Predicting the Effects of Random Ocean Dynamic Processes on Underwater Acoustic Sensing and Communication.

Acoustics is the primary means of sensing and communication in the ocean for humans and many marine animals. Natural fluctuations in the ocean, however, degrade these abilities in ways that have been previously difficult to forecast. Here, we address this issue by predicting sensing and communication degradation in terms of acoustic attenuation, dispersion and temporal decorrelation at typical operational ranges and frequencies in continental-shelf environments. This is done with analytic expressions derived from first physical principles. The analytic expressions provide the statistics of the acoustic field after forward propagating through an ocean waveguide containing 3-D random inhomogeneities from the independent or combined effects of rough sea-surfaces, near-sea-surface air bubbles and internal waves. The formulation also includes Doppler effects caused by the inhomogeneities' random horizontal motion, enabling modeling and prediction over a wide range of environments and frequencies. Theoretical predictions are confirmed with available acoustic measurements in several continental-shelf environments using standard oceanographic measurements for environmental support. We quantify how the acoustic signals decorrelate over timescales determined by the underlying temporal coherence of ocean dynamic processes. Surface gravity waves and near-sea-surface air bubbles decorrelate acoustic signals over seconds or less, whereas internal waves affect acoustic coherence at timescales of several to tens of minutes. Doppler spread caused by the inhomogeneities' motion further reduces acoustic temporal coherence, and becomes important at the high frequencies necessary for communication and fine-scale sensing. We also show that surface gravity waves and bubbles in high sea states can cause increasingly significant attenuation as frequency increases. The typical durations of marine mammal vocalizations that carry over great distances are found to be consistent with the coherence timescales quantified here and so avoid random distortion of signal information even by incoherent reception.

Vast assembly of vocal marine mammals from diverse species on fish spawning ground.

Observing marine mammal (MM) populations continuously in time and space over the immense ocean areas they inhabit is challenging but essential for gathering an unambiguous record of their distribution, as well as understanding their behaviour and interaction with prey species. Here we use passive ocean acoustic waveguide remote sensing (POAWRS) in an important North Atlantic feeding ground to instantaneously detect, localize and classify MM vocalizations from diverse species over an approximately 100,000 km(2) region. More than eight species of vocal MMs are found to spatially converge on fish spawning areas containing massive densely populated herring shoals at night-time and diffuse herring distributions during daytime. We find the vocal MMs divide the enormous fish prey field into species-specific foraging areas with varying degrees of spatial overlap, maintained for at least two weeks of the herring spawning period. The recorded vocalization rates are diel (24 h)-dependent for all MM species, with some significantly more vocal at night and others more vocal during the day. The four key baleen whale species of the region: fin, humpback, blue and minke have vocalization rate trends that are highly correlated to trends in fish shoaling density and to each other over the diel cycle. These results reveal the temporospatial dynamics of combined multi-species MM foraging activities in the vicinity of an extensive fish prey field that forms a massive ecological hotspot, and would be unattainable with conventional methodologies. Understanding MM behaviour and distributions is essential for management of marine ecosystems and for accessing anthropogenic impacts on these protected marine species.

Simultaneous localization of multiple broadband non-impulsive acoustic sources in an ocean waveguide using the array invariant.

The array invariant method, previously derived for instantaneous range and bearing estimation of a single broadband impulsive source in a horizontally stratified ocean waveguide, can be generalized to simultaneously localize multiple uncorrelated broadband noise sources that are not necessarily impulsive in the time domain by introducing temporal pulse compression and an image processing technique similar to the Radon transform. This can be done by estimating the range and bearing of broadband non-impulsive sources from measured beam-time migration lines of modal arrivals along a horizontal array arising from differences in modal group velocity and modal polar angle for each propagating mode. The generalized array invariant approach is used to estimate the range of a vertical source array and vocalizing humpback whales over wide areas from measurements made by a towed horizontal receiver array during the Gulf of Maine 2006 Experiment. The localization results are shown to have roughly 12% root-mean-squared errors from Global Positioning System measured ground truth positions for controlled source transmissions and less than 10% discrepancy from those obtained independently via moving array triangulation for vocalizing humpbacks, respectively.

The evolution of air resonance power efficiency in the violin and its ancestors.

The fact that acoustic radiation from a violin at air-cavity resonance is monopolar and can be determined by pure volume change is used to help explain related aspects of violin design evolution. By determining the acoustic conductance of arbitrarily shaped sound holes, it is found that air flow at the perimeter rather than the broader sound-hole area dominates acoustic conductance, and coupling between compressible air within the violin and its elastic structure lowers the Helmholtz resonance frequency from that found for a corresponding rigid instrument by roughly a semitone. As a result of the former, it is found that as sound-hole geometry of the violin's ancestors slowly evolved over centuries from simple circles to complex f-holes, the ratio of inefficient, acoustically inactive to total sound-hole area was decimated, roughly doubling air-resonance power efficiency. F-hole length then slowly increased by roughly 30% across two centuries in the renowned workshops of Amati, Stradivari and Guarneri, favouring instruments with higher air-resonance power, through a corresponding power increase of roughly 60%. By evolution-rate analysis, these changes are found to be consistent with mutations arising within the range of accidental replication fluctuations from craftsmanship limitations with subsequent selection favouring instruments with higher air-resonance power.

Ecosystem scale acoustic sensing reveals humpback whale behavior synchronous with herring spawning processes and re-evaluation finds no effect of sonar on humpback song occurrence in the Gulf of Maine in fall 2006.

We show that humpback-whale vocalization behavior is synchronous with peak annual Atlantic herring spawning processes in the Gulf of Maine. With a passive, wide-aperture, densely-sampled, coherent hydrophone array towed north of Georges Bank in a Fall 2006 Ocean Acoustic Waveguide Remote Sensing (OAWRS) experiment, vocalizing whales could be instantaneously detected and localized over most of the Gulf of Maine ecosystem in a roughly 400-km diameter area by introducing array gain, of 18 dB, orders of magnitude higher than previously available in acoustic whale sensing. With humpback-whale vocalizations consistently recorded at roughly 2000/day, we show that vocalizing humpbacks (i) were overwhelmingly distributed along the northern flank of Georges Bank, coinciding with the peak spawning time and location of Atlantic herring, and (ii) their overall vocalization behavior was strongly diurnal, synchronous with the formation of large nocturnal herring shoals, with a call rate roughly ten-times higher at night than during the day. Humpback-whale vocalizations were comprised of (1) highly diurnal non-song calls, suited to hunting and feeding behavior, and (2) songs, which had constant occurrence rate over a diurnal cycle, invariant to diurnal herring shoaling. Before and during OAWRS survey transmissions: (a) no vocalizing whales were found at Stellwagen Bank, which had negligible herring populations, and (b) a constant humpback-whale song occurrence rate indicates the transmissions had no effect on humpback song. These measurements contradict the conclusions of Risch et al. Our analysis indicates that (a) the song occurrence variation reported in Risch et al. is consistent with natural causes other than sonar, (b) the reducing change in song reported in Risch et al. occurred days before the sonar survey began, and (c) the Risch et al. method lacks the statistical significance to draw the conclusions of Risch et al. because it has a 98-100% false-positive rate and lacks any true-positive confirmation.

Using a coherent hydrophone array for observing sperm whale range, classification, and shallow-water dive profiles.

Sperm whales in the New England continental shelf and slope were passively localized, in both range and bearing, and classified using a single low-frequency (<2500 Hz), densely sampled, towed horizontal coherent hydrophone array system. Whale bearings were estimated using time-domain beamforming that provided high coherent array gain in sperm whale click signal-to-noise ratio. Whale ranges from the receiver array center were estimated using the moving array triangulation technique from a sequence of whale bearing measurements. Multiple concurrently vocalizing sperm whales, in the far-field of the horizontal receiver array, were distinguished and classified based on their horizontal spatial locations and the inter-pulse intervals of their vocalized click signals. The dive profile was estimated for a sperm whale in the shallow waters of the Gulf of Maine with 160 m water-column depth located close to the array's near-field where depth estimation was feasible by employing time difference of arrival of the direct and multiply reflected click signals received on the horizontal array. By accounting for transmission loss modeled using an ocean waveguide-acoustic propagation model, the sperm whale detection range was found to exceed 60 km in low to moderate sea state conditions after coherent array processing.

Temporal coherence of the acoustic field forward propagated through a continental shelf with random internal waves.

An analytical model derived from normal mode theory for the accumulated effects of range-dependent multiple forward scattering is applied to estimate the temporal coherence of the acoustic field forward propagated through a continental-shelf waveguide containing random three-dimensional internal waves. The modeled coherence time scale of narrow band low-frequency acoustic field fluctuations after propagating through a continental-shelf waveguide is shown to decay with a power-law of range to the -1/2 beyond roughly 1 km, decrease with increasing internal wave energy, to be consistent with measured acoustic coherence time scales. The model should provide a useful prediction of the acoustic coherence time scale as a function of internal wave energy in continental-shelf environments. The acoustic coherence time scale is an important parameter in remote sensing applications because it determines (i) the time window within which standard coherent processing such as matched filtering may be conducted, and (ii) the number of statistically independent fluctuations in a given measurement period that determines the variance reduction possible by stationary averaging.

Scattering from extended targets in range-dependent fluctuating ocean-waveguides with clutter from theory and experiments.

Bistatic, long-range measurements of acoustic scattered returns from vertically extended, air-filled tubular targets were made during three distinct field experiments in fluctuating continental shelf waveguides. It is shown that Sonar Equation estimates of mean target-scattered intensity lead to large errors, differing by an order of magnitude from both the measurements and waveguide scattering theory. The use of the Ingenito scattering model is also shown to lead to significant errors in estimating mean target-scattered intensity in the field experiments because they were conducted in range-dependent ocean environments with large variations in sound speed structure over the depth of the targets, scenarios that violate basic assumptions of the Ingenito model. Green's theorem based full-field modeling that describes scattering from vertically extended tubular targets in range-dependent ocean waveguides by taking into account nonuniform sound speed structure over the target's depth extent is shown to accurately describe the statistics of the targets' scattered field in all three field experiments. Returns from the man-made targets are also shown to have a very different spectral dependence from the natural target-like clutter of the dominant fish schools observed, suggesting that judicious multi-frequency sensing may often provide a useful means of distinguishing fish from man-made targets.

Resolving Lambertian surface orientation from fluctuating radiance.

A maximum likelihood method for estimating remote surface orientation from multi-static acoustic, optical, radar, or laser images is presented. It is assumed that the images are corrupted by signal-dependent noise, known as speckle, arising from complex Gaussian field fluctuations, and that the surface properties are effectively Lambertian. Surface orientation estimates for a single sample are shown to have biases and errors that vary dramatically depending on illumination direction. This is due to the signal-dependent nature of speckle noise and the nonlinear relationship between surface orientation, illumination direction, and fluctuating radiance. The minimum number of independent samples necessary for maximum likelihood estimates to become asymptotically unbiased and to attain the lower bound on resolution of classical estimation theory are derived, as are practical design thresholds.

Estimating the instantaneous velocity of randomly moving target swarms in a stratified ocean waveguide by Doppler analysis.

Doppler analysis has been extensively used in active radar and sonar sensing to estimate the speed and direction of a single target within an imaging system resolution cell following deterministic theory. For target swarms, such as fish and plankton in the ocean, and raindrops, birds and bats in the atmosphere, multiple randomly moving targets typically occupy a single resolution cell, making single-target theory inadequate. Here, a method is developed for simultaneously estimating the instantaneous mean velocity and position of a group of randomly moving targets within a resolution cell, as well as the respective standard deviations across the group by Doppler analysis in free-space and in a stratified ocean waveguide. While the variance of the field scattered from the swarm is shown to typically dominate over the mean in the range-velocity ambiguity function, cross-spectral coherence remains and maintains high Doppler velocity and position resolution even for coherent signal processing algorithms such as the matched filter. For pseudo-random signals, the mean and variance of the swarms' velocity and position can be expressed in terms of the first two moments of the measured range-velocity ambiguity function. This is shown analytically for free-space and with Monte-Carlo simulations for an ocean waveguide.

General second-order covariance of Gaussian maximum likelihood estimates applied to passive source localization in fluctuating waveguides.

A method is provided for determining necessary conditions on sample size or signal to noise ratio (SNR) to obtain accurate parameter estimates from remote sensing measurements in fluctuating environments. These conditions are derived by expanding the bias and covariance of maximum likelihood estimates (MLEs) in inverse orders of sample size or SNR, where the first-order covariance term is the Cramer-Rao lower bound (CRLB). Necessary sample sizes or SNRs are determined by requiring that (i) the first-order bias and the second-order covariance are much smaller than the true parameter value and the CRLB, respectively, and (ii) the CRLB falls within desired error thresholds. An analytical expression is provided for the second-order covariance of MLEs obtained from general complex Gaussian data vectors, which can be used in many practical problems since (i) data distributions can often be assumed to be Gaussian by virtue of the central limit theorem, and (ii) it allows for both the mean and variance of the measurement to be functions of the estimation parameters. Here, conditions are derived to obtain accurate source localization estimates in a fluctuating ocean waveguide containing random internal waves, and the consequences of the loss of coherence on their accuracy are quantified.

Low-frequency target strength and abundance of shoaling Atlantic herring (Clupea harengus) in the Gulf of Maine during the Ocean Acoustic Waveguide Remote Sensing 2006 Experiment.

The low-frequency target strength of shoaling Atlantic herring (Clupea harengus) in the Gulf of Maine during Autumn 2006 spawning season is estimated from experimental data acquired simultaneously at multiple frequencies in the 300-1200 Hz range using (1) a low-frequency ocean acoustic waveguide remote sensing (OAWRS) system, (2) areal population density calibration with several conventional fish finding sonar (CFFS) systems, and (3) low-frequency transmission loss measurements. The OAWRS system's instantaneous imaging diameter of 100 km and regular updating enabled unaliased monitoring of fish populations over ecosystem scales including shoals of Atlantic herring containing hundreds of millions of individuals, as confirmed by concurrent trawl and CFFS sampling. High spatial-temporal coregistration was found between herring shoals imaged by OAWRS and concurrent CFFS line-transects, which also provided fish depth distributions. The mean scattering cross-section of an individual shoaling herring is found to consistently exhibit a strong, roughly 20 dB/octave roll-off with decreasing frequency in the range of the OAWRS survey over all days of the roughly 2-week experiment, consistent with the steep roll-offs expected for sub-resonance scattering from fish with air-filled swimbladders.

Critical population density triggers rapid formation of vast oceanic fish shoals.

Similarities in the behavior of diverse animal species that form large groups have motivated attempts to establish general principles governing animal group behavior. It has been difficult, however, to make quantitative measurements of the temporal and spatial behavior of extensive animal groups in the wild, such as bird flocks, fish shoals, and locust swarms. By quantifying the formation processes of vast oceanic fish shoals during spawning, we show that (i) a rapid transition from disordered to highly synchronized behavior occurs as population density reaches a critical value; (ii) organized group migration occurs after this transition; and (iii) small sets of leaders significantly influence the actions of much larger groups. Each of these findings confirms general theoretical predictions believed to apply in nature irrespective of animal species.

Temporal coherence after multiple forward scattering through random three-dimensional inhomogeneities in an ocean waveguide.

An analytical expression is derived for the temporal coherence of an acoustic field after multiple forward scattering through random three-dimensional (3D) inhomogeneities in an ocean waveguide. This expression makes it possible to predict the coherence time scale of field fluctuations in ocean-acoustic measurements from knowledge of the oceanography. It is used to explain the time scale of acoustic field fluctuations observed at megameter ranges in various deep ocean-acoustic transmission experiments. It is shown that this time scale is nonlinearly related to the much longer coherence time scale of deep ocean internal waves through a multiple forward scattering process. It is also shown that 3D scattering effects become pronounced when the acoustic Fresnel width exceeds the cross-range coherence length of the deep ocean internal waves, which lead to frequency and range-dependent power losses in the forward field that may help to explain historic long range measurements.

Range-dependent waveguide scattering model calibrated for bottom reverberation in a continental shelf environment.

An analytic model is developed for scattering from random inhomogeneities in range-dependent ocean waveguides using the Rayleigh-Born approximation to Green's theorem. The expected scattered intensity depends on statistical moments of fractional changes in compressibility and density, which scatter as monopoles and dipoles, respectively, and the coherence volume of the inhomogeneities. The model is calibrated for ocean bottom scattering using data acquired by instantaneous wide-area ocean acoustic waveguide remote sensing (OAWRS) and geophysical surveys of the ONR Geoclutter Program. The scattering strength of the seafloor on the New Jersey shelf, a typical continental shelf environment, is found to depend on wave number k, medium coherence volume V(c), and seabed depth penetration factor F(p) following a 10 log(10)(F(p)V(c)k(4)) dependence. A computationally efficient numerical approach is developed to rapidly compute bottom reverberation over wide areas using the parabolic equation by exploiting correlation between monopole and dipole scattering terms and introducing seafloor depth penetration factors. An approach is also developed for distinguishing moving clutter from statistically stationary background reverberation by tracking temporal and spatial fluctuations in OAWRS intensity images.

Fish population and behavior revealed by instantaneous continental shelf-scale imaging.

Until now, continental shelf environments have been monitored with highly localized line-transect methods from slow-moving research vessels. These methods significantly undersample fish populations in time and space, leaving an incomplete and ambiguous record of abundance and behavior. We show that fish populations in continental shelf environments can be instantaneously imaged over thousands of square kilometers and continuously monitored by a remote sensing technique in which the ocean acts as an acoustic waveguide. The technique has revealed the instantaneous horizontal structural characteristics and volatile short-term behavior of very large fish shoals, containing tens of millions of fish and stretching for many kilometers.

Ocean acoustic hurricane classification.

Theoretical and empirical evidence are combined to show that underwater acoustic sensing techniques may be valuable for measuring the wind speed and determining the destructive power of a hurricane. This is done by first developing a model for the acoustic intensity and mutual intensity in an ocean waveguide due to a hurricane and then determining the relationship between local wind speed and underwater acoustic intensity. From this it is shown that it should be feasible to accurately measure the local wind speed and classify the destructive power of a hurricane if its eye wall passes directly over a single underwater acoustic sensor. The potential advantages and disadvantages of the proposed acoustic method are weighed against those of currently employed techniques.

The array invariant.

A method is derived for instantaneous source-range estimation in a horizontally stratified ocean waveguide from passive beam-time intensity data obtained after conventional plane-wave beamforming of acoustic array measurements. The method has advantages over existing source localization methods, such as matched field processing or the waveguide invariant. First, no knowledge of the environment is required except that the received field should not be dominated by purely waterborne propagation. Second, range can be estimated in real time with little computational effort beyond plane-wave beamforming. Third, array gain is fully exploited. The method is applied to data from the Main Acoustic Clutter Experiment of 2003 for source ranges between 1 to 8 km, where it is shown that simple, accurate, and computationally efficient source range estimates can be made.

Long range acoustic imaging of the continental shelf environment: the Acoustic Clutter Reconnaissance Experiment 2001.

An active sonar system is used to image wide areas of the continental shelf environment by long-range echo sounding at low frequency. The bistatic system, deployed in the STRATAFORM area south of Long Island in April-May of 2001, imaged a large number of prominent clutter events over ranges spanning tens of kilometers in near real time. Roughly 3000 waveforms were transmitted into the water column. Wide-area acoustic images of the ocean environment were generated in near real time for each transmission. Between roughly 10 to more than 100 discrete and localized scatterers were registered for each image. This amounts to a total of at least 30000 scattering events that could be confused with those from submerged vehicles over the period of the experiment. Bathymetric relief in the STRATAFORM area is extremely benign, with slopes typically less than 0.5 degrees according to high resolution (30 m sampled) bathymetric data. Most of the clutter occurs in regions where the bathymetry is locally level and does not coregister with seafloor features. No statistically significant difference is found in the frequency of occurrence per unit area of repeatable clutter inside versus outside of areas occupied by subsurface river channels.

Spectral and modal formulations for the Doppler-shifted field scattered by an object moving in a stratified medium.

Spectral and normal mode formulations for the three-dimensional field scattered by an object moving in a stratified medium are derived using full-field wave theory. The derivations are based on Green's theorem for the time-domain scalar wave equation and account for Doppler effects induced by target motion as well as source and receiver motion. The formulations are valid when multiple scattering between the object and waveguide boundaries can be neglected, and the scattered field can be expressed as a linear function of the object's plane wave scattering function. The advantage of the spectral formulation is that it incorporates the entire wave number spectrum, including evanescent waves, and therefore can potentially be used at much closer ranges to the target than the modal formulation. The normal mode formulation is more computationally efficient but is limited to longer ranges. For a monochromatic source that excites N incident modes in the waveguide, there will be roughly N2 distinct harmonic components in the scattered field. The Doppler shifts in the scattered field are highly dependent upon the waveguide environment, target shape, and measurement geometry. The Doppler effects are illustrated through a number of canonical examples.