general 3D display options. While the window is
animating it is not possible to copy and print the window.
Side by Side Animation Tab (Mode Comparison Window)
When you start the Mode Comparison window the fourth tab window to appear is the Side
by Side Animation window. In the example below two different estimates of the same mode
but from the same project have been selected using the Project Modes trees:
The blue deformed geometry relates to the selection in the Project Modes - A tree,
whereas the red deformed geometry relates to the selection in the Project Modes - B tree.
The yellow undeformed geometry can be removed from the 3D-Displays tab of the Control
Panel.
Note: The two mode shapes are automatically phase corrected for synchronized animation.
The window support the general 3D display options. While the window is animating it is not
possible to copy and print the window.
The MAC Tab (Mode Comparison Window)
When you start the Mode Comparison window the fourth and last tab window to appear is
the MAC window. In the example below two identical modes from different modal
identification techniques but from the same project have been selected using the Project
Modes trees:
The window presents the full Modal Assurance Criterion (MAC) matrix of all the modes of
the two selected modal identification techniques. As tic marks of the axes of this matrix has
the natural frequencies of the modes. As an additional label the project name shown
together with the name of the modal identification technique. The natural frequency of the
two selected modes are written in yellow.
If you want to change the three fundamental colors in the contour legend this is
accomplished by activating the context-sensitive Properties dialog as shown below:
The upper limit corresponds to a MAC value of 1, the middle to 0.5 and the lower to 0. In
this dialog you can also change the background color.
By selecting the Matrix Viewpoint in the context-sensitive menu as shown below:
the matrix is turned into a contour diagram as shown below:

Note: The window support the general 3D display options for static windows.
You can also get a tabular presentation of the MAC matrix by pressing the Table MAC
View tab. In this case the following Excel compatible table appear:
The rows correspond to the Project A modes and the columns to the Project B modes. This
is also marked on the project tree labels to the right. The maximum MAC number per row
or column is marked with a light red color. The MAC value between the selected modes are
marked with yellow. If you like to have the color codes from the 3D representation of the
matrix you simply activate the context-sensitive Properties dialog shown below:
and check the box called Syncronize color for table and press <OK>. Then the table will
looks as shown below:
The Properties Dialog - Overlaid Animation and Side by Side Animation Tabs
You can change the colors of the Overlaid Animation or Side by Side Animation Tab
windows from the Properties... menu item of the context sensitive menu or from the View
menu. Selecting this item start the Properties dialog:
geometry and deformed geometries of the two modes. In either case the color is change
using the color well button.
The last tab you can set up the AVI Movie recorder. In this dialog the default settings of the
mode animation AVI movie recorder can be modified. When the application is started the
computer is searched for applicable AVI compression drivers. These are displayed in the
drop-down list called Compression Mode. It is also possible to select the uncompressed file
format. However, this is not recommendable due to the unnecessary size of the generated
AVI movie files.
The Properties Dialog - Error Animation Tab
You can change the colors of the Error Animation Tabwindow from the Properties... menu
item of the context sensitive menu or from the View menu. Selecting this item start the
Properties dialog:
geometry and deformed geometry error. In either case the color is change using the color
well button.
The last tab you can set up the AVI Movie recorder. In this dialog the default settings of the
mode animation AVI movie recorder can be modified. When the application is started the
computer is searched for applicable AVI compression drivers. These are displayed in the
drop-down list called Compression Mode. It is also possible to select the uncompressed file
format. However, this is not recommendable due to the unnecessary size of the generated
AVI movie files.
The Properties Dialog - Project Modes Tree
UNIX environment, it is necessary to specify to what environment files are exported. In the
Export tab shown below you can select the export format to use when saving modes in
ASCII files.
SVS ASCII Format
You can export a list of estimated modes in the socalled SVS Format. This can be done
from the mode list of the FDD Peak Picking editor, the mode list of the Select and Link
Modes editor and from the Project Modes trees of the Mode Comparison window.
When exporting an ASCII file with extension .svs is created. The idea of this format is to
use a number of key word followed by values specific to that block. The philosophy is the
same as for the SVS Configuration File.
Since there can be information about multiple modes saved in the same file each mode
definition start with the keyword BEGIN MODE DEFINITION and ends with the keyword
END MODE DEFINITION.
Note: This format is still subject to changes.
Below an example (mes32set.axp) of such a file containing the information for one mode is
shown:
BEGIN MODE DEFINITION
ESTIMATOR
FDD
CREATION: DATE / TIME
27-11-2000 11:21:31
FREQUENCY [HZ]: MEAN / SDEV
3.368018e+001 0.000000e+000
DAMPING [%]: MEAN / SDEV
0.000000e+000 0.000000e+000
MODE SHAPE: NODE / X-ABS / X-ANG / Y-ABS / Y-ANG / Z-ABS / Z-ANG
1 0.000000e+000 0.000000e+000 0.000000e+000 0.000000e+000 0.000000e+000 0.000000e+000
2 6.623489e-001 -3.066718e+000 6.516432e-001 1.566424e-001 0.000000e+000 0.000000e+000
3 8.881654e-001 2.810976e+000 9.163309e-001 -2.093329e-001 0.000000e+000 0.000000e+000
4 0.000000e+000 0.000000e+000 0.000000e+000 0.000000e+000 0.000000e+000 0.000000e+000
5 6.623489e-001 -3.066718e+000 5.945545e-001 -2.872727e+000 0.000000e+000 0.000000e+000
6 8.881654e-001 2.810976e+000 9.488018e-001 3.038225e+000 0.000000e+000 0.000000e+000
7 0.000000e+000 0.000000e+000 0.000000e+000 0.000000e+000 0.000000e+000 0.000000e+000
8 5.946954e-001 3.609918e-001 6.516432e-001 1.566424e-001 0.000000e+000 0.000000e+000
9 1.000000e+000 0.000000e+000 9.163309e-001 -2.093329e-001 0.000000e+000 0.000000e+000
10 0.000000e+000 0.000000e+000 0.000000e+000 0.000000e+000 0.000000e+000 0.000000e+000
11 5.946954e-001 3.609918e-001 5.945545e-001 -2.872727e+000 0.000000e+000 0.000000e+000
12 1.000000e+000 0.000000e+000 9.488018e-001 3.038225e+000 0.000000e+000 0.000000e+000
END MODE DEFINITION

UFF ASCII Format
You can export a list of estimated modes in the ASCII Universal File Format (UFF). See e.g
This can be done from the mode list of the FDD Peak Picking editor, the mode list of the
Select and Link Modes editor and from the Project Modes trees of the Mode Comparison
window.
When exporting an ASCII file with extension .uff is created. This file will contain geometry
information in terms of UFF data set number 15 (nodes), UFF data set number 82 (trace
lines) and as many UFF data sets number 55 (modal results) as there are modes to be
exported.
Note: Only one global cartesian coordinate system is exported from the software. This
restriction is also imposed on any modes imported into the software through UFF ASCII
format.
Below an example (mes32set.axp) of such a file containing the information for one mode is
shown:
-1
15
1 0 0 0 0.00000E+00 0.00000E+00 0.00000E+00
2 0 0 0 0.00000E+00 0.00000E+00 1.50000E+01
3 0 0 0 0.00000E+00 0.00000E+00 3.00000E+01
4 0 0 0 1.50000E+01 0.00000E+00 0.00000E+00
5 0 0 0 1.50000E+01 0.00000E+00 1.50000E+01
6 0 0 0 1.50000E+01 0.00000E+00 3.00000E+01
7 0 0 0 0.00000E+00 1.50000E+01 0.00000E+00
8 0 0 0 0.00000E+00 1.50000E+01 1.50000E+01
9 0 0 0 0.00000E+00 1.50000E+01 3.00000E+01
10 0 0 0 1.50000E+01 1.50000E+01 0.00000E+00
11 0 0 0 1.50000E+01 1.50000E+01 1.50000E+01
12 0 0 0 1.50000E+01 1.50000E+01 3.00000E+01
-1
-1
82
1 60 0
NONE
0 1 2 0 2 3 0 3
6 0 6 5 0 5 4 0
2 5 0 7 8 0 8 9
0 10 11 0 11 12 0 8
11 0 9 12 0 5 11 0
2 8 0 6 12 0 3 9
0 1 4 0 4 10 0 10
7 0 7 1
-1
-1
55
SVS - ARTeMIS Extractor Version
Estimator: FDD
Torsional Mode
27-11-2000 11:21:31
Project: mes32set.axp
1 3 2 12 5 3
2 6 0 3
0.00000E+00 2.11619E+02 0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00
0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00
-6.60493E-01 -4.95467E-02 6.43665E-01 1.01658E-01 0.00000E+00 0.00000E+00
3
-8.40065E-01 2.88321E-01 8.96327E-01 -1.90420E-01 0.00000E+00 0.00000E+00
0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00
-6.60493E-01 -4.95467E-02 -5.73194E-01 -1.57936E-01 0.00000E+00 0.00000E+00
-8.40065E-01 2.88321E-01 -9.43737E-01 9.79012E-02 0.00000E+00 0.00000E+00
0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00
5.56365E-01 2.10048E-01 6.43665E-01 1.01658E-01 0.00000E+00 0.00000E+00
1.00000E+00 0.00000E+00 8.96327E-01 -1.90420E-01 0.00000E+00 0.00000E+00
10
0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00 0.00000E+00
11
5.56365E-01 2.10048E-01 -5.73194E-01 -1.57936E-01 0.00000E+00 0.00000E+00
12
1.00000E+00 0.00000E+00 -9.43737E-01 9.79012E-02 0.00000E+00 0.00000E+00
-1
AVI Movie File
All animations of modes can be saved in a movie file format called AVI (Audio Video
Interlaced).
To save an animation you should do the following:
1. Select the mode you want to animate.
2. Start the animation in the 3D-Displays tab window in the Control Panel.
3. Arrange the animation window and zoom level as you want it to look in the movie.
4. Select a compression mode and set up the screen capture in the Properties dialog of
the animation window.
5. Start the animation from the File, Export, Modes, AVI Movie File... or from the pop-up
menu of the animation window. A save As dialog appear to let you specify the AVI
Movie file name.
During the recording the animation speed will drop, but the final movie will be played back
with a rate equal to the speed prior to the recording.
Below there is some internet links specified to more information about the AVI Movie format
and its usage.
Windows Media Player Download Site:

http://windowsmedia.com/download/download.asp
The AVI Movie format: http://www.digicelinc.com/avi_format.htm and

http://web.cs.mun.ca/k12media/resources.formats.video.avi.html
OLE Programming
Below is the type library for ARTeMIS Extractor presented in the Object Description
Language. The compiled type library is located in the file artx.tlb in the Bin folder. The
application interface is called IARTX and the interface for a ARTeMIS Extractor project is
called IARTX.Document.
// ARTX.odl : type library source for ARTX.exe
// This file will be processed by the MIDL compiler to produce the
// type library (ARTX.tlb).
[ uuid(09F7AE37-2B05-11D4-99C5-0090272EF27C),
helpstring("ARTeMIS Extractor Application Type Library Version 1.2"),
version(1.2)
library ARTX
importlib("stdole32.tlb");
importlib("stdole2.tlb");
[ uuid(09F7AE38-2B05-11D4-99C5-0090272EF27C) ]
dispinterface IARTX
properties:
[id(1),
propget,
helpstring("String containing a description of the last occurred error.")
] BSTR LastError;
[id(2),
propput,
helpstring("Set boolean to true if safearrays of type long is passed as

safearrays of type double. (Used e.g. in MATLAB).")
] boolean DoubleAsLong;
[id(3),
propput,
helpstring("Set boolean to true if comments entered in SetProjectInfo and

SetDataSet are in the Rich Text Format.")
] boolean RTFComments;
methods:
[id(4),
helpstring("Update all project windows.")
] boolean RefreshWindow();
[id(5),
helpstring("Show the project control window.")
] boolean ShowWindow();
[id(6),
helpstring("Select which data set to work on.")
] boolean SetCurrentDataSet(long nCurrentSetup);
[id(7),
helpstring("Set general project information (Should called first when

creating a new project).")
] boolean SetProjectInfo(BSTR Title, BSTR CommentsRTF, long nSetups, double

T);
[id(8),
helpstring("Update the project information (Should be the final call when

creating a new project.")
] boolean UpdateProject();
[id(9),
helpstring("Insert a data set (setup).")
] boolean SetDataSet(long index, BSTR Label, BSTR CommentsRTF, VARIANT

TransducerNodesArray, VARIANT TransducerDirectionsArray, VARIANT
TransducerReferencesArray, VARIANT TransducerUnitsArray, VARIANT
TransducerQuantitiesArray, VARIANT TransducerLabelsArray, VARIANT
TransducerDataArray);
[id(10),
helpstring("Set the geometry related to the new project.")
] boolean SetGeometry(VARIANT NodeNumbersArray, VARIANT NodeDirectionsArray,

VARIANT TraceLinesArray);
[id(11),
helpstring("Set the equations for description of movements of nodes not

having a transducer mounted.")
] boolean SetEquations(VARIANT EquationsArray);
[id(12),
helpstring("Close the project and its all windows. Optionally, save the
project before closing.")
] boolean CloseProject(BOOL bSaveOnClose);
[id(13),
helpstring("Set the geometry including surfaces related to the new project.

(Version 1.1 feature)")
] boolean SetGeometry2(VARIANT NodeNumbersArray, VARIANT

NodeDirectionsArray, VARIANT TraceLinesArray, VARIANT SurfacesArray);
[id(14),
helpstring("Set a default project title. (Version 1.1 feature)")
] boolean SetDefaultProjectTitle(BSTR Title);
[id(15),
helpstring("Check if signal processing is running. (Version 1.1 feature)")
] boolean IsSignalProcessingRunning();
[id(16),
helpstring("Upload SPC file with signal processing configuration and start

signal processing of the data. (Version 1.1 feature)")
] boolean StartSignalProcessing(BSTR SPCFileName,BOOL bProcessAllSetups,BOOL

bProcessPSD,BOOL bProcessCorFnc,BOOL bProcessOPHankel);
[id(17),
helpstring("Insert a data set (Version 1.2 feature")
] boolean SetDataSet2(LONG nDataSet, LONG nTransducers, LONG nMeasurements,

BSTR Label, BSTR CommentsRTF, VARIANT TransducerNodesArray, VARIANT
TransducerDirectionsArray, VARIANT TransducerReferencesArray, VARIANT
TransducerUnitsArray, VARIANT TransducerQuantitiesArray, VARIANT
TransducerLabelsArray);
[id(18),
helpstring("Insert transducer data for the current data set (Version 1.2
feature")
] boolean SetDataForDataSet2(LONG nTransducer, VARIANT TransducerDataArray);
};
[ uuid(09F7AE36-2B05-11D4-99C5-0090272EF27C) ]
coclass Document
[default] dispinterface IARTX;
};
};
An example showing how to use the interface is provided in the MATLAB m-file artx.m
located in Examples\MATLAB. If you have any questions concerning the use of the
interface in your own custom applications please contact:
Structural Vibrations Solutions ApS
NOVI Science Park
Niels Jernes Vej 10
DK-9220 Aalborg East

Denmark.
svibs@svibs.com
Below are some good references on OLE automation listed.
References
1. Automation - Programmer's Reference. Microsoft Press 1997. ISBN 1-57231-584-9.
2. Programming Microsoft Visual C++. 5th Edition. D.J. Kruglinski, G. Shepherd & S.
Wingo. Microsoft Press 1998. ISBN 1-57231-857-0.
3. Understanding ActiveX and OLE. D. Chappell. Microsoft Press 1996. ISBN 1-57231-
216-5.
4. Inside COM. D. Rogerson. Microsoft Press 1997. ISBN 1-57231-349-8.

Technical Paper on the Stochastic Subspace Identification
Techniques
By Palle Andersen - Structural Vibration Solutions ApS.
1 Introduction
In the traditional input-output modal analysis the estimation of modal parameters have been
performed using a somewhat deterministic mathematical framework. One of the major
hurdles for people of this traditional modal community to overcome, when turning to output-
only modal analysis, is the switch of the mathematically framework. In output-only modal
analysis the mathematically framework involves the use of statistics and introduction of
concepts such as optimal prediction, linear system theory and stochastic processes.
The two general assumptions made in output-only modal analysis are that the underlying
physical system behaves linearly and time-invariant. The linearity imply that if an input with a
certain amplitude generates an output with a certain amplitude, then an input with twice the
amplitude will generate an output with twice the amplitude as well. The time-invariance
implies that the underlying physical system does not change in time. One of the typical
parametric model structures to use in output-only modal analysis of linear and time-invariant
physical systems is the stochastic state space system.
(1)
The first part of this model structure is called the state equation and models the dynamic
behavior of the physical system. The second equation is called the observation or output
equation, since this equation controls which part of the dynamic system that can be
observed in the output of the model. In this model of the physical system, the measured
system response yt is generated by two stochastic processes w t and vt. These are called
the process noise and the measurement noise. The process noise is the input that drives
the system dynamics whereas the measurement noise is the direct disturbance of the
system response.
The philosophy is that the dynamics of the physical system is modeled by the nn state
matrix A. Given an n1 input vector w t, this matrix transforms the state of the system,
described by the n1 state vector xt, to a new state xt+1. The dimension n of the state
vector xt is called the state space dimension. The observable part of the system dynamics
is extracted from the state vector by forward multiplication of the pn observation matrix C.
The p1 system response vector yt is a mixture of the observable part of the state and
some noise modeled by the measurement noise vt.
2 The Statistical Framework

2.1 Properties of stochastic state space systems
The state space model (1) is only applicable for linear systems that do not have time-
varying changes of its characteristics. However, this is not the only restriction. The only way
to obtain an optimal estimate of a state space model on the basis of measured system
response, is to require that the system response is a realization of a Gaussian distributed
stochastic process that has zero mean.
In other words, in the applied stochastic framework the system response is modelled by a
stochastic process yt defined as
(2)
and the principal assumption is that the measured system response is a realization of this
process. It is seen that this process is completely described by its covariance function L i.
This means that if we can estimate a state space model having the correct covariance
function this model will completely describe the statistically properties of the system
response. An estimated model fulfilling this is called covariance equivalent. The estimator
that can produce such model is called an optimal estimator.
Since the system response of the linear state space model is a Gaussian stochastic
process it implies that xt, w t and vt all are Gaussian stochastic processes as well. Since the
input processes w t and vt are unknown we make the simplest possible assumption about
their statistical properties, which is to assume that they are two correlated zero-mean
Gaussian white noise processes, defined by their covariance matrices as
(3)
The Gaussian stochastic process describing the state xt is also zero-mean and completely
described by its covariance function
(4)
Using (1) to (4) the following relations can be established
(5)
The matrix G is the covariance between system response yt and the updated state vector
xt+1. The covariance function of yt can also be expressed in terms of the system matrices as
(6)
There are two additional system matrices turns out to play an important role
(7)
These are the extended observability matrix G i and the reversed extended stochastic
controllability matrix D i.
2.2 Optimal prediction
One of the most important parts of all estimation is the ability to predict the measurements
optimally. In output only modal analysis this means to be able to predict the measured
system response optimally. An optimal predictor is defined as a predictor that results in a
minimum error between the predicted and measured system response. If the system
response can be predicted optimally it implies that a model can be estimated in an optimal
sense.
Recall that the state vector xt completely describes the system dynamics at time t. In order
to predict the system response yt optimally it is necessary to start by defining an optimal
predictor of xt. Now assume that we have measurements yk available from some initial time
k = 0 to k = t-1. Collect these measurements in a vector
(8)
In the Gaussian case the optimal predictor of xt is then given by the conditional mean value
(9)
So, the optimal predictor of xt is defined as the mean value of xt given all measured system
response yk from k = 0 to k = t-1. The difference between and xt is called the state
prediction error and is defined as
(10)
This error is the part of xt that cannot be predicted by .

In order to predict the system response a similar conditional mean can be formulated for yt
(11)
The last part of this equation is obtained by inserting (1) and assuming that vt and yk from k
= 0 to k = t-1 are uncorrelated.
2.3 The Kalman filter.
The two predictors (9) and (11) are related through the so-called Kalman filter for linear and
time-invariant systems, see e.g. Goodwin et al. [6]
(12)
The matrix Kt is called the non-steady state Kalman gain and et is called the innovation and
is a zero-mean Gaussian white noise process. Defining the non-steady-state covariance
matrix of the predicted state vector as Pt the Kalman gain Kt is calculated from
(13)
The last of these equations is called the Ricatti equation. The Kalman filter predicts the
state on the basis of the previous predicted state and the measurement yt. The
covariance Q of the innovations et can be determined from the last equation in (12) as
(14)
Given that the initial state prediction is and the initial state prediction covariance
matrix P0 = 0 and assume that we have measurements yk available from k = 0 to k = t-1,
then this filter is an optimal predictor for the state space system (1) when the
measurements yt are Gaussian distributed.
2.4 The innovation state space system.
At start up the Kalman filter (12) will experience a transient phase where the prediction of
the state will be non-steady. However, if the state matrix A is stable the filter will enter a
steady state as time approach infinity. When this steady state is reached the covariance
matrix of the predicted state vector becomes constant, i.e. Pt = P, which imply that the
Kalman gain becomes constant as well, i.e. Kt = K. The Kalman filter is now operating in
steady state and is defined as
(15)
The steady state Kalman gain is now calculated from
(16)
The last equation is now called an algebraic Ricatti equation. Assuming all matrices but P is
known this equation can be solved using eigenvalue decomposition, see Aoki [2] and
Overschee et al [1].
If the last equation in (15) is rearranged the following state space system is obtained
(17)
This system is called the innovation state space system. The major difference between this
system and (1) is that the state vector has been substituted with its prediction, and that the
two input processes of (1) have been converted into one input process the innovations.
This state space system is widely used as model structure in output only modal analysis,
see e.g. Ljung [3] and Sderstrm et al. [4].
3 The Stochastic Subspace Identification Framework

The Kalman filter defined in the last section turns out to be the key element in the group of
estimation techniques known as the stochastic subspace techniques.
From (17) it is seen that if sufficiently many states of (1), lets say j states, can be
predicted, i.e. and , then the A and C matrices can be estimated from the following
least regression problem
(18)
This is a valid approach since the innovations are assumed to be Gaussian white noise.
Since A and C are assumed to be time-invariant this regression approach will be valid even
though the predicted state and originates from a non-steady state Kalman filter. So
the fundamental problem to solve in the stochastic subspace identification technique is to
extract the predicted states from the measured data. To show how this is performed,
consider the state space system in (1) and take the conditional expectation on both sides of
both equations to yield
(19)
Now assume that a recursion is started at time step q. Inserting the first equation in (19)
recursively into itself i times and finally inserting the result the last of the equations in (19)
leads to the following formulation
(20)
This equation shows the relation between the initial predicted state and the prediction of
the free (noise free) response of the system . By stacking i equations on top of each
other the following set of equations are obtained
(21)
By introducing the vector oq as the left-hand side and noticing that the first part of the right-
hand side is equal to the extended observability matrix G i we actually obtain the following
expression for the predicted states
(22)
The matrix G i-1 is actually the pseudo-inverse of G i. This equation shows that if we can
estimate G i and oq for several values of q, we can in fact estimate the predicted states for
several values of q as well.
3.1 Estimation of free system response.
In this section we will focus on the estimation of the predicted free response . We will
estimate a set of vectors Ot and gather them column by column in a matrix O. In order to
predict the system response a conditional mean similar to (11) can be formulated.
(23)
This conditional mean is the prediction of the future system response yi+q given the past
system response from time t = i+q-1 down to t = q. This conditional expectation is only an
approximation of (11) since the conditioning vector stops a time t = q and not t = 0. The
approximation is only good if i is sufficiently high. For zero-mean Gaussian stochastic
processes this conditional mean can be calculated by, see e.g. Melsa et al. [5].
(24)
Since the error is zero-mean and uncorrelated and is independent of the

conditional mean and the conditioning vector yqi+q-1 the conditional mean (24) is also
called the orthogonal projection of the vector yi+q onto the vector yqi+q-1.
In order to estimate all elements of oq we need to extend (24) to allow estimation of to
in one operation. This is done by using (8) to extend the conditional mean
in (24) to the following . This results in the following
equation for oq
(25)
In the last equation a new ipip matrix Lk is introduced for simplicity. This matrix is defined
as
(26)
Incidentally, the matrix Li is also equal to
(27)
As seen in (18) we need a bank of predicted state estimates for q = i to q = i+j-1

for a sufficiently large value of j. To estimate these state in one operation based on the
approach in (25) we need to define the following two matrices Oi and Y p as
(28)
(29)
The index p in (29) signifies that the matrix contains system response of the past compared
to the system response we are predicting. Since we assume that the system response is
stationary, i.e. that , equation (25) can easily be extended using
(28) and (29) to yield
(30)
With this equation the first of the two major tasks in the stochastic subspace identification
technique has been fulfilled.
If the extension in (30) is carried on to (22) we obtain the following relation
(31)
The matrix is a bank of predicted states and is defined as
(32)
As seen the matrix Oi only depends on system response and system response covariance,
and can therefore be estimated directly from the measured system response. In Overschee
et al. [1] a method based on the QR decomposition is presented (For more on the QR
decomposition, see e.g. Golub et al. [7]). This method estimates Oi directly from the
measurements without explicit need of the covariance estimates. By using that method the
stochastic subspace identification techniques can surely be called data driven identification
techniques.
Since the matrix Oi is the same no matter which data driven identification technique that is
used this matrix is also referred to as the Common SSI Input Matrix.
3.2 Estimation of the extended observability matrix.
In order to estimate A and C in (18) what remain is to estimate the extended observability
matrix G i as shown in (22). It is actually the estimation of this matrix that can be done in
different ways and results in that several stochastic subspace identification techniques exist.
In this section we will treat the matter in a generalized way by introducing two so-called
weight matrices that takes care of the differences between the techniques. In chapter 4 we
will show how to choose these weight matrices in order to arrive at different techniques.
The only input we have for the estimation is still only the matrix Oi, i.e. only information
related to the system response. The underlying system that has generated the measured
response is unknown, which means that we do not know the state space dimension of
underlying system. What this means can be seen from equation (31) that defines the matrix
Oi as the product . The outer dimension of Oi and therefore also of is ip j.
However, the question is what the inner dimension of this product is. The inner dimension is
exactly the state space dimension of the underlying system.
So to find G i the first task is to determine this dimension. We determine this dimension from
Oi by using the Singular Value Decomposition or SVD, see e.g. Golub et al. However,
before taking the SVD we pre- and postmultiply Oi with the before mentioned weight
matrices W1 and W2 which are user-defined. Now taking the SVD of the resulting product
yields
(33)
Assuming that W1 has full rank and that the rank of W2 is equal to the rank of Y pW2, the
dimension of the inner product is equal to the number of non-zero singular values, i.e.
number of diagonal elements of S1. From the last two equations of (33) we see that G i is
given by
(34)
The non-singular n n matrix T represents an arbitrary similarity transform. This means that
we have determined the extended observability matrix except for an arbitrary similarity
transformation, which merely means that we have no control over the exact inner rotation of
the state space system.
As seen the state space dimension is determined as the number of diagnonal elements of
S1, and G i is found on the basis the reduced subspace of W1OiW2. For these reasons it is no
wonder why the estimation techniques are called subspace identification techniques.
3.3 A general estimation algorithm.

Independently of the choice of weight matrices W1 and W2 the estimation of the system
matrices can be done in the general way presented in this section. This approach presented
here is not the only one, but in the current context properly the most obvious choice. In
Overschee et al. [1] two other approaches are also described. The estimation can be
divided into three parts.
3.3.1 Data compression.
Assuming that N samples of measured system response are available the user needs to
specify how many block rows i the matrix Oi should have. As seen from (33) the maximum
state space dimension depends on the number of block rows and will be ip, where p is the
dimension of the measured system response vector yt.
It should be remembered that the maximum state space dimension corresponds to the
maximum number of eigenvalues that can be identified. It should also be remembered that i
is the prediction horizon and as such depends on the correlation length of the lowest mode
to be identified. Oi are the estimated using (30). However, in order to estimate the matrix
we also need to estimate the matrix Oi-1 since
(35)
This can be proven by proper substitutions in the above equations, see also Overschee et
al. [1]. Oi-1is estimated by deleting the first p rows of Oi.
3.3.2 Subspace identification.
Pre- and post multiply the matrices W1 and W2 which are dependent upon the actually
identification algorithm. Determine the SVD (33) of W1OiW2, and calculate the extended
observability matrix G i. G i-1 is obtained from G i by deleting the last p rows.
3.3.3 Estimation of system matrices.
Now we have all the information available that is needed in order to estimate a realization of
the innovation state space system defined in (17). Estimate the predicted states and
using (31) and (35), and set up the following matrix of measured system response
(36)
Solve the least squares problem
(37)
where is the pseudo inverse of . The steady state Kalman gain K is estimated by the
following relations. First estimate the reversed extended stochastic controllability matrix D i
from (27)
(38)
The covariance matrix G can then be extracted from the last p columns of D i. Estimate the
sample covariance matrix L 0 rom e.g.
(39)
Estimate the Kalman gain K in (16) by solving the algebraic Ricatti equation in (16) first.
Finally, estimate the covariance matrix Q of the innovations using (14).
4 Some Stochastic Subspace Identification Algorithms

As mentioned in section 3.2, the only significant difference between the different stochastic
subspace algorithms is the choice of the weight matrices W1 and W2. In this chapter we will
focus on three algorithms, the Unweighted Principal Component algorithm, the Principal
Component algorithm and the Canonical Variate Analysis algorithm.
4.1 The Unweighted Principal Component algorithm.
The Unweighted Principal Component algorithm is the most simple algorithm to incorporate
into the stochastic subspace frame work. As the name says it is an unweighted approach
which means that both weight matrices equals the unity matrix, see Overschee et al. [1]
(40)
The reason is that this algorithm determines the system order from the left singular vectors
U1 of the SVD of the following matrix
(41)
Since we have chosen the weight to be unity the covariance of W1OiW2 equals
(42)
This show that covariance (42) is equal to (41) which means that (41) and (42) has the
same left singular vectors. From (34) we see that the extended observability matrix is
determined as
(43)
This algorithm is also known under the name N4SID.
4.2 The Principal Component algorithm.
The Principal Component algorithm determines the system matrices from the singular
values and the left singular vectors of the matrix Li. This means that the singular values and
left singular vectors of W1OiW2 must equal the singular values and left singular vectors of Li.
To accomplish this the weight matrices are chosen as
(44)
The covariance of W1OiW2 now equals
(45)
This shows that the singular values and the left singular vectors of (45) and Li are equal.
From (34) we see that the extended observability matrix is determined as
(46)
Even though it appears that (46) is equal to (43) they are not. We must remember that the
SVD has been taken on different matrices due to the different weights.
4.2 The Canonical Variate Analysis algorithm.
The Canonical Variate Analysis algorithm, see Akaike 74,75, computes the principal angles
and directions between the row spaces of the matrix of past outputs Y p and the matrix of
future outputs Y f. The matrix of past outputs Y p is defined in (29), and the matrix Y f is
defined in a similar manner
(47)
The principal angles and directions between the row spaces of Y p and Y f are determined
from the SVD of the matrix, see Overschee et al. [1]
(48)
Comparing with (30) we obtain the same covariance matrix of (47) and W1OiW2, and
therefore also the same principal angles and directions between the row spaces of Y p and
Y f , if we choose the following weights
(49)
(50)
The covariance of (47) is given by
(51)
We see that the covariance matrices of W1OiW2 and (48) are equal. In the above it has
been used that . Finally, we see that the extended observability matrix is
determined as
(52)
Since L0 is a byproduct of the determination of Oi this estimator is very easy to implement

into the common framework.
References
1. Overschee, P. van & B. De Moor: Subspace identification for linear systems Theory,
Implementation, Applications. Kluwer academic Publishers, ISBN 0-7923-9717-7,
1996.
2. Aoki, M.: State Space Modeling of Time Series. Springer-Verlag, ISBN 0-387-52869-
5, 1990.
3. Ljung, L.: System Identification Theory for the user. Prentice-Hall, ISBN 0-13-
881640-9, 1987.
4. Sderstrm, T. & P. Stoica: System Identification. Prentice-Hall, ISBN 0-13-127606-9,

1989.
5. Melsa, J. L. & A.P. Sage: An Introduction to Probability and Stochastic Processes.

Prentice-Hall, ISBN 0-13-034850-3, 1973.
6. Goodwin, G.C. & K.S. Sin: Adaptive Filtering, Prediction and Control. Prentice-Hall,
ISBN 0-13-004069-X, 1984.
7. Golub, G.H. & C.F. Van Loan: Matrix Computations. 2nd Ed. The John Hopkins
University Press, ISBN 0-8018-3772-3, 1989.
The Modal Results Tab (SSI)
(Pro version only)
In the stabilization diagram of the Stochastic Subspace Identification editor you can see the
results of the individual modes of a model presented as crosses lying on a horizontal line.
You see the location of the modes as a function of the natural frequency of the modes. This
is only a visualization tool and if you need to look at the specific values of a mode, i.e. the
natural frequency and the damping ratio, you need to go to the Modal Results window tabs.
There are two window tabs: one for the blue cursor model and one for the red model
selected for Select & Link.
Technical Paper on the Stochastic Subspace Identification
Techniques
By Palle Andersen - Structural Vibration Solutions ApS.
1 Introduction
In the traditional input-output modal analysis the estimation of modal parameters have been
performed using a somewhat deterministic mathematical framework. One of the major
hurdles for people of this traditional modal community to overcome, when turning to output-
only modal analysis, is the switch of the mathematically framework. In output-only modal
analysis the mathematically framework involves the use of statistics and introduction of
concepts such as optimal prediction, linear system theory and stochastic processes.
The two general assumptions made in output-only modal analysis are that the underlying
physical system behaves linearly and time-invariant. The linearity imply that if an input with a
certain amplitude generates an output with a certain amplitude, then an input with twice the
amplitude will generate an output with twice the amplitude as well. The time-invariance
implies that the underlying physical system does not change in time. One of the typical
parametric model structures to use in output-only modal analysis of linear and time-invariant
physical systems is the stochastic state space system.
(1)
The first part of this model structure is called the state equation and models the dynamic
behavior of the physical system. The second equation is called the observation or output
equation, since this equation controls which part of the dynamic system that can be
observed in the output of the model. In this model of the physical system, the measured
system response yt is generated by two stochastic processes w t and vt. These are called
the process noise and the measurement noise. The process noise is the input that drives
the system dynamics whereas the measurement noise is the direct disturbance of the
system response.
The philosophy is that the dynamics of the physical system is modeled by the nn state
matrix A. Given an n1 input vector w t, this matrix transforms the state of the system,
described by the n1 state vector xt, to a new state xt+1. The dimension n of the state
vector xt is called the state space dimension. The observable part of the system dynamics
is extracted from the state vector by forward multiplication of the pn observation matrix C.
The p1 system response vector yt is a mixture of the observable part of the state and
some noise modeled by the measurement noise vt.
2 The Statistical Framework

2.1 Properties of stochastic state space systems
The state space model (1) is only applicable for linear systems that do not have time-
varying changes of its characteristics. However, this is not the only restriction. The only way
to obtain an optimal estimate of a state space model on the basis of measured system
response, is to require that the system response is a realization of a Gaussian distributed
stochastic process that has zero mean.
In other words, in the applied stochastic framework the system response is modelled by a
stochastic process yt defined as
(2)
and the principal assumption is that the measured system response is a realization of this
process. It is seen that this process is completely described by its covariance function L i.
This means that if we can estimate a state space model having the correct covariance
function this model will completely describe the statistically properties of the system
response. An estimated model fulfilling this is called covariance equivalent. The estimator
that can produce such model is called an optimal estimator.
Since the system response of the linear state space model is a Gaussian stochastic
process it implies that xt, w t and vt all are Gaussian stochastic processes as well. Since the
input processes w t and vt are unknown we make the simplest possible assumption about
their statistical properties, which is to assume that they are two correlated zero-mean
Gaussian white noise processes, defined by their covariance matrices as
(3)
The Gaussian stochastic process describing the state xt is also zero-mean and completely
described by its covariance function
(4)
Using (1) to (4) the following relations can be established
(5)
The matrix G is the covariance between system response yt and the updated state vector
xt+1. The covariance function of yt can also be expressed in terms of the system matrices as
(6)
There are two additional system matrices turns out to play an important role
(7)
These are the extended observability matrix G i and the reversed extended stochastic
controllability matrix D i.
2.2 Optimal prediction
One of the most important parts of all estimation is the ability to predict the measurements
optimally. In output only modal analysis this means to be able to predict the measured
system response optimally. An optimal predictor is defined as a predictor that results in a
minimum error between the predicted and measured system response. If the system
response can be predicted optimally it implies that a model can be estimated in an optimal
sense.
Recall that the state vector xt completely describes the system dynamics at time t. In order
to predict the system response yt optimally it is necessary to start by defining an optimal
predictor of xt. Now assume that we have measurements yk available from some initial time
k = 0 to k = t-1. Collect these measurements in a vector
(8)
In the Gaussian case the optimal predictor of xt is then given by the conditional mean value
(9)
So, the optimal predictor of xt is defined as the mean value of xt given all measured system
response yk from k = 0 to k = t-1. The difference between and xt is called the state
prediction error and is defined as
(10)
This error is the part of xt that cannot be predicted by .

In order to predict the system response a similar conditional mean can be formulated for yt
(11)
The last part of this equation is obtained by inserting (1) and assuming that vt and yk from k
= 0 to k = t-1 are uncorrelated.
2.3 The Kalman filter.
The two predictors (9) and (11) are related through the so-called Kalman filter for linear and
time-invariant systems, see e.g. Goodwin et al. [6]
(12)
The matrix Kt is called the non-steady state Kalman gain and et is called the innovation and
is a zero-mean Gaussian white noise process. Defining the non-steady-state covariance
matrix of the predicted state vector as Pt the Kalman gain Kt is calculated from
(13)
The last of these equations is called the Ricatti equation. The Kalman filter predicts the
state on the basis of the previous predicted state and the measurement yt. The
covariance Q of the innovations et can be determined from the last equation in (12) as
(14)
Given that the initial state prediction is and the initial state prediction covariance
matrix P0 = 0 and assume that we have measurements yk available from k = 0 to k = t-1,
then this filter is an optimal predictor for the state space system (1) when the
measurements yt are Gaussian distributed.
2.4 The innovation state space system.
At start up the Kalman filter (12) will experience a transient phase where the prediction of
the state will be non-steady. However, if the state matrix A is stable the filter will enter a
steady state as time approach infinity. When this steady state is reached the covariance
matrix of the predicted state vector becomes constant, i.e. Pt = P, which imply that the
Kalman gain becomes constant as well, i.e. Kt = K. The Kalman filter is now operating in
steady state and is defined as
(15)
The steady state Kalman gain is now calculated from
(16)
The last equation is now called an algebraic Ricatti equation. Assuming all matrices but P is
known this equation can be solved using eigenvalue decomposition, see Aoki [2] and
Overschee et al [1].
If the last equation in (15) is rearranged the following state space system is obtained
(17)
This system is called the innovation state space system. The major difference between this
system and (1) is that the state vector has been substituted with its prediction, and that the
two input processes of (1) have been converted into one input process the innovations.
This state space system is widely used as model structure in output only modal analysis,
see e.g. Ljung [3] and Sderstrm et al. [4].
3 The Stochastic Subspace Identification Framework

The Kalman filter defined in the last section turns out to be the key element in the group of
estimation techniques known as the stochastic subspace techniques.
From (17) it is seen that if sufficiently many states of (1), lets say j states, can be
predicted, i.e. and , then the A and C matrices can be estimated from the following
least regression problem
(18)
This is a valid approach since the innovations are assumed to be Gaussian white noise.
Since A and C are assumed to be time-invariant this regression approach will be valid even
though the predicted state and originates from a non-steady state Kalman filter. So
the fundamental problem to solve in the stochastic subspace identification technique is to
extract the predicted states from the measured data. To show how this is performed,
consider the state space system in (1) and take the conditional expectation on both sides of
both equations to yield
(19)
Now assume that a recursion is started at time step q. Inserting the first equation in (19)
recursively into itself i times and finally inserting the result the last of the equations in (19)
leads to the following formulation
(20)
This equation shows the relation between the initial predicted state and the prediction of
the free (noise free) response of the system . By stacking i equations on top of each
other the following set of equations are obtained
(21)
By introducing the vector oq as the left-hand side and noticing that the first part of the right-
hand side is equal to the extended observability matrix G i we actually obtain the following
expression for the predicted states
(22)
The matrix G i-1 is actually the pseudo-inverse of G i. This equation shows that if we can
estimate G i and oq for several values of q, we can in fact estimate the predicted states for
several values of q as well.
3.1 Estimation of free system response.
In this section we will focus on the estimation of the predicted free response . We will
estimate a set of vectors Ot and gather them column by column in a matrix O. In order to
predict the system response a conditional mean similar to (11) can be formulated.
(23)
This conditional mean is the prediction of the future system response yi+q given the past
system response from time t = i+q-1 down to t = q. This conditional expectation is only an
approximation of (11) since the conditioning vector stops a time t = q and not t = 0. The
approximation is only good if i is sufficiently high. For zero-mean Gaussian stochastic
processes this conditional mean can be calculated by, see e.g. Melsa et al. [5].
(24)
Since the error is zero-mean and uncorrelated and is independent of the

conditional mean and the conditioning vector yqi+q-1 the conditional mean (24) is also
called the orthogonal projection of the vector yi+q onto the vector yqi+q-1.
In order to estimate all elements of oq we need to extend (24) to allow estimation of to
in one operation. This is done by using (8) to extend the conditional mean
in (24) to the following . This results in the following
equation for oq
(25)
In the last equation a new ipip matrix Lk is introduced for simplicity. This matrix is defined
as
(26)
Incidentally, the matrix Li is also equal to
(27)
As seen in (18) we need a bank of predicted state estimates for q = i to q = i+j-1

for a sufficiently large value of j. To estimate these state in one operation based on the
approach in (25) we need to define the following two matrices Oi and Y p as
(28)
(29)
The index p in (29) signifies that the matrix contains system response of the past compared
to the system response we are predicting. Since we assume that the system response is
stationary, i.e. that , equation (25) can easily be extended using
(28) and (29) to yield
(30)
With this equation the first of the two major tasks in the stochastic subspace identification
technique has been fulfilled.
If the extension in (30) is carried on to (22) we obtain the following relation
(31)
The matrix is a bank of predicted states and is defined as
(32)
As seen the matrix Oi only depends on system response and system response covariance,
and can therefore be estimated directly from the measured system response. In Overschee
et al. [1] a method based on the QR decomposition is presented (For more on the QR
decomposition, see e.g. Golub et al. [7]). This method estimates Oi directly from the
measurements without explicit need of the covariance estimates. By using that method the
stochastic subspace identification techniques can surely be called data driven identification
techniques.
Since the matrix Oi is the same no matter which data driven identification technique that is
used this matrix is also referred to as the Common SSI Input Matrix.
3.2 Estimation of the extended observability matrix.
In order to estimate A and C in (18) what remain is to estimate the extended observability
matrix G i as shown in (22). It is actually the estimation of this matrix that can be done in
different ways and results in that several stochastic subspace identification techniques exist.
In this section we will treat the matter in a generalized way by introducing two so-called
weight matrices that takes care of the differences between the techniques. In chapter 4 we
will show how to choose these weight matrices in order to arrive at different techniques.
The only input we have for the estimation is still only the matrix Oi, i.e. only information
related to the system response. The underlying system that has generated the measured
response is unknown, which means that we do not know the state space dimension of
underlying system. What this means can be seen from equation (31) that defines the matrix
Oi as the product . The outer dimension of Oi and therefore also of is ip j.
However, the question is what the inner dimension of this product is. The inner dimension is
exactly the state space dimension of the underlying system.
So to find G i the first task is to determine this dimension. We determine this dimension from
Oi by using the Singular Value Decomposition or SVD, see e.g. Golub et al. However,
before taking the SVD we pre- and postmultiply Oi with the before mentioned weight
matrices W1 and W2 which are user-defined. Now taking the SVD of the resulting product
yields
(33)
Assuming that W1 has full rank and that the rank of W2 is equal to the rank of Y pW2, the
dimension of the inner product is equal to the number of non-zero singular values, i.e.
number of diagonal elements of S1. From the last two equations of (33) we see that G i is
given by
(34)
The non-singular n n matrix T represents an arbitrary similarity transform. This means that
we have determined the extended observability matrix except for an arbitrary similarity
transformation, which merely means that we have no control over the exact inner rotation of
the state space system.
As seen the state space dimension is determined as the number of diagnonal elements of
S1, and G i is found on the basis the reduced subspace of W1OiW2. For these reasons it is no
wonder why the estimation techniques are called subspace identification techniques.
3.3 A general estimation algorithm.

Independently of the choice of weight matrices W1 and W2 the estimation of the system
matrices can be done in the general way presented in this section. This approach presented
here is not the only one, but in the current context properly the most obvious choice. In
Overschee et al. [1] two other approaches are also described. The estimation can be
divided into three parts.
3.3.1 Data compression.
Assuming that N samples of measured system response are available the user needs to
specify how many block rows i the matrix Oi should have. As seen from (33) the maximum
state space dimension depends on the number of block rows and will be ip, where p is the
dimension of the measured system response vector yt.
It should be remembered that the maximum state space dimension corresponds to the
maximum number of eigenvalues that can be identified. It should also be remembered that i
is the prediction horizon and as such depends on the correlation length of the lowest mode
to be identified. Oi are the estimated using (30). However, in order to estimate the matrix
we also need to estimate the matrix Oi-1 since
(35)
This can be proven by proper substitutions in the above equations, see also Overschee et
al. [1]. Oi-1is estimated by deleting the first p rows of Oi.
3.3.2 Subspace identification.
Pre- and post multiply the matrices W1 and W2 which are dependent upon the actually
identification algorithm. Determine the SVD (33) of W1OiW2, and calculate the extended
observability matrix G i. G i-1 is obtained from G i by deleting the last p rows.
3.3.3 Estimation of system matrices.
Now we have all the information available that is needed in order to estimate a realization of
the innovation state space system defined in (17). Estimate the predicted states and
using (31) and (35), and set up the following matrix of measured system response
(36)
Solve the least squares problem
(37)
where is the pseudo inverse of . The steady state Kalman gain K is estimated by the
following relations. First estimate the reversed extended stochastic controllability matrix D i
from (27)
(38)
The covariance matrix G can then be extracted from the last p columns of D i. Estimate the
sample covariance matrix L 0 rom e.g.
(39)
Estimate the Kalman gain K in (16) by solving the algebraic Ricatti equation in (16) first.
Finally, estimate the covariance matrix Q of the innovations using (14).
4 Some Stochastic Subspace Identification Algorithms

As mentioned in section 3.2, the only significant difference between the different stochastic
subspace algorithms is the choice of the weight matrices W1 and W2. In this chapter we will
focus on three algorithms, the Unweighted Principal Component algorithm, the Principal
Component algorithm and the Canonical Variate Analysis algorithm.
4.1 The Unweighted Principal Component algorithm.
The Unweighted Principal Component algorithm is the most simple algorithm to incorporate
into the stochastic subspace frame work. As the name says it is an unweighted approach
which means that both weight matrices equals the unity matrix, see Overschee et al. [1]
(40)
The reason is that this algorithm determines the system order from the left singular vectors
U1 of the SVD of the following matrix
(41)
Since we have chosen the weight to be unity the covariance of W1OiW2 equals
(42)
This show that covariance (42) is equal to (41) which means that (41) and (42) has the
same left singular vectors. From (34) we see that the extended observability matrix is
determined as
(43)
This algorithm is also known under the name N4SID.
4.2 The Principal Component algorithm.
The Principal Component algorithm determines the system matrices from the singular
values and the left singular vectors of the matrix Li. This means that the singular values and
left singular vectors of W1OiW2 must equal the singular values and left singular vectors of Li.
To accomplish this the weight matrices are chosen as
(44)
(45)
This shows that the singular values and the left singular vectors of (45) and Li are equal.
From (34) we see that the extended observability matrix is determined as
(46)
Even though it appears that (46) is equal to (43) they are not. We must remember that the
SVD has been taken on different matrices due to the different weights.
4.2 The Canonical Variate Analysis algorithm.
The Canonical Variate Analysis algorithm, see Akaike 74,75, computes the principal angles
and directions between the row spaces of the matrix of past outputs Y p and the matrix of
future outputs Y f. The matrix of past outputs Y p is defined in (29), and the matrix Y f is
defined in a similar manner
(47)
The principal angles and directions between the row spaces of Y p and Y f are determined
from the SVD of the matrix, see Overschee et al. [1]
(48)
Comparing with (30) we obtain the same covariance matrix of (47) and W1OiW2, and
therefore also the same principal angles and directions between the row spaces of Y p and
Y f , if we choose the following weights
(49)
(50)
The covariance of (47) is given by
(51)
We see that the covariance matrices of W1OiW2 and (48) are equal. In the above it has
been used that . Finally, we see that the extended observability matrix is
determined as
(52)
Since L0 is a byproduct of the determination of Oi this estimator is very easy to implement

into the common framework.
References
1. Overschee, P. van & B. De Moor: Subspace identification for linear systems Theory,
Implementation, Applications. Kluwer academic Publishers, ISBN 0-7923-9717-7,
1996.
2. Aoki, M.: State Space Modeling of Time Series. Springer-Verlag, ISBN 0-387-52869-
5, 1990.
3. Ljung, L.: System Identification Theory for the user. Prentice-Hall, ISBN 0-13-
881640-9, 1987.
4. Sderstrm, T. & P. Stoica: System Identification. Prentice-Hall, ISBN 0-13-127606-9,

1989.
5. Melsa, J. L. & A.P. Sage: An Introduction to Probability and Stochastic Processes.

Prentice-Hall, ISBN 0-13-034850-3, 1973.
6. Goodwin, G.C. & K.S. Sin: Adaptive Filtering, Prediction and Control. Prentice-Hall,
ISBN 0-13-004069-X, 1984.
7. Golub, G.H. & C.F. Van Loan: Matrix Computations. 2nd Ed. The John Hopkins
University Press, ISBN 0-8018-3772-3, 1989.

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Output-only Modal Identification

What is modal identification?

The excitation (input) is unknown.

The measured response (output) is often noisy

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The idea of output-only modal identification is illustrated in the following figure:

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