Acoustic scattering by smooth elastic cylinders insonified by directional transceivers: Monostatic theory and experiments.

A theoretical model for predicting the acoustic field scattered by an elastic cylinder that is partially insonified by a directional transceiver is proposed in the form of a simple approximate one-dimensional integral. This model accounts for spherical spreading and directivity of the incident waves and extends the formulation used in a preceding article [Gurley and Stanton, J. Acoust. Soc. Am. 94, 2746-2755 (1993)] by including effects due to oblique insonification of a long cylinder assuming negligible end-contributions. The scattered field of an infinitely long cylinder for obliquely incident plane waves and point receivers is used to approximate the apparent volume flow of cylinders partially insonified by directional transceivers. The scattered pressure that is derived using the apparent volume flow, in contrast to the previous formulation, is capable of predicting axially propagating guided wave resonances; these natural modes are excited, in addition to circumferential ones, at off-normal incident angles. The model is compared with exact numerical simulations and with previously published as well as new laboratory data. The analysis illustrates the different realistic effects associated with scattering from elastic cylinders insonified by a directional transceiver both theoretically and experimentally.

Memory-efficient approximate three-dimensional beamforming.

Localization of acoustic sources using a sensor array is typically performed by estimating direction-of-arrival (DOA) via beamforming of the signals recorded by all elements. Software-based conventional beamforming (CBF) forces a trade-off between memory usage and direction resolution, since time delays associated with a set of directions over which the beamformer is steered must be pre-computed and stored, limiting the number of look directions to available platform memory. This paper describes a DOA localization method that is memory-efficient for three-dimensional (3D) beamforming applications. Its key lies in reducing 3D look directions [described by azimuth/inclination angles (ϕ, θ) when considering the array as a whole] to a single variable (a conical angle, ζ) by treating the array as a collection of sensor pairs. This insight reduces the set of look directions from two dimensions to one, enabling computational and memory efficiency improvements and thus allowing direction resolution to be increased. This method is described and compared to CBF, with comparisons provided for accuracy, computational speedup, and memory usage. As this method involves the incoherent summation of sensor pair outputs, gain is limited, restricting its use to localization of strong sources-e.g., for real-time acoustic localization on embedded systems, where computation and/or memory are limited.

Multistatic acoustic characterization of seabed targets.

One application for autonomous underwater vehicles (AUVs) is detecting and classifying hazardous objects on the seabed. An acoustic approach to this problem has been studied in which an acoustic source insonifies seabed target while receiving AUVs with passive sensing payloads discriminate targets based on features of the three dimensional scattered fields. The OASES-SCATT simulator was used to study how scattering data collected by mobile receivers around targets insonified by mobile sources might be used for sphere and cylinder target characterization in terms of shape, composition, and size. The impact of target geometry on these multistatic scattering fields is explored, and a discrimination approach developed in which the source and receiver circle the target with the same radial speed. The frequency components of the multistatic scattering data at different bistatic angles are used to form models for target characteristics. Data are then classified using these models. Classification accuracies were greater than 98% for shape and composition. Regression for target volume showed potential, with 90% chance of errors less than 15%. The significance of this approach is to make classification using low-cost vehicles plausible from scattering amplitudes and the relative angles between the target, source, and receiver vehicles.

Environmental effects on seabed object bistatic scattering classification.

One of the factors that significantly affects bistatic scattering from seabed targets is bottom type. This factor has the potential to impact classification, as models that do not take bottom composition into account could improperly characterize target type, geometry, or material. This paper looks at the impact of bottom composition and self-burial on scattering from spherical and cylindrical targets in a 6.5 m deep environment with a mud and sand bottom. Sphere and cylinder scattering data from an autonomous underwater vehicle-based bistatic scattering experiment are compared to scattering simulation models with a range of bottom compositions and target burial increments. Three different sets of sediment parameters were tested. Correlation between the real and simulated data are then used to assess the similarity of each simulated scattering data set to the experiment data. Robustness to bottom composition in classification was then tested by training a model using simulated data and classifying experiment target data using a machine learning method for each environment type. Combined-environment classification models, composed of different ranges of mud depths and target burial increments, were shown to be effective at classifying the experiment data.

Classification of underwater targets from autonomous underwater vehicle sampled bistatic acoustic scattered fields.

One of the long term goals of autonomous underwater vehicle (AUV) minehunting is to have multiple inexpensive AUVs in a harbor autonomously classify hazards. Existing acoustic methods for target classification using AUV-based sensing, such as sidescan and synthetic aperture sonar, require an expensive payload on each outfitted vehicle and post-processing and/or image interpretation. A vehicle payload and machine learning classification methodology using bistatic angle dependence of target scattering amplitudes between a fixed acoustic source and target has been developed for onboard, fully autonomous classification with lower cost-per-vehicle. To achieve the high-quality, densely sampled three-dimensional (3D) bistatic scattering data required by this research, vehicle sampling behaviors and an acoustic payload for precision timed data acquisition with a 16 element nose array were demonstrated. 3D bistatic scattered field data were collected by an AUV around spherical and cylindrical targets insonified by a 7-9 kHz fixed source. The collected data were compared to simulated scattering models. Classification and confidence estimation were shown for the sphere versus cylinder case on the resulting real and simulated bistatic amplitude data. The final models were used for classification of simulated targets in real time in the LAMSS MOOS-IvP simulation package [M. Benjamin, H. Schmidt, P. Newman, and J. Leonard, J. Field Rob. 27, 834-875 (2010)].