Advances in Sonar Technology

The demand to explore the largest and also one of the richest parts of our planet, the advances in signal processing promoted by an exponential growth in computation power and a thorough study of sound propagation in the underwater realm, have lead to remarkable advances in sonar technology in the last years.The work on hand is a sum of knowledge of several authors who contributed in various aspects of sonar technology. This book intends to give a broad overview of the advances in sonar technology of the last years that resulted from the research effort of the authors in both sonar systems and their applications. It is intended for scientist and engineers from a variety of backgrounds and even those that never had contact with sonar technology before will find an easy introduction with the topics and principles exposed here

GRAINS: Proximity Sensing of Objects in Granular Materials

Proximity sensing detects an object's presence without contact. However, research has rarely explored proximity sensing in granular materials (GM) due to GM's lack of visual and complex properties. In this paper, we propose a granular-material-embedded autonomous proximity sensing system (GRAINS) based on three granular phenomena (fluidization, jamming, and failure wedge zone). GRAINS can automatically sense buried objects beneath GM in real-time manner (at least ~20 hertz) and perceive them 0.5 ~ 7 centimeters ahead in different granules without the use of vision or touch. We introduce a new spiral trajectory for the probe raking in GM, combining linear and circular motions, inspired by a common granular fluidization technique. Based on the observation of force-raising when granular jamming occurs in the failure wedge zone in front of the probe during its raking, we employ Gaussian process regression to constantly learn and predict the force patterns and detect the force anomaly resulting from granular jamming to identify the proximity sensing of buried objects. Finally, we apply GRAINS to a Bayesian-optimization-algorithm-guided exploration strategy to successfully localize underground objects and outline their distribution using proximity sensing without contact or digging. This work offers a simple yet reliable method with potential for safe operation in building habitation infrastructure on an alien planet without human intervention.Comment: 35 pages, 5 figures,2 tables. Videos available at https://sites.google.com/view/grains2/hom

Localization, Mapping and SLAM in Marine and Underwater Environments

The use of robots in marine and underwater applications is growing rapidly. These applications share the common requirement of modeling the environment and estimating the robots’ pose. Although there are several mapping, SLAM, target detection and localization methods, marine and underwater environments have several challenging characteristics, such as poor visibility, water currents, communication issues, sonar inaccuracies or unstructured environments, that have to be considered. The purpose of this Special Issue is to present the current research trends in the topics of underwater localization, mapping, SLAM, and target detection and localization. To this end, we have collected seven articles from leading researchers in the field, and present the different approaches and methods currently being investigated to improve the performance of underwater robots

Selected Topics of the Past Thirty Years in Ocean Acoustics

This paper reviews some of the highlights of selected topics in ocean acoustics during the thirty years that have passed since the founding of the Journal of Theoretical and Computational Acoustics. Advances in computational methods and computers helped to make computational ocean acoustics a vibrant area of research during that period. The parabolic equation method provides an unrivaled combination of accuracy and efficiency for propagation problems in which the bathymetry, sound speed, and other environmental parameters vary in the horizontal directions. The extension of this approach to cases involving layers that support shear waves has been an active area of research throughout the thirty year period. Interest in basin-scale and global-scale propagation was stimulated by the Heard Island Feasibility Test for monitoring climate change in terms of changes in travel time that occur as the temperature of the ocean rises. Diminishing ice cover in the Arctic, which is one of the consequences of climate change, has stimulated renewed interest in Arctic acoustics during the past decade. Reverberation is a challenging problem that was the topic of a major research program during the beginning of the thirty year period. An innovative approach for making it feasible to solve such problems was applied to data for reverberation from the seafloor and from schools of fish, and some of the findings were featured in Science and Nature. Source localization is one of the core problems in ocean acoustics. When applied on a 2-D array of receivers, an approach based on the eigenvectors of the covariance matrix is capable of separating the signals from different sources from each other, determining when this partitioning step is successful, and tracking sources that cross each other in bearing; one of the advantages of this approach is that it does not require environmental information or solutions of the wave equation. Geoacoustic inversion for estimating the layer structure, wave speeds, density, and other parameters of ocean bottoms has also been a topic of interest throughout the thirty year period

Underwater Source Localization based on Modal Propagation and Acoustic Signal Processing

Acoustic localization plays a pivotal role in underwater vehicle systems and marine mammal detection. Previous efforts adopt synchronized arrays of sensors to extract some features like direction of arrival (DOA) or time of flight (TOF) from the received signal. However, installing and synchronizing several hydrophones over a large area is costly and challenging. To tackle this problem, we use a single-hydrophone localization system which relies on acoustic signal processing methods rather than multiple hydrophones. This system takes modal dispersion into consideration and estimates the distance between sound source and receiver (range) based on dispersion curves. It is shown that the larger the range is, the more separable the modes are. To make the modes more distinguishable, a non-linear signal processing technique, called warping, is utilized. Propagation model of low-frequency signals, such as dolphin sound, is well-studied in shallow water environment (depth D\u3c200 m), and it was demonstrated that at large ranges (range r\u3e1 km), modal dispersion is utterly visible at time frequency (TF) domain. We used Peker is model for the aforementioned situation to localize both synthetic and real underwater acoustic signals. The accuracy of the localization system is examined with various sounds, including impulsive signal, sounds with known Fourier transform, and signals with estimated source phase. Experimental results show that the warping technique can considerably lessen the localization error, especially when prior knowledge about the source signal and waveguide are available

Smart Rocks and Wireless Communication System for Real-Time Monitoring and Mitigation of Bridge Scour -- A Proof-of-Concept Study

This study aims to integrate commercial measurement and communication components into a scour monitoring system with magnets or electronics embedded in smart rocks, and evaluate and improve its performance in laboratory and field conditions for the movement of smart rocks. Properly-designed smart rocks were found to be automatically rolled into the very bottom of a scour hole and can give critical information about the maximum scour depth and effectiveness of rip-rap mitigation strategies. Four types of smart rock technologies were investigated in this proof-of-concept phase of study, including passive with embedded magnets, active with magneto-inductive communication, active with controllable magnet rotation, and active with acoustic communication. Their performances were evaluated against three criteria: 1) movement accuracy within 0.5 m, 2) transmission distance between 5 and 30 m, and 3) at least one measurement every 15 minutes. Test results demonstrated that the proposed smart rocks are cost-effective, viable technologies for bridge scour monitoring