Drive-By Bridge Frequency Identification under Operational Roadway Speeds Employing Frequency Independent Underdamped Pinning Stochastic Resonance (FI-UPSR)

Full-Field Vibration Response Estimation from Sparse Multi-Agent Automatic Mobile Sensors Using Formation Control Algorithm

In structural vibration response sensing, mobile sensors offer outstanding benefits as they are not dedicated to a certain structure; they also possess the ability to acquire dense spatial information. Currently, most of the existing literature concerning mobile sensing involves human drivers manually driving through the bridges multiple times. While self-driving automated vehicles could serve for such studies, they might entail substantial costs when applied to structural health monitoring tasks. Therefore, in order to tackle this challenge, we introduce a formation control framework that facilitates automatic multi-agent mobile sensing. Notably, our findings demonstrate that the proposed formation control algorithm can effectively control the behavior of the multi-agent systems for structural response sensing purposes based on user choice. We leverage vibration data collected by these mobile sensors to estimate the full-field vibration response of the structure, utilizing a compressive sensing algorithm in the spatial domain. The task of estimating the full-field response can be represented as a spatiotemporal response matrix completion task, wherein the suite of multi-agent mobile sensors sparsely populates some of the matrix's elements. Subsequently, we deploy the compressive sensing technique to obtain the dense full-field vibration complete response of the structure and estimate the reconstruction accuracy. Results obtained from two different formations on a simply supported bridge are presented in this paper, and the high level of accuracy in reconstruction underscores the efficacy of our proposed framework. This multi-agent mobile sensing approach showcases the significant potential for automated structural response measurement, directly applicable to health monitoring and resilience assessment objectives.

Discussion on a Vehicle-Bridge Interaction System Identification in a Field Test

For infrastructures to be sustainable, it is essential to improve maintenance and management efficiency. Vibration-based monitoring methods are being investigated to improve the efficiency of infrastructure maintenance and management. In this paper, signals from acceleration sensors attached to vehicles traveling on bridges are processed. Methods have been proposed to individually estimate the modal parameters of bridges and road unevenness from vehicle vibrations. This study proposes a method to simultaneously estimate the mechanical parameters of the vehicle, bridge, and road unevenness with only a few constraints. Numerical validation examined the effect of introducing the Kalman filter on the accuracy of estimating the mechanical parameters of vehicles and bridges. In field tests, vehicle vibration, bridge vibration, and road unevenness were measured and verified, respectively. The road surface irregularities estimated by the proposed method were compared with the measured values, which were somewhat smaller than the measured values. Future studies are needed to improve the efficiency of vehicle vibration preprocessing and optimization methods and to establish a methodology for evaluating accuracy.

Indirect Monitoring of Frequencies of a Multiple Span Bridge Using Data Collected from an Instrumented Train: A Field Case Study

In this paper, a field study is carried out to monitor the natural frequencies of Malahide viaduct bridge which is located in the north of Dublin. The bridge includes a series of simply supported spans, two of which collapsed in 2009 and were replaced. The replaced spans are stiffer than most of the others and these differences resulted in higher natural frequencies. An indirect bridge monitoring approach is employed in which acceleration responses from an instrumented train are used to estimate the natural frequencies of each span of the viaduct showing the locations of the two replaced spans with higher stiffness. For the indirect approach, an Ensemble Empirical Mode Decomposition (EEMD)-based Hilbert Huang Transform (HHT) technique is employed to identify the natural frequency of each span. This is carried out by analysing the Instantaneous Frequencies (IFs) from the calculated intrinsic mode functions. The average of the IFs calculated using 41 runs of the instrumented train (with varying carriage mass and speed for each run) are used to estimate the natural frequencies. To assess the feasibility of the indirect approach, a bespoke set of direct measurements was taken using accelerometers attached successively on each span of the viaduct. The free and forced vibrations from each span are used to estimate the first natural frequencies. The frequencies obtained from drive-by measurements are compared to those from direct measurements which confirms the effectiveness of indirect approaches. In addition, the instantaneous amplitudes of the drive-by signals are used to indicate the location of the stiffer spans. Finally, the accuracy and robustness of the indirect approaches for monitoring of multi span bridges are discussed.

Single-Camera-Based Bridge Structural Displacement Measurement with Traffic Counting

Vision-based structural displacement methods allow convenient monitoring of civil structures such as bridges, though they are often limited due to the small number of measurement points, constrained spatial resolution, and inability to identify the acting forces of the measured displacement. To increase the number of measurement points in vision-based bridge displacement measurement, this study introduces a front-view tandem marker motion capture system with side-view traffic counting to identify the force-inducing passing vehicles on the bridge’s deck. The proposed system was able to measure structural displacement at submillimeter resolution on eight measurement points at once at a distance of 40.8–64.2 m from a front-view camera. The traffic counting system with a side-view camera recorded the passing vehicles from two opposing lanes. We conducted a 35-min experiment for a 25 m-span steel road bridge with hundreds of cars passing over it and confirmed dynamic displacement distributions with amplitudes of several millimeters when large vehicles passed.

An Enhanced Inverse Filtering Methodology for Drive-By Frequency Identification of Bridges Using Smartphones in Real-Life Conditions

This paper develops an enhanced inverse filtering-based methodology for drive-by frequency identification of bridges using smartphones for real-life applications. As the vibration recorded on a vehicle is dominated by vehicle features including suspension system and speed as well as road roughness, inverse filtering aims at suppressing these effects through filtering out vehicle- and road-related features, thus mitigating a few of the significant challenges for the indirect identification of the bridge frequency. In the context of inverse filtering, a novel approach of constructing a database of vehicle vibrations for different speeds is presented to account for the vehicle speed effect on the performance of the method. In addition, an energy-based surface roughness criterion is proposed to consider surface roughness influence on the identification process. The successful performance of the methodology is investigated for different vehicle speeds and surface roughness levels. While most indirect bridge monitoring studies are investigated in numerical and laboratory conditions, this study proves the capability of the proposed methodology for two bridges in a real-life scale. Promising results collected using only a smartphone as the data acquisition device corroborate the fact that the proposed inverse filtering methodology could be employed in a crowdsourced framework for monitoring bridges at a global level in smart cities through a more cost-effective and efficient process.

The Way Forward for Indirect Structural Health Monitoring (iSHM) Using Connected and Automated Vehicles in Europe

Europe’s aging transportation infrastructure requires optimized maintenance programs. However, data and monitoring systems may not be readily available to support strategic decisions or they may require costly installations in terms of time and labor requirements. In recent years, the possibility of monitoring bridges by indirectly sensing relevant parameters from traveling vehicles has emerged—an approach that would allow for the elimination of the costly installation of sensors and monitoring campaigns. The advantages of cooperative, connected, and automated mobility (CCAM), which is expected to become a reality in Europe towards the end of this decade, should therefore be considered for the future development of iSHM strategies. A critical review of methods and strategies for CCAM, including Intelligent Transportation Systems, is a prerequisite for moving towards the goal of identifying the synergies between CCAM and civil infrastructures, in line with future developments in vehicle automation. This study presents the policy framework of CCAM in Europe and discusses the policy enablers and bottlenecks of using CCAM in the drive-by monitoring of transport infrastructure. It also highlights the current direction of research within the iSHM paradigm towards the identification of technologies and methods that could benefit from the use of connected and automated vehicles (CAVs).

Investigating the impact of the velocity of a vehicle with a nonlinear suspension system on the dynamic behavior of a Bernoulli–Euler bridge

Several authors, utilizing both experimental tests and complicated numerical models, have investigated vehicle speed's impact on a highway bridge's dynamic amplification. Although these tests and models provide reliable quantitative data on frequency contents of the interaction between the two subsystems, engineers should pay further notice to the effects of a subsystem's velocity and the type of suspension system of a vehicle moving over a structure. Hence, in this paper, the dynamic response of a bridge to a moving vehicle is considered. The car is assumed as a quarter car model with both linear and nonlinear stiffness and damping constants. Further, using the modal superposition method, a closed-form solution is obtained for the bridge's vertical response. The results obtained via numerical calculation show a significant increase in the bridge midpoint and total deflection, velocity, and acceleration by increasing the vehicle velocity. Moreover, by neglecting the nonlinear stiffness and damping coefficients of the vehicle suspension system, the bridge's dynamic response remains almost the same with respect to the numerical data. As a general conclusion, it can be claimed that the only significant parameters which can change the dynamic behavior of a bridge subjected to a moving vehicle are the speed of the car and its linear stiffness and damping constants inside its suspension system.

Possibility of Bridge Inspection through Drive-By Vehicles

Based on virtual simulations of vehicle–bridge interactions, the possibility of detecting stiffness reduction damages in bridges through vehicle responses was tested in two dimensional (2D) and three dimensional (3D) settings. Short-Time Fourier Transformation (STFT) was used to process vehicles’ acceleration data obtained through the 2D and 3D virtual simulations. The energy band variation of the vehicle acceleration time history was found strongly related to damage parameters. More importantly, the vehicle’s initial entering conditions are critical in obtaining correct vehicle responses through the vehicle bridge interaction models. The offset distance needed before executing the vehicle–bridge interaction (VBI) modeling was obtained through different road profile roughness levels. Through the above breakthroughs in VBI modeling, the presented study provides a new and integrated method for drive-by bridge inspection.

Natural Frequency Response Evaluation for RC Beams Affected by Steel Corrosion Using Acceleration Sensors

This paper presented a laboratory investigation for analyzing the natural frequency response of reinforced concrete (RC) beams affected by steel corrosion. The electrochemical acceleration technique induced the corroded RC beams until the predetermined value of the steel corrosion ratio was achieved. Then, the natural frequency responses of the corroded beams were tested utilizing piezoelectric acceleration sensors. The damage states of the corroded beams were assessed through the measurement of crack parameters and the equivalent elastic modulus of the beams, which aims to clarify the fundamental characteristics of the dynamic response for the corroded RC beam with the increased steel corrosion ratio. The results revealed that steel corrosion reduces the bending stiffness of the RC beams and, thus, reduces the modal frequency. The variation of natural frequency can identify the corrosion damage even if no surface cracking of the RC beam, and the second-order frequency should be more indicative of the damage scenario. The degradations of stiffness and the natural frequency were estimated in this study by the free vibration equation of a simply supported beam, and a prediction method for the RC beam’s residual service life was established. This study supports the use of variations in natural frequency as one diagnostic indicator to evaluate the health of RC bridge structures.

Vehicle-Assisted Techniques for Health Monitoring of Bridges

Bridges are designed to withstand different types of loads, including dead, live, environmental, and occasional loads during their service period. Moving vehicles are the main source of the applied live load on bridges. The applied load to highway bridges depends on several traffic parameters such as weight of vehicles, axle load, configuration of axles, position of vehicles on the bridge, number of vehicles, direction, and vehicle’s speed. The estimation of traffic loadings on bridges are generally notional and, consequently, can be excessively conservative. Hence, accurate prediction of the in-service performance of a bridge structure is very desirable and great savings can be achieved through the accurate assessment of the applied traffic load in existing bridges. In this paper, a review is conducted on conventional vehicle-based health monitoring methods used for bridges. Vision-based, weigh in motion (WIM), bridge weigh in motion (BWIM), drive-by and vehicle bridge interaction (VBI)-based models are the methods that are generally used in the structural health monitoring (SHM) of bridges. The performance of vehicle-assisted methods is studied and suggestions for future work in this area are addressed, including alleviating the downsides of each approach to disentangle the complexities, and adopting intelligent and autonomous vehicle-assisted methods for health monitoring of bridges.

Inverse Filtering for Frequency Identification of Bridges Using Smartphones in Passing Vehicles: Fundamental Developments and Laboratory Verifications

This paper puts forward a novel methodology of employing inverse filtering technique to extract bridge features from acceleration signals recorded on passing vehicles using smartphones. Since the vibration of a vehicle moving on a bridge will be affected by various features related to the vehicle, such as suspension and speed, this study focuses on filtering out these effects to extract bridge frequencies. Hence, an inverse filter is designed by employing the spectrum of vibration data of the vehicle when moving off the bridge to form a filter that will remove the car-related frequency content. Later, when the same car is moving on the bridge, this filter is applied to the spectrum of recorded data to suppress the car-related frequencies and amplify the bridge-related frequencies. The effectiveness of the proposed methodology is evaluated with experiments using a custom-built robot car as the vehicle moving over a lab-scale simply supported bridge. Nine combinations of speed and suspension stiffness of the car have been considered to investigate the robustness of the proposed methodology against car features. The results demonstrate that the inverse filtering method offers significant promise for identifying the fundamental frequency of the bridge. Since this approach considers each data source separately and designs a unique filter for each data collection device within each car, it is robust against device and car features.

Using Statistical Analysis of an Acceleration-Based Bridge Weigh-In-Motion System for Damage Detection

This paper develops a novel method of bridge damage detection using statistical analysis of data from an acceleration-based bridge weigh-in-motion (BWIM) system. Bridge dynamic analysis using a vehicle-bridge interaction model is carried out to obtain bridge accelerations, and the BWIM concept is applied to infer the vehicle axle weights. A large volume of traffic data tends to remain consistent (e.g., most frequent gross vehicle weight (GVW) of 3-axle trucks); therefore, the statistical properties of inferred vehicle weights are used to develop a bridge damage detection technique. Global change of bridge stiffness due to a change in the elastic modulus of concrete is used as a proxy of bridge damage. This approach has the advantage of overcoming the variability in acceleration signals due to the wide variety of source excitations/vehicles—data from a large number of different vehicles can be easily combined in the form of inferred vehicle weight. One year of experimental data from a short-span reinforced concrete bridge in Slovenia is used to assess the effectiveness of the new approach. Although the acceleration-based BWIM system is inaccurate for finding vehicle axle-weights, it is found to be effective in detecting damage using statistical analysis. It is shown through simulation as well as by experimental analysis that a significant change in the statistical properties of the inferred BWIM data results from changes in the bridge condition.

Measurement of Three-Dimensional Structural Displacement Using a Hybrid Inertial Vision-Based System

Accurate three-dimensional displacement measurements of bridges and other structures have received significant attention in recent years. The main challenges of such measurements include the cost and the need for a scalable array of instrumentation. This paper presents a novel Hybrid Inertial Vision-Based Displacement Measurement (HIVBDM) system that can measure three-dimensional structural displacements by using a monocular charge-coupled device (CCD) camera, a stationary calibration target, and an attached tilt sensor. The HIVBDM system does not require the camera to be stationary during the measurements, while the camera movements, i.e., rotations and translations, during the measurement process are compensated by using a stationary calibration target in the field of view (FOV) of the camera. An attached tilt sensor is further used to refine the camera movement compensation, and better infers the global three-dimensional structural displacements. This HIVBDM system is evaluated on both short-term and long-term synthetic static structural displacements, which are conducted in an indoor simulated experimental environment. In the experiments, at a 9.75 m operating distance between the monitoring camera and the structure that is being monitored, the proposed HIVBDM system achieves an average of 1.440 mm Root Mean Square Error (RMSE) on the in-plane structural translations and an average of 2.904 mm RMSE on the out-of-plane structural translations.

Extraction of Bridge Fundamental Frequencies Utilizing a Smartphone MEMS Accelerometer

Smartphone MEMS (Micro Electrical Mechanical System) accelerometers have relatively low sensitivity and high output noise density. Therefore, it cannot be directly used to track feeble vibrations such as structural vibrations. This article proposes an effective increase in the sensitivity of the smartphone accelerometer utilizing the stochastic resonance (SR) phenomenon. SR is an approach where, counter-intuitively, feeble signals are amplified rather than overwhelmed by the addition of noise. This study introduces the 2D-frequency independent underdamped pinning stochastic resonance (2D-FI-UPSR) technique, which is a customized SR filter that enables identifying the frequencies of weak signals. To validate the feasibility of the proposed SR filter, an iPhone device is used to collect bridge acceleration data during normal traffic operation and the proposed 2D-FI-UPSR filter is used to process these data. The first four fundamental bridge frequencies are successfully identified from the iPhone data. In parallel to the iPhone, a highly sensitive wireless sensing network consists of 15 accelerometers (Silicon Designs accelerometers SDI-2012) is installed to validate the accuracy of the extracted frequencies. The measurement fidelity of the iPhone device is shown to be consistent with the wireless sensing network data with approximately 1% error in the first three bridge frequencies and 3% error in the fourth frequency.

Reliability Assessment of Deflection Limit State of a Simply Supported Bridge using vibration data and Dynamic Bayesian Network Inference

Structural health monitoring (SHM) has been widely used in all kinds of bridges. It is significant to accurately assess the serviceability and reliability of bridge subjected to severe conditions by SHM technique. Bridge deflection as an essential evaluation index can reflect structural condition perfectly. In this study, an approach for deflection calculation and reliability assessment of simply supported bridge is presented. Firstly, a bridge deflection calculation method is proposed based on modal flexibility and Kriging method improved by artificial bee colony algorithm. Secondly, a dynamic Bayesian network is employed to evaluate the deflection reliability combined with monitoring results which include modal frequency, mode shape, environmental temperature, and humidity. A linear regression model is established to analyze the relationship between modal parameters and environmental factors. Thirdly, a simply supported bridge is constructed and monitored to verify the effectiveness of the proposed method. The results reveal that the proposed method can precisely calculate the bridge deflection. Finally, the time-dependent reliabilities of two cases are computed and the effects of monitoring factors on bridge deflection reliability are analyzed by sensitivity parameter. It indicates that the reliability is negatively correlated with temperature and more sensitive to mode shape than other three factors.