Artifacts in incomplete data tomography - with applications to photoacoustic tomography and sonar

We develop a paradigm using microlocal analysis that allows one to characterize the visible and added singularities in a broad range of incomplete data tomography problems. We give precise characterizations for photo- and thermoacoustic tomography and Sonar, and provide artifact reduction strategies. In particular, our theorems show that it is better to arrange Sonar detectors so that the boundary of the set of detectors does not have corners and is smooth. To illustrate our results, we provide reconstructions from synthetic spherical mean data as well as from experimental photoacoustic data

Male sperm whale acoustic behavior observed from multipaths at a single hydrophone

Sperm whales generate transient sounds (clicks) when foraging. These clicks have been described as echolocation sounds, a result of having measured the source level and the directionality of these signals and having extrapolated results from biosonar tests made on some small odontocetes. The authors propose a passive acoustic technique requiring only one hydrophone to investigate the acoustic behavior of free-ranging sperm whales. They estimate whale pitch angles from the multipath distribution of click energy. They emphasize the close bond between the sperm whale’s physical and acoustic activity, leading to the hypothesis that sperm whales might, like some small odontocetes, control click level and rhythm. An echolocation model estimating the range of the sperm whale’s targets from the interclick interval is computed and tested during different stages of the whale’s dive. Such a hypothesis on the echolocation process would indicate that sperm whales echolocate their prey layer when initiating their dives and follow a methodic technique when foraging

Providing the Third Dimension: High-resolution Multibeam Sonar as a Tool for Archaeological Investigations - An Example from the D-day Beaches of Normandy

In general, marine archaeological investigations begin in the archives, using historic maps, coast surveys, and other materials, to define submerged areas suspected to contain potentially significant historical sites. Following this research phase, a typical archaeological survey uses sidescan sonar and marine magnetometers as initial search tools. Targets are then examined through direct observation by divers, video, or photographs. Magnetometers can demonstrate the presence, absence, and relative susceptibility of ferrous objects but provide little indication of the nature of the target. Sidescan sonar can present a clear image of the overall nature of a target and its surrounding environment, but the sidescan image is often distorted and contains little information about the true 3-D shape of the object. Optical techniques allow precise identification of objects but suffer from very limited range, even in the best of situations. Modern high-resolution multibeam sonar offers an opportunity to cover a relatively large area from a safe distance above the target, while resolving the true three-dimensional (3-D) shape of the object with centimeter-level resolution. A clear demonstration of the applicability of highresolution multibeam sonar to wreck and artifact investigations occurred this summer when the Naval Historical Center (NHC), the Center for Coastal and Ocean Mapping (CCOM) at the University of New Hampshire, and Reson Inc., collaborated to explore the state of preservation and impact on the surrounding environment of a series of wrecks located off the coast of Normandy, France, adjacent to the American landing sectors The survey augmented previously collected magnetometer and high-resolution sidescan sonar data using a Reson 8125 high-resolution focused multibeam sonar with 240, 0.5° (at nadir) beams distributed over a 120° swath. The team investigated 21 areas in water depths ranging from about three -to 30 meters (m); some areas contained individual targets such as landing craft, barges, a destroyer, troop carrier, etc., while others contained multiple smaller targets such as tanks and trucks. Of particular interest were the well-preserved caissons and blockships of the artificial Mulberry Harbor deployed off Omaha Beach. The near-field beam-forming capability of the Reson 8125 combined with 3-D visualization techniques provided an unprecedented level of detail including the ability to recognize individual components of the wrecks (ramps, gun turrets, hatches, etc.), the state of preservation of the wrecks, and the impact of the wrecks on the surrounding seafloor

On Artifacts in Limited Data Spherical Radon Transform: Curved Observation Surface

In this article, we consider the limited data problem for spherical mean transform. We characterize the generation and strength of the artifacts in a reconstruction formula. In contrast to the third's author work [Ngu15b], the observation surface considered in this article is not flat. Our results are comparable to those obtained in [Ngu15b] for flat observation surface. For the two dimensional problem, we show that the artifacts are $k$ orders smoother than the original singularities, where $k$ is vanishing order of the smoothing function. Moreover, if the original singularity is conormal, then the artifacts are $k+\frac{1}{2}$ order smoother than the original singularity. We provide some numerical examples and discuss how the smoothing effects the artifacts visually. For three dimensional case, although the result is similar to that [Ngu15b], the proof is significantly different. We introduce a new idea of lifting the space

Advanced perception, navigation and planning for autonomous in-water ship hull inspection

Inspection of ship hulls and marine structures using autonomous underwater vehicles has emerged as a unique and challenging application of robotics. The problem poses rich questions in physical design and operation, perception and navigation, and planning, driven by difficulties arising from the acoustic environment, poor water quality and the highly complex structures to be inspected. In this paper, we develop and apply algorithms for the central navigation and planning problems on ship hulls. These divide into two classes, suitable for the open, forward parts of a typical monohull, and for the complex areas around the shafting, propellers and rudders. On the open hull, we have integrated acoustic and visual mapping processes to achieve closed-loop control relative to features such as weld-lines and biofouling. In the complex area, we implemented new large-scale planning routines so as to achieve full imaging coverage of all the structures, at a high resolution. We demonstrate our approaches in recent operations on naval ships.United States. Office of Naval Research (Grant N00014-06-10043)United States. Office of Naval Research (Grant N00014-07-1-0791