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Early detection of potential defects and identication of their location are necessary to ensure safe, reliable and long-term use of engineering structures. The guided wave-based damage detection methods have been dynamically developed over last years because of their ability to inspect large areas during a single measurement with a small number of sensors. The aim of the presentation is the application of guided wave propagation in non-destructive diagnostics of selected elements of engineering structures.I will focus on elastic waves in structural elements, modelling and measurements of wave propagation. The lecture will include experimental examples of damage detection in steel bar and plate structures, monitoring of damage evolution in reinforced concrete and condition assessment of ground anchors and prestressed bolted joints.