Robust Structural Health Monitoring Using A Polynomial Chaos Based .

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COMPDYN 2011III ECCOMAS Thematic Conference onComputational Methods in Structural Dynamics and Earthquake EngineeringM. Papadrakakis, M. Fragiadakis, V. Plevris (eds.)Corfu, Greece, 25–28 May 2011ROBUST STRUCTURAL HEALTH MONITORING USING APOLYNOMIAL CHAOS BASED SEQUENTIAL DATA ASSIMILATIONTECHNIQUEGeorge A. Saad1, and Roger G. Ghanem212American University of BeirutBeirut, Lebanongeorge.saad@aub.edu.lbUniversity of Southern CaliforniaLos Angeles, California, USAghanem@usc.eduKeywords: Structural Health Monitoring, Sequential Data Assimilation, Kalman Filter, Uncertainty Quantification, Polynomial Chaos.Abstract. With the recent technological advances and the evolution of advanced smart systems fordamage detection and signal processing, Structural Health Monitoring (SHM) emerged as a multidisciplinary field with wide applicability throughout the various branches of engineering, mathematicsand physical sciences. However, significant challenges associated with modeling the physical complexity of systems comprising these structures remain. This is mainly due to the fact that numerousuncertainties associated with modeling, parametric and measurement errors could be introduced. Incases where these uncertainties are significant, standard identification and damage detection techniques are either unsuitable or inefficient. This study presents a robust data assimilation approachbased on a stochastic variation of the Kalman Filter where polynomial functions of random variablesare used to represent the inherent process uncertainties. The presented methodology is combined witha non-parametric modeling technique to tackle structural health monitoring of a four-story shearbuilding. The structure is subject to a base motion specified by a time series consistent with the ElCentro earthquake and undergoes a preset damage in the first floor. The purpose of the problem islocalizing the damage in both space and time, and tracking the state of the system throughout and subsequent to the damage time. The application of the introduced data assimilation technique to SHMenhances the latter’s applicability to a wider range of structural problems with strongly nonlinear dynamical behavior and with uncertain and complex governing laws.

George A. Saad and Roger G. Ghanem1INTRODUCTIONWith the recent technological advances and the evolution of advanced smart systems fordamage detection and signal processing, Structural Health Monitoring (SHM) emerged as amultidisciplinary field with wide applicability throughout the various branches of engineering,mathematics and physical sciences. Typically, the SHM problem can be addressed as a statistical pattern recognition paradigm with three main components:1) A numerical model that accurately represents the governing system dynamics2) Real-time data acquisition and management system3) A sequential data assimilation technique that relies on a set of observational data tocalibrate and update the underlying dynamic principles governing the system underobservation.In such context, numerous uncertainties associated with modeling, parametric and measurement errors could be introduced. In cases where these uncertainties are significant, standardidentification and damage detection techniques are either unsuitable or inefficient. Therefore,the need rises for robust system identification algorithms that can tackle the aforementionedchallenges. This has been a very active research area over the past decade [3, 4, 6, 8, 9, 11,12].Sequential data assimilation has been widely used for structural health monitoring and system identification problems. Many extensions of the Kalman Filter were developed as adaptations to important classes of these problems. While the Extended Kalman Filter may fail inthe presence of high non-linearities, Monte Carlo based Kalman Filters usually give satisfactory results. The Ensemble Kalman Filter (EnKF) [1, 2] was recently used for damage detection in strongly nonlinear systems [4], where it is combined with non-parametric modelingtechniques to tackle structural health monitoring for non-linear systems. The EnKF uses aMonte Carlo Simulation scheme for characterizing the noise in the system, and therefore allows representing non-Gaussian perturbations. Although this combination gives good results,it requires a relatively accurate representation of the non-linear system dynamics. It also requires a large ensemble size to quantify the non-Gaussian uncertainties in such systems andconsequently imposes a high computational cost.This study presents a system identification approach based on coupling robust nonparametric non-linear models with the Polynomial Chaos methodology in the context of theKalman Filtering techniques [10]. The proposed approach uses a Polynomial Chaos expansion[7] of the nonparametric representation of the system’s non-linearity to statistically characterize the system’s behavior. A filtering technique that allows the propagation of a stochasticrepresentation of the unknown variables using Polynomial Chaos is used to identify the chaoscoefficients of the unknown parameters in the model. The introduced filter is a modificationof the EnKF that uses the Polynomial Chaos methodology to represent uncertainties in thesystem. This allows the representation of non-Gaussian uncertainties in a simpler, less taxingway without the necessity of managing a large ensemble. It also allows obtaining the probability density function of the model state or parameters at any instant in time by simply simulating the Polynomial Chaos basis.2THE POLYNOMIAL CHAOS KALMAN FILTER (PCKF)The Kalman Filter is an optimal sequential data assimilation method for linear dynamicsand measurement processes with Gaussian error statistics. The PCKF builds on the mathematics of the original Kalman Filter to allow the propagation of a stochastic representation of theunknown variables using Polynomial Chaos. In the PCKF, the model state is given by,2

George A. Saad and Roger G. GhanemP(1)x ! xi!i (" ),i 0where, ! 1,  is the number of terms in the Polynomial expansion of the state vector, {!! } isset of Hermite polynomials function of the Gaussian random variable, !. Consequently, thecovariance matrix of the model state is defined around the mean, the zero order term, of thestochastic representation,T' P' PP ! & # xi!i " x0 )& # xi!i " x0 )(% i 0(% i 0T' P' P! & # xi!i )& # xi!i )(% i 1(% i 1(2)P! # xi xiT !i2 ,i 1where, ! is the covariance matrix, and   denotes the mathematical expectation. The Polynomial Chaos representation depicts all the information available through the complete probability density function, and therefore allows the propagation of all the statistical moments of theunknown parameters and variables.The observations are also treated as random variables represented via a Polynomial Chaosexpansion with a mean equal to the first-guess observations. Since the model and measurement errors are assumed to be independent, the latter is represented as a Markov process2.1 Analysis SchemeFor computational efficiency, the dimensionality and order of the Polynomial Chaos expansion are homogenized through out the solution. These parameters are initially definedbased on the uncertainty within the problem at hand and are assumed to be constant thereafter.Since the model state and measurement vectors are assumed independent, the PolynomialChaos representation of these variables has a sparse structure.Let ! be the matrix holding the chaos coefficients of the state vector !  !  ! ! ,A (x0 , x1,., xP ) ! R n"(P 1),(3)where ! 1 is the total number of terms in the Polynomial Chaos representation of ! and ! isthe size of the model state vector. The mean of ! is stored in the first column of ! and is denoted by !! . The state perturbations are given by the higher order terms stored in the remaining columns. Consequently, the state error covariance matrix !  !  !! ! is defined as:PP ! xi xiT !i2(4)i 1Given a vector of measurements !  !  ! ! , with ! being the number of measurements at eachoccurrence, a Polynomial chaos representation of the measurements is defined asPd ! d j! j (! ),(5)j 0where the mean !! is given by the actual measurement vector, and the higher order terms rep3

George A. Saad and Roger G. Ghanemresent the measurement uncertainties. The representation ! can be stored in matrix form as:(6)B (d0 , d1,., dP ) ! R m"(P 1).Based on Eq. 5, the measurement error covariance matrix, !, is defined as:P(7)R ! di diT !i2 " R m#mi 1The Kalman Filter forecast step is carried out by employing a stochastic Galerkin scheme, andthe assimilation step consists if the traditional Kalman Filter correction step applied on thePolynomial Chaos expansion of the model state vector,PP! x ! ! x ! PHaii 0fiii 0iTP&#P(HPHT R)"1 % ! di!i " H! xif !i (' i 0i 0(8)where, H is the observation matrix, and the superscripts ! and ! represent the forecast andanalysis states respectively. Projecting the above equation on an approximating space spannedby the Polynomial Chaos {!! }!!!!  yields,xia xif PHT (HPHT R)!1 ( di ! Hxif )for i 0,1,., P.(9)In matrix form, the assimilation step is expressed as:A a A f PHT ( HPHT R )3!1(B ! HA )f(10)NUMERICAL EXAMPLEThe efficiency of the presented method is assessed by applying it to the structural healthmonitoring of the four-story shear building shown in Figure 1. This model has a constantstiffness on each floor and a 5% damping ratio in all modes. All structural elements of thisframe are assumed to involve hysteretic behavior, and it is supposed that a change in the hysteretic loop of the first floor element occurs at some point. It is of utmost importance to localize that point in time and track the state of the system throughout and subsequent to that point.Figure 1: Shear Building Under AnalysisA synthetically generated dataset representing measurements of the displacements and veloci4

George A. Saad and Roger G. Ghanemties at each floor is obtained by representing the hysteretic restoring force by the Bouc-Wenmodel, which is therefore considered as the exact hysteretic behavior of the system. Thus, theequation of motion of the system is given by,!! Cu(t)! K el u(t) (1! ! )K in z(x, t) !M " u!!g (t)Mu(t)(11)where, !, !, !!" , and !!" are the mass, damping, elastic and inelastic stiffness matrices respectively; ! is the ratio of the post yielding stiffness to the elastic stiffness, ! is the influencevector, ! is the displacement vector, ! is the inter-story drift vector, and !  is an n-dimensionalevolutionary hysteretic vector whose !!! component is give by the Bouc-Wen model as,z!i Ai x!i ! ! x!i zini !1n! ! i x!i zi i ,i 1,., n(12)A, β, and ϒ are the Bouc-Wen model parameters. The adopted values for these parameters areshown in Table 15101101Table 1: Bouc-Wen Model CoefficientsThe structure is subject to a base motion specified by a time series consistent with the ElCentro earthquake shown in Figure 2, and a change of the first floor hysteric behavior is assumed to take place five seconds after the excitation. A monitoring scenario where it is assumed that measurements are available every 5 time steps is adopted. A nonparametricrepresentation of the system nonlinearity is adopted, and the filtering technique is used tocharacterize the latter representation in order to capture any ambiguous behavior of the structure examined.Figure 2: The Elcentro Excitation Applied to the Structure5

George A. Saad and Roger G. Ghanem4NON-PARAMETRIC REPRESENTATION OF THE NON-LINEARITYThe proposed filtering methodology is combined with a non-parametric modeling technique to tackle structural health monitoring of non-linear systems but instead of adopting adeterministic nonparametric representation of the non-linearity, a stochastic representation viaPolynomial Chaos is used. The basic idea behind the non-parametric identification techniqueused is to determine an approximating analytical function ! that approximates the actual system non-linearities, with the form of ! including suitable basis functions that are adapted tothe problem at hand [8]. For general non-linear systems, a suitable choice of basis would bethe list of terms in the power series expansion in the doubly indexed series,imax jmaxS ! ! ui u! j ,(13)i 0 j 0where ! and ! are used to represent the system’s displacement and velocity respectively.Therefore, if !!"#    3 and !!"#    3, the basis functions become:! u! 2 , u! 3, u, uu,! uu! 2 , uu! 3, u 2 , u 2 u,! u 2 u! 2 , u 2 u! 3, u3, u3u,! u3u! 2 , u3u! 3 }basis {1, u,(14)In the proposed method the displacements and velocities are stochastic processes represented by their Polynomial Chaos expansion. Thus, the approximating function is also expressed as a stochastic process via a Polynomial Chaos representation. The model adoptedwithin the Kalman Filter is hence given by!! F(u, u)! !M ! u!!g (t)Mu(t)(15)where, ! is the non-parametric representation of the non-linearity whose ! !! floor componentis given by! !jF i ! " Fji (u, u)j'' ii 1F i ! " a ij! j & " (uk # uki#1 )! k ) " a i 1!(u#u)!&jj " kkk)( j(% k% kj2'' ii 1 " b ! j & " (uki # uki#1 )! k ) " bi 1j ! j & " (uk # uk )! k )((% k% kjj'' ! i ! i 1 " cij! j & " (u!ki # u!ki#1 )! k ) " ci 1j ! j & " (uk # uk )! k )( j(% k% kj' ' " d ij! j & " (uki # uki#1 )! k )& " (u!li # u!li#1 )!l )(% l(% kj' ' ii 1! i ! i 1 " d i 1j ! j & " (uk # uk )! k ) & " (ul # ul )! l )(% l(% kj2ij(16)In the above equation, !! , !! , !! , and !! represent the chaos coefficients of the unknown parameters to be identified. The fourth order Runge-Kutta method is used for the timestepping and a stochastic Galerkin approach is employed to solve the system at each timestep.6

George A. Saad and Roger G. Ghanem5RESULTSIn the numerical example, it is assumed that observations of displacements and velocitiesfrom all floors are available. The noise signals perturbing both the model and measurementsare modeled as first order, one dimensional, independent, Polynomial Chaos expansions having zero-mean and an RMS of 0.05 and 0.001 respectively. The parametric uncertainties onthe other hand, are modeled as second order, one dimensional, Polynomial Chaos expansionswhose coefficients are to be determined in accordance with the available observations. This isdone to incorporate the possibility that the unknown parameters may deviate from Gaussianity. Furthermore, it is assumed that the first floor undergoes a change in its hysteretic behavior5 seconds after the ground excitation. The purpose of the application is to detect this behavioral change.Figure 3: Estimate of the first floor parameters, (a) displacement, (b) velocityFigure 3 and Figure 4 describe the tracking of the displacement and velocity for the firstand fourth floor respectively. Excellent match between the results estimated using the Polynomial Chaos based Kalman Filter and the true state is observed.Figure 4: Estimate of the fourth floor parameters, (a) displacement, (b) velocityFigure 5 presents the evolution of the mean of the unknown parameters identified by the7

George A. Saad and Roger G. Ghanemproposed filtering technique. Error bars representing the scatter in the estimated parametersare also present in Figure 5. The different jumps within the parameters are associated with theperks in the corresponding excitation.Figure 5: Estimate of the mean floor parametersFurther investigation of the parameters indicates that the main changes take place in thefirst floor following the 5sec time interval. Note that the parameters ! and ! in floors 1 and 2undergo the greatest jumps since they are associated with inter-story drift and velocity, respectively. One of the main advantages of using the Polynomial Chaos Kalman filter is that isprovides a scatter around the estimated parameters. This is represented by the probability density functions corresponding to each of the estimated parameters. Figure 6 presents the probability density functions of the estimated floor 1 parameters.8

George A. Saad and Roger G. GhanemFigure 6: Probability density functions of the estimated floor 1 parameters6CONCLUSIONSThe combination of Polynomial Chaos with the Ensemble Kalman Filter renders an efficient data assimilation methodology that competes with other Kalman Filtering techniqueswhile maintaining a relatively low computational cost. Although the proposed method employs traditional Kalman Filter updating schemes, it preserves all the error statistics, andhence allows the computation of the probability density function of the uncertain parametersand variables at all time steps. This is achieved by simply simulating the Polynomial Chaosrepresentation of these parameters. Together with the non-parametric representation of thenonlinearities, the approach constitutes an effective system identification technique that accurately detects any changes in the systems behavior. The Polynomial Chaos representation ofthe non-parametric model for the nonlinearities is a robust innovative approach that permitsdamage identification and tracking the dynamical state beyond that point. Using PolynomialChaos, the uncertainty associated with the assumed non-parametric model is inherently present and thus represents the actual nonlinearity in a more accurate way.9

George A. Saad and Roger G. GhanemREFERENCES[1] Evensen G., Sequential Data Assimilation with a nonlinear quasi-geostrophic model using Monte Carlo to forecast error statistics, Journal of Geophysical Research, 99:10143-10162, 1994[2] Evensen G., The Ensemble Kalman Filter: Theoretical formulation and practical implementation, Ocean Dynamics, 53:343–367, 2003[3] Franco G., R. Betti, and S. Lus, Identification of structural systems using an evolutionary strategy, Journal of Engineering Mechanics, 130:1125–1139, 2005[4] Ghanem R. and G. Ferro, Health Monitoring for strongly non-linear systems using theensemble Kalman filter, Structural Control and Health Monitoring, 13: 245-259, 2002[5] Ghanem R., G. Saad, and A. Doostan, Efficient Solution of stochastic systems: application to the embankment dam problem, Structural Safety, 29: 238-251, 2007[6] Ghanem R. and M. Shinozuka, Structural systems identification I, Theory, Journal ofEngineering Mechanics, 121: 255-264, 1995[7] Ghanem R. and P. Spanos, Stochastic Finite Elements: A Spectral Approach, DoverPublications, Inc., revised edition, 2003[8] Masri S., J.P. Caffrey, T.K. Caughey, A.W. Smyth, and A.G. Chassiakos, Identificationof the state equation in complex non-linear systems, International Journal of NonLinear Mechanics, 39:1111–1127, 2004[9] Masri S., R. Ghanem, F. Arrate, and J.P. Caffrey, A data based procedure for analyzingthe response of uncertain nonlinear systems, Structural Control and Health Monitoring,16: 724-750, 2009[10] Saad G. and R. Ghanem, Characterization of reservoir simulation models using a polynomial chaos based ensemble Kalman filter, Water Resources Research, 45: W04417,2009[11] G. Saad, R. Ghanem, and S. Masri, Robust System Identification of Strongly Non-linearDynamics Using a Polynomial Chaos-Based Sequential Data Assimilation Technique,48 AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and MaterialsConference, Honolulu, Hawaii, April 2007th[12] Zhang H., G. Foliente, Y. Yang, and F. Ma, Parametric identification of elastic structures under dynamic loads, Earthquake Engineering and Structural Dynamics, 31:11131130, 200210

the presence of high non-linearities, Monte Carlo based Kalman Filters usually give satisfac-tory results. The Ensemble Kalman Filter (EnKF) [1, 2] was recently used for damage detec-tion in strongly nonlinear systems [4], where it is combined with non-parametric modeling techniques to tackle structural health monitoring for non-linear systems.

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