Evaluation and Verification of Bottom Acoustic Reverberation Statistics Predicted by the Point Scattering Model

The point scatteringmodel offers a parameterization of the reverberation probability density function (pdf) in terms of the coefficient of excess (kurtosis) and a coherent component represented by a harmonic process with random phase. In this paper the potential utility of this parametrization is investigated in the context of seafloor characterization. The problem of separating out the effect of each parameter is discussed. Computer simulations are used to verify model predictions on the reverberation quadrature, envelope, and phase pdf. As part of the verification study, the scatterer density was determined from the kurtosis of the reverberation quadrature pdf. A statistical analysis of this procedure points to reduced estimate accuracy with decreasing kurtosis. Additional computer simulations show that the chosen pdf family, developed under the assumption of a Poissonscatterer distribution, is flexible enough to fit reverberation data generated by non‐Poisson scatterer distributions exhibiting a degree of clustering or regularity. A computer experiment demonstrates how this parametrization can be used in conjunction with a simple sonar geometry to generate acoustic signatures for seafloor classification. In addition, real reverberation data collected by a Sea Beam sonar system in two different seafloor areas are interpreted according to the chosen parametrization

Amplitude and phase sonar calibration and the use of target phase for enhanced acoustic target characterisation

This thesis investigates the incorporation of target phase into sonar signal processing, for enhanced information in the context of acoustical oceanography. A sonar system phase calibration method, which includes both the amplitude and phase response is proposed. The technique is an extension of the widespread standard-target sonar calibration method, based on the use of metallic spheres as standard targets. Frequency domain data processing is used, with target phase measured as a phase angle difference between two frequency components. This approach minimizes the impact of range uncertainties in the calibration process. Calibration accuracy is examined by comparison to theoretical full-wave modal solutions. The system complex response is obtained for an operating frequency of 50 to 150 kHz, and sources of ambiguity are examined. The calibrated broadband sonar system is then used to study the complex scattering of objects important for the modelling of marine organism echoes, such as elastic spheres, fluid-filled shells, cylinders and prolate spheroids. Underlying echo formation mechanisms and their interaction are explored. Phase-sensitive sonar systems could be important for the acquisition of increased levels of information, crucial for the development of automated species identification. Studies of sonar system phase calibration and complex scattering from fundamental shapes are necessary in order to incorporate this type of fully-coherent processing into scientific acoustic instruments

Sonar systems for object recognition

The deep sea exploration and exploitation is one of the biggest challenges of the next century. Military, oil & gas, o shore wind farming, underwater mining, oceanography are some of the actors interested in this eld. The engineering and technical challenges to perform any tasks underwater are great but the most crucial element in any underwater systems has to be the sensors. In air numerous sensor systems have been developed: optic cameras, laser scanner or radar systems. Unfortunately electro magnetic waves propagate poorly in water, therefore acoustic sensors are a much preferred tool then optical ones. This thesis is dedicated to the study of the present and the future of acoustic sensors for detection, identi cation or survey. We will explore several sonar con gurations and designs and their corresponding models for target scattering. We will show that object echoes can contain essential information concerning its structure and/or composition

Angular dependence of 12-kHz seafloor acoustic backscatter

The angular dependence of seafloor acoustic backscatter,measured with a 12‐kHz multi narrow‐beam echo‐sounder at two sites in the central North Pacific with water depths of 1500 and 3100 m, respectively, has been determined for incidence angles between 0° and 20°. The acoustic data consist of quadrature samples of the beamformed echoes received on each of the 16 2.66° beams of a Sea Beam echo‐sounder. These data are subjected to adaptive noise cancelling for sidelobe interference rejection, and the centroid of each echo is determined. After corrections for the ship’s roll and raybending effects through the water column, the angles of arrival are converted to angles of incidence by taking athwartships apparent bottom slopes into account. For each beam, the mean echo power received is normalized by the corresponding insonified area that depends on the transmit and receive beam patterns, the ship’s roll angle and the local bottom slope. For lack of system calibration, the data are presented as relative mean energy levels in 1° bins. Comparison of these results with theoretical angular dependence functions, based on the Helmholtz–Kirchhoff model for backscatter from a rough surface, indicates that a good fit is obtained in the angular sector from 5° to 20° incidence. In the near‐nadir sector (0° to 5°), the data suffer from high variance making the estimate unreliable. The data processing methods presented constitute one of the elements necessary to compile a map of seafloor acoustic backscatter from acoustic measurements made with a multinarrow beam echo‐sounder. The angular dependence function obtained will ultimately be used to normalize the backscattermeasurements in the athwartships direction

The development and testing of a parametric SONAR system for use in sediment classification and the detection of buried objects

This thesis describes the work carried out in the development and testing of parametric sonar systems for application in the fields of seabed sediment characterisation and classification, and the detection of seabed embedded objects. Parametric sonar systems offer a number of advantages over conventional sonar systems. This is especially true of the conflicting requirements of both seabed delineation and penetration required for a practical sub-seabed profiling system. Echoes from sub-bottom layers vary in strength dependent on both the boundary acoustic reflectivity and the absorption characteristics of the layer above. Absorption effects are usually frequency dependent, allowing better penetration to lower frequency signals. [Continues.

Object characterisation using wideband sonar pulses

Characterisation of objects in an underwater environment is challenging. Success in the task can be beneficial in a variety of scenarios, which include oil and gas pipe maintenance, archaeology, and assistance to general underwater object identification. This work focuses on object characterisation, providing a solution for material identification. To do this, one must sense the underwater environment for which there are several different ways. Some of the most popular rely on sonar images. These provide limited information about the objects,mostly the shape, size and distance to the object. The study of acoustic wave scattering over a wide frequency range provides more information about the targets characteristics. This work builds on the principles of sound scattering. An acoustic echo reflected from an object has a different pulse shape and frequency composition than its initial pulse. These changes in the pulse are due to the interaction of the sound wave with an object during the reflection process and the pulses interaction with the transmission medium. Study of the reflected pulse can provide information about physical properties such as size, material and shell thickness. The objects used in this work are limited to spherical shells made of a variety of materials, and filled with different liquids or air. The task of material identification is approached in two different ways. The first one is a machine learning based approach. The classification is not based on the object’s shape, but on its physical properties including the composition material. Two approaches will be presented: one, where the spherical shell is described by the echo’s representation in time frequency domain and one, where it is described by the form function. The objects are classified using a number of machine learning techniques including support vector machine, gradient boosting and neural networks. The machine learning approaches give good results for a number of tasks, but are not sufficient to distinguish between materials with similar properties, like water and salt water. An alternative solution is presented in this thesis, which identifies the filler and the shell materials separately. This material identification approach is based on the timing of the sound scattering components. The echo reflected from an object is formed by a number of processes. The information about these processes can be extracted from the echoes and used to identify the material. This approach does not require any training data and shows good results, which are demonstrated on both the simulated and experimental data. This work focuses on object characterisation, providing a solution for material identification using underwater acoustics and signal processing techniques

Comparison of a self-processed EM3000 multibeam echosounder dataset with a QTC view habitat mapping and a sidescan sonar imagery, Tamaki Strait, New Zealand

A methodology for automatically processing the data files from an EM3000 multibeam echosounder (Kongsberg Maritime, 300 kHz) is presented. Written in MatLab, it includes data extraction, bathymetry processing, computation of seafloor local slope, and a simple correction of the backscatter along-track banding effect. The success of the latter is dependent on operational restrictions, which are also detailed. This processing is applied to a dataset acquired in 2007 in the Tamaki Strait, New Zealand. The resulting maps are compared with a habitat classification obtained with the acoustic ground-discrimination software QTC View linked to a 200-kHz single-beam echosounder and to the imagery from a 100-kHz sidescan sonar survey, both performed in 2002. The multibeam backscatter map was found to be very similar to the sidescan imagery, quite correlated to the QTC View map on one site but mainly uncorrelated on another site. Hypotheses to explain these results are formulated and discussed. The maps and the comparison to prior surveys are used to draw conclusions on the quality of the code for further research on multibeam benthic habitat mapping

ACOUSTIC METHODS FOR MAPPING AND CHARACTERIZING SUBMERGED AQUATIC VEGETATION USING A MULTIBEAM ECHOSOUNDER

Submerged aquatic vegetation (SAV) is an important component of many temperate global coastal ecosystems. SAV monitoring programs using optical remote sensing are limited by water clarity and attenuation with depth. Here underwater acoustics is used to analyze the water volume above the bottom to detect, map and characterize SAV. In particular, this dissertation developed and applied new methods for analyzing the full time series of acoustic intensity data (e.g., water column data) collected by a multibeam echosounder. This dissertation is composed of three separate but related studies. In the first study, novel methods for detecting and measuring the canopy height of eelgrass beds are developed and used to map eelgrass in a range of different environments throughout the Great Bay Estuary, New Hampshire, and Cape Cod Bay, Massachusetts. The results of this study validated these methods by showing agreement between boundaries of eelgrass beds in acoustic and aerial datasets more in shallow water than at the deeper edges, where the acoustics were able to detect eelgrass more easily and at lower densities. In the second study, the methods developed for measuring canopy height in the first study are used to delineate between kelp-dominated and non-kelp-dominated habitat at several shallow rocky subtidal sites on the Maine and New Hampshire coast. The kelp detection abilities of these methods are first tested and confirmed at a pilot site with detailed diver quadrat macroalgae data, and then these methods are used to successfully extrapolate kelp- and non-kelp-dominated percent coverages derived from video photomosaic data. The third study examines the variability of the acoustic signature and acoustically-derived canopy height under different tidal currents. Submerged aquatic canopies are known to bend to accommodate the drag they generate in response to hydrodynamic forcing, and, in turn, the canopy height measured by acoustics will not be a perfect representation of canopy height as defined by common seagrass monitoring protocols, which is usually measured as the length of the blade of seagrass. Additionally, the bending of the canopy affects how the blades of seagrass are distributed within the footprint of the sonar, changing the acoustic signature of the seagrass canopy. For this study, a multibeam echosounder, a current profiler and an HD video camera were deployed on a stationary frame in a single eelgrass bed over 2 tidal cycles. Acoustic canopy heights varied by as much as 30 cm over the experiment, and although acoustic canopy height was correlated to current magnitude, the relationship did not follow the predictive flexible vegetation reconfiguration model of Luhar and Nepf (2011). Results indicate that there are significant differences in the shape of the return from a deflected (i.e., bent-over) canopy and an upright canopy, and that these differences in shape have implications for the accuracy of bottom detection using the maximum amplitude of a beam time series. These three studies clearly show the potential for using multibeam water column backscatter data for mapping coastal submerged aquatic vegetation while also testing the natural variability in acoustic canopy height measurements in the field

A Neuro-Fuzzy System for Extracting Environment Features Based on Ultrasonic Sensors

In this paper, a method to extract features of the environment based on ultrasonic sensors is presented. A 3D model of a set of sonar systems and a workplace has been developed. The target of this approach is to extract in a short time, while the vehicle is moving, features of the environment. Particularly, the approach shown in this paper has been focused on determining walls and corners, which are very common environment features. In order to prove the viability of the devised approach, a 3D simulated environment has been built. A Neuro-Fuzzy strategy has been used in order to extract environment features from this simulated model. Several trials have been carried out, obtaining satisfactory results in this context. After that, some experimental tests have been conducted using a real vehicle with a set of sonar systems. The obtained results reveal the satisfactory generalization properties of the approach in this case

A model for the simulation of sidescan sonar

This thesis presents the development of a computer model for the simulation of the sidescan sonar process. The motivation for the development of this model is the creation of a unique and powerful visualisation tool to improve understanding and interpretation of the sidescan sonar process and the images created by it. Existing models tend to generate graphical or numerical results, but this model produces synthetic sidescan sonar images as the output. This permits the direct visualisation of the influence of individual parameters and features of the sonar process on the sidescan images. The model considers the main deterministic aspects of the underlying physical processes which result in the generation of sidescan sonar images. These include the propagation of the transmitted pulse of acoustic energy through the water column to its subsequent interaction and scattering from the rough seafloor. The directivity and motion characteristics of the sonar transducer are also incorporated. The thesis documents the development of the model to include each of these phenomena and their subsequent effect on the sidescan sonar images. Finally, techniques are presented for the investigation and verification of the synthetic sidescan images produced by the model.Defence Research Agenc