VIBS Modal Overview 021703 MACL

Mechanical Vibrations
Overview of
Experimental Modal Analysis
Peter Avitabile
Mechanical Engineering Department
University of Massachusetts Lowell
22.457 Mechanical Vibrations - Experimental Modal Analysis 1
Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Structural Dynamic Modeling Techniques
Could you explain
and how is it
used for solving
dynamic problems?
modal analysis
Illustration by Mike Avitabile
Dr. Peter Avitabile

Modal Analysis and Structural Dynamics

DISK DRIVE
INDUCED VIBRATIONS
RESPONSE
OUTPUT TIME RESPONSE
INPUT TIME FORCE
FFT
INPUT FORCE
BOARD
RESPONSE
CABINET
INPUT POWER SPECTRUM
IFT
INPUT
FORCE
FAN INDUCED
VIBRATIONS
Modal Analysis is the study of the dynamic character of a

system which is defined independently from the loads applied
to the system and the response of the system.
Structural dynamics is the study of how structures respond
when subjected to applied loads. Many times, in one form or
another, the modal characteristics of the structure is used to
determine the response of the system.
Dr. Peter Avitabile

Analytical Modal Analysis

Equation of motion
[M n ]{&& n } + [C n ]{x n } + [K n ]{x n } = {Fn ( t )}

x
&
Eigensolution
[[K n ] [M n ]]{x n } = {0}
Dr. Peter Avitabile

Finite Element Models
Advantages
Disadvantages
Models used for design
Modeling assumptions
Joint design difficult to model
Component interactions are
development
No prototypes are
necessary
difficult to predict
Damping generally ignored
Dr. Peter Avitabile

Finite Element Models

Analytical models are developed
to describe the system mass and
stiffness characteristics of a
component or system
The model is decomposed to
express the part in terms of its
modal characteristics - its
frequency, damping and shapes
The dynamic characteristics help
to better understand how the
structure will behave and how to
adjust or improve the component
or system design
Dr. Peter Avitabile


[Y]
MEASURED RESPONSE
[F]
APPLIED FORCE
fref1
fref2
[H]
FREQUENCY RESPONSE FUNCTIONS
Advantages
Disadvantages
Modal characteristics
Requires hardware
Actual boundary conditions
are defined from actual

measurements
Damping can be
evaluated
may be difficult to simulate

Different hardware
prototypes may vary
Dr. Peter Avitabile

Measured frequency response
functions from a modal test can
also be used to describe the
structures dynamic properties its frequency, damping and shapes
40
MODE # 1
MODE # 2
MODE # 3
DOF # 1
DOF #2
DOF # 3
COHERENCE
dB Mag
FRF
-60
0Hz
800Hz
AUTORANGING
AVERAGING
h 13
1
2
1
3
2
h 23
3
h 33
h 31
h 32
h 33
Dr. Peter Avitabile

Experimental Data Reduction

Measured frequency response
functions from a modal test or
operating data can be used to
develop a model of the dynamic
characteristics of the system
Dr. Peter Avitabile

What Are Measurements Called FRFs ?

A simple inputoutput problem
8
5
2
8
3
0
-3
8
-7
Magnitude
Real
MODE # 1
MODE # 2
MODE # 3
DOF # 1
DOF #2
DOF # 3
1.0000
Phase
-1.0000
Imaginary
Dr. Peter Avitabile

What Are Measurements Called FRFs ?

Response at point 3
due to an input at point 3
h32
2
1
3
1
h33
h31
Dr. Peter Avitabile
Only One Row or Column of FRF Matrix Needed

The third row of the FRF matrix - mode 1
The peak amplitude of the imaginary part of the

FRF is a simple method to determine the mode shape
of the system
Dr. Peter Avitabile


The second row of the FRF matrix is similar
The peak amplitude of the imaginary part of the

FRF is a simple method to determine the mode shape
of the system
Dr. Peter Avitabile

Any row or
column can be
used to extract
mode shapes
- as long as it is
not the node of
a mode !
?
Dr. Peter Avitabile

More Measurements Define Shape Better

MODE # 1
MODE # 2
MODE # 3
DOF # 1
DOF #2
DOF # 3
Dr. Peter Avitabile

SDOF Equations
Equation of Motion
d2x
dx
m 2 + c + kx = f ( t )
dt
dt
or
m && + cx + kx = f ( t )
x
&
f(t)
x(t)
Characteristic Equation
ms 2 + cs + k = 0
Roots or poles of the characteristic equation

s1, 2
c
=
2m
c + k
m
2m
Dr. Peter Avitabile

SDOF Definitions
Poles expressed as
s1, 2 = n
(n )2 n 2 = jd
POLE
Damping Factor
= n
Natural Frequency
n = k
% Critical Damping
= c
cc
Critical Damping
c c = 2mn
Damped Natural
Frequency
d = n 1 2
CONJUGATE
Dr. Peter Avitabile

SDOF - Laplace Domain

Equation of Motion in Laplace Domain
(ms 2 +cs+k)x (s) = f (s)
with
b(s ) = (ms 2 +cs+k)
System Characteristic Equation

b(s) x (s) = f (s)
and
x (s) = b 1 (s)f (s) = h (s)f (s)
System Transfer Function

1
h (s) =
ms 2 + cs + k
Source: Vibrant Technology
Dr. Peter Avitabile

SDOF - Transfer Function & Residues

Polynomial Form
h (s) =
1
ms 2 + cs + k
Pole-Zero Form
h (s) =
Residue related to mode shapes

a1 =
h (s)(s p1 ) sp
1
1/ m
*
(s p1 )(s p1 )
1
2 jmd
Partial Fraction Form

*
a1
a1
+
h (s) =
*
(s p1 ) (s p1 )
Exponential Form
h(t) =
1 t
e sin d t
md
Source: Vibrant Technology
Dr. Peter Avitabile

SDOF - Frequency Response Function
h ( j) = h (s)
s = j
*
a1
a1
=
+
*
( j p1 ) ( j p1 )
Dr. Peter Avitabile


Coincident-Quadrature Plot
Bode Plot
0.707 MAG
Nyquist Plot
Dr. Peter Avitabile


DYNAMIC COMPLIANCE
MOBILITY
DISPLACEMENT / FORCE
VELOCITY / FORCE
INERTANCE
ACCELERATION / FORCE
DYNAMIC STIFFNESS
FORCE / DISPLACEMENT
MECHANICAL IMPEDANCE
DYNAMIC MASS
FORCE / VELOCITY
FORCE / ACCELERATION
Dr. Peter Avitabile

MDOF Equations
Equation of Motion
[M ]{&&}+[C]{x}+[K ]{x}={F( t )}
x
&
Eigensolution
[[K ][M ]]{x}=0

Frequencies (eigenvalues) and
Mode Shapes (eigenvectors)
\
2
1
=

\

2
2
and [U ] = [{u1}
\
{u 2 } L]
Dr. Peter Avitabile

MDOF - Laplace Domain

Laplace Domain Equation of Motion
[[M]s
{
+ [C]s + [K ]] x (s )} = 0 [B(s )]{x (s )} = 0
System Characteristic (Homogeneous) Equation
[[M]s +[C]s+[K ]] = 0
2
p k = k jdk
Damping
Frequency
Dr. Peter Avitabile

MDOF - Transfer Function

System Equation
{x (s )}
[B(s )]{x (s )} = {F(s )} [H(s )] = [B(s )] =
{F(s )}
1
System Transfer Function
[B(s )]
[A(s )]
Adj[B(s )]
= [H(s )] =
=
det[B(s )] det[B(s )]
[A(s )]
Residue Matrix
det[B(s )]
Characteristic Equation
Mode Shapes
Poles
Dr. Peter Avitabile

MDOF - Residue Matrix and Mode Shapes

Residues are related to mode shapes as
[A(s )]k
a11k
a
21k
a 31k
M
a12 k
a 22 k
a 32 k
M
a13k
a 23k
a 33k
M
= q k {u k }{u k }
L
u1k u1k
u u
L
=q k 2 k 1k
L
u 3k u1k
M
O
u1k u 2 k
u 2k u 2k
u 3k u 2 k
M
u1k u 3k
u 2 k u 3k
u 3k u 3k
M
L
L
L
O
Dr. Peter Avitabile

MDOF - Drive Point FRF
h ij ( j ) =
a ij1
( j p 1 )
+
( j p 2 )
( j p* )
2
( j p 3 )
a* 3
ij
( j p* )
3
( j p 1 )
q1 u i 1 u j 1
( j p* )
1
q 2u i 2u j 2
( j p 2 )
+
a* 2
ij
a ij 3
q1 u i 1 u j 1
( j p* )
1
a ij 2
h ij ( j ) =
a* 1
ij
q 2u i 2u j 2
( j p* )
2
q 3u i 3u j 3
( j p 3 )
q 3u i 3u j 3
( j p* )
3
Dr. Peter Avitabile

MDOF - FRF using Residues or Mode Shapes

h ij ( j ) =
R1
+
( j p1 ) ( j p* )
1
+
D1
a* 1
ij
a ij1
a* 2
ij
a ij 2
+
+ L
( j p 2 ) ( j p* )
2
R2
D2
R3
D3
F1
F2F3
a ij1
h ij ( j ) =
q1u i1u j1
* * *
1 i 1 j1
*
1
qu u
+
( j p1 ) ( j p )
+
q 2u i 2u j 2
* * *
2 i2 j2
*
2
qu u
( j p 2 ) ( j p )
a ij2
a ij3
2
3
+ L
Dr. Peter Avitabile

Overview Analytical and Experimental Modal Analysis

2
[B(s)] = [M]s + [C]s + [K]
TRANSFER
FUNCTION
LAPLACE
DOMAIN
[B(s)] -1 = [H(s)]
qk u j {u k}
[U]
[ A(s) ]
det [B(s)]
[U]
FINITE
ELEMENT
MODEL
T
[K - M]{X} = 0
MODAL
PARAMETER
ESTIMATION
ANALYTICAL
MODEL
REDUCTION
N
H(j )
LARGE DOF
MISMATCH
X j(t)
H(j ) =
Xj (j )
Fi (j )
FFT
Fi (t)
MODAL
TEST
EXPERIMENTAL
MODAL MODEL
EXPANSION
Dr. Peter Avitabile

Measurement Definitions
ANALOG SIGNALS
OUTPUT
INPUT
ANTIALIASING FILTERS
Actual time signals

Analog anti-alias filter
AUTORANGE ANALYZER
ADC DIGITIZES SIGNALS
OUTPUT
INPUT
APPLY WINDOWS
INPUT
OUTPUT
COMPUTE FFT
LINEAR SPECTRA
LINEAR
OUTPUT
SPECTRUM
LINEAR
INPUT
SPECTRUM
Digitized time signals

Windowed time signals
Compute FFT of signal
AVERAGING OF SAMPLES
COMPUTATION OF AVERAGED
INPUT/OUTPUT/CROSS POWER SPECTRA
INPUT
POWER
SPECTRUM
OUTPUT
POWER
SPECTRUM
CROSS
POWER
SPECTRUM
COMPUTATION OF FRF AND COHERENCE
FREQUENCY RESPONSE FUNCTION
Average auto/cross spectra

Compute FRF and Coherence
COHERENCE FUNCTION
Dr. Peter Avitabile

Measurements - Linear Spectra

h(t)
Sx(f)
TIME
OUTPUT
FFT & IFT
H(f)
INPUT
y(t)
SYSTEM
x(t)
Sy(f)
FREQUENCY
x(t)
- time domain input to the system
y(t)
- time domain output to the system
Sx(f)
- linear Fourier spectrum of x(t)
Sy(f)
- linear Fourier spectrum of y(t)
H(f)
- system transfer function
h(t)
- system impulse response
Dr. Peter Avitabile


+
x ( t )= Sx (f )e j2 ft df
y( t )= S y (f )e
j2 ft
h ( t )= H(f )e
Sx (f )= x ( t )e j2 ft dt
df
S y (f )= y( t )e j2 ft dt
j2 ft
df
H(f )= h ( t )e j2 ft dt
Note: Sx and Sy are complex valued functions
Dr. Peter Avitabile

Measurements - Power Spectra

Rxx(t)
INPUT
Gxx(f)
Ryx(t)
Ryy(t)
TIME
SYSTEM
OUTPUT
FFT & IFT
Gxy(f)
Gyy(f)
FREQUENCY
Rxx(t) - autocorrelation of the input signal x(t)

Ryy(t) - autocorrelation of the output signal y(t)
Ryx(t) - cross correlation of y(t) and x(t)
Gxx(f) - autopower spectrum of x(t)
G xx ( f ) = S x ( f ) S* ( f )
x
G yy(f) - autopower spectrum of y(t)
G yy ( f ) = S y ( f ) S* ( f )
y
G yx(f) - cross power spectrum of y(t) and x(t)
G yx ( f ) = S y ( f ) S* ( f )
x
Dr. Peter Avitabile


lim 1
R xx ()=E[ x ( t ), x ( t + )]=
x (t )x (t + )dt
T TT
+
G xx (f )= R xx ()e j2 ft d=Sx (f )S* (f )

x
lim 1
R yy ()=E[ y( t ), y( t + )]=
y(t )y(t + )dt
T TT
+
G yy (f )= R yy ()e j2 ft d=S y (f )S* (f )

y
R yx ()=E[ y( t ), x ( t + )]=
lim 1
y(t )x (t + )dt
T TT
G yx (f )= R yx ()e j2 ft d=S y (f )S* (f )

x
Dr. Peter Avitabile

Measurements - Derived Relationships

S y =HSx
H1 formulation
- susceptible to noise on the input
- underestimates the actual H of the system
S y S* G yx
x
H=
=
*
Sx Sx G xx
S y S* =HSx S*
x
x
H2 formulation
- susceptible to noise on the output
- overestimates the actual H of the system
Other
formulations
for H exist
S y S* G yy
y
=
H=
*
Sx S y G xy
S y S* =HSx S*
y
y
COHERENCE
2
xy
(S y S* )(Sx S* )
x
y
(Sx S* )(S y S* )
x
y
G yx / G xx
G yy / G xy
H1
H2
Dr. Peter Avitabile

Typical Measurements
Measurements - Auto Power Spectrum
x(t)
Measurements - Cross Power Spectrum
y(t)
AVERAGED INPUT
AVERAGED OUTPUT
POWER SPECTRUM
POWER SPECTRUM
G yy (f)
G xx (f)
OUTPUT RESPONSE
INPUT FORCE
G xx(f)
G yy (f)
AVERAGED INPUT
AVERAGED OUTPUT
POWER SPECTRUM
POWER SPECTRUM
AVERAGED CROSS
POWER SPECTRUM
G yx (f)
12
Dr. Peter Avitabile

Modal Analysis & Cont rols Laborat ory
Measurements - Frequency Response Function
13
Dr. Peter Avitabile

Measurements - FRF & Coherence

Coherence
1
Real
AVERAGED INPUT
AVERAGED CROSS
AVERAGED OUTPUT
POWER SPECTRUM
POWER SPECTRUM
POWER SPECTRUM
G xx(f)
G yx(f)
G yy(f)
0Hz
AVG: 5
200Hz
COHERENCE
Freq Resp
40
dB Mag
-60
0Hz
AVG: 5
200Hz

H(f)
14
Dr. Peter Avitabile

15
Dr. Peter Avitabile

Dr. Peter Avitabile

Impact Excitation
An impulsive excitation which is very short in the time window
usually lasting less than 5% of the sample interval.
ADVANTAGES
- easy setup
- fast measurement time
- minimum of equipment
- low cost
DISADVANTAGES
- poor rms to peak levels
- poor for nonlinear structures
- force/response windows needed
- pretrigger delay needed
- double impacts may occur
- high potential for signal overload and underload of ADC
Dr. Peter Avitabile

Impact Excitation - Hammer Tip Selection

The force spectrum can be customized to some extent
through the use of hammer tips with various hardnesses.
A hard tip has a short pulse and excites a wide frequency
range. A soft tip has a long pulse and excites a narrow
frequency range.
In addition, the local structure flexibility will also have an
effect on the frequency range excited.
Dr. Peter Avitabile

Impact Excitation - Hammer Tip Selection

METAL TIP
HARD PLASTIC TIP
Real
Real
-976.5625us
TIME PULSE
123.9624ms
dB Mag
-976.5625us
TIME PULSE
123.9624ms
dB Mag
0Hz
FREQUENCY SPECTRUM
6.4kHz
0Hz
SOFT PLASTIC TIP
FREQUENCY SPECTRUM
6.4kHz
RUBBER TIP
Real
Real
-976.5625us
TIME PULSE
123.9624ms
dB Mag
-976.5625us
TIME PULSE
123.9624ms
dB Mag
0Hz
FREQUENCY SPECTRUM
6.4kHz
0Hz
FREQUENCY SPECTRUM
6.4kHz
Dr. Peter Avitabile

Important Impact Testing Considerations

Hammers and Tips
40
COHERENCE
dB Mag
FRF
-60
0Hz
800Hz
COHERENCE
40
FRF
dB Mag
-60
0Hz
200Hz
Dr. Peter Avitabile

Important Impact Testing Considerations

Leakage and Windows
ACTUAL TIME SIGNAL
SAMPLED SIGNAL
WINDOW WEIGHTING
WINDOWED TIME SIGNAL
Dr. Peter Avitabile

Impact Test
Either a row or column of the
FRF matrix is needed to
estimate mode shapes
Ref#1
Ref#2
Ref#1
Ref#2
Ref#3
Ref#3
Dr. Peter Avitabile

Simple Peak Pick - SDOF System

Substitute the pole into the SDOF FRF equation
h ( j)
*
a1
a1
=
+
( jn + jd ) ( jn + + jd )
a1 =h ( j)
Dr. Peter Avitabile

Simple Peak Pick - Consider Additional Modes

Substitute the first pole into the FRF equation
h ( j)
*
a1
a1
a2
a*
2
=
+
+
+
( j1 + 1 jd ) ( j1 + 1 + jd ) ( jn + 2 jd 2 ) ( jn + 2 + jd 2 )
Dr. Peter Avitabile

Simple Peak Pick - Considerations and Use

Peak pick is a quick and simple check
Modes must be well spaced
(ie: no significant modal overlap)
Approximate since peak is determined from the
frequency resolution
Good quick check before attempting major modal
parameter estimation
Quickly identify erroneous measurement points
(ie: phase reversal, incorrect direction, etc)
Dr. Peter Avitabile

SDOF Circle Fit - Kennedy-Pancu

Simple equation of a
circle is fit to the data

in the Nyquist
Noise and leakage have
a pronounced effect on
circle
Use of windows tends
to make the circle look

egg-shaped
Circle fit method not
used as much today due

to the availability of
many MDOF methods
Source: Heylen, Modal Analysis - Theory and Testing
h ( j)=
=
U + jV
+ R + jI
r + j( r )
U2 +V2
; tan() = U V
Dr. Peter Avitabile

SDOF - Complex Exponential Response
response can be
used to extract
parameters
Amplitude
Time domain
Damping Decay
This time domain
technique is
generally used on
multiple mode time
response data
Period
Generally not used
for single mode

response extraction
h(t)
1
md
e t
sin d t
Dr. Peter Avitabile

Complex Exponential
One of the first mdof estimators was the complex exponential which uses
the Prony Algorithm to solve the set of equations. The Toeplitz
equations are used to form the characteristic polynomial followed by the
mode shape extraction using Vandemonde Equation formulation.
m
1
h ( t )=
e kt sin dk t
k =1 m k dk
ADVANTAGE
numerically fast and stable
handles many modes
IFT
DISADVANTAGE
time domain leakage is a concern
must overspecify modes to handle residuals
Dr. Peter Avitabile

SDOF Polynomial Form

Simple equation of a
polynomial for one mode is

used to fit the function
h (s)=
1
ms 2 + cs + k
Additional terms are
typically added to account

for effects of adjacent or
out-of-band modes
Fast, simple, easy to use

Inappropriate for use with
very closely spaced modes
compensation terms can be added to

account for out of band effects
Dr. Peter Avitabile

SDOF Rational Fraction Polynomial

Simply the ratio of two
polynomials
While useful for estimating
SDOF type characteristics,

its real benefits are for
multiple modes
Orthogonal polynomials used
to greatly simplify the

numerical processing
More discussion on this in
the advanced curvefitting
Source: Richardson, Rational fraction Polynomial
Dr. Peter Avitabile

MDOF Polynomial
This method uses a Rational Fraction polynomial form of the FRF in order
to extract modal parameters. Both the numerator and denominator
polynomials are used in a least squares fit to extract the polynomial
coefficients.
h ij ( j) =
a ij2
a*2
ij
( j p 2 ) ( j p * )
2
+
a ij3
a*3
ij
( j p 3 ) ( j p * )
3
A key advantage of the frequency domain representation of the FRF is

that the effects of out-of-band modes can be easily accounted for by
adding extra terms to the numerator polynomial.
Dr. Peter Avitabile

Other Time Domain Techniques

Other time domain techniques exist which extend the Complex
Exponential technique described above.
Techniques such as Ibrahim Time Domain and Polyreference LSCE
utilize some variant of the equation below to formulate the problem
[L]
[h ( t )] = [V] e t
global parameters are extracted for poles and shapes

uses MIMO time data for the estimation process
Dr. Peter Avitabile

Other Frequency Domain Techniques

Other frequency domain techniques exist which extend the
polynomial technique described above.
Techniques such as Least Squares Frequency Domain, Orthogonal
Polynomial, Frequency Domain Parameter Identification utilize some
variant of the rational fraction, partial fraction or reduced equation
of motion to formulate the problem
LR ij
u ik L kj
[h ij ( j)] =
+ * + UR ij + 2
k =1 ( j p k )
global poles, MPF and shapes extracted

LSFD nonlinear problem solved iteratively
RFP - ill-conditioning possible for higher order polys
use of orthogonal poly to minimize numerical problems
Dr. Peter Avitabile

Mode Shapes from the FRFs

A simple peak pick of the
imaginary part of the FRF will
be used to estimate shapes
MODE 2
2
1
MODE 1
5
2
4
1
3
6
Advanced manipulation of FRF

data is beyond the scope of
this simple introduction to
experimental modal analysis
Dr. Peter Avitabile

Dr. Peter Avitabile


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Mechanical Vibrations

22.457 Mechanical Vibrations - Experimental Modal Analysis 1

Dr. Peter Avitabile

Structural Dynamic Modeling Techniques

Could you explain

Illustration by Mike Avitabile

22.457 Mechanical Vibrations - Experimental Modal Analysis 2

Illustration by Mike Avitabile

Illustration by Mike Avitabile

Dr. Peter Avitabile

Modal Analysis and Structural Dynamics

INPUT TIME FORCE

INPUT POWER SPECTRUM

Modal Analysis is the study of the dynamic character of a

Dr. Peter Avitabile

Analytical Modal Analysis

[M n ]{&& n } + [C n ]{x n } + [K n ]{x n } = {Fn ( t )}

22.457 Mechanical Vibrations - Experimental Modal Analysis 4

[[K n ] [M n ]]{x n } = {0}

Dr. Peter Avitabile

Finite Element Models

Models used for design

22.457 Mechanical Vibrations - Experimental Modal Analysis 5

Dr. Peter Avitabile

Finite Element Models

Dr. Peter Avitabile

Experimental Modal Analysis

are defined from actual

may be difficult to simulate

Experimental Modal Analysis

22.457 Mechanical Vibrations - Experimental Modal Analysis 8

Dr. Peter Avitabile

Experimental Data Reduction

22.457 Mechanical Vibrations - Experimental Modal Analysis 9

Dr. Peter Avitabile

What Are Measurements Called FRFs ?

22.457 Mechanical Vibrations - Experimental Modal Analysis 10

Dr. Peter Avitabile

What Are Measurements Called FRFs ?

Only One Row or Column of FRF Matrix Needed

The peak amplitude of the imaginary part of the

22.457 Mechanical Vibrations - Experimental Modal Analysis 12

Dr. Peter Avitabile

Only One Row or Column of FRF Matrix Needed

The peak amplitude of the imaginary part of the

22.457 Mechanical Vibrations - Experimental Modal Analysis 13

Dr. Peter Avitabile

Only One Row or Column of FRF Matrix Needed

22.457 Mechanical Vibrations - Experimental Modal Analysis 14

Dr. Peter Avitabile

More Measurements Define Shape Better

22.457 Mechanical Vibrations - Experimental Modal Analysis 15

Dr. Peter Avitabile

Roots or poles of the characteristic equation

22.457 Mechanical Vibrations - Experimental Modal Analysis 16

Dr. Peter Avitabile

22.457 Mechanical Vibrations - Experimental Modal Analysis 17

Dr. Peter Avitabile

SDOF - Laplace Domain

b(s ) = (ms 2 +cs+k)

System Characteristic Equation

x (s) = b 1 (s)f (s) = h (s)f (s)

System Transfer Function

Dr. Peter Avitabile