Localization of damage with speckle shearography and higher

order spatial derivatives

H. Lopes
a
, F. Ferreira
a
, J.V. Arajo dos Santos
b,n
, P. Moreno-Garca
c
a
DEM/ISEP, Instituto Politcnico do Porto, Rua Dr. Antnio Bernardino de Almeida, 431, 4200-072 Porto, Portugal
b
IDMEC/IST, Instituto Superior Tcnico, Av. Rovisco Pais, 1049-001 Lisboa, Portugal
c
INEGI, Instituto de Engenharia Mecnica e Gesto Industrial, Campus da FEUP, Rua Dr. Roberto Frias, 400, 4200-465 Porto, Portugal
a r t i c l e i n f o
Article history:
Received 14 August 2012
Received in revised form
20 December 2013
Accepted 27 December 2013
Available online 18 January 2014
Keywords:
Speckle shearography
Stroboscopic laser illumination
Pulsed laser illumination
Damage localization
Modal rotations
Higher order spatial derivatives
a b s t r a c t
Two speckle shearography systems are described in this paper. The first is based on
stroboscopic laser illumination and temporal phase modulation, whereas the second
system relies on double pulse laser illumination and spatial phase modulation. These
systems are applied to measure the phase maps of modal rotation fields of a damaged
laminated composite plate. In order to decrease the propagation of noise, a new
differentiation methodology is presented. It relies on the differentiation of the measured
phase maps before they are post-processed. This leads to an improvement in the
localization of damage. It was found that the fourth order spatial derivative of mode
shapes also presents better damage localizations, in particular with the phase maps
measured by the first shearography system.
& 2014 Elsevier Ltd. All rights reserved.
1. Introduction
The use of composite materials in lightweight structural applications, such as those developed in the automotive and
aeronautical industries, has seen a huge increase in recent decades. These materials present types of defects and damage
mechanisms different from those of metals. The lack of effective and global non-destructive inspection techniques
motivated the development of new methodologies based on the vibrational characteristics of structures. Due to the
complexity of the problem and the difficulty in finding a robust solution, different approaches have been proposed [114].
This large number of approaches indicates that a universal method applicable to all kind of structures and damage types is
not available [15]. Nevertheless, methods of damage localization based on the analysis of perturbations or discontinuities in
modal curvatures or strain fields are the most well established and applied. Pandey et al. [1] proposed the use of differences
between curvature mode shapes of damaged and undamaged beams. Ratcliffe [3] proposed the use of polynomial functions,
fitted with the data of the Laplacian operator, which is similar to beam curvatures, and applied it to the damaged modes,
instead of the undamaged ones. Sampaio et al. [4] expanded the use of curvatures of mode shapes to a desired frequency
spectrum by using frequency response functions (FRF). The FRF curvatures have also been used by Maia et al. [14], but taking
into account the number of times that each sensor has a maximum. All these works are applied to the analysis of isotropic
beams. Lestari et al. [9] expanded the method of curvature mode shape differences to carbon/epoxy beams. Guan and
Karbhari [10] presented an improvement to the computation of curvatures for sparse measurements, based on the use of a
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Mechanical Systems and Signal Processing
0888-3270/$ - see front matter & 2014 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.ymssp.2013.12.016
n
Corresponding author. Tel.: 351 218419463; fax: 351 218417915.
E-mail address: viriato@ist.utl.pt (J.V. Arajo dos Santos).
Mechanical Systems and Signal Processing 49 (2014) 2438
polynomial depending on vertical displacements and rotations. This polynomial can be differentiated twice to obtain the
curvature. Methods based on higher order derivatives have also been developed in recent years. Ismail and Abdul Razak [16]
proposed the use of the ratio between the fourth order derivative of a mode shape and the mode shape itself as a damage
indicator for EulerBernoulli beams. A similar method along with statistical treatment was proposed by Gauthier et al. [17].
Whalen [18] compared the results for second, third and fourth derivatives of the mode shapes using an analytical model of
damage. Santos et al. [19] used the Timoshenko beam model and defined several damage localization indicators based on
higher order derivatives of modal displacements and rotation fields. Abdo [20] extended some of these damage indicators by
applying them to plates, using the summation of fourth derivatives in the x and y directions. The derivatives needed in all
these methods can only be obtained by numerically differentiating experimental modal displacements or rotations. In order
to minimize the amplification and propagation of experimental noise, due to the numerical differentiation process, accurate
modal full-fields measurements are required [21,22].
In conventional experimental modal analysis, the use of accelerometers or other kind of contact sensors, the gluing
materials and the need for connecting cables result in the addition of mass to the system. Depending on the masses ratio
and its location relatively to the modal amplitude, a significant change in the dynamic behavior of the structure can take
place. Moreover, the number of measured points is usually small, leading to a set of sparse measurements. On the other
hand, speckle interferometry techniques, such as electronic speckle pattern interferometry (ESPI) and speckle shearography,
allow full-field, non-contact and high sensitivity resolution measurements of the modal displacement and modal rotation
fields of the structures surface, respectively. The main limitation of the ESPI technique comes from the high density of
fringes obtained from measurements of displacements fields, including the rigid-body displacements, which makes difficult
the interpretation of the fringe patterns [2325]. However, speckle shearography provides a way to measure displacement
gradients, being therefore practically insensitive to rigid-body motions. In addition, it requires a simpler optical
interferometer setup and a laser with low coherence length. Thus, more compact systems can be built, which are also
more robust to external perturbations. Shearography is based on the principle of the speckle interference between two
wavefronts reflected by the surface of the object. These two wavefronts are laterally shifted, i.e. sheared. This shift can be
created using a glass-shaped wedge placed in the front half of the lens, a rotation of two glass plates, a Wollaston prism or a
Michelson optical interferometer setup with a slight rotation of one of the mirrors [26]. The last option is preferred, since it
allows an easy adjustment of the shearing value. Another alternative, which does not require moving parts, is proposed in
Ref. [27]. A comprehensive description of shearography and its applications can be found in Refs. [2838]. Recent reviews of
this technique can also be found in Refs. [3941].
A damage localization method based on the analysis of second and third order spatial derivatives of measured modal
rotation fields is proposed in this paper. Since the rotation field corresponds to the first spatial derivative of the
displacement field, the second and third derivatives of the rotations correspond to the third and fourth derivatives of the
displacements, respectively. Therefore, the direct measurement of rotation fields has the advantage of reducing the order of
the numerical differentiation by one. The modal rotations of a multi damaged laminated composite plate are measured
using speckle shearography with stroboscopic laser illumination and temporal phase modulation. The experimental
measurements thus obtained present a higher signal-to-noise ratio when compared with previous ones, obtained using
speckle shearography with pulsed laser [22]. Besides these improvements in the quality of the experimental measurements,
a new differentiation methodology is proposed. Unlike previous works (see e.g. [22]), the differentiation is performed before
the phase maps are post-processed, thus leading to a decrease in the propagation of noise. The higher order spatial
derivatives of the modal rotations of a laminated composite plate are computed by applying central finite differences. These
derivatives are also filtered, using low pass filters. The damages are directly localized by analyzing the perturbations in the
second, third and fourth spatial derivatives of the out-of-plane modal displacements. Thus, there is no need for previous
knowledge of the undamaged structure behavior.
2. Methods
2.1. Speckle shearography
Speckle shearography has been mainly applied to the measurement of static rotation fields, because of its simple
experimental arrangement. However, the measurement of dynamic responses requires the use of more complex
illumination and synchronization systems. This leads to an experimental setup which is more difficult to adjust. Therefore,
reports on efficient and accurate measurements of vibration responses using speckle shearography are relatively recent
[24,42,43]. Before these works, modal rotation fields, which can be viewed as gradients of mode shapes, were approximately
measured using the time-average method [26]. This method has the advantages of using the same optical interferometer
setup used in the static measurements and allows the observation of the vibration contour fringes at video rate. The method
is based on the subtraction of speckle interference patterns produced by stationary harmonic motion of objects during
several cycles of vibration. In this case, the recording time is very long compared to the period of vibration. Black intensity
fringes are observed as contours of equal amplitude of vibration, being the fringe intensity modulated by the Bessel function
J
0
, where the contrast decreases with the increase of the fringes order associated with the amplitude of vibration. Only
recently, the development and application of spatial phase modulation and temporal phase modulation to speckle
H. Lopes et al. / Mechanical Systems and Signal Processing 49 (2014) 2438 25
shearography made possible a quantitative evaluation of the phase distribution or phase map and the accurate
measurement of the corresponding modal rotation field [42,43].
In order to measure modal rotation fields, a double pulse laser illumination and a spatial phase modulation technique are
combined with speckle shearography. The double pulse laser and the vibration amplitude are controlled by an external
synchronization signal. To subsequently extract the phase map, a spatial carrier is introduced in the interference pattern by a
small rotation between the two wavefronts. The introduction of this spatial carrier is accomplished by using a Mach
Zehnder interferometer (Fig. 1). In this kind of interferometer, the speckle pattern created by the rough and diffuse surface of
the plate is divided in two optical paths by the first beam splitter (BS1), reflects in Mirror 1 and Mirror 2 and is recombined
in the second beam splitter (BS2). The shearing value is set by translating Mirror 1 and the spatial carrier is introduced by
rotating Mirror 2.
The recording of the spatial carrier requires the use of small optical apertures, limiting the frequency of the
measurements to 1/6 of the number of pixels of the CCD array [44]. Also, with this interferometer we cannot obtain
uniform distributions of the spatial carrier, leading to errors in the measurement. The determination of the interference
phase involves the isolation of the spectral information around the spatial carrier and can be more easily performed through
the application of forward and inverse fast Fourier transforms [45]. The intensity of the interference in the wave domain
number
^
I u; v is expressed by [26]
^
I u; v
^
Au; v
^
Cu; v
^
C
n
u; v 1
where
^
Au; v represents the background intensity,
^
Cu; v is the intensity of the phase interference modeled by the carrier
phase,
n
denotes the complex conjugate, being u and v the order of the wave number in the horizontal and vertical
directions, respectively. The intensity of the interference can be separated from the background intensity in the frequency
domain by applying a simple window filter. The spatial carrier can be adjusted by controlling the rotation of Mirror 2 and
the window filter is adjusted by controlling the optical aperture of the system. Therefore,
^
Au; v,
^
Cu; v and
^
C
n
u; v can be
easily separated in the frequency domain. After demodulation of the spatial carrier, the interference phase can be calculated
by [26]
x; y arctan
Imcx; y
Recx; y
2
where x and y are coordinates in the spatial domain and cx; y is given by the inverse Fourier transform of
^
Cu; v. The two
captured modal rotation amplitudes correspond to a reference state and a deformed state of the structure. By subtracting
the deformed interference phase
D
x; y from the reference interference phase
R
x; y, it is possible to extract the phase
map x; y:
x; y

D
x; y
R
x; y if
D
x; yZ
R
x; y

D
x; y
R
x; y2 if
D
x; yo
R
x; y
(
3
When the sensitivity vector is perpendicular to the measurement surface, a relation between the gradient of the out-of-
plane displacement field wx; y and the phase map can be established [26]:
x; y
2x

wx; y
x
4
where x is the shearing value in the x direction, is the wavelength of the laser and wx; y=x is the first spatial derivative
of the out-of-plane displacement field in the x direction. This gradient can be taken as a good approximation to the rotation
field of small deformations. If one considers a structure vibrating at a frequency corresponding to the i-th mode shape
Fig. 1. Schematic diagram of the speckle shearography system with double pulse laser illumination used for the measurement of modal rotation fields.
H. Lopes et al. / Mechanical Systems and Signal Processing 49 (2014) 2438 26
w
i
x; y, the derivative in Eq. (4) defines the modal rotation
ix
x; y in the x direction at this frequency:

ix
x; y
w
i
x; y
x
5
An alternative to the previously described technique relies on the combination of speckle shearography with strobo-
scopic laser illumination and temporal phase modulation. The use of stroboscopic laser illumination, which is synchronized
with the vibration excitation, allows freezing in time the speckle pattern [25]. Thus, the quantitative evaluation of the phase
map can be performed by applying temporal phase modulation. Furthermore, with this technique, the same kind of
Michelson interferometer used in static measurements can also be used to measure dynamic motions. The stroboscopic
illumination can be generated from a continuous-wave laser either by using an electro-optic modulator or an acousto-optic
modulator. When an electro-optic modulator is used, short stroboscopic illumination pulses are created by switching the
polarization of a Pocket cell crystal by /2, being the duration of the pulses controlled by a high voltage electric signal.
This produces a more efficient illumination than the one obtained with the use of an acousto-optic modulator. However, this
system is more expensive and, therefore, an acousto-optic modulator is more often used. In this case, the continuous-wave
laser beam passes through a crystal where traveling sound waves are generated by a piezoelectric actuator. This
phenomenon produces periodic variations in the refractive index of the crystal. The laser light beam is laterally deflected
by selecting the grating first order diffraction. This is done by adjusting the incident angle of the laser beam, as shown in
Fig. 2(a). With the purpose of isolating the stroboscopic beam pulses from the zero order diffraction beam, a spatial filter is
mounted in front of the acousto-optic modulator. In order to freeze the interference pattern, these pulses should be narrow
enough. However, they should also be wide enough to illuminate the surface of the object. The stroboscopic illumination
is synchronized with the harmonic vibration excitation by modulating the piezoelectric excitation signal, as depicted in
Fig. 2(b).
Because the speckle pattern is frozen in time, a Michelson optical interferometer for static measurements can be used.
This setup, shown in Fig. 3, allows the use of the temporal phase modulation technique for the quantitative determination of
the interference pattern. The speckle pattern generated on the surface of the object is split into two by the beam splitter, and
the slight rotation of one of the mirrors is used to laterally shift the two intensity paths and create the speckle interference.
By translating another mirror, using a piezoelectric actuator, a temporal phase modulation technique, also known as phase
shifting or phase stepping, can be applied. The most usual method of temporal phase modulation is based on four intensity
Fig. 2. (a) Schematic diagram of the acousto-optical modulator with spatial filter and (b) synchronization of the vibration excitation and stroboscopic
illumination signals.
Fig. 3. Schematic diagram of the speckle shearography system with stroboscopic laser illumination used for the measurement of modal rotation fields.
H. Lopes et al. / Mechanical Systems and Signal Processing 49 (2014) 2438 27
distributions with a constant phase step between them of =2. In this method, the phases of the speckle patterns for the
reference state,
R
x; y, and deformed state,
D
x; y, are, respectively, a function of the intensity distributions, I
R;1
x; y,
I
R;2
x; y, I
R;3
x; y, I
R;4
x; y, and I
D;1
x; y, I
D;2
x; y, I
D;3
x; y, I
D;4
x; y:

R
x; y arctan
I
R;4
x; yI
R;2
x; y
I
R;1
x; yI
R;3
x; y

D
x; y arctan
I
D;4
x; yI
D;2
x; y
I
D;1
x; yI
D;3
x; y

6
By applying Eq. (3), the phase map of the modal rotation field is obtained by subtracting the two interference phases
above. Finally, the relation between the phase map and the modal rotation field is given by Eq. (4).
2.2. Damage localization
As described in the previous subsection, the modal rotation fields are directly measured using speckle shearography with
stroboscopic laser illumination. Because rotations correspond to first order spatial derivatives of out-of-plane displacements,
the application of numerical differentiation techniques, needed in many damage localization methods, is reduced in one
order. This is particularly important because the present damage localization method is based on the analysis of
perturbations and discontinuities in second, third and fourth order spatial derivatives of modal displacement fields. It is
known that, in practice, the differentiation of experimental data leads to amplification and propagation of experimental
noise, namely in higher frequencies. It is possible to mitigate some of these effects by combining differentiation and
low-pass filters techniques [22]. However, this can lead to the elimination of signal components with higher frequencies,
which are essential for a correct representation of higher order derivatives of the modal fields. Furthermore, and since the
damage influence is associated with this kind of signal components, their elimination can lead to unsuccessful damage
localizations. The separation of the true signal from the high frequency noise can be more easily accomplished by increasing
the measurements spatial resolution and by improving the signal-to-noise ratio. Also, by decreasing the number of
numerical operations applied to the experimental data, it is possible to reduce the noise amplification and propagation. In
order to cope with these problems, in the present approach the numerical differentiation is performed in the phase maps
and not in the rotational fields, as in previous works [22,46]. Indeed, to obtain these fields, the phase maps must be
unwrapped and in this process the noise can be amplified, as described more thoroughly below.
Any phase map presents phase discontinuities that must be correctly removed in order to obtain a continuous
description of the rotational field. Normally, this can be a very challenging task using real data, due to the presence of
experimental noise. To overcome this problem, several unwrapping algorithms have been proposed [47]. According to their
strategy, these algorithms can be grouped into two different categories [47]: the path-following methods and the minimum-
norm methods. The strategy of the first category is based on defining a unique integration path of the phase map. This is
achieved by placing restriction lines to the integration path or by defining the integration path using the phase map quality
information. In either case, this leads to singular regions that are represented by local perturbations. Normally, the
application of low-pass filters to remove these perturbations will introduce errors in the signals. On the other hand, the
minimum-norm methods are based on the strategy of global minimization of phase transitions. By definition, these
methods do not necessarily preserve the phase map information, mainly in noisy areas, where the data is smoothed and the
signal is changed. Therefore, the unwrapping methods always produce signal errors in the rotational field, which are further
propagated and amplified by the numerical differentiation process.
In view of the above, in the present work, the second, third and fourth order spatial derivatives of the displacement fields
are successively computed by applying first-order central finite differences and low-pass filters to the phase maps of the
modal rotations. Because these phase maps and respective derivatives are defined between and , they have
discontinuities, which can be removed by applying unwrapping algorithms. This leads to a better visualization of
perturbations in the derivatives, and therefore a better analysis of the damage localization, since after unwrapping one
obtains a continuous description of the rotational field.
The spatial derivatives of order n of the phase map, defined between and , relative to the i-th mode shape are
approximated by

i
x; y
x
n
arctan
sin

n1

i
xh
x
=2; y
x
n1

n1

i
xh
x
=2; y
x
n1

cos

n1

i
xh
x
=2; y
x
n1

n1

i
xh
x
=2; y
x
n1

8
>
>
>
<
>
>
>
:
9
>
>
>
=
>
>
>
;
h
x
= 7
where h
x
is the lateral shift size in the x direction. Eq. (7) is a mathematical description of the process of laterally shifting the
maps by h
x
and subtracting them. The high frequency noise is removed by applying the average filtering technique.
However, to apply this technique it is first necessary to transform the maps into continuous ones. This is accomplished by
shifting them into the complex domain. The applied filtering technique uses image convolution:

i
x; y
x
n


n

i
x; y
x
n
h m; n 8
H. Lopes et al. / Mechanical Systems and Signal Processing 49 (2014) 2438 28
where is the convolution operator, hm; n is the filter array, and m and n represent the horizontal and vertical dimensions
of the filtering window, respectively. In this case, the average filter window was applied. After applying Eq. (8), the filtered
spatial derivative of order n of the phase map is described in the spatial domain by

i
x; y
x
n
arctan

n

i
x; y
x
n
!
9
Finally, by applying the Goldstein unwrapping algorithm [47] the derivatives of the modal fields can be constructed.
Indeed, by taking into consideration Eqs. (4) and (5), a relation between the unwrapped filtered spatial derivative of order n
of the phase map,
n

_
i
x; y=x
n
, the spatial derivative of order n1 of the displacement field,
n1
w
i
x; y=x
n1
, and the
spatial derivative of order n of the rotational field
n

ix
x; y=x
n
can be established:

_
i
x; y
x
n

2x

n1
w
i
x; y
x
n1
with

n1
w
i
x; y
x
n1


n

ix
x; y
x
n
10
2.3. Structure and equipment
The structure analyzed is a multidamaged laminated composite plate with in-plane dimensions 276.5198.0 mm
2
and
thickness 1.825 mm. The stacking sequence of the layers is [0/90/45/45/0/90]s [22]. Two internal damages were
produced by dropping a steel sphere into the in-plane surface at two distinct points, as shown in Fig. 4. The first and second
impacts correspond to energies of 13.5 and 26.2 J, respectively. It should be noted that no damage was observed on the
impacted surface.
Fig. 4. Impacted surface of the plate and localization of the two impacts.
Fig. 5. View of the experimental setup and equipment.
H. Lopes et al. / Mechanical Systems and Signal Processing 49 (2014) 2438 29
Flexible rubber bands were used to suspend the plate, thus creating almost free boundary conditions. In order to
uniformly illuminate the measured surface, a very small layer of white powder was applied to it, as shown in Fig. 4.
A Coherent
s
Verdi laser with a wavelength of 532 nm, was used as the illumination source. A harmonic signal is generated
1
st
3
rd
5
th
8
th
Fig. 6. Filtered phase maps of the first, third, fifth and eighth modal rotation fields obtained by speckle shearography with stroboscopic laser illumination
and temporal phase modulation.
1
st
3
rd
5
th
8
th
Fig. 7. Filtered phase maps of the first, third, fifth and eighth modal rotation fields obtained by speckle shearography with double pulse illumination and
spatial phase modulation.
H. Lopes et al. / Mechanical Systems and Signal Processing 49 (2014) 2438 30
with an amplifier and loudspeaker to excite the plate at its natural frequencies, as in [22], whereas a pulse signal is applied
to an acousto-optic modulator to generate the stroboscopic illumination. These two synchronized signals are created using a
Tektronix
s
AFG320 dual signal generator. The intensity distribution is captured by a Dalsa
s
Falcon 4M30, digital camera,
with a frame rate of 31 fps and a CMOS sensor array of 4 megapixels.
In order to quantify the interference phases by applying temporal phase modulation, four intensity distributions are
recorded in the reference and deformation states, with a constant phase shift of =2. This shifting is accomplished by
translating one of the mirrors of the interferometer through the actuation of a piezoelectric (see Figs. 3 and 5). This
piezoelectric is controlled by a National Instruments
s
PCI 6722 card and a Burleigh
s
PZ70 amplifier. No excitation is applied
to the plate in the reference state. The information of the deformation state is taken after the vibration excitation is applied
and the plate response becomes stationary. By adjusting the amplitude of the harmonic signal or the phase of the pulse
signal, it is possible to observe in real time the raw fringes of the phase map, thus controlling the amplitude of the modal
rotation field.
3. Results and discussion
The filtered phase maps of the first, third, fifth and eighth modal rotation fields obtained using the proposed
shearography technique are shown in Fig. 6, being the shearing value x of 10 mm. As a result of the high spatial
resolution, a high density of fringes is accomplished in all the maps. The analysis of these maps already reveals small
perturbations in the phase map fringes pattern near the regions where the second impact was produced, i.e. the lower right
edge of the plate. Fig. 7 shows the filtered phase maps of the same modal rotation fields relative to the horizontal direction,
1
st
mode (1
st
der.) 1
st
mode (2
nd
der.) 1
st
mode (3
rd
der.)
3
rd
mode (1
st
der.) 3
rd
mode (2
nd
der.) 3
rd
mode (3
rd
der.)
5
th
mode (1
st
der.) 5
th
mode (2
nd
der.) 5
th
mode (3
rd
der.)
8
th
mode (1
st
der.) 8
th
mode (2
nd
der.) 8
th
mode (3
rd
der.)
Fig. 8. First, second and third order derivatives of the phase maps obtained with stroboscopic laser illumination and temporal phase modulation.
H. Lopes et al. / Mechanical Systems and Signal Processing 49 (2014) 2438 31
obtained by speckle shearography, with a shearing value x of 10 mm, but pulsed laser illumination and spatial phase
modulation. These maps have been used to localize the damage in a previous study [22]. By comparing the phase maps in
Figs. 6 and 7, we see that a significant improvement in the quality of the measurements is accomplished by using
shearography with stroboscopic laser illumination and temporal phase modulation.
Although we can observe some perturbations in the phase maps of the modal rotation fields, which are due to the
damage, it is possible to see a more clear localization of the damage by differentiating these phase maps successively, as
described in Section 2.2. This new numerical differentiation process was applied to the phase maps obtained using the two
shearography systems. The differentiation is performed in the horizontal direction, i.e. the differentiation is in order to the x
axis, with a lateral shift size h
x
of 6 mm for the phase maps in Fig. 6 and 12 mm for the phase maps in Fig. 7, as defined by
Eq. (7). According to this equation, the numerical differentiation of the phase maps leads to a reduction of the number of
fringes, which can be defined by the lateral shift. Thus, a higher lateral shift was set for the phase maps of Fig. 7, in order to
observe the fringes perturbations. Figs. 8 and 9 show the first, second and third spatial derivatives of the phase maps in
Figs. 6 and 7, respectively. It can be seen in Fig. 8 that the images present noticeable local perturbations in a region near the
second impact. However, the same is not true for all the images in Fig. 9, which were obtained by speckle shearography with
pulsed illumination and spatial phase modulation. Most important is the fact that the analysis of fringe perturbation in the
derivatives of the phase maps already and clearly show the localization of the highest damage. This represents a meaningful
improvement relatively to the numerical differentiation method proposed in previous studies [22]. Furthermore, in [22], the
response of the undamaged structure is required.
1
st
mode (1
st
der.) 1
st
mode (2
nd
der.) 1
st
mode (3
rd
der.)
3
rd
mode (1
st
der.) 3
rd
mode (2
nd
der.) 3
rd
mode (3
rd
der.)
5
th
mode (1
st
der.) 5
th
mode (2
nd
der.) 5
th
mode (3
rd
der.)
8
th
mode (1
st
der.) 8
th
mode (2
nd
der.) 8
th
mode (3
rd
der.)
Fig. 9. First, second and third order derivatives of the phase maps obtained with double pulse illumination and spatial phase modulation.
H. Lopes et al. / Mechanical Systems and Signal Processing 49 (2014) 2438 32
By unwrapping the derivatives of the phase maps, the damage can be more easily and clearly identified. The unwrapped
first, second and third order derivatives of the phase maps of the modal rotation fields are presented in Figs. 1015. Note
that, according to Eq. (10), these images correspond to the second, third and fourth derivatives of the modal displacement
Fig. 10. Second order spatial derivative of the modal displacement fields obtained by stroboscopic laser illumination and temporal phase modulation.
Fig. 11. Second order spatial derivative of the modal displacement fields obtained by double pulse illumination and spatial phase modulation.
H. Lopes et al. / Mechanical Systems and Signal Processing 49 (2014) 2438 33
Fig. 12. Third order spatial derivative of the modal displacement fields obtained by stroboscopic laser illumination and temporal phase modulation.
Fig. 13. Third order spatial derivative of the modal displacement fields obtained by double pulse illumination and spatial phase modulation.
H. Lopes et al. / Mechanical Systems and Signal Processing 49 (2014) 2438 34
Fig. 14. Fourth order spatial derivative of the modal displacement fields obtained by stroboscopic laser illumination and temporal phase modulation.
Fig. 15. Fourth order spatial derivative of the modal displacement fields obtained by double pulse illumination and spatial phase modulation.
H. Lopes et al. / Mechanical Systems and Signal Processing 49 (2014) 2438 35
field or mode shape, respectively. For derivatives obtained using the stroboscopic laser illumination technique, the local
perturbations clearly show the localization of the damage created by the second impact (Figs. 10, 12 and 14). The local
perturbations due to the damage are not so easily identified in the unwrapped derivatives of the phase maps measured
using the double pulse laser illumination, due to the presence of fluctuations in the signal, which are associated to the low
signal-to-noise ratio of the measurements (Figs. 11, 13 and 15). These fluctuations are amplified and tend to spread to
neighboring regions by the numerical differentiation process.
The fourth order derivatives of the modal displacement fields, in Fig. 14, present a smooth and plane surface in
undamaged areas. Furthermore, they also present the highest magnitude near the damaged region, comparatively to the
other order derivatives. The present results confirm a better damage localization relatively to the one reported in a previous
study [22]. Indeed, by comparing the plots in Fig. 10 with the ones in Fig. 16, which are obtained by differentiating the
unwrapped phase maps as described in [22], one sees that now we have a more clear peak at the damage location. This is a
result of the combination of the new differentiation methodology, relying on differentiation of raw phase maps, and the use
of stroboscopic laser illumination. Furthermore, in Ref. [22] only the second order derivative of the modal displacement field
is considered, whereas now also the third and fourth order derivatives are computed.
4. Conclusions
Two speckle shearography systems used for the measurement of modal rotation fields are described in this paper.
The first system combines double pulse illumination with spatial phase modulation. In the second, stroboscopic laser
illumination and temporal phase modulation are used. A comparative analysis between the measured phase maps of a
damaged laminated composite plate, and the ones obtained in previous studies, using the first system, is presented. The
results show the superior quality of the experimental measurements obtained with the second speckle shearography
system. A new differentiation methodology is also proposed in order to decrease the experimental noise propagation.
Contrary to previous works, the differentiation is applied to the phase maps, therefore avoiding the propagation of noise
caused by their post-processing. The results show that the proposed numerical differentiation process is much better than
the previous one. The combination of modal rotation fields, measured by speckle shearography with stroboscopic laser
illumination, and the new differentiation methodology, allows the computation of the second, third and fourth order
derivatives of the mode shapes. The comparative analysis between the phase maps, obtained using the two experimental
methodologies, show the superior resolution and the higher signal-to-noise ratio of the speckle shearography with
stroboscopic laser illumination. Based on the analysis of the spatial derivatives of these mode shapes, it was possible to
Fig. 16. Second order spatial derivative of the modal displacement fields obtained by differentiating the unwrapped phase maps, according to [22].
H. Lopes et al. / Mechanical Systems and Signal Processing 49 (2014) 2438 36
localize one of the damages in the plate, in particular with the fourth order derivative. Finally, the results presented prove
that the proposed methodology is more effective for damage localization relatively to the one proposed in previous studies.
Acknowledgments
The authors greatly appreciate the financial support of FCOMP-01-0124-FEDER-10236, through Project Ref. FCT PTDC/
EME-PME/102095/2008.
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