Our Deteriorating Civil Infrastructure Faces the Critical Challenge of Long-Term Structural Health Monitoring for Damage Detection and Localization. in Contrast to Existing Research that Often Separates the Designs of Wireless Sensor Networks and Structural Engineering Algorithms, This Paper Proposes a Cyber-Physical Co-Design Approach to Structural Health Monitoring based on Wireless Sensor Networks. Our Approach Closely Integrates (1) Flexibility-Based Damage Localization Methods that Allow a Tradeoff between the Number of Sensors and the Resolution of Damage Localization, and (2) an Energy-Efficient, Multi-Level Computing Architecture Specifically Designed to Leverage the Multi-Resolution Feature of the Flexibility-Based Approach. the Proposed Approach Has Been Implemented on the Intel Imote2 Platform. Experiments on a Physical Beam and Simulations of a Truss Structure Demonstrate the System's Efficacy in Damage Localization and Energy Efficiency. © 2010 ACM.