Bridge Structural Health Research Articles

Experimental and theoretical evaluation of axial forces in short steel ropes

AbstractAssessing rope force in bridge structural health monitoring, particularly for shorter lengths, poses challenges. The vibration method, commonly utilized for taut strings, yields inaccurate results for short ropes due to neglecting bending stiffness. To address this, the differential equation of lateral vibration of a prismatic beam possessing bending stiffness EI, evenly distributed mass m under the tension force N is solved approximately and numerically using FEM for greater accuracy. Nonlinear fitting via the Gauss‐Newton aids in refining results. Laboratory experiments, varying axial forces and rope characteristics, validated these methods, offering recommendations for improved accuracy.

Enhancing acceleration data cleaning through time–frequency feature integration using deep learning

In recent years, the safety issues of bridge has garnered significant attention from various sectors of society. Bridge structural health monitoring (SHM) systems have emerged as essential tools for real-time monitoring and assessing the operational safety of bridges. Despite the substantial implementation and operation of monitoring systems, challenges have arisen from abnormal data caused by equipment malfunctions, power outages, and environmental interference. These anomalies are challenging to manually remove within the vast dataset. To address the challenge of automated detection and classification of anomalies, this paper focuses on acceleration data and proposes a data cleaning method that integrates time–frequency features and one-dimensional convolutional neural network (1D CNN). The method utilizes extreme value envelopes and wavelet scattering transforms to extract time–frequency features from acceleration data, thereby achieving data dimensionality reduction and feature extraction goals. Subsequently, these features are employed to train and test a 1D CNN. The proposed method’s validation is conducted using acceleration monitoring data obtained from a large-span arch bridge. Through extensive testing, the model demonstrates a classification accuracy exceeding 98% on both the test set and unseen data, showcasing high classification precision and generalization capabilities. This approach provides an effective solution for automated data cleaning and anomaly identification within the context of bridge health monitoring systems.

Low-Cost, Low-Power Edge Computing System for Structural Health Monitoring in an IoT Framework.

A complete low-power, low-cost and wireless solution for bridge structural health monitoring is presented. This work includes monitoring nodes with modular hardware design and low power consumption based on a control and resource management board called CoreBoard, and a specific board for sensorization called SensorBoard is presented. The firmware is presented as a design of FreeRTOS parallelised tasks that carry out the management of the hardware resources and implement the Random Decrement Technique to minimize the amount of data to be transmitted over the NB-IoT network in a secure way. The presented solution is validated through the characterization of its energy consumption, which guarantees an autonomy higher than 10 years with a daily 8 min monitoring periodicity, and two deployments in a pilot laboratory structure and the Eduardo Torroja bridge in Posadas (Córdoba, Spain). The results are compared with two different calibrated commercial systems, obtaining an error lower than 1.72% in modal analysis frequencies. The architecture and the results obtained place the presented design as a new solution in the state of the art and, thanks to its autonomy, low cost and the graphical device management interface presented, allow its deployment and integration in the current IoT paradigm.

Research on Bridge Structural Health Monitoring System Based on Sensor Data

Research on Bridge Structural Health Monitoring System Based on Sensor Data

A preliminary investigation of the inverse Finite Element Method applied to bridge structures

Deflection monitoring plays a key role in bridge Structural Health Monitoring, as deflection data may offer valuable insights into potential structural issues, such as cracks and corrosion. However, monitoring bridge deflections under operative loads presents challenges, particularly in scenarios where establishing a fixed reference point for displacement sensors is impractical, such as when a bridge spans a waterway or the sensors may be vulnerable to vandalism. In recent years, the inverse Finite Element Method (iFEM) has emerged as a possible solution. This method provides a load- and material-independent means of computing structural displacements from strain measurements, in real time at a minimal computational cost. Additionally, the iFEM can serve as a virtual sensing approach to monitor strains at locations lacking sensors, enabling the assessment of the fatigue life consumption at virtually any point in the structure. Despite its potential, applications of the iFEM in the civil engineering field are very limited, with no validation on full scale bridges has been performed to date. This study addresses this gap by investingating the application of the iFEM for bridge deflection monitoring through distributed strain measurements. The proposed approach is tested on experimental case studies, involving cross-validatiion of reference-free deflections inferred by the iFEM with those obtained from displacement sensors. This work contributes to the advancements of structural health monitoring methodologies in civil engineering, demonstrating the practicality and reliability of iFEM in bridge applications.

Review and Prospect of Research on Structural Health Monitoring Technology for Bridges

As a crucial infrastructure in the transport system, the safe operation of bridges is directly related to all aspects of people’s daily lives. The development of bridge structural health monitoring technology and its application play an important role in ensuring the safety and extending the service life of bridges. This paper carries out in-depth research and analysis on the related technology of bridge structural health monitoring. Firstly, the existing monitoring technologies at home and abroad are sorted out, and the advantages and problems of various methods are compared and analyzed, including nondestructive testing, stress measurement, vibration characteristic identification, and other commonly used monitoring technologies. Secondly, the key technologies and equipment in the bridge health monitoring system, such as sensor technology, data acquisition, and processing technology, are introduced in detail. Finally, the development trend in the field of bridge health monitoring is prospected from both theoretical research and technical application. In the future, with the development of emerging technologies such as big data, cloud computing, and the Internet of Things, it is expected that bridge health monitoring with intelligent and systematic features will be more widely applied to provide a stronger guarantee for the safe and efficient operation of bridges.

Applying matrix regularization to identification of traffic-induced equivalent loads and multi-vehicle weight on beam-like bridge

Identification of traffic-induced forces is an important topic in the field of bridge structural health monitoring (B-SHM). It can provide reliable data to support the great demand for monitoring and evaluating the working conditions of bridges. Bridges may serve under consistent moving vehicles and this requires that the methods of moving force identification (MFI) should be applicable under circumstances such as multiple-vehicle loading and long-term monitoring. Centering on cases containing multiple vehicles, this study proposed a matrix regularization-based method for the identification of traffic-induced equivalent loads and multi-vehicle weights. Herein, multiple moving forces in the spatial domain are converted into a certain number of equivalent loads which virtually act at fixed locations on the bridge as a kind of coordinate transformation. The MFI problem then can be transformed into tasks of identifying some concentrated forces. To solve the problem of equivalent load identification, the structural input-output relationship is firstly reorganized in a matrix-matrix-matrix form with the help of segmentation via time windows and consideration of unknown structural initial conditions. Then the matrix regularization with a sparse penalty term is introduced to formulate an identified equation so that, it can ensure the strong noise robustness of the identified results. Finally, the total weight of multiple vehicles can be empirically estimated from the sum of the identified equivalent loads. Numerical simulations and model experiments are performed to verify the proposed method's performance. The effects of vehicle speeds, measuring noise, number of modal orders, number of vehicles, and vehicle spacings are investigated. The illustrated results show that the proposed method turns out to be effective and precise in identifying the traffic-induced equivalent loads and the weight of multiple vehicles.

Refinement and Validation of the Minimal Information Data-Modelling (MID) Method for Bridge Management.

Various approaches have been proposed for bridge structural health monitoring. One of the earliest approaches proposed was tracking a bridge's natural frequency over time to look for abnormal shifts in frequency that might indicate a change in stiffness. However, bridge frequencies change naturally as the structure's temperature changes. Data models can be used to overcome this problem by predicting normal changes to a structure's natural frequency and comparing it to the historical normal behaviour of the bridge and, therefore, identifying abnormal behaviour. Most of the proposed data modelling work has been from long-span bridges where you generally have large datasets to work with. A more limited body of research has been conducted where there is a sparse amount of data, but even this has only been demonstrated on single bridges. Therefore, the novelty of this work is that it expands on previous work using sparse instrumentation across a network of bridges. The data collected from four in-operation bridges were used to validate data models and test the capabilities of the data models across a range of bridge types/sizes. The MID approach was found to be able to detect an average frequency shift of 0.021 Hz across all of the data models. The significance of this demonstration across different bridge types is the practical utility of these data models to be used across entire bridge networks, enabling accurate and informed decision making in bridge maintenance and management.

Extraction and evaluation of cable forces of a cable-stayed bridge based on amplitude and phase estimation method

In order to identify the time-varying frequency and amplitude of structural vibration based on the bridge structural health monitoring data and obtain the cable force of cable-stayed bridges in real time, a spectrum analysis method based on amplitude and phase estimation (APES) was proposed in this study. The amplitude spectrum of the acceleration data is first calculated by the APES method, the real-time spectrogram of the cable is obtained by the sliding window method. Then the modal frequency and amplitude are automatically extracted from the real-time spectrum by using a frequency extrusion post-processing technique, which can be regarded as the average value of the instantaneous frequency and amplitude respectively. Next, the fundamental frequency of the cable is extracted by using an automatic identification method, and the performance of the proposed method is verified. Finally, real-time scoring of cable forces and structural condition assessment is achieved with consideration of the moderation index model as well as the material strength. The results show that the APES method can use shorter calculation samples than the traditional Fast Fourier Transform (FFT) to obtain higher resolution and more accurate amplitude, which provides a theoretical basis for the real-time identification of fundamental frequency based on short-term monitoring data. The frequency extrusion post-processing-algorithm can reduce the spectrum recognition delay and improve timeliness of the cable force evaluation. The time-varying cable force with an interval of 10 s can be used to reflect the health status of the cable in time. The research results can provide technical support for the real-time extraction of cable force of long-span cable-stayed bridges, and can also provide an effective basis for component condition evaluation and bridge maintenance decision-making.

A Frequency Identification Approach for Damaged Heavy-Haul Railway Bridge with Bogie Accelerations

Bridge structural health monitoring (BSHM) is extensively employed to assess whether bridge damage exceeds maintenance limits and helps maintenance decision-making. Frequency identification is an essential part of BSHM, which utilizes the first-order modal frequency as an evaluation indicator of bridge health status. This paper proposes a method for bridge damage identification based on extracting the first-order modal frequency of the bridge from dynamic responses of vehicle bogies. Firstly, the feasibility of extracting bridge modal frequency from bogie accelerations is theoretically deduced via a vehicle–bridge interaction model. The result indicates that the bogie accelerations encompass three frequency components, namely vehicle driving frequency, vehicle pitching frequency and bridge first-order modal frequency. Then, a multi-domain conjoint analysis method incorporating the time domain, frequency domain and time–frequency domain is proposed to extract the first-order frequency of damaged bridge from bogie accelerations. By defining a damage sensitivity index of the sliding window, the time-domain sensitive boundaries of bogie acceleration to bridge damage are pinpointed. Leveraging prior knowledge of the bridge modal frequency range, the frequency-domain sensitive boundaries bogie acceleration to bridge frequency are determined. On this basis, the sensitive region of bogie acceleration to bridge frequency can be precisely localized in the Hilbert Huang transform spectrum, ultimately identifying bridge frequency through searching local maximum instantaneous energy points within this region. Finally, comprehensive experiments, considering different vehicle speeds and track spectra scenarios, are carried out to investigate the effectiveness and robustness of the proposed method. The results affirm the performance of the method to accurately identify the first-order modal frequency of the damaged bridge, further underscoring the promising prospect of on-board BSHM.

Measurement Refinements of Ground-Based Radar Interferometry in Bridge Load Test Monitoring: Comprehensive Analysis on a Multi-Span Cable-Stayed Bridge

This paper presents three refinements in ground-based radar interferometer (GB-radar) measurement for bridge load testing: (1) GB-radar phase jumps were detected for the first time on bridge tower displacement monitoring, and a recovery method is presented to obtain the correct unwrapped value; (2) a precise displacement projection method considering target deformation was exploited, and a case study of the Fifth Nanjing Yangtze River Bridge (FNYRB) GB-radar campaign shows that a centimeter-level compensation can be achieved; (3) a post-construction settlement phenomenon was found during the FNYRB static load tests, characterized by 0.31 mm/min, which accumulated up to 25 mm. In addition, the dynamic monitoring capabilities of GB-radar for the bridge tower and girder were verified, highlighting its potential for bridge structural health monitoring (SHM). The insights gained from this study offer valuable recommendations for future GB-radar bridge displacement monitoring.

Smartphone Prospects in Bridge Structural Health Monitoring, a Literature Review.

Bridges are critical components of transportation networks, and their conditions have effects on societal well-being, the economy, and the environment. Automation needs in inspections and maintenance have made structural health monitoring (SHM) systems a key research pillar to assess bridge safety/health. The last decade brought a boom in innovative bridge SHM applications with the rise in next-generation smart and mobile technologies. A key advancement within this direction is smartphones with their sensory usage as SHM devices. This focused review reports recent advances in bridge SHM backed by smartphone sensor technologies and provides case studies on bridge SHM applications. The review includes model-based and data-driven SHM prospects utilizing smartphones as the sensing and acquisition portal and conveys three distinct messages in terms of the technological domain and level of mobility: (i) vibration-based dynamic identification and damage-detection approaches; (ii) deformation and condition monitoring empowered by computer vision-based measurement capabilities; (iii) drive-by or pedestrianized bridge monitoring approaches, and miscellaneous SHM applications with unconventional/emerging technological features and new research domains. The review is intended to bring together bridge engineering, SHM, and sensor technology audiences with decade-long multidisciplinary experience observed within the smartphone-based SHM theme and presents exemplary cases referring to a variety of levels of mobility.

Train-induced vibration response reconstruction for bridge damage detection with a deep learning methodology

Sensor malfunctions in bridge structural health monitoring system (BSHMS) could cause the missing of measured data, reducing the accuracy of damage detection. It is of great significance to reconstruct the data of faulty sensors with measured data of well-functioning sensors for bridge structural state assessment. In this paper, a train-induced vibration response reconstruction approach for bridge damage detection is proposed. An enhanced deep densely connected neural network (ED-DCNN) introducing a multi-head self-attention mechanism and a skip connection is designed to reconstruct the missing bridge responses, aiming to improve the vibration correlation between the faulty sensors and good sensors and benefit the learning of temporal and spatial features of responses. Then to further validate the accuracy and reliability of the ED-DCNN, an alternate down-sampling residual network (AD-ResNet) is built to identify bridge damage with the complete responses, including the reconstructed ones and the measured, which extracts the structural damage features at different scales utilizing different types of residual blocks in an alternating manner. The efficiency and robustness of the two networks are comprehensively studied using the collected acceleration data from a heavy-haul railway bridge, considering different noise levels. The results demonstrate that under various conditions, the reconstructed responses match the real responses well in time domain, with a low RMSE below 0.4% and a high correlation coefficient of 0.9744, which indicates that the incorporation of a multi-head self-attention module effectively improves the construction of correlations between responses. Additionally, the natural frequencies of bridge are accurately identified from the reconstructed responses. In terms of bridge damage detection, taking both the measured and reconstructed responses as inputs, the identification accuracy obviously improves by 33.57% compared to cases without the reconstructed responses, further emphasizing an excellent reconstruction capability of the ED-DCNN.

Contact-point response reconstruction for indirect bridge monitoring via Bayesian expectation-maximization based augmented Kalman filter

The drive-by bridge dynamic measurement using an instrumented vehicle during its passage over the bridge can be an indirect bridge structural health monitoring system. The identification of the contact-point (CP) responses between vehicle wheels and bridge structure from vehicle responses offers an efficient and economical way for the modal identification and condition assessment of short- to mid-span road bridges. This paper proposes a novel method for the contact-point displacement response reconstruction of the vehicle-bridge interaction (VBI) system in a joint input-state estimation manner based on Bayesian Expectation-Maximization (BEM). An analytical model of VBI including the road approach in front of a simply-supported bridge is presented firstly. Then the augmented state-space model of the vehicle with the contact-point responses included as variables along with vehicle states is established. A new method by integrating the augmented Kalman filter (AKF) with a BEM strategy is proposed to solve the state estimation problem without knowing the vehicle axle responses. The vehicle states and CP displacement responses are identified simultaneously. The effects of the measurement noise, road surface roughness and vehicle speed on the identified results are investigated using numerical simulations. The experimental tests are used to further verify the feasibility and accuracy of the proposed method. The results show that the proposed method has potential for drive-by bridge condition assessment using on-board vehicle response measurements for a large population of short- to mid-span bridges.

Integration of Railway Bridge Structural Health Monitoring into the Internet of Things with a Digital Twin: A Case Study.

Structural health monitoring (SHM) is critical for ensuring the safety of infrastructure such as bridges. This article presents a digital twin solution for the SHM of railway bridges using low-cost wireless accelerometers and machine learning (ML). The system architecture combines on-premises edge computing and cloud analytics to enable efficient real-time monitoring and complete storage of relevant time-history datasets. After train crossings, the accelerometers stream raw vibration data, which are processed in the frequency domain and analyzed using machine learning to detect anomalies that indicate potential structural issues. The digital twin approach is demonstrated on an in-service railway bridge for which vibration data were collected over two years under normal operating conditions. By learning allowable ranges for vibration patterns, the digital twin model identifies abnormal spectral peaks that indicate potential changes in structural integrity. The long-term pilot proves that this affordable SHM system can provide automated and real-time warnings of bridge damage and also supports the use of in-house-designed sensors with lower cost and edge computing capabilities such as those used in the demonstration. The successful on-premises-cloud hybrid implementation provides a cost effective and scalable model for expanding monitoring to thousands of railway bridges, democratizing SHM to improve safety by avoiding catastrophic failures.

Application of Response Surface-Corrected Finite Element Model and Bayesian Neural Networks to Predict the Dynamic Response of Forth Road Bridges under Strong Winds.

With the rapid development of big data, the Internet of Things (IoT), and other technological advancements, digital twin (DT) technology is increasingly being applied to the field of bridge structural health monitoring. Achieving the precise implementation of DT relies significantly on a dual-drive approach, combining the influence of both physical model-driven and data-driven methodologies. In this paper, two methods are proposed to predict the displacement and dynamic response of structures under strong winds, namely, a Bayesian Neural Network (BNN) model based on Bayesian inference and a finite element model (FEM) method modified based on genetic algorithms (GAs) and multi-objective optimization (MOO) using response surface methodology (RSM). The characteristics of these approaches in predicting the dynamic response of large-span bridges are explored, and a comparative analysis is conducted to evaluate their differences in computational accuracy, efficiency, model complexity, interpretability, and comprehensiveness. The characteristics of the two methods were evaluated using data collected on the Forth Road Bridge (FRB) as an example under unusual weather conditions with strong wind action. This work proposes a dual-driven approach, integrating machine learning and FEM with GNSS and Earth Observation for Structural Health Monitoring (GeoSHM), to bridge the gap in the limited application of dual-driven methods primarily applied for small- and medium-sized bridges to large-span bridge structures. The research results show that the BNN model achieved higher R2 values for predicting the Y and Z displacements (0.9073 and 0.7969, respectively) compared to the FEM model (0.6167 and 0.6283). The BNN model exhibited significantly faster computation, taking only 20 s, while the FEM model required 5 h. However, the physical model provided higher interpretability and the ability to predict the dynamic response of the entire structure. These findings help to promote the further integration of these two approaches to obtain an accurate and comprehensive dual-driven approach for predicting the structural dynamic response of large-span bridge structures affected by strong wind loading.

Wireless Sensor Placement Optimization for Bridge Health Monitoring: A Critical Review

In recent years, wireless sensors have progressively supplanted conventional limited sensors owing to their attributes of small size, low cost, and high accuracy. Consequently, there has been a growing interest in leveraging wireless sensor networks for bridge structural health monitoring applications. By employing wireless sensor nodes to gather data from various segments of the bridge, information is relayed to a signal-receiving base station. Subsequently, the health status of the bridge is inferred through specific data processing and analysis, aiding monitoring personnel in making informed decisions. Nonetheless, there are limitations in this research, particularly pertaining to power consumption and efficiency issues in data acquisition and transmission, as well as in determining the appropriate wireless sensor types and deployment locations for different bridge configurations. This study aims to comprehensively examine research on the utilization of wireless sensor networks in the realm of bridge structural health monitoring. Employing a systematic evaluation methodology, more than one hundred relevant papers were assessed, leading to the identification of prevalent sensing techniques, data methodologies, and modal evaluation protocols in current use within the field. The findings indicate a heightened focus among contemporary scholars on challenges arising during the data acquisition and transmission processes, along with the development of optimal deployment strategies for wireless sensor networks. In continuing, the corresponding technical challenges are provided to address these concerns.

Quantifying the Impact of Environment Loads on Displacements in a Suspension Bridge with a Data-Driven Approach.

Long-span bridges are susceptible to damage, aging, and deformation in harsh environments for a long time. Therefore, structural health monitoring (SHM) systems need to be used for reasonable monitoring and maintenance. Among various indicators, bridge displacement is a crucial parameter reflecting the bridge's health condition. Due to the simultaneous bearing of multiple environmental loads on suspension bridges, determining the impact of different loads on displacement is beneficial for the better understanding of the health conditions of the bridges. Considering the fact that extreme gradient boosting (XGBoost) has higher prediction performance and robustness, the authors of this paper have developed a data-driven approach based on the XGBoost model to quantify the impact between different environmental loads and the displacement of a suspension bridge. Simultaneously, this study combined wavelet threshold (WT) denoising and the variational mode decomposition (VMD) method to conduct a modal decomposition of three-dimensional (3D) displacement, further investigating the interrelationships between different loads and bridge displacements. This model links wind speed, temperature, air pressure, and humidity with the 3D displacement response of the span using the bridge monitoring data provided by the GNSS and Earth Observation for Structural Health Monitoring (GeoSHM) system of the Forth Road Bridge (FRB) in the United Kingdom (UK), thus eliminating the temperature time-lag effect on displacement data. The effects of the different loads on the displacement are quantified individually with partial dependence plots (PDPs). Employing testing, it was found that the XGBoost model has a high predictive effect on the target variable of displacement. The analysis of quantification and correlation reveals that lateral displacement is primarily affected by same-direction wind, showing a clear positive correlation, and vertical displacement is mainly influenced by temperature and exhibits a negative correlation. Longitudinal displacement is jointly influenced by various environmental loads, showing a positive correlation with atmospheric pressure, temperature, and vertical wind and a negative correlation with longitudinal wind, lateral wind, and humidity. The results can guide bridge structural health monitoring in extreme weather to avoid accidents.

Online Bridge Structural Condition Assessment Based on the Gaussian Process: A Representative Data Selection and Performance Warning Strategy

Data-driven methods have now been widely used in structural health monitoring of civil infrastructures thanks to the rapid development of sensor technologies with massive structural and operational condition data. One main issue of data-driven methods is that the computational time increases with the number of monitoring data used, which limits their applications for online structural condition assessment. Focusing on bridge structural health monitoring, this paper proposes a representative data selection strategy for online performance assessment based on Gaussian process models. The proposed method can effectively reduce the required monitoring data size for training, allowing the bridge performance assessment to be conducted in a real-time manner. The method is developed in a probabilistic manner, allowing associated uncertainty of bridge monitoring data to be rigorously considered. A probabilistic warning index is proposed for bridge condition assessment and anomaly detection. The proposed method is validated using synthetic data and applied to structural condition assessment of two full-scale bridges, illustrating the feasibility for real implementations.

Satellite Synthetic Aperture Radar, Multispectral, and Infrared Imagery for Assessing Bridge Deformation and Structural Health—A Case Study at the Samuel de Champlain Bridge

A space-borne remote sensing method was applied, validated, and demonstrated in a case study on the Samuel de Champlain Bridge in Montreal, Canada. High-resolution C-band radar satellite imagery was analyzed using the Persistent Scatterer Interferometric Synthetic Aperture Radar technique to derive bridge displacements and compare them against theoretical estimates. Multispectral and long-wave thermal infrared satellite imagery acquired during the InSAR observation period and historical environmental data were analyzed to provide context for the interpretation and understanding of InSAR results. Thermal deformation measurements compared well with their theoretical estimates based on known bridge geometry and ambient temperature data. Non-thermal deformation measurements gave no evidence of settlement during the 2-year monitoring period, as would normally be expected for a newly constructed bridge with its foundation on bedrock. The availability of environmental data obtained from multispectral and thermal infrared satellite imagery was found to be useful in providing context for the bridge stability assessment. Ambient temperature measurements from thermal infrared satellite imagery were found to be a suitable alternative in cases where data from in situ temperature sensors or nearby weather stations are not available or not fit for purpose. No strong correlation was found between the river conditions and bridge deformation results from the InSAR analysis; this is partly due to the fact that most of these effects act along the river flow in the north–south direction, to which the satellite sensor is not sensitive.