Damage Assessment of a Three-Story Infilled RC Frame Subjected to Seismic Base E citations

Baba! "oa#eni % A&"& ASCE% Andreas Sta#ridis % A&"& ASCE% (eert )ombaert % +oel ,& Conte % "& ASCE% and ,& Benson Shing % "& ASCE
.

'

ABSTRACT This paper presents a study on the identification of progressive damage, using an equivalent linear finite element model updating strategy, in a masonry infilled reinforced concrete (RC) frame that was tested on a shake table. RC frames with masonry infill walls are common in many parts of the world. uch structures were often designed with older building codes and can be vulnerable to earthquakes. ! "#$%scale, three%story, two%bay, infilled RC frame was tested on the &C '%()) shake table to investigate the seismic performance of this type of construction. The frame was designed according to the practice in California in the *+",s. The shake table tests induced damage in the structure progressively through scaled historical earthquake records of increasing intensity. -etween the earthquake tests and at various levels of damage, low%amplitude white%noise base e.citations were applied to the infilled RC frame. /n this study, the effective modal parameters of the damaged structure have been identified from the white%noise test data with the assumption that it responded in a quasi%linear manner. 0odal identification has been performed using a deterministic%stochastic subspace identification method based on the measured input%output data. ! sensitivity%based finite element model updating strategy has been
*

Correspondence author, !ssistant 1rofessor, 'ept. of Civil and )nvironmental )ngineering, Tufts &niversity, ",, College !ve., 0edford, 0assachusetts, ,"*22, & !3 )%mail4 babak.moaveni5tufts.edu3 Tel46*7%6"7%268"3 9a.4 6*7%6"7%$++8 " 1ostdoctoral Researcher, 'ept. of tructural )ngineering, &niversity of California at an 'iego, +2,, :ilman 'rive, ;a <olla, California +",+$, & !3 )%mail4 andreas5ucsd.edu $ !ssociate 1rofessor, 'ept. of Civil )ngineering, =.&. ;euven, ;euven, -elgium3 )%mail4 :eert.;ombaert5bwk.kuleuven.be 8 1rofessor, 'ept. of tructural )ngineering, &niversity of California at an 'iego, +2,, :ilman 'rive, ;a <olla, California +",+$, & !3 )%mail4 >pconte5ucsd.edu 2 1rofessor, 'ept. of tructural )ngineering, &niversity of California at an 'iego, +2,, :ilman 'rive, ;a <olla, California +",+$, & !3 )%mail4 pshing5ucsd.edu

employed to detect, locate, and quantify damage (as a loss of effective local stiffness) based on the changes in the identified effective modal parameters. The results indicate that the method can reliably identify the location and severity of damage observed in the tests. CE Database subject headings4 tructural health monitoring3 shake table tests3 system identification3 damage identification3 finite element model updating3 infilled RC frames. Introduction ! large portfolio of civil structures were designed according to older code provisions that do not meet current safety standards. They may also suffer from aging and deterioration induced by environmental factors, such as corrosive agents and earthquakes. The development of analytical tools to assess the current condition of these structures and to simulate their behavior under different loading scenarios is a task of utmost importance for the engineering community. uch tools can be used to evaluate the present damage incurred by structures and their ability to safely carry future service loads as well as loads from e.treme events, such as strong earthquakes. 9or the simulation of structural performance under different loading conditions, a variety of sophisticated modeling techniques (e.g., see tavridis and hing ",*,3 =outromanos et al. ",**, for masonry%infilled RC frames) have been developed within the framework of the 9inite )lement (9)) method. ! methodology developed to assess the current state of e.isting structures is vibration%based structural health monitoring, which has attracted increasing attention in the civil engineering research community in recent years and is of growing importance. ?ibration%based, non%destructive, damage identification uses changes in the dynamic characteristics of the structure to identify damage. (umerous methods to achieve this goal have been proposed in the literature. ).tensive reviews on vibration%based damage identification have been provided by 'oebling et al. (*++63 *++@) and ohn et al. (",,$). !mong these methods is the sensitivity%based 9) model updating method (9riswell and 0ottershead *++2). /n this method, the physical parameters of a 9) model of the structure are updated to match the measured modal properties of the structure as damage evolves, and the updated modeling parameters are used to detect, locate, and quantify damage. The determination of the modeling parameters is achieved by minimiAation of an ob>ective function that measures the discrepancy between the e.perimentally identified dynamic (modal) properties and those predicted by the 9) model. Bptimal solutions of the problem are reached through sensitivity%based constrained optimiAation algo% rithms. This concept has been successfully implemented in numerical studies and demonstrated with small% scale physical structural models. Cowever, there have been only a limited number of case studies that demonstrate the viability of vibration%based damage identification methods for comple., large%scale 2

structures with realistic design details and damage scenarios. 9ull or large%scale dynamic tests of structural specimens provide unique opportunities to evaluate and validate these methods, under realistic conditions, i.e., with the same level of measurement noise, estimation uncertainty and modeling errors which are observed as in%situ condition. This is usually not the case for small#medium%scale model tests in laboratory conditions. Therefore, even if some system and damage identification methods are successfully applied on small#medium%scale test data, they still need to be validated at full%scale in the laboratory and#or in the field. 9urthermore, actual construction practices often cannot be reproduced in small#medium%scale test specimens. The few instances of successful application of 9) model updating methods for the condition assessment of large%scale structures include the damage identification studies on the D"8 -ridge in witAerland (Teughels and 'e Roeck ",,8), the use of dynamic strain measurements from fiber optic sensors for 9) model updating of the Tilff -ridge (Reynders et al. ",,7), the use of a neural network method based on modal frequencies and a validated 9) model to identify the stiffness reduction in a *#$%scaled one%story concrete frame (Dhou et al. ",,7), and 9) model updating based on identified modal properties of a full%scale composite beam (0oaveni et al. ",,@) and a full%scale seven%story reinforced concrete (RC) shear wall building slice (0oaveni et al. ",*,). This paper presents a vibration%based damage assessment study conducted on a three%story, two%bay, RC frame with unreinforced masonry infill walls that was tested on the large outdoor shake table at the &niversity of California, an 'iego. The test frame consisted of a "#$%scale sub%assemblage of a prototype structure designed to have reinforcing details that are representative of the *+",s RC construction in California ( tavridis ",,+). This structural specimen was sub>ected to a series of earthquake base e.citations on the shake table. The ob>ective of the tests was to acquire a better understanding of the seismic performance and failure mechanisms of older infilled RC frames that are in e.istence today. The loading sequence was designed to induce damage in the specimen progressively through scaled historical earthquake ground motions of increasing intensity. -etween the seismic tests, the infilled frame was sub>ected to low%amplitude white%noise base e.citation. The specimen responded to the white%noise base e.citations as a quasi%linear system with modal properties changing as a result of damage. The deterministic%stochastic subspace identification method (?an Bverschee and 'e 0oore *++6), based on system input and output signals, has been used to estimate the modal parameters (natural frequencies, damping ratios, and mode shapes) of the structure at the initial undamaged state and at various damage states. The identified modal parameters have been then used in a 9) model updating strategy to identify the damage imparted to the structure by the earthquake e.citations. The ob>ective function used here for damage identification quantifies the discrepancies between the e.perimentally identified natural frequencies and mode shapes of the structure and those predicted by the finite element model of the structure. This testing program on a masonry infilled RC frame provides a unique

opportunity to use dynamic data obtained from a comple. large scale system at various levels of realistically induced damage. uch data cannot be reproduced by numerical simulation, where damage is highly idealiAed in the form of section reductions of structural members and#or sudden changes in boundary conditions. (onlinear mechanics%based 9) models of such structures able to capture their failure mechanisms are still the sub>ect of active research ( tavridis ",,+3 tavridis and hing ",*,). 9urthermore, this type of structures present a challenging problem as the seismic performance of an infilled RC frame depends on the frame%infill interaction and often results in different levels of damage in the infill walls and the bounding frame. Therefore, this structural configuration provides a unique opportunity to evaluate the ability of the considered damage identification method to distinguish and quantify the respective damage in the RC members and masonry walls. !t each damage level considered, the damage identification results are compared to the damage observed visually in the specimen or inferred by e.amination of the various internal and e.ternal sensor data collected from the specimen.
3 5.50 2 5.50 1

Exterior frame
A

6.70 B

6.70 C

6.70 D

Tributary area for seismic mass Tributary area for gravity mass Masonry infi!!e" bays

(a) plan view of building Sha!e Table Tests Three-Story Infilled RC Frame

(b) elevation view of an e.terior frame along column line ! Fig& $ 1rototype structure (dimensions in m)

The infilled frame considered here is a "#$%scale model of an e.terior frame of a prototype structure, designed by tavridis (",,+) to have non%ductile reinforcing details representative of the *+",s RC construction in California. The plan view of the prototype structure and the elevation view of the e.terior frame are presented in 9igure *. The design was based on the allowable stress design approach, considering only gravity loads in accordance with engineering practice of that era. Cowever, the design was based on properties of contemporary construction materials, which were used for the construction of

this specimen. The frame is infilled with three%wythe unreinforced masonry walls on the e.terior. uch structural systems can be found in many e.isting older buildings in the western &nited tates, including pre%*+$,s buildings in California. This type of construction is also common in many regions of the world with high seismicity, such as the 0editerranean and ;atin !merica regions.

Shaking direction

Fig& ' 9ront view (left) and side view of the specimen (right) The specimen tested on the large outdoor shake table at &C ' is shown in 9igure ". The structure included slabs that simulated the scaled gravity mass of the e.ternal frame of the prototype accounting for the "#$ length scale factor. ince the prototype structure has infill walls only in its e.terior frames, the e.terior frames are significantly stiffer and stronger than the interior frames. Consequently, their tributary seismic mass is significantly larger than the gravity mass as illustrated in 9igure *(a) for the e.terior frame along column line !, which was modeled by the test specimen. The test specimen did not have additional gravity load%carrying systems. Therefore, it was decided that the mass carried by the specimen should accurately represent the gravity mass to induce the same vertical stresses as those e.perienced by the RC columns and infill walls of the prototype. To account for the effect of the seismic mass not included in the specimen, the input ground acceleration time histories had to be scaled in time and amplitude ( tavridis ",,+) to satisfy the similitude requirement for the seismic forces. The resulting scale factors for the basic quantities are summariAed in Table *. /t should be pointed out that the ground motion levels referred to in the subsequent sections are always with respect to the full%scale prototype structure. !s shown in 9igure ", two steel towers were erected on the shake table on the north and south sides of the test specimen to prevent a potential out%of%plane collapse of the structure during severe shaking. These towers did not interact with the structure during the tests as they were placed with a " cm gap from the specimen. 9urther details on the design and configuration of the specimen and the shake table tests can be found in tavridis (",,+).

Table *.
Euantity ;ength tress :ravitational !cceleration 9orce :ravity 0ass eismic 0assF eismic !cceleration Time 9requency train

cale factors
caling ;aw
SL

cale 9actor "#$ *.,, *.,, 8#+

S
g Sa

S F = S L" S
g g = SF Sa Sm

( )
g * m m
s

8#+ ,.",

S =S
s m
s a

S = S F Sm S t = (S L

( )
*

"."7
,.2

, .2

(S )
s a

,.28 *.@2 *.,,

S f = St

* m = "."7 is the ratio of the seismic mass to the gravity mass carried by the external frame of the prototype

Instrumentation Layout The specimen and steel towers were e.tensively instrumented with an array of "62 sensors, including *$2 strain gages, 7* string potentiometers and ;inear ?ariable 'ifferential Transformers (;?'Ts), and 2+ unia.ial accelerometers. The accelerometers were used to measure the accelerations along the G, H and D directions, with G being the direction of the base e.citation (longitudinal), H the transverse (out%of% plane) direction, and D the vertical direction. /n this study, the measured response from $ longitudinal, $ vertical, and " transversal acceleration channels on each floor are used (total of "8 channels) to identify the modal parameters of the test structure. The locations of the accelerometers at each floor level are shown in 9igure $. The measured acceleration responses were sampled at "8, CA resulting in a (yquist frequency of *", CA, which is significantly higher than the modal frequencies of interest in this study (I 6, CA). -efore applying the system identification method to the measured data, all acceleration time histories were band%pass filtered between ,.2 CA and 7, CA using a high%order (*,"8) 9inite /mpulse Response filter.
NORTH

# $ % % $

#
$ %

% $

West

Center

East

Fig& * ;ocations and directions of accelerometers used in this study on each floor level

ynamic Tests !erformed

The specimen was sub>ected to a sequence of 88 dynamic tests including ambient%vibration tests, free%vibration tests, and forced%vibration tests (white%noise and seismic base e.citations). The main events are shown in Table ". The testing sequence consisted of earthquake ground motions of increasing intensity. -efore and after each earthquake record, low%amplitude white%noise base e.citation tests were performed to provide data for the study presented in this paper. The input ground motions were obtained by scaling the time and amplitude of the ground acceleration time history recorded along the ( direction at the :ilroy $ station during the *+@+ ;oma 1rieta earthquake. 9or structures with a fundamental frequency close to that of the infilled frame studied here, the :ilroy $ motion scaled at 67L corresponds to a moderate design level earthquake for eismic 'esign Category ', while the original (unscaled) motion corresponds to a 0a.imum Considered )arthquake (0C)). The 0C) event selected as the reference base motion intensity in this study has spectral accelerations Ss M *.2 g and S" M ,.6 g, and represents the worst case scenario for an 'iego and a moderate scenario for the ;os !ngeles area (! C) ",,6, tavridis ",,+). /n this study, 9) model updating for damage identification is performed for seven different damage states of the structure ( , and "% 7). 'amage state , (baseline) corresponds to the uncracked state of the structure before its e.posure to the first seismic base e.citation, while damage states * to 7 correspond to the conditions of the structure after it was sub>ected to different levels of the :ilroy earthquake. Table " summariAes the dynamic tests and the corresponding damage states of the test structure that are considered here. System Identification of the Infilled Frame The modal parameters of the specimen at each of the considered damage states are identified using the deterministic%stochastic subspace identification (' /) method (?an Bverschee and 'e 0oore *++6), an input%output method, based on data from the low%amplitude (,.,$g and ,.,8g R0 ) white%noise base e.citation tests. Butput%only system identification methods, which have been successfully applied for system identification of linear systems (Ce et al. ",,+3 0oaveni et al. ",**), are based on the assumption of a broadband (ideal white%noise) input e.citation. Cowever, in this set of e.periments, the white%noise base e.citation inputs were significantly modified by the shake table system dynamics, and consequently, the table motions did not satisfy the broadband assumption as illustrated in 9igure 8 for Test *$. The large outdoor &C ' shake table has an oil column frequency at *,.2 CA under bare table condition, and the effect of the oil column resonance are mitigated through the use of a notch filter centered at *,.2 CA in the shake table controller. The large spectral peak >ust below *, CA (see 9igure 8) can be attributed to the dynamic interaction between the specimen and the table. 0ore details on the mechanical and dynamic characteristics of the shake table can be found in BAcelik et al. (",,@). The application of output%only system identification methods to these nominal Jwhite%noiseK base e.citation test data would result in 7

large estimation errors in the modal parameters, due to deviation of the input e.citations from broadband signals. Table ". 'ynamic tests used in this study (N(4 white%noise base e.citation3 )E4 earthquake base e.citation3 ')4 design earthquake3 0C)4 ma.imum considered earthquake) Test (o. 2 @ + *" *$ "* "2 "6 "7 "@ "+ $$ $8 $2 $6 8, 8* Test 'ate **#$#",,@ J J **#6#",,@ J **#*,#",,@ **#*"#",,@ J J J J **#*$#",,@ J J J **#*@#",,@ J Test 'escription ,.,$g R0 N(, 2 min ",L :ilroy )E ,.,$g R0 N(, 2 min 8,L :ilroy )E ,.,$g R0 N(, 2 min 67L :ilroy )E (')) ,.,8g R0 N(, 2 min 67L :ilroy )E (')) ,.,8g R0 N(, 2 min @$L :ilroy )E ,.,8g R0 N(, 2 min +*L :ilroy )E ,.,8g R0 N(, 2 min *,,L :ilroy )E (0C)) ,.,8g R0 N(, 2 min *",L :ilroy )E ,.,8g R0 N(, 2 min 'amage tate , * " $ 8 2

6 7

Fig& - 9ourier !mplitude pectrum of the base e.citation measured on the shake table during Test *$ !t each damage state, the ' / method has been applied to 2%minute long filtered input%output data records. The input is the recorded acceleration on the shake table and the output data are the longitudinal, transverse, and vertical acceleration responses of the specimen at various locations. !fter the records were filtered, an input%output Cankel matri. was formed for each test including ", block rows with *7 or *@ 8

rows each (* input and *6 or *7 output channels) and 7*,+6" columns. 9igure 2 shows in polar plots the comple.%valued mode shapes of the four most significantly e.cited modes of the test structure identified based on data from Test 2 (damage state ,). These are the first two longitudinal modes (*%;, "%;), the second torsional mode ("%T) and the second coupled longitudinal%torsional ("%;%T) mode. The polar plot representation of a mode shape provides information on the degree of non%classical or non%proportional damping (?eletsos and ?entura *+@6) characteristics of that mode. /f all components of a mode shape (each component being represented by a vector in a polar plot) are collinear, the vibration mode is classically damped. The more scattered the mode shape components are in the comple. plane, the more the structural system is non%classically damped in that mode. Cowever, measurement noise (low signal% to%noise ratio), estimation errors, and modeling errors can also cause a classically damped vibration mode to be identified as non%classically damped. 9rom 9igure 2, it is observed that the *%;, "%; and "%;%T modes at damage state , are identified as almost perfectly classically damped, while some degree of non%proportional damping is identified for the "%T mode.

Fig& . 1olar plot representation of comple. mode shapes at damage state , The real part of the identified mode shapes are shown in 9igure 6. /t should be noted that the si. measurements on motions perpendicular to the infill wall plane are also used to plot the mode shapes in 9igures 2 and 6. Cowever, 9igure 6 indicates that the longitudinal mode shapes have negligible out%of% plane components. The torsional modes were e.cited due to imperfections in the construction of the specimen and in the loading conditions, such as an unintended eccentricity between the center of mass and center of stiffness of the specimen, the small yaw rotation of the table induced by table%specimen interaction, and the imperfect geometry and control system of the table. The natural frequencies and damping ratios of the four most significantly e.cited modes are given in Table $ for all considered damage states. 0odal !ssurance Criterion (0!C) values (!llemang and -rown *+@") were also computed to compare the comple.%valued mode shapes identified at each damage state with the corresponding mode shapes identified at damage state ,. The 0!C value, bounded between , and *, measures the degree of correlation between two mode shape vectors &i and &# as OPC/&i , &# ) M " &i &# 9 &i &#
F "

"

(*)

where F denotes the comple. con>ugate transpose. The reported modal parameters of the second torsional mode ("%T) are obtained based on the longitudinal and transverse acceleration measurements, while the other three modes are identified based on longitudinal and vertical acceleration data. This is due to the fact that the transverse components are negligible for the longitudinal mode shapes and relatively small in the "%;%T mode shape. 9rom Table $, it is observed that the identified natural frequencies decrease consistently with increasing level of damage, while the identified damping ratios increase. /t is noteworthy that the decrease in the natural frequencies of the two longitudinal modes with increasing damage is much more significant than for the "%T and "%;%T modes. ! similar observation can be made on the increase of the identified damping ratios. The 0!C values, which compare the identified mode shapes at each damage state with their counterpart identified at state ,, also follow a monotonically decreasing trend with increasing damage. The high 0!C values (close to one) for damage states * to 8 indicate that there is little change in the identified mode shapes at these damage states. The identified natural frequencies and mode shapes of the two longitudinal modes are used in the following sections to identify the location and level of damage undergone by the infilled frame in the seismic tests.

Fig& 0 ?ibration mode shapes of the infilled frame at damage state , Finite Element "odel 12dating for Damage Identification ! sensitivity%based 9) model updating strategy (9riswell and 0ottershead *++23 Teughels ",,$3 Teughels and 'e Roeck ",,2) is used to identify damage in the structure at various damage states. The finite element model of the structure is divided into substructures, in each of which the damage is assumed to be uniformly distributed. /n this study, damage is defined as a relative change in the material stiffness (effective modulus of elasticity) of the finite elements in each substructure. Therefore, the effective modulus of elasticity is assumed to be uniform in each substructure (i.e., one effective modulus of elasticity per sub%structure) and is updated at each considered damage state of the structure through constrained minimiAation of an ob>ective function.

Table $. 0odal parameters of the infilled frame identified at different damage states 'amage tate4 0ode *%; 9requency QCAR , *@.*@ * *@.** ".8 *.,, "*.," *.2 *.,, 8*.,+ *., *.,, 27.$2 *.$ *.,, " *7.++ *.+ *.,, "*.$" *.$ *.,, 8*.26 *., *.,, 27.+6 *., *.,, $ *6.78 $.$ *.,, ",.77 *.2 ,.++ 8,."* *.8 ,.++ 26."2 ,.7 ,.+7 8 *2.+$ $.@ *.,, ",.*6 *.@ ,.+@ $@.26 $., ,.+6 28.68 *." ,.+" 2 *8.7@ 6.* ,.+@ *+.6+ *.2 ,.++ $2.2, 8.8 ,.+" 2".62 ".* ,.@7 6 @.87 *2.7 ,.@, *@.", *.2 ,.+2 "7.$8 8.@ ,.78 82.+@ ".* ,.28 7 2.$8 *2.6 ,.7* *7.$+ *.6 ,.6@ "".27 8." ,.67 8$.$$ ".7 ,."+

'amping QLR "., 0!C *.,, 9requency QCAR "*.*6 0ode F 'amping QLR *.2 "%T 0!C *.,, 9requency QCAR 8*."" 0ode 'amping QLR *.* "%; 0!C *.,, 9requency QCAR 27.@* 0ode *.* "%;%T 'amping QLR 0!C *.,,
F

$ode %-T is identified based on longitudinal and transverse measurements &hile the other three modes are identified based on longitudinal and vertical measured data

Finite 'lement $odel of Test Structure in F' '(SLab ! linear elastic 9) model of the structure is developed using the 0atlab%based (0athNorks ",,2) structural analysis software 9)')! ;ab (9ilippou and Constantinides ",,8). The model consists of $2 nodes interconnected with 28 linear elastic shell and frame elements, as shown in 9igure 7. ! four%node linear elastic flat shell element with four :auss integration points available in the literature (!llman *+@@3 -atoA and Taher *+@") and implemented in 9)')! ;ab by Ce (",,@) is used to model the infill walls. The beams and columns of the RC frame are modeled with -ernoulli%)uler frame elements. The distributed mass of the structure is lumped at the nodes of its 9) model. The initial 9) model of the structure is based on the geometry of the physical specimen and the elastic moduli of the concrete and masonry measured from material tests conducted on the day of the first design level earthquake e.citation (67L :ilroy, Test "*) ( tavridis ",,+). 9or the 9) model updating, the three columns in each story of the structure are treated as one substructure, and so are the infill walls in the two bays. Cence, the specimen is divided into si. substructures. The substructures are selected based on the number and location of the sensors, observability of the updating parameters from the measured data, an effort to limit the total number of updating parameters to avoid ill%conditioning, and the authorsS e.perience from previous 9) model updating studies (0oaveni et al. ",,@3 0oaveni et al. ",*,). 0oreover, the window openings are ignored, and it is assumed that the solid masonry panel in the west bay and the panel with a window in the east bay have the same modulus of elasticity and e.hibit the same level of damage in each story. This is a simplifying assumption that has been made due to the inability of the damage identification procedure to

distinguish between damage in the east and west panels due to similar sensitivities of the measured data to the stiffness of the east and west bays of each floor (compensation effects between effective moduli of elasticity in east and west bays). /t should be noted that the three longitudinal accelerometers at each floor are attached to the floor slab, which is very stiff in plane, and therefore record very similar acceleration time histories.

$%Column $%Nall "%Column "%Nall

*%Column *%Nall

Fig& 3 9) model of the RC frame structure with the si. substructures used for damage identification *b#ective Function The ob>ective function f (4) used for the identification of the effective material stiffness 4 in each substructure is defined as
f (4 ) = r (4 ) 5 r (4 ) + (a (4 ) a ) 5 (a (4 ) a ) =
T , T a ,

Q&
#

# #

r (4)" R + Q &a (a (4) a , ) " R

) ) ) )

(")

where 4 is a set of physical parameters (i.e., the effective moduli of elasticity of the various substructures), which must be ad>usted to minimiAe the ob>ective function3 r (4) is the modal residual vector containing the differences between the e.perimentally identified and 9) predicted modal parameters3 5 is a diagonal weighting matri. for modal residuals3 a(4) is a vector of dimensionless damage factors representing the level of damage in each of the substructures of the 9) model3 and a is the vector of initial damage factors used as starting point in the optimiAation process. !t each damage state, a is selected as the vector of damage factors identified at the previous damage state, and a = 6 for the first damage state considered ( ") in the model updating procedure. The weighting matri. 5
a , , ,

for

damage factors is a diagonal matri. with each diagonal component representing the relative cost (or penalty) associated with the change of the corresponding damage factor. The weights for damage factors

are used for regulariAation and can reduce the estimation error of the damage factors in the presence of

estimation uncertainty in the modal parameters, especially for substructures with parameters to which the employed residuals are less sensitive (0ares et al. ",,"). The residual vector r (4) in the ob>ective function defined in )q. (") contains
r (4) = rT rsT (4 ) f (4 )
T

($)

in which r f (4) and rs (4 ) represent the eigenfrequency and mode shape residuals, respectively, defined as
#(4) # r f (4 ) = , # & l# (4) &# l rs (4) = r r & (4 ) & #
#

(l r ), # T* " + m U

(8)

where # (4) and

#

denote the 9) predicted and e.perimentally identified eigenvalues, respectively, for

the # vibration mode, i.e., # M (" f #

th

"

, in which f # is the corresponding natural frequency3 & # (4) and

& denote the 9) predicted and e.perimentally identified mode shape vectors, respectively. /t should be
#

are normaliAed in a consistent way, noted that for each vibration mode, the mode shapes &# (4) and & #

i.e., scaled with respect to the same reference component. /n )q. (8), the superscript r indicates the reference component of a mode shape vector, the superscript l refers to the mode shape components that are used in the 9) model updating process, which in this case correspond to the degrees of freedom along which the accelerometers measure the acceleration response of the specimen, and + m denotes the number of vibration modes considered in the damage identification process. /n this study, the natural frequencies and mode shapes of the first two longitudinal vibration modes of the structure are used to form the modal residual vector r (4) , resulting in a total of $8 residual components which include " natural frequency residuals and "V (*7 %*) M $" mode shape component residuals based on *7 channels of acceleration response measurements. The vector r (4) does not include the reference mode shape component used in the normaliAation. Neights of * and ,.2 are assigned to the modal residuals corresponding to the natural frequencies of the first and second longitudinal modes, respectively (i.e., &* = *, &" = ,.2 ). Neight factors are assigned based on the estimation uncertainty of the natural frequency as well as the modal contribution of the corresponding mode. The first vibration mode contributes predominantly to the dynamic response of the structure at all damage states considered, 13

and therefore, its corresponding residuals are assigned a larger weight than the residuals of the second vibration mode. 9or each mode, the weight factors assigned to mode shape component residuals are equal to the weight factor for the corresponding natural frequency divided by the number of mode shape

14

residuals. The damage factor weights used in the regulariAation are set to &a = ,.,"& = ,.," , with ) *
) = *, , nsub where n sub denotes the number of substructures used in the 9) model updating process.

9inally, the dimensionless damage factors used in the 9) model updating process are defined as a) , Si M ')S , % ')S ,
Si )

(2)

where ' Si is the effective modulus of elasticity of substructure ) at damage state i. The above damage ) factors are used in the ob>ective function introduced in )q. ("). *ptimi,ation (lgorithm The optimiAation algorithm used to minimiAe the ob>ective function defined in )q. (") is a standard Trust Region (ewton method (Coleman and ;i *++6), which is a sensitivity%based iterative method. The optimiAation process was performed using the JfminconK command from the 0atlab (0athNorks ",,2) optimiAation toolbo., with the <acobian matri. and a first%order estimate of the Cessian matri. calculated based on the analytical sensitivities of the modal residuals to the updating parameters. ensitivities of the eigenfrequencies and mode shapes to the updating parameters are computed based on analytical solutions provided by 9o. and =apoor (*+6@). /t is worth mentioning that the use of the analytical <acobian, instead of the <acobian estimated through finite difference calculations, increases significantly the efficiency of the computational effort required for minimiAing the ob>ective function. Damage Identification Results /n this study, the 9) model updating procedure outlined above has been implemented to identify and quantify damage in the test structure. The modal residual vector r (4) in the ob>ective function is formed using the natural frequencies and mode shapes of the first two longitudinal vibration modes. The first step in the damage identification process consists of deriving a baseline 9) model of the undamaged structure (at state ,) which is used as a reference to quantify damage in the subsequent damage states. /n this step, the initial 9) model, defined with data available from material tests, is updated to match as closely as possible the identified modal parameters at the undamaged state of the structure by updating the stiffness (effective moduli of elasticity) of the si. substructures. This step is performed to account for modeling errors as well as the possible difference between of moduli of elasticity of concrete and masonry within each substructure and those obtained from the material tests. The updated model is termed the baseline model to be distinguished from the initial model, which is based entirely on the material test data. The

modal properties of the baseline model closely match those identified from the intact structure (see the first row of Table 2). The effective moduli of elasticity of the different substructures of the initial and the baseline models are summariAed in Table 8. The values reported for the initial model correspond to the moduli of elasticity of concrete and masonry infill measured from unia.ial compression tests of concrete cylinders and masonry prisms ( tavridis ",,+). 0asonry prisms provide the closest representation of a masonry assembly. The prisms used in this study consisted of four stacked brick units connected with mortar >oints. 9rom the results reported in Table 8, it is observed that for each substructure, the baseline effective moduli of elasticity differ from the corresponding measured (initial) values. This is due to the fact that the updating parameters (moduli of elasticity) act as effective moduli of elasticity reflecting the overall stiffness of the specimen, accounting for the modeling errors and the contributions of other structural components such as beams for which the stiffness parameters are not calibrated#updated. /n this study, a simplifying assumption is made in that the masonry infill is modeled as a homogeneous isotropic material. 'uring the calibration of the initial 9) model to obtain the baseline 9) model, the Jdamage factorsK defined in )q. 2 are constrained within the range Q%", ,.+R. Table 8. )ffective moduli of elasticity of structural components in different substructures for the initial and baseline 9) models ubstructure * story infills " story infills $ story infills * story columns " story columns $ story columns
rd nd st rd nd st

)ffective 0oduli of )lasticity QksiR Initial F' model 7@2 777 +86 "$@, "2$, "86$ -aseline F' model .S/0 7"" +,* +88 "8$@ *+$2 ""6$

Bnce the baseline model is obtained, the moduli of elasticity of the si. substructures (three for infill walls, with one per story, and three for columns, with one per story) shown in 9igure 7 are updated from the baseline 9) model (at the undamaged state ,) for damage states ", $, 8, 2, 6 and 7. 'ue to the very small changes in the modal parameters from , to *, 9) model updating is not performed at state *. The stiffness parameters of the elements representing the beams are kept constant at the values used in the baseline 9) model. This is a good appro.imation based on the observed behavior of the physical specimen.

/n updating the 9) model for each considered damage state of the infilled frame, the dimensionless
, damage factors are constrained to be in the range Q a ) , Si ,.++R () M *, ", W, nsub M 6). !t each damage

state, the vector of initial damage factors a, , used as starting point in the optimiAation process, is Si selected as the vector of damage factors identified at the previous damage state. This lower bound is assigned based on the assumption that the damage factors should increase monotonically as the structure was e.posed to stronger earthquakes base e.citations (i.e., damage is irreversible). The damage factors (relative to the baseline 9) model) obtained at different damage states are presented in a bar plot in 9igure @. These results indicate that, as e.pected, the severity of structural damage increases as the structure was e.posed to stronger earthquake e.citations which can be e.pected due to the accumulation of damage. /t is also observed from the results that the e.tent of the identified damage diminished in the upper stories of the structure with severe damage concentrated in the bottom story, which is indicative of a soft story mechanism. The first measurable damage occurs after the 'esign )arthquake (')) at damage state $, and the largest absolute increase of the damage factor in the bottom story infilled walls (substructure *% Nall) occurs between damage states 2 and 6 (i.e., during the 0a.imum Considered )arthquake, 0C)).
100 ,0 60 -0 20 0 +2 +3 ++5 +6 +7

Damage 'actor ()*

1.Co!

2.Co!

3.Co! 1./a!! 2./a!! 3./a!! +ubstructure

Fig& 7 /dentified damage factors in various substructures Table 2 reports the natural frequencies computed from the updated 9) model at each considered damage state together with their counterparts identified from white%noise base e.citation test data as well as the 0!C values between the 9) predicted and e.perimentally identified mode shapes. To compare the mode shapes, only the degrees of freedom corresponding to the locations and orientations of the accelerometers are used for the 9) results. 9rom Table 2, it is observed that the 9) predicted natural frequencies and mode shapes for the first two longitudinal modes match very well their e.perimentally identified counterparts. 0oreover, the 0!C values between the 9) predicted and e.perimentally identified mode shapes are very close to unity for all damage states. The 0!C values are in general

higher for the first mode than for the second mode. Cowever, this can be e.pected since smaller weight factors were assigned to the modal residuals corresponding to the second mode shape. Table 2. Comparison of 9) computed and e.perimentally identified modal parameters 'amage tate , (baseline) " $ 8 2 6 7 *@.*@ *7.++ *6.78 *2.+$ *8.7@ @.87 2.$8 *%; mode "%; mode 9) 9req 0!C 8".6* 8".2, 8,."" $@.$+ $2.$$ "8.7@ "".2* ,.+6 ,.+2 ,.+@ ,.++ ,.++ ,.++ ,.+7

).p. 9req 9) 9req 0!C ).p. 9req *7.+" *7.@@ *6.77 *2.+7 *8.@" @.26 2.$8 ,.++ *.,, *.,, *.,, *.,, ,.++ ,.++ 8*."" 8*.26 8,."* $@.26 $2.2, "7.$8 "".27

/nfill%frame separation

(a) bay with solid panel

(b) bay with window

Fig& 8 Cracks in the first story infills at damage state $ (after 67L :ilroy) Comparison of amage Identification Results &ith *bserved amage !ccording to the observations made during the shake table tests, the first noticeable deterioration of the physical specimen occurred during 67L :ilroy, which corresponds to the design earthquake for this structure. !fter this event, i.e., at damage state $, the inspection of the physical specimen revealed the first cracks in the structure. !s shown in 9igure +, cracks developed along the boundary between the solid infill and the bounding RC frame, and cracks initiated at the window corners for the infill with a window opening. These cracks were insignificant and did not alter significantly either the modal properties or the integrity of the structure. This observation is consistent with the damage identification results in 9igure @, which show very small damage factors at damage state ", and *@L loss of stiffness in the first story

columns and *"L loss of stiffness in the first story infill walls at damage state $. &ntil damage state 2, the stiffness change of the specimen was likely mainly caused by the cracks in the infill walls and at the frame%wall interfaces, which did not >eopardiAe the strength of the structure.

(a) west column

(b) middle column

Fig& $6 Cracks in the infill and columns (west and middle) in the first story at damage state 6 (after *,,L :ilroy) ! significant change in the structural properties is noted at damage state 6, after the specimen was e.posed to the *,,L :ilroy earthquake record (i.e., 0C)). !t this stage, dominant cracks were observed in the infills in both bays of the first floor. The cracks already developed in the infills in the previous tests (67, @$, +*L :ilroy) intensified and propagated through all three columns of the first story as shown in 9igure *,. !s a result of these ma>or cracks, the specimen fundamental frequency reduced by more than 2,L. /n the 9) model, this translates into a +,L reduction of the stiffness in the first story infills and "@L reduction of the stiffness in the first story columns as indicated in 9igure @. The +,L reduction of stiffness in the first story infills is larger than what would be e.pected from visual inspection of the specimen. Therefore, to verify the damage identification results, curves of the total base shear force (scaled up to the prototype structure and normaliAed with respect to the weight of the specimen) versus first interstory drift ratio are compared in 9igure **(a) for the white%noise tests performed at damage states , (intact structure), 2, 6 and 7. 9rom these data, it was estimated that the lateral secant stiffness of the frame was decreased by 2$L at 2, +$L at 6 and +7L at 7 as compared to that of the intact structure. /t is important to point out that the strength deterioration of the specimen at damage state 6 was considerably less than its stiffness reduction. /ndeed, the peak base shear e.hibited during the response to *",L :ilroy decreased by only 6L relative to the peak base shear reached during the entire testing sequence (i.e., for @$L :ilroy, Test "6) ( tavridis ",,+). 'uring *",L :ilroy (Test 8,), additional damage was induced in the specimen. Cracks in the bottom story infills grew significantly (in number, length and width), and a ma>or shear crack developed in the middle column as depicted in 9igure *". These cracks further reduced the natural frequency of the first mode to less than one third of its initial 18

value at state ,. !t damage state 7, damage factors of "@L and +7L were identified for the first story columns and infill walls, respectively, while a damage factor of *7L was identified for the second story walls, which only developed minor cracks. This confirms the soft%story mechanism that developed in the structure. The fact that the damage factor of the first story columns remains unchanged at "@L from damage state 8 does not reflect the observed increase of damage in the columns between damages states 8 and 7. This is likely due to the much higher sensitivity of the modal parameters to the stiffness of the infills than to the stiffness of the columns.

(a) Cysteretic behavior of the structure during white%noise tests at damage states , (intact specimen), 2, 6, and 7

(b) Cysteretic behavior of the structure during the

initial cycles of response to *,,L :ilroy and the preceding white%noise test (Test $8)

Fig& $$& -ase shear versus drift ratio of the first story obtained at different damage states

(a) Nest bay

(b) )ast bay

Fig& $' Bbserved damage in the first%story infills at damage state 7 (after *",L :ilroy) /n this approach to damage identification, damage is defined as a loss of stiffness in the structure. Therefore, changes in natural periods and mode shapes, which reflect changes in secant stiffness 19

properties of the substructures in the 9) model of the specimen, are used in the ob>ective function for damage identification. Cowever, in this particular case, the actual loss of strength of the specimen is found to be significantly less than its stiffness reduction. 9urthermore, the identified damage factors are sensitive to the amplitude of the white%noise base e.citation to which the structure is assumed to respond quasi%linearly (also found by 0oaveni et al. ",*,). This can be observed in 9igure **(b) which compares the response of the specimen in terms of base shear versus first story drift ratio during the first ".2 seconds of *,,L :ilroy with that from the preceding white%noise test (Test $8). /t can be seen that the structure responded inelastically during the white noise test with a secant stiffness matching well that of the initial part of the response to *,,L :ilroy. !fter this low%amplitude initial response to *,,L :ilroy, the structure softened as the amplitude of its displacement increased with increasing intensity of the earthquake e.citation. Conclusions /n this study, a linear 9) model updating strategy is applied for vibration%based damage identification of a "#$%scale, three%story, two%bay, infilled RC frame tested on the &C '%()) outdoor shake table. The ob>ective function for damage identification is defined as a combination of natural frequency and mode shape residuals measuring the discrepancy between e.perimentally identified and 9) predicted modal parameters. 9) model updating is first used to calibrate the 9) model at the undamaged state which serves as the reference#baseline state, and then applied for damage identification at a number of damage states of the structure. These damage states correspond to states of increasing damage of the physical specimen in the process of being sub>ected to a sequence of earthquake e.citations of increasing intensity. The damage identification results indicate that the severity of structural damage increases as the structure is e.posed to stronger earthquake e.citations. The first significant loss of stiffness is identified at damage state $ (after submission of the design level earthquake) which coincides with the first observation of cracks on the specimen. The largest increase in identified damage factors occurs between damage states 2 and 6, i.e., due to +*L and *,,L :ilroy (ma.imum considered earthquake). This result is consistent with the significant reduction in the secant stiffness of the specimen that was observed from the base shear versus first story drift hysteresis curves obtained from white%noise tests performed at various damage states including 2 and 6. The damage identification method correctly identifies the spatial distribution of damage in the structure, with the most severe damage at the bottom story and the least damage at the top story. The method also captures the fact that the e.tent of damage is more significant in the infill walls than in the columns. The analytical modal parameters obtained from the

updated 9) models are in good agreement with their e.perimentally identified counterparts, an indication of the accuracy of the updated 9) models. Cowever, comparison of the damage identification results and the seismic shake table test results shows that the level of damage identified may not accurately reflect the loss of the structural strength, as loss of stiffness (defined herein as damage) is not well related to actual loss of strength. This motivates the need for new research based on nonlinear 9) model updating where calibrated, mechanics%based, nonlinear degrading 9) models of structural systems are used to predict both stiffness degradation and strength deterioration. The following conclusions are drawn from this study and previous work performed by the authors. The damage factors obtained using a linear 9) model updating approach, are sensitive to the amplitude of the white%noise base e.citation to which the structure is assumed to respond quasi%linearly. Nith increasing level of base e.citation and structural damage, the level of nonlinearity in the structural response increases. Therefore, the assumption that the structure behaves as a quasi%linear dynamic system is violated and a linear dynamic model is not strictly able to represent well the behavior of a damaged structure. The spatial distribution (i.e., relative amplitudes) of the identified damage factors however is not sensitive to the amplitude of base e.citation. ;astly, it should be mentioned that the accuracy and spatial resolution of the damage identification results depend significantly on the accuracy and completeness of the identified modal parameters (0oaveni et al. ",,+a). The estimation variability#uncertainty of the modal parameters can be influenced by several factors such as the number and types of sensors, measurement noise, length of the data time windows used for system identification, and system identification method used (0oaveni et al. ",,7), in addition to the environmental conditions such as the ambient air temperature and relative humidity during data collection (0oaveni et al. ",,+b3 0oser and 0oaveni ",**). The variability in the identified modal parameters due to non%damage related factors needs to be smaller than the changes in these parameters due to damage or compensated for in order to identify the actual damage in the structure. Ac!no9ledgements The shake table tests discussed in this paper were supported by the (ational cience 9oundation :rant (o. ,2$,7,+ awarded under the :eorge ). -rown, <r. (etwork for )arthquake )ngineering imulation (()) ) program. /nput from other collaborators at tanford &niversity and the &niversity of Colorado at -oulder, and a 1rofessional !dvisory 1anel (1!1) during the planning, design, and performance of these shake table tests is gratefully acknowledged. The panel members are 'avid -reiholA, <ohn =ariotis, :regory =ingsley, <oe 0affei, Ron 0ayes, 1aul 0urray, and 0ichael ?alley. !lso, the writers would like to thank the technical staff at the )nglekirk tructural )ngineering Center of

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