Acoustic Estimation of the Direction of Arrival of an Unmanned Aerial Vehicle Based on Frequency Tracking in the Time-Frequency Plane.

The development of unmanned aerial vehicles (UAVs) opens up a lot of opportunities but also brings some threats. Dealing with these threats is not easy and requires some good techniques. Knowing the location of the threat is essential to deal with an UAV that is displaying disturbing behavior. Many methods exist but can be very limited due to the size of UAVs or due to technological improvements over the years. However, the noise produced by the UAVs is still predominant, so it gives a good opening for the development of acoustic methods. The method presented here takes advantage of a microphone array with a processing based on time domain Delay and Sum Beamforming. In order to obtain a better signal to noise ratio, the UAV's acoustic signature is taken into account in the processing by using a time-frequency representation of the beamformer's output. Then, only the content related to this signature is considered to calculate the energy in one direction. This method enables to have a good robustness to noise and to localize an UAV with a poor spectral content or to separate two UAVs with different spectral contents. Simulation results and those of a real flight experiment are reported.

Acoustic behaviour of bottlenose dolphins under human care while performing synchronous aerial jumps.

Synchronous behaviours occur when two or more animals display the same behaviour at the same time. However, the mechanisms underlying this synchrony are not well understood. In this study, we carried out an experiment to determine whether or not Bottlenose dolphins use acoustic cues when performing a known synchronised exercise. For this, we recorded three dolphins while they performed requested aerial jumps both individually or synchronously in pairs, with a hydrophone array and a 360° underwater video camera allowing the identification of the subject emitting vocalisations. Results indicated that in pairs, dolphins synchronised their jumps 100% of the time. Whether they jumped alone or in pairs, they produced click trains before and after 92% of jumps. No whistles or burst-pulsed sounds were emitted by the animals during the exercise. The acoustic localisation process allowed the successful identification of the vocalising subject in 19.8% of all cases (N = 141). Our study showed that in all (n = 28) but one successful localisations, the click trains were produced by the same individual. It is worth noting that this individual was the oldest female of the group. This paper provides evidence suggesting that during synchronous behaviours, dolphins use acoustic cues, and more particularly click trains, to coordinate their movements; possibly by eavesdropping on the clicks or echoes produced by one individual leading the navigation.