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IIW Collection
Bastien Chapuis
Eric Sjerve Editors
Sensors,
Algorithms and
Applications for
Structural Health
Monitoring
IIW Seminar on SHM, 2015
IIW Collection
Series editor
IIW International Institute of Welding,
ZI Paris Nord II, Villepinte, France
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Editors
Sensors, Algorithms
and Applications
for Structural Health
Monitoring
IIW Seminar on SHM, 2015
123
Editors
Bastien Chapuis Eric Sjerve
NDE Department IRISNDT
CEA LIST Edmonton
Gif-sur-Yvette Canada
France
v
vi Preface
vii
Contributors
ix
x Contributors
Keywords Nondestructive testing SHM Structural health monitoring Sensors
Service conditions
xi
Introduction to Structural Health
Monitoring
Bastien Chapuis
1 Introduction
V-1667-15 (XV-1493-15)
B. Chapuis (&)
NDE Department, CEA LIST, Gif-sur-Yvette, France
e-mail: [email protected]
This is done through a full system that comprises sensors and actuators, commu-
nication systems, and data processing units, from which part of it (at least the
sensors) are embedded in the structure itself.
In its first function, diagnosis, SHM is very similar to Non-Destructive Testing
(NDT). Indeed, these two fields use common physical techniques of investigation,
and the interaction between the two domains and communities are numerous, at
least in order to compare the results and to validate the approach if necessary.
But SHM must go further than NDT. First, its “embedded” aspect induces
sufficient constraints that it is generally impossible to simply miniaturize an existing
NDT system and integrate it into the structure. The global monitoring strategy must
generally be completely reconsidered, sometimes back to design of the structure.
Second, the notion of “prognosis”, i.e., estimating the residual life of the structure
(or at least anticipating the flaw growth evolution until the next maintenance
operation), is fully included into SHM. This is a very complex aspect that requires a
deep knowledge of material damage mechanisms. Thus, SHM is not only a damage
detection process but also includes monitoring of its history and of the environment
to which it has been submitted. At least, an SHM system must be able to detect an
event above a predefined threshold in order to trigger a further NDT inspection.
However, SHM systems will not eliminate completely “classical” NDT. First, it
seems impossible to design a set of systems that can monitor the entirety of a
structure as complex as a plane or a bridge. Second, the precision of the diagnosis
obtained with an integrated system will often be insufficient. Because of this, SHM
is more likely to be an alarm system to identify zones where further inspection is
required in order to facilitate and predict maintenance operations. NDT and SHM
are therefore complementary, and a full health management strategy must be set up
in order to take into account the advantages and limitations of both methods.
The two main domains that are the origin of this discipline are aeronautics and
civil engineering (especially for bridges). Nowadays, SHM is commonly applied in
other disciplines such as wind turbines, oil and gas (pipes), and railways.
A good synthesis of the state of the art of the discipline is presented since 1997 every
odd year in the International Workshop on Structural Health Monitoring (IWSHM) in
Stanford (California) and every even year in the European Workshop on Structural
Health Monitoring (EWSHM) in a different country (France-2002, Germany-2004,
Spain-2006, Poland-2008, Italy-2010, Germany-2012, France-2014).
The success of these congresses is growing, which illustrates the interest given to
the discipline (see Fig. 1).
The physical implementation of an SHM system is very specific to the appli-
cation and the structure being monitored. We will present in the next part the major
aspects of SHM: the objectives and the technical challenges.
Then, some examples of recently developed SHM systems will be briefly
described. These few examples will be advantageously completed by the other
papers that are included in this booklet.
Introduction to Structural Health Monitoring 3
Fig. 1 SHM papers per origin (countries) and per event from IWSHM1999 to EWSHM2014 [6]
the user wants to optimize the use of the structure both for safety and in terms of
increased operational availability.
Indeed, as part or all of the SHM system is embedded in the structure, the
inspection might possibly be automated and repeated as often as possible. Provided
that the information delivered are reliable, this should prevent catastrophic failures
and unanticipated downtimes. The automation of the diagnosis should also limit the
influence of human subjective interpretation of results that occur in some “classical”
inspection operations.
Five levels of information can be given by the SHM system:
• Level 1: detection of damage,
• Level 2: location of the damage,
• Level 3: characterization (type) of the damage,
• Level 4: sizing (severity) of the damage, and
• Level 5: remaining life of the structure (prognosis).
SHM is often viewed as a way to simplify and/or anticipate maintenance
operations. The system might be implemented in areas difficult to monitor due to
inaccessibility problems. This is particularly true for some components of aircrafts
that require significant dismantling work to provide accessibility, or in the case of
offshore wind farms for which regular human presence is extremely difficult.
However, the main advantage of SHM consists in anticipating downtimes of the
structure, which offers large potential gains in terms of logistics.
SHM systems can also be used to increase the lifetime of a structure. As an
example, this is the case in civil engineering where aging bridges in different
countries all over the world are being equipped with monitoring systems to extend
their working life.
Different strategies can be used to design an efficient SHM system, and they can
be grouped into three categories as presented in Fig. 2.
The first one consists of monitoring the operational environment of the structure,
which is called “operational monitoring” in ARP6461. In this case, parameters such
as temperatures, loads, etc. are then used to build an indirect evaluation of structure
usage. The main difficulty of this approach consists of the exhaustive list of
monitored parameters that might contribute to structural degradation.
A second approach aims at directly monitoring the integrity of the material, i.e.,
looking for defects like in NDT. This requires very specialized sensors, which are
generally close to the inspected area. This is called “damage monitoring” in
ARP6461. The reliability of the inspection system must be carefully demonstrated
(probability of detection and inspected area) to ensure the SHM system is providing
accurate and useful data.
A third approach, applicable mainly for large structures such as bridges or wind
turbines, consists of monitoring the shape of the structure to detect deformations
outside tolerable limits that might indicate failure of a subcomponents or usage of
the structure beyond the working limits it has been designed for.
Introduction to Structural Health Monitoring 5
A single SHM system can comprise several types of sensors of different kinds,
and whatever the strategies chosen, the data must be merged, processed, and
evaluated through different advanced algorithms to ensure the structure’s health.
We will briefly present in this section three examples of SHM systems that are
deployed in the field. This is far from being representative of the diversity of
technologies that are used in SHM and more detailed examples will be illustrated in
the other papers that have been presented in this seminar.
An example of structures for which there has been a successful deployment of SHM
system in industry is wind turbines. These structures are often deployed in very
harsh environments (offshore, low temperatures, etc.) and they can be subjected to
dramatic failures of blades (see Fig. 3) or tower. Maintenance operations can be
3.2 Bridges
Several bridges in the world have been equipped with instrumentation to monitor
their structural health condition in terms of their environmental loads (wind, traffic,
temperature, etc.) and response to evaluate and predict their current and future
performance.
An example of a large-scale implementation of such a system is given by the
so-called “Wind And Structural Health Monitoring System (WASHMS)” devel-
oped in Hong Kong in the past decade [3]. Five long-span cable-supported bridges
have been instrumented, namely the Tsing Ma (suspension) Bridge, the Kap Shui
Mun (cable-stayed) Bridge, the Ting Kau (cable-stayed) Bridge, the Western
Corridor (cable-stayed) Bridge, and the Stonecutters (cable-stayed). A large number
of sensors (up to 1700 per bridge) of different types have been installed at specific
locations on the bridges (see Fig. 6). A modular architecture is able to acquire,
process, and store the acquired data continuously, as shown in Fig. 7. With the
acquired monitoring data, many investigations on condition assessment and damage
detection of large-scale cable-supported bridges have been conducted [4].
3.3 Aeronautics
Along with civil engineering, aeronautics is one of the major fields for SHM
investigations. However, at the present time, very few SHM systems have been
implemented on aircraft and none is certified to replace conventional nondestructive
inspections. One of the most advanced solutions is the so-called Comparative
Vacuum Monitoring (CVM) system designed to detect small cracks (less than half a
mm) at the surface of a component in known “hot spots” (for example near rivets).
It consists of a thin self-adhesive rubber patch with interconnected galleries, to
which air pressure is applied (see Fig. 8). Any propagating crack under the sensor
breaches the galleries and the resulting change in pressure is monitored.
Introduction to Structural Health Monitoring 9
After years of research and trials with this technology, Delta/Boeing selected the
737 NG Wing Box fitting cracking problem as the application for a formal certi-
fication of CVM by the American Federal Aviation Administration (FAA) in 2015
[5].
Examples of SHM system deployment in industry are limited at the present time
despite the promising benefits that can be expected in terms of safety and opera-
tional availability of the structure. This is mainly due to the very recent develop-
ment of this discipline that integrates a variety of “classical” technologies to build a
full and complex SHM system whose reliability must be proven before being
installed on critical structures.
However, research in this field is very intense and several new applications
should be demonstrated in the near future.
Major progress is expected by the use of simulation to design and demonstrate
performance of SHM systems. Developments of new sensors (fiber optics, MEMS,
etc.) or new inspection methods (guided waves) will increase the quantity and
10 B. Chapuis
Fig. 7 Architecture of the wind and structural health monitoring system (WASHMS) deployed on
Hong Kong bridges [3]
quality of information that can be obtained from the structure. Combined with new
data processing algorithms that take advantage of such a high volume of infor-
mation (such as machine learning), this will lead to a more reliable ability to
diagnose and predict a structure’s health. New architectures of SHM systems,
Introduction to Structural Health Monitoring 11
References
Frederic Cegla
1 Introduction
V-1669-15.
F. Cegla (&)
Imperial College London, London, UK
e-mail: [email protected]
rope access can be required) and then carries out the actual measurement. Because
of the restricted access to some components, this procedure is not carried out
frequently. Furthermore, because of coupling and positioning errors on repeat
manual measurements, there is a rather large uncertainty on these measurements.
Therefore, over the last decade, permanently installable, wireless thickness gauging
sensors have been developed. Once installed, these sensors remain fixed in the same
location and send back data at regular pre-configurable intervals. Several systems
are on the market. The information relayed here will be kept as general as possible;
however, the author has been deeply involved in the creation of the Permasense
Ltd. wireless ultrasonic monitoring system, and therefore some information that is
displayed might be biased toward this particular system [3].
It is of utmost importance that permanently installed sensors are as rugged as
possible and therefore their coupling and attachment mechanisms are key.
Furthermore, it needs to be ensured that the sensor can withstand the operating
conditions (e.g., temperature) at the location where the transducer is to be installed.
In the Permasense system, both these problems were solved by means of the use of
a robust waveguide that isolates the fragile transducers and electronics from the
measurement error. The waveguide is thin and slender so that it can isolate large
temperature differences over short distances. The transducer is attached to the
sample under test by means of two welded studs which apply load onto the contact
patches and enable dry coupling of the waveguide to the pipe surface. This has
proven to be much more reliable than bonding of the transducer.
This paper is organized as follows: Sect. 2 describes the key features of the fully
wireless ultrasonic corrosion monitoring system as it is deployed in an industrial
plant and shows some example long-term wall thickness trends. Section 3 is con-
cerned with the effects of temperature on the monitored wall thickness and Sect. 4
is concerned with the effects of changes in surface morphology. Finally, conclu-
sions are drawn from the presented information.
Fig. 1 Overview and pictures of the Permasense Ltd. wireless ultrasonic corrosion monitoring
system
Fig. 2 a Illustration of ultrasonic signal path and b typical ultrasonic signal that is received by a
sensor
16 F. Cegla
Figure 3 shows thicknesses that were monitored over the period of about 3.5 years
in a plant component where the wall thickness remained constant. The plot
demonstrates the very good repeatability and measurement frequency that can be
obtained with a permanently installed monitoring system.
Figure 4 shows the wall thickness trend measured on another component in a
plant. Here, it is clearly visible that wall loss is taking place. The wall loss rate is
roughly 1 mm/year; however, there is also a period where no wall loss/corrosion is
taking place. The measurement frequency and precision of the automated mea-
surements make it possible to gather information on wall thickness changes that
would not be obtained with conventional manual ultrasonic measurements.
Conventional measurements would have much higher error bars (i.e., measurement
uncertainty) and would record data much less frequently. This is indicated by the
box plot on the right of Fig. 4 which illustrates ±1 standard deviation of the
measurement uncertainty (indicated by the extent of the box; ±2 standard devia-
tions for the whiskers) that has been quoted for manual UT measurements [4]. The
additional information can be used to take decisions about corrosion mitigation
strategies, the effect of operating conditions on the plant, or if component retirement
should be considered in the near future.
Fig. 3 Constant wall thickness monitored over the period of *3.5 years
Ultrasonic Monitoring of Corrosion … 17
Fig. 4 Wall thickness trend showing wall loss due to corrosion and intermittent period of no
corrosion, also indicated on the right is the uncertainty that is expected to result from manual
ultrasonic measurements
3250
Carbon steel
3200 Stainless steel 304
Shear wave velocity (m/s)
3150
3100
3050
3000
2950
2900
50 100 150 200 250 300 350 400
Temperature (C)
Fig. 5 Shear wave velocity as a function of temperature for carbon steel and stainless steel 304
18 F. Cegla
a 10-mm-thick carbon steel plate and that of a 10-mm-thick stainless steel 304 plate
that was measured in the laboratory. While overall the velocities are within 1% and
both steels behave similarly, there are subtle differences in slope which can cause
errors in the temperature compensation if large temperature swings are encountered
or if a very good measurement precision is required. Based on the carbon steel
measurements the ultrasonic velocity reduced as 0.56 m/s per °C or 0.017% per °C.
This would cause a thickness error of *0.17% or 17 lm in 10 mm wall thickness
for a 10 °C temperature change. For the stainless steel, the results are slightly
different and the velocity reduced as 0.78 m/s per °C or 0.024% per °C. Here, a
thickness error of 24 lm in 10 mm wall thickness for a 10 °C temperature change
would result. If the wrong calibration curve for carbon or stainless steel were used,
an error of *7 lm in 10 mm wall thickness for a 10 °C temperature change could
result. Therefore, for very precise measurements, both temperature compensation
and choice of the correct calibration data becomes important.
Gajdacsi [5] also analyzed the performance of temperature compensation of
ultrasonic signals with a thermocouple that is attached to the outside of a fluid
carrying pipe wall if the pipe wall is heated by the internal fluid. He showed that
under steady temperature conditions there is little error in the temperature com-
pensation when data from the external thermocouple is used. Under these condi-
tions, sub-lm changes in wall thickness can be tracked [6]. However, if there is
unsteady heating or cooling of the pipewall, then larger errors can result due to the
nonuniform temperature distribution within the pipe wall. Depending on the rate of
change of temperature, errors in the order of lm could result. It can be concluded
that very advanced temperature compensation methods would be required to reli-
ably track thickness changes below the lm mark using ultrasonic techniques.
In this section, we are interested in the effect that uneven surface morphology
changes have on ultrasonically monitored thicknesses. Corrosion is a complicated
phenomenon and is a large field of study. It is a degradation mechanism that can
result in thickness loss of many forms. The loss can be spatially uniform as in
etching or spatially nonuniform as in pitting corrosion and any combination of the
two depending on the material and environmental conditions. It is therefore
important to note that every component will have spatial variation of its thickness
due to the nature of the corrosion process. Furthermore, it is very simplistic to
condense the resulting surface condition into a single thickness value that results
from an ultrasonic thickness gauging measurement. It is the end user of the
information who needs to decide what metric is important to him, does he/she
require the mean, max, or minimum thickness?
Ultrasonic Monitoring of Corrosion … 19
On the 1st of January and July of each year the net earnings of
the Association are divided pro rata among all the members,
and the amount due each member is credited on his pass-book.
Persons joining the association between January and July must
continue payments until the following January before the
dividend will be credited, and those joining between July and
January must likewise pay until the following July; and if the
money be withdrawn before that time, the dividend will be
forfeited.
The right to dividend also ceases from the date of the notice to
withdraw the stock.
When dividends are credited on the pass-books they are just
like money paid, and are themselves entitled to draw dividends
the same as cash payments. Thus it will be seen that all
dividends compound semi-annually.
The following table will show how long it takes to pay up a
share to face value by paying the regular dues only, supposing
the society to earn six per cent dividends per annum.[1] It also
shows the value of each share at the close of each year:—
The society loans money only to members. For each $200 share
held by a member he may borrow $200, secured by first
mortgage on real estate, interest on which is twenty-four cents
per week.
The right to precedence in borrowing is sold at auction at stated
times at the office of the Association (notice of which is given
beforehand) to the member who bids or agrees to pay the
highest weekly premium in addition to the twenty-four cents per
week interest. Ten cents per week is the average rate at which
money was sold during the year 1887, and is now selling.
Members not desiring or not able to attend the sale of money in
person may have some one else bid for them, or they may leave
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purpose, who will make it for them at the sale.
The society also loans to depositing members in sums equal to
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member pledging his stock for the payment of the loan and
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Interest on such loans has for the present been placed at the
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PAYMENTS.
The depositing and borrowing members alike pay fifty cents per
week per share. There are no additions for expenses, interest,
premiums, or fines. These are charged up at the close of each
dividend period, or at the closing up of an account.
Each borrower is required to pay at least fifty cents per week on
each $200 of loan made to him, which is credited as follows:—
First the premium and interest are taken out, the interest being
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[2] Since this report was made the earnings have been nine
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CHAPTER XL.
PURCHASE OF A LOT.—THE BEST THE CHEAPEST.—A GOOD LOT AS A BASIS
OF SECURITY.—THE BASIS OF VALUE IS THE RENTAL.
Hall, 33-35.
Hall, reception, 35, 36.
Hardware, 245, 246.
Hard-wood floors, 223.
Heating apparatus, how to get a good, 83, 85.
Heating and ventilation, 75-85.
Heating by hot water, 80, 83.
Heating by steam, 80.
Heating by stoves, 80.
Heating, ideal conditions, 76.
Heating plants, cost of, 81, 82, 83.
Heat regulators, automatic, 81.
Height of stories, 214.
Hip coping, 240.
Hip finish, 217.
Hollow walls of brick, 203.
Hot-air flues in brick walls, 203.
Hot-air pipes of tin, 241.
Hot-water boiler, 71.
Hot water and furnace combination, 83, 84.
Hot-water heating, 80.
Hot-water plumbing, 70.
Hot-water system, 252.
House decoration, 86-100.
House drain, 71.
House ventilation, 75, 79.
Housekeeper, the, and the architect, 11-15, 26-28.
Housekeeping operations, 16-20.
How to secure a home, 289-316.
Humidity of air, 77, 81.
Hydrant, 249.
Kitchens, 39-50.
Kitchen fittings, 42, 43.
Kitchen floor, 49.
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