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In this paper, a damage imaging method for 2-D concrete structures is proposed by employing embedded tubular piezoceramic transducers. The proposed method can image the damages when few numbers of transducers are used or less experimental data is collected. First, the time difference of arrival-based delay and sum (DAS) imaging method is adopted to improve the damage localization accuracy for concrete structural health monitoring. Compared with the conventional DAS imaging algorithm, the proposed method increases the potential number of combinations between the response signals induced by the damage in each transmitter and sensor pair, improving the signal to noise ratio of the imaging map and enhancing the performance of the defect detection and location. Second, to enable the proposed method applicable to a 2-D concrete structure (such as cement concrete pavement and shear walls), embeddable tubular lead zirconate titanate (PZT) transducers rather than conventional PZT patches are used. The new tubular PZT transducers are able to generate radially uniform stress waves in a planar concrete structure. Due to the special construction of the tubular PZT transducers, the detection aperture is significantly improved. Therefore, a few transducers are needed in contrast with the conventional PZT patches. The experimental results conducted on a concrete slab with eight embedded tubular PZT transducers demonstrate that the proposed method can predict the defect accurately and efficiently even with few transducers and less experimental data.