6th ECCOMAS Conference on Smart Structures and Materials

SMART2013
Politecnico di Torino, 24-26 June 2013
E. Carrera, F. Miglioretti and M. Petrolo (Editors)
www.smart2013.com

DAMAGE IDENTIFICATION IN BEAMS USING NUMERICAL DATA

Erwin U. L. Palechor1, Ramon S. Y. C. Silva1, Luciano M. Bezerra1
*
University of Brasília
Department of Civil Engineering
Campus Darcy Ribeiro SG-12
70910-900, Brasília, Brazil
e-mail: erwinlopezpalechor@hotmail.com

Key words: Beams, Wavelet transform, Damages.

Summary. There are several techniques of non-destructive damage detection in structures.

However, these techniques are expensive and require an accurate analysis of large extension
of the structure. The numerical techniques can help in non-destructive tests of structures,
showing the possible location of damage and thus decreasing the area of analysis and
becoming the non-destructive tests less expensive. Among the numerical methods most used to
detect damage stand out the finite element method and the boundary element method. This
paper presents theoretical applications of the Wavelet Transform for damage detection in a
simply supported beam. The modeling of damage is done in finite elements using ANSYS
program and the damage is simulated deleting some finite elements from the mesh. The
numerical mode shapes are used in the analysis to detect the location of damage using the
Wavelet Transform.

1 INTRODUCTION
Deterioration in structures happens frequently causing the damage onset, even though
structures are projected and built according to appropriated specifications. The damages may
occur due many factors as: repeated loads, environmental risks, overload, wind loads and
earthquakes. In important structures as bridges, these damages can result in loses of humans
life and considerable socio-economic impact. Considering these reasons an adequate
inspection to identify damages is an essential procedure.
There are damages in structures that cannot be detected only by a visual inspection, for this
reason the detection, localization and quantification of damages throughout a dynamic
response of the structure (frequencies and mode shapes) is one of the important damage
investigation topics. The concept of damages identification was introduced two decades ago
[1].
 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

Methods which can detect damage with only information obtained from the damage
condition of the structure are more advantageous since their condition before damage is rarely
known. In this con-text, the application of the wavelet based methods can be useful. These
methods detect the singularities present in the static and modal response caused by damage
and therefore they do not require the condition of the structure before damage. It is also
necessary to determine a numerical procedure for the simulation of cracked structures. In this
way, evaluation of the damage detection methods can be practical [4].

2 WAVELET TRANSFORM
The analysis with Wavelet is based on the idea that any signal can be divided in a series of
base functions called “waves”.
The Wavelet decomposition calculates an “index of similarity” between the signal and the
Wavelet. If the index is big, then, the similarity is strong; otherwise, the similarity is weak.

For a signal 𝑓𝑓(𝑥𝑥) in the range [𝑎𝑎, 𝑏𝑏], the Wavelet Transform is given by:
∞

𝐶𝐶𝑎𝑎,𝑏𝑏 = � 𝑓𝑓(𝑥𝑥) 𝜓𝜓𝑎𝑎,𝑏𝑏 (𝑥𝑥)𝑑𝑑𝑑𝑑 (1)

−∞

Where 𝐶𝐶𝑎𝑎,𝑏𝑏 is the coefficient Wavelet, 𝜓𝜓𝑎𝑎,𝑏𝑏 (𝑥𝑥) is a mother wavelet function that is part of
a wavelet families. The coefficients 𝑎𝑎 and 𝑏𝑏 are the scale and position parameters respectively
[3].

The Wavelet Transform includes Continuous Wavelet Transform (CWT) and Discrete
Wavelets Transform (DWT). The difference between it is in the form of representation of the
scale, as shown below:

The CWT is defined as the sum over all the time (or space) of the signal multiplied by the
scale 𝑎𝑎 with translation 𝑏𝑏. The five steps for create CWT are:

1. Choose a mother wavelet and compare it to sections along the signal original;
2. Calculate the coefficient 𝐶𝐶𝑎𝑎,𝑏𝑏 , which represents the similarity between the wavelet and
the signal in the interval analyzed. The results depends on the shape of the wavelet
chosen, see Figure 1(a).

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

(a)

(b)
Figure 1: Calculation of the coefficient 𝐶𝐶.

3. The next step is translate the wavelet to the right and repeat steps 1 and 2 until cover
all the signal, see Figure 1(b).
4. Apply the wavelet scale chosen in the analyzed section and repeat steps 1-3, see
Figure 2.

Figure 2: Scale change.

5. Repeat steps 1-4 for all scales.

The final results have produced coefficients for different scales. For the representation of
the results, the 𝑥𝑥 axis represents the position 𝑏𝑏 along the signal (time or space), the 𝑦𝑦 axis
represents the scale 𝑎𝑎 and the z axis the magnitude of the coefficient 𝐶𝐶. The Figure 3 shows
two graphs generated by one CWT.

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

(b) CWT-3D
(a) CWT-2D
Figure 3: Examples of CWT.

The DWT minimizes the quantity of data generated by the CWT. The DWT choose a
subset of scales and positions. The scales and positions are chosen based on powers of two
calls dyadic scales, resulting in a more efficient way [4].

For this purpose, is defined as the scale 𝑎𝑎 = 2𝑗𝑗 and the translation 𝑏𝑏 = 𝑘𝑘2𝑗𝑗 where (𝑗𝑗, 𝑘𝑘)𝜖𝜖 𝑍𝑍
and 𝑍𝑍 is the set of integers. Using these parameters the DWT is given as:
∞ ∞

𝐶𝐶𝑗𝑗,𝑘𝑘 = 2−𝑗𝑗/2 � 𝑓𝑓(𝑥𝑥)𝜓𝜓�2−𝑗𝑗 𝑥𝑥 − 𝑘𝑘�𝑑𝑑𝑑𝑑 = � 𝑓𝑓(𝑥𝑥)𝜓𝜓𝑗𝑗,𝑘𝑘 (𝑥𝑥)𝑑𝑑𝑑𝑑 (2)

−∞ −∞

The difference between the CTW and the DWT is the representation on the scale; this
difference is summarized in the following table:

Continuous Time Continuous Time Discrete Time (𝚫𝚫 = 𝟏𝟏)

Continuous Analysis Discrete Analysis Discrete Analysis
1 𝑥𝑥 − 𝑏𝑏 1 𝑥𝑥 − 𝑏𝑏
𝐶𝐶𝑎𝑎,𝑏𝑏 = � 𝑓𝑓(𝑥𝑥) 𝜓𝜓 � � 𝑑𝑑𝑑𝑑 𝐶𝐶𝑎𝑎,𝑏𝑏 = � 𝑓𝑓(𝑥𝑥) 𝜓𝜓 � � 𝑑𝑑𝑑𝑑 𝐶𝐶𝑗𝑗,𝑘𝑘 = � 𝑓𝑓(𝑛𝑛)𝑔𝑔𝑗𝑗,𝑘𝑘 (𝑛𝑛)
√𝑎𝑎 𝑎𝑎 √𝑎𝑎 𝑎𝑎 𝑛𝑛𝑛𝑛𝑛𝑛
𝑅𝑅 𝑅𝑅
+
𝑎𝑎 𝜖𝜖 ℝ , 𝑏𝑏 𝜖𝜖 ℝ 𝑎𝑎 = Δ2𝑗𝑗 , 𝑏𝑏 = Δ𝑘𝑘2𝑗𝑗 𝑎𝑎 = 2𝑗𝑗 , 𝑏𝑏 = 𝑘𝑘2𝑗𝑗
𝑗𝑗, 𝑘𝑘 𝜖𝜖 ℤ2 𝑗𝑗 𝜖𝜖 ℕ, 𝑘𝑘 𝜖𝜖 ℤ
Table 1- Difference between CWT and DWT [4].

2.1 Wavelet Families - 𝛙𝛙(𝒙𝒙)

The mother wavelet functions that give the best results in this research were:
Daubechies(db5), Symlet (sym6), Biorthogonal (rbio2.8) and Coiflets(coif3).

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

2.1.1 Family Daubechies (dbN)

Ingrid Daubechies, one of the brightest stars in the world of wavelet research, invented
what is called orthonormal wavelets. The names of the Daubechies wavelets are written as
"dbN", where N is the order, and the db "surname" of the wavelet. The Figure 4 presents the
main functions of the wavelet family member’s dbN:

Figure 4: Dabeuchies (dbN) wavelet family.

2.1.2 Family Coiflets (coifN)

Constructed by I. Daubechies to order R. Coifman. The wave function has 2N moments
equal to zero, and the scaling function has 2N-1 moments equal to zero. The two functions
have a support length of 6N-1.

Figure 5: Coiflets (coifN) wavelet family.

2.1.3 Family Symlets (symN)

The wavelet symlets are almost symmetrical, and are proposed by Daubechies as
modifications dbN family. The properties of the two families (symN and dbN) are similar.
Here are the main functions of the family wavelet symlet.

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

Figure 6: Symlets (symN) wavelet family.

2.1.4 Family Biothogonal (biorN.Nd)

The Figure 7 the biorthogonal wavelet functions:

Figure 7: Biorthogonal (biorN.Nd) wavelet family.

3 NUMERICAL EXAMPLES
In this section is presented the numerical model in finite element of the beams using the
ANSYS program. Such beams were modeled with the element SOLID45 which is defined by
eight nodes with three degree of freedom by node: x, y, z, as is showed in the Figure 8.

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

Figure 8: SOLID45 Element.

The modal response (mode shapes) obtained in ANSYS 11.0 program were processed in
the MATLAB program following the steps shown in Figure 9.

DAMAGE IDENTIFICATION USING A WAVELET

TRANSFORM FOR A BEAM

MODAL ANALYSIS TO EXPORT THE DISPLACEMENTS

NUMERICAL MODELING OF GENERATED BY MODE SHAPES ALONG
THE BEAM USING ANSYS 11.0 OBTAIN THE MODE
SHAPES THE TOP FLANGE IN 21 SELECTED POINTS

APPLICATION OF TCW AND TDW

IN THE VECTOR OF
INTERPOLATION USING WAVELET
TOOLBOX OF THE MATLAB
PROGRAM
THE 21 POINTS ARE
IMPORT DISPLACEMENTS AS VECTOR
INTERPOLATED USING THE
[POSITION, DISPLACEMENT] IN THE
CUBIC-SPLINE FUNCTION OF
PROGRAM MATLAB
THE MATLAB PROGRAM.

GENERATION OF
GRAPHICS WITH THE IDENTIFICATION OF THE
WAVELET COEFFICIENTS DAMAGE POSITION

Figure 9: Steps for damage detection with Wavelet Transform.

The geometric and material properties of the beam analyzed are presented in Table 2:
PROFILE DATA I
Material Steel
h (m) 0.1016
bf (m) 0.0676
tw (m) 0.00483
tf (m) 0.0074
E (Pa) 2.00E+11
Poisson’s Ratio 0.3
A (m2) 1.45E-03
Ix (m4) 2.487E-06
Iy (m4) 3.818E-06
Length (m) 6
ρ(density kg/m3) 7.80E+03
Table 2- Geometric properties of beam

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

The Figure 10 shows the numerical model developed with 9120 elements and 18798 nodes.
Each element 0.025m and the top and bottom flange were simulated with a single elements
layer.

(a)Geometry. (b)Mesh.
Figure 10- Finite element model of the beam

3.1 Damage simulation

The induced damage in the steel beam represents a fatigue crack. To simulate this crack in
a real test will be necessary the application of load cycles during several weeks, but to
simplify the damage in the numerical model, the damage was simulated deleting some
elements from the mesh in the top and bottom flange. For this case 16 elements were deleted
causing a reduction in the transversal area of 37% as is showed in Figure 11.

(b) Damage simulated.

(a) Position of damage.

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

‘
(c) Deleted elements. (d) Element dimensions.
Figure 11: Simulation of beam damage (ANSYS).

3.2 Modal analysis

The ANSYS program was used to compute the natural frequencies and mode shapes in the
intact and damaged beam

The damage position is showed in the Figure 12:

Figure 12: Damage position.

The reduction of area resulted by the damage was of 36.75% exactly, as is showed in the
Figure 13.

Initial section area=14.5 cm2

Damaged area = 5.33 cm2
Final section area = 9.17 cm2

Figure 13: Reduction of transversal area.

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

3.3 Natural Frequencies

To verify the numerical frequencies obtained in the ANSYS program, the first four
frequencies of the intact beam were compared with the analytical values obtained throughout
the continuous mechanic theory and according to Blevis (1979), the natural frequencies can
be computed using the equation 3:

𝜆𝜆2𝑖𝑖 𝐸𝐸𝐸𝐸
𝑓𝑓𝑖𝑖 = 2
� (3)
2𝜋𝜋𝐿𝐿 𝑚𝑚

Where 𝜆𝜆 is a nondimensional parameter that depends of the vibration mode that is desired
to calculate, 𝐸𝐸 is the steel modulus of elasticity, 𝐼𝐼 is the moment of inertia, 𝐿𝐿 is the beam
length and 𝑚𝑚 is the mass per measure length. The numerical and analytical frequencies are
showed in the Table 3.

Natural Frequencies (Hz)

Numerical values Analytical values
Intact Beam Damaged beam Intact Beam
9.2146 9.1668 9.2108
36.534 36.347 36.8435
80.958 80.958 82.8979
140.07 139.5 147.3741
Table 3- Analytical and numerical frequencies.

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

3.4 Mode Shapes

The Figure 14 present the first four mode shapes obtained in ANSYS.

Second mode shape

First mode shape

Third mode shape Fourth mode shape

Figure 14: Numerical mode shapes.

The first and second mode shapes along 21 points (equally spaced) in the top flange were
used in the damage detection process, see Figure 12. This procedure was done to simulate the
conditions in the reality, where the number of measurement points is limited.

(b)
(a)
Figure 15: Our choose to Wavelet analysis.

The values of the mode shapes in the 21 points were interpolated using cubic spline to
obtain 1000 points and after this, the Wavelet Transform was applied.

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

3.5 Damage identification using Continuous Wavelet Transform (CWT)

Using the functions available in Matlab program, the CWT were applied using the
following mother wavelets: Daubechies (db5, db6) and Symlet (sym7), for the first and
second mode shapes. The results are shown in Figures 16 to 21, where the graphic on left
represents the CWT in 3D and the right ones represent the CWT in 2D, for the mother
wavelet chosen.

Damage
Damage

3D 2D
Figure 16: Wavelets Coefficients (CWT) using “db5” (first mode shape).

Damage
Damage

3D
2D
Figure 17: Wavelets Coefficients (CWT) using “db6” (first mode shape).

Damage
Damage

3D 2D
Figure 18: Wavelets Coefficients (CWT) using “sym7” (first mode shape)

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

Damage

Damage

3D 2D
Figure 19: Wavelets Coefficients (CWT) using “db5” (second mode shape).

Damage

Damage

3D 2D
Figure 20: Wavelets Coefficients (CWT) using “db6” (second mode shape).

Damage
Damage

3D 2D
Figure 21: Wavelets Coefficients (CWT) using “sym7” (second mode shape).

For all the cases presented above, the damage was clearlyidentified by one peak in the point
666 that corresponds to the damage position. In the ends of the plot it can observes peaks
caused by the support discontinuity.

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

3.6 Damage Identification with the Discrete Wavelet Transform (DWT)

The same procedure used in the CWT was applied to the DWT. The mother wavelet used
were: Daubechies(db5), Symlet (sym6), Biorthogonal (rbio2.8) and Coiflets(coif3), for the
first and second mode shapes. The results are shown in Figures 22 to 29.

Damage

Figure 22: Wavelet coefficients (DWT) using “rbior2.8” (first mode shape).

Damage

Figure 23: Wavelets Coefficients (DWT) using “sym6” (first mode shape).

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

Damage

Figure 24: Wavelets Coefficients (dwt) using “db5” (first mode shape).

Damage

Figure 25: Wavelets Coefficients (DWT) using “coif3” (first mode shape).

Damage

Figure 26: Wavelets Coefficients (DWT) using “db5” (second mode shape).

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

Damage

Figure 27: Wavelets Coefficients (DWT) using “coif3” (second mode shape).

Damage

Figure 28: Wavelets Coefficients (DWT) using “Sym6” (second mode shape).

Damage

Figure 29: Wavelets Coefficients (DWT) using “rbior2.8” (second mode shape).

The signal transformed by the DWT presented little discontinuities along the beam, but in
the damaged position (node 66), the wavelet coefficients achieved large amplitude. Similar to

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

the CWT, the DWT presented peaks at the ends that are the result of the discontinuity of the
support.

4 CONCLUSIONS
This paper presented an alternative methodology for the traditional damage identification
methods, because the Wavelet Transform only need the damages response of the structure,
while the traditional methods need make comparisons between the intact and damaged
response.

The Continuous and Discrete Wavelet Transform using the mother wavelet db5, db6, sym7,
sym6, rbio2.8 and coif3 were very efficient in the process of identification of damage in the
beam. The wavelet transform showed that are sensitive to the geometric discontinuities caused
by the boundary conditions, at these points the wavelet coefficients showed large amplitudes.

In the results presented it can observes that the second mode shape are more sensitive to
damage then the first. This behavior also was observed by others researchers [7,8,9]

The structures in service require maintenance and continuous monitoring to ensure its
integrity and functionality. During the last years has been researched and discussed several
methods for damage identification, achieving significant advances, the Wavelets are a good
alternative to get a good maintenance, because sudden changes in the mode shapes can
indicate a possible damaged area.

5 REFERENCES
[1] Hongnan Li, Tinghua Yi, Ming Gu, Linsheng Huo. Evaluation of earthquake-induced
structural damages by wavelet transform. 19, 461-470, 2008.

[2] E. S. Estrada. Damage detection Methods in Bridges trough Vibration Monitoring:

Evaluation and Application. Doctoral Thesis, University of Minho. 2008.

[3] N. Wu., Q. Wang. Experimental studies on damage detection of beam structures with
wavelet transform. International Journal of Engineering Science 49, 253-261. 2011.

[4] A. V. Ovanesova. Application of wavelet to crack detection in frame structures. Tese de

Doutorado da Universidade do Porto Rico, 235p, 2000.

[5] R. D. Blevis. Formulas for natural Frequency and Mode Shape. United States of America,
492p. 1979.

[6] M. Misiti. Wavelet Toolbox for use with MATLAB. 2002.

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 Erwin U. L. Palechor, Ramon S. Y. C. Silva, Luciano M. Bezerra.

[7] I1. Y. Choi. Damage Identification Techniques for Bridges Using Static Response. Tese
de Doutorado da Hanyang University,Seoul, 153p. 2002.

[8] Wei Fan, Pizhong Qiao. A 2-D continuous wavelet transform of mode shape data for
damage detection of plate structures. International Journal of Solids and Structures 46, 4379-
4395, 2009

[9] R. S. Y. C. Silva, Determinação de patologias estruturais utilizando modelagem

numérica e transformadas de wavelet. MS. Thesis. University of Brasilia. Department of
Civil Engineering, 2011.

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