Propagation of beluga echolocation signals

The propagation characteristics of high-frequency echolocation signals (peak energies above 100 kHz) of the beluga (Delphinapterus leucas) were measured while the animal performed a target detection task. The whale was trained to station on a bite plate so that its transmission beam could be measured in the vertical and horizontal planes using hydrophone arrays. The transitional region between the acoustic near- and farfields was also located using an array of hydrophones that extended directly in front of the animal in the horizontal plane. Three distinct modes of signals were observed. Mode 1 signals had click intervals greater than the time required for the signals to travel to the target and back (two-way transit time). Mode 2 signals had click intervals shorter than the two-way transit time, and mode 3 signals had high repetition rates with an average click interval of 1.7 ms, approximately 2% of the two-way transit time. The average click intervals for the modes 1 and 2 signals were 193 and 44 ms, respectively. The vertical and horizontal beam patterns of the mode 1 signals had similar 3-dB beamwidths of approximately 6.5 degrees. The major axis of the vertical beam was directed approximately 5 degrees above the plane defined by the animal's teeth. The near- to farfield transition region was approximately 0.64-0.75 m from the tip of the animal's mouth.     

Echolocation transmitting beam of the Atlantic bottlenose dolphin

The transmitting beam patterns of echolocation signals emitted by an Atlantic bottlenose dolphin Tursiops truncatus were measured in the vertical and horizontal planes with an array of seven hydrophones. Particular emphasis was placed on accurately verifying the animal's position on a bite-plate/tail-rest stationing device using underwater video monitoring equipment. The major axis of the vertical beam was directed at an angle of 5 degrees above the plane defined by the animal's lips. This angle was 15 degrees lower than previously measured. The vertical beam measurements indicate that the major axis of the transmitting beam is aligned with the major axis of the receiving beam. The horizontal beam was directed forward. The directivity index of 26.5 dB calculated from the beam pattern measured in both planes agreed well with previous calculation of 25.4 dB.     

Receiving beam patterns in the horizontal plane of a harbor porpoise (Phocoena phocoena)

Receiving beam patterns of a harbor porpoise were measured in the horizontal plane, using narrow-band frequency modulated signals with center frequencies of 16, 64, and 100 kHz. Total signal duration was 1000 ms, including a 200 ms rise time and 300 ms fall time. The harbor porpoise was trained to participate in a psychophysical test and stationed itself horizontally in a specific direction in the center of a 16-m-diameter circle consisting of 16 equally-spaced underwater transducers. The animal's head and the transducers were in the same horizontal plane, 1.5 m below the water surface. The go/no-go response paradigm was used; the animal left the listening station when it heard a sound signal. The method of constants was applied. For each transducer the 50% detection threshold amplitude was determined in 16 trials per amplitude, for each of the three frequencies. The beam patterns were not symmetrical with respect to the midline of the animal's body, but had a deflection of 3-7 degrees to the right. The receiving beam pattern narrowed with increasing frequency. Assuming that the pattern is rotation-symmetrical according to an average of the horizontal beam pattern halves, the receiving directivity indices are 4.3 at 16 kHz, 6.0 at 64 kHz, and 11.7 dB at 100 kHz. The receiving directivity indices of the porpoise were lower than those measured for bottlenose dolphins. This means that harbor porpoises have wider receiving beam patterns than bottlenose dolphins for the same frequencies. Directivity of hearing improves the signal-to-noise ratio and thus is a tool for a better detection of certain signals in a given ambient noise condition.     

Acoustic properties of humpback whale songs

A vertical array of five hydrophones was used to measure the acoustic field in the vertical plane of singing humpback whales. Once a singer was located, two swimmers with snorkel gear were deployed to determine the orientation of the whale and position the boat so that the array could be deployed in front of the whale at a minimum standoff distance of at least 10 m. The spacing of the hydrophones was 7 m with the deepest hydrophone deployed at a depth of 35 m. An eight-channel TASCAM recorder with a bandwidth of 24 kHz was used to record the hydrophone signals. The location (distance and depth) of the singer was determined by computing the time of arrival differences between the hydrophone signals. The maximum source level varied between individual units in a song, with values between 151 and 173 dB re 1 microPa. One of the purposes of this study was to estimate potential sound exposure of nearby conspecifics. The acoustic field determined by considering the relative intensity of higher frequency harmonics in the signals indicated that the sounds are projected in the horizontal direction despite the singer being canted head downward anywhere from about 25 degrees to 90 degrees. High-frequency harmonics extended beyond 24 kHz, suggesting that humpback whales may have an upper frequency limit of hearing as high as 24 kHz.     

Single-lobed frequency-dependent beam shape in an echolocating false killer whale (Pseudorca crassidens)

Recent studies indicate some odontocetes may produce echolocation beams with a dual-lobed vertical structure. The shape of the odontocete echolocation beam was further investigated in a false killer whale performing an echolocation discrimination task. Clicks were recorded with an array of 16 hydrophones and frequency-dependent amplitude plots were constructed to assess beam shape. The majority of the echolocation clicks were single-lobed in structure with most energy located between 20 and 80 kHz. These data indicate the false killer whale does not produce a dual-lobed structure, as has been shown in bottlenose dolphins, which may be a function of lowered frequencies in the emitted signal due to hearing loss.     

Spatial orientation of different frequencies within the echolocation beam of a Tursiops truncatus and Pseudorca crassidens

A two-dimensional array of 16 hydrophones was created to map the spatial distribution of different frequencies within the echolocation beam of a Tursiops truncatus and a Pseudorca crassidens. It was previously shown that both the Tursiops and Pseudorca only paid attention to frequencies between 29 and 42 kHz while echolocating. Both individuals tightly focused the 30?kHz frequency and the spatial location of the focus was consistently pointed toward the target. At 50?kHz the beam was less focused and less precisely pointed at the target. At 100?kHz the focus was often completely lost and was not pointed at the target. This indicates that these individuals actively focused the beam toward the target only in the frequency range they paid attention to. Frequencies outside this range were left unfocused and undirected. This focusing was probably achieved through sensorimotor control of the melon morphology and nasal air sacs. This indicates that both morphologically different species can control the spatial distribution of different frequency ranges within the echolocation beam to create consistent ensonation of desired targets.     

Features of the Sound Field Structure in a Two-Channel Oceanic Waveguide

The results of experimental studies of the energy and angular structure of a sound field in the region of the Iberian Basin in the northeastern Atlantic are discussed. The experiments are carried out in a two-channel waveguide whose axes are located at depths of approximately 450 and 2000 m. A continuous pseudonoise signal in the frequency range 2.52–4.0 kHz is emitted. The signals are received by the omnidirectional hydrophones and, simultaneously, by a 10-m-long vertical array, which allows one to realize a narrow beam reception (～2.5°) in the vertical plane. The source and the receiver are located in a 500-m-thick layer within the upper sound channel. The field characteristics are measured in the course of a continuous change of distance from 1 to 65 km. The comparison of the experimental data with calculations shows that the sound field structure formed by the lower channel is much closer to the theoretical results than the structure formed by the upper channel. In the upper sound channel, the shadow zone manifests itself only slightly and the first convergence zone begins approximately 72–11 km nearer to the source than predicted by the calculations. The corresponding angular sound field structure is fairly pronounced in the vertical plane and bears no evidence of the random behavior that is peculiar to the fields scattered by the inhomogeneities.     

Echolocation signals of free-ranging killer whales (Orcinus orca) and modeling of foraging for chinook salmon (Oncorhynchus tshawytscha)

Fish-eating "resident"-type killer whales (Orcinus orca) that frequent the coastal waters off northeastern Vancouver Island, Canada have a strong preference for chinook salmon (Oncorhynchus tshawytscha). The whales in this region often forage along steep cliffs that extend into the water, echolocating their prey. Echolocation signals of resident killer whales were measured with a four-hydrophone symmetrical star array and the signals were simultaneously digitized at a sample rate of 500 kHz using a lunch-box PC. A portable VCR recorded the images from an underwater camera located adjacent to the array center. Only signals emanating from close to the beam axis (1185 total) were chosen for a detailed analysis. Killer whales project very broadband echolocation signals (Q equal 0.9 to 1.4) that tend to have bimodal frequency structure. Ninety-seven percent of the signals had center frequencies between 45 and 80 kHz with bandwidths between 35 and 50 kHz. The peak-to-peak source level of the echolocation signals decreased as a function of the one-way transmission loss to the array. Source levels varied between 195 and 224 dB re: 1 microPa. Using a model of target strength for chinook salmon, the echo levels from the echolocation signals are estimated for different horizontal ranges between a whale and a salmon. At a horizontal range of 100 m, the echo level should exceed an Orcinus hearing threshold at 50 kHz by over 29 dB and should be greater than sea state 4 noise by at least 9 dB. In moderately heavy rain conditions, the detection range will be reduced substantially and the echo level at a horizontal range of 40 m would be close to the level of the rain noise.     

The biosonar field around an Atlantic bottlenose dolphin (Tursiops truncatus)

The use of remote autonomous passive acoustic recorders (PAR) to determine the distribution of dolphins at a given locations has become very popular. Some investigators are using echolocation clicks to gather information on the presence of dolphins and to identify species. However, in all of these cases, the PAR probably recorded mainly off-axis clicks, even some from behind the animals. Yet there is a very poor understanding of the beam pattern and the click waveform and spectrum from different azimuths around the animal's body. The beam pattern completely around an echo locating dolphin was measured at 16 different but equally spaced angles in the horizontal plane using an 8-hydrophone array in sequence. Eight channels of data were digitized simultaneously at a sampling rate of 500 kHz. The resulting beam patterns in both planes showed a continuous drop off in sound pressure with azimuth around the animal and reached levels below -50 dB relative to the signal recorded on the beam axis. The signals began to break up into two components at angles greater than ± 45° in the horizontal plane. The center frequency dropped off from its maximum at 0° in a non-uniform matter.     

Free-field release from masking

Free-field release from masking was studied as a function of the spatial separation of a signal and masker in a two-interval, forced-choice (2IFC) adaptive paradigm. The signal was a 250-ms train of clicks (100/s) generated by filtering 50-microseconds pulses with a TDH-49 speaker (0.9 to 9.0 kHz). The masker was continuous broadband (0.7 to 11 kHz) white noise presented at a level of 44 dBA measured at the position of the subject's head. In experiment I, masked and absolute thresholds were measured for 36 signal source locations (10 degree increments) along the horizontal plane as a function of seven masking source locations (30 degree increments). In experiment II, both absolute and masked thresholds were measured for seven signal locations along three vertical planes located at azimuthal rotations of 0 degrees (median vertical plane), 45 degrees, and 90 degrees. In experiment III, monaural absolute and masked thresholds were measured for various signal-masker configurations. Masking-level differences (MLDs) were computed relative to the condition where the signal and mask were in front of the subjects after using absolute thresholds to account for differences in the signal's sound-pressure level (SPL) due to direction. Maximum MLDs were 15 dB along the horizontal plane, 8 dB along the vertical, and 9 dB under monaural conditions.     

海面大气边界层中聚焦光束漂移各向异性的实验研究

 利用位置敏感型光电倍增管（PSPMT），设计了测量聚焦光束漂移的实验装置。该装置在80 mm的有效探测面内实现了2维位置信号的直接探测，空间分辨率可达1 mm，明显优于四象限探测器和阵列探测器，最高采样频率可达80 kHz，且动态范围很大，优于一般的成像器件。在近海岸海面上5 m处的大气边界层中进行了距离为1 000 m的聚焦激光传输实验。测量结果表明：聚焦光斑的质心漂移具有各向异性，水平方向光斑漂移幅度一般介于5.61 mm和14.83 mm之间，垂直方向光斑漂移幅度介于3.54 mm和7.3 mm之间，两者之比的平均值为1.69；水平方向和垂直方向的光斑漂移功率谱密度（PSD）在低频段也存在差异，垂直方向光斑漂移的PSD比水平方向光斑漂移的PSD下降速率更快。     

Audiogram of a harbor porpoise (Phocoena phocoena) measured with narrow-band frequency-modulated signals

The underwater hearing sensitivity of a two-year-old harbor porpoise was measured in a pool using standard psycho-acoustic techniques. The go/no-go response paradigm and up-down staircase psychometric method were used. Auditory sensitivity was measured by using narrow-band frequency-modulated signals having center frequencies between 250 Hz and 180 kHz. The resulting audiogram was U-shaped with the range of best hearing (defined as 10 dB within maximum sensitivity) from 16 to 140 kHz, with a reduced sensitivity around 64 kHz. Maximum sensitivity (about 33 dB re 1 microPa) occurred between 100 and 140 kHz. This maximum sensitivity range corresponds with the peak frequency of echolocation pulses produced by harbor porpoises (120-130 kHz). Sensitivity falls about 10 dB per octave below 16 kHz and falls off sharply above 140 kHz (260 dB per octave). Compared to a previous audiogram of this species (Andersen, 1970), the present audiogram shows less sensitive hearing between 2 and 8 kHz and more sensitive hearing between 16 and 180 kHz. This harbor porpoise has the highest upper-frequency limit of all odontocetes investigated. The time it took for the porpoise to move its head 22 cm after the signal onset (movement time) was also measured. It increased from about 1 s at 10 dB above threshold, to about 1.5 s at threshold.     

Asymmetry and dynamics of a narrow sonar beam in an echolocating harbor porpoise

A key component in the operation of a biosonar system is the radiation of sound energy from the sound producing head structures of toothed whales and microbats. The current view involves a fixed transmission aperture by which the beam width can only change via changes in the frequency of radiated clicks. To test that for a porpoise, echolocation clicks were recorded with high angular resolution using a 16 hydrophone array. The beam is narrower than previously reported (DI = 24 dB) and slightly dorso-ventrally compressed (horizontal -3 dB beam width: 13°, vertical -3 dB beam width: 11°). The narrow beam indicates that all smaller toothed whales investigated so far have surprisingly similar beam widths across taxa and habitats. Obtaining high directionality may thus be at least in part an evolutionary factor that led to high centroid frequencies in a group of smaller toothed whales emitting narrow band high frequency clicks. Despite the production of stereotyped narrow band high frequency clicks, changes in the directionality by a few degrees were observed, showing that porpoises can obtain changes in sound radiation.     

C-mode ultrasonic imaging by an electronically scanned coaxial circular spherical receiving array

An underwater ultrasonic imaging system has been developed which can display the C-mode picture on a cathode ray tube in real time. The system contains a coaxial circular spherical array of 24 hydrophones and an analogue delay device developed for electronic scanning and focusing. The array has high directional sensitivity resulting from the additive, precision limiter and multiplicative processes. Experimental study on imaging an object located at 3 m from the array and irradiated with an ultrasonic wave of about 95 kHz has successfully been carried out in a water-filled tank.     

Echolocation signals of wild Atlantic spotted dolphin (Stenella frontalis)

An array of four hydrophones arranged in a symmetrical star configuration was used to measure the echolocation signals of the Atlantic spotted dolphin (Stenella frontalis) in the Bahamas. The spacing between the center hydrophone and the other hydrophones was 45.7 cm. A video camera was attached to the array and a video tape recorder was time synchronized with the computer used to digitize the acoustic signals. The echolocation signals had bi-modal frequency spectra with a low-frequency peak between 40 and 50 kHz and a high-frequency peak between 110 and 130 kHz. The low-frequency peak was dominant when the signal the source level was low and the high-frequency peak dominated when the source level was high. Peak-to-peak source levels as high as 210 dB re 1 microPa were measured. The source level varied in amplitude approximately as a function of the one-way transmission loss for signals traveling from the animals to the array. The characteristics of the signals were similar to those of captive Tursiops truncatus, Delphinapterus leucas and Pseudorca crassidens measured in open waters under controlled conditions.     

Tracking sperm whale (Physeter macrocephalus) dive profiles using a towed passive acoustic array

A passive acoustic method is presented for tracking sperm whale dive profiles, using two or three hydrophones deployed as either a vertical or large-aperture towed array. The relative arrival times between the direct and surface-reflected acoustic paths are used to obtain the ranges and depths of animals with respect to the array, provided that the hydrophone depths are independently measured. Besides reducing the number of hydrophones required, exploiting surface reflections simplifies automation of the data processing. Experimental results are shown from 2002 and 2003 cruises in the Gulf of Mexico for two different towed array deployments. The 2002 deployment consisted of two short-aperture towed arrays separated by 170 m, while the 2003 deployment placed an autonomous acoustic recorder in tandem with a short-aperture towed array, and used ship noise to time-align the acoustic data. The resulting dive profiles were independently checked using single-hydrophone localizations, whenever multipath reflections from the ocean bottom could be exploited to effectively create a large-aperture vertical array. This technique may have applications for basic research and for real-time mitigation for seismic airgun surveys.     

声音目标被动定位算法的野值分析

阐述了基于四元平面十字阵的声音目标被动定位的原理.利用目标与基阵平台分布在不同平面的特点,采用简单的平面阵实现目标的三维定位,简化了布阵的复杂性.针对基于四元平面十字阵的声音目标被动定位算法,分析了野值产生的原因,并研究了水平方位角、垂直俯仰角、时延估计误差度、目标距离、基阵尺寸等因素对野值产生的影响.     

Mechanisms for subcritical penetration into a sandy bottom: experimental and modeling results

This paper presents preliminary results of a recent study whose overall objectives are to determine the mechanisms contributing significantly to subcritical acoustic penetration into ocean sediments, and to quantify the results for use in sonar performance prediction for the detection of buried objects. In situ acoustic measurements were performed on a sandy bottom whose geoacoustical and geomorphological properties were also measured. A parametric array mounted on a tower moving on a rail was used to insonify hydrophones located above and below the sediment interface. Data covering grazing angles both above and below the nominal critical angle and in the frequency range 2-15 kHz were acquired and processed. The results are compared to two models that account for scattering of sound at the rough water-sediment interface into the sediment. Although all possible mechanisms for subcritical penetration are not modeled, the levels predicted by both models are consistent with the levels observed in the experimental data. For the specific seafloor and experimental conditions examined, the analysis suggests that for frequencies below 5-7 kHz sound penetration into the sediment at subcritical insonification is dominated by the evanescent field, while scattering due to surface roughness is the dominant mechanism at higher frequencies.     

Source levels and harmonic content of whistles in white-beaked dolphins (Lagenorhynchus albirostris)

Recordings of white-beaked dolphin whistles were made in Faxafl6i Bay (Iceland) using a three-hydrophone towed linear array. Signals from the hydrophones were routed through an amplifier to a lunch box computer on board the boat and digitized using a sample rate of 125 kHz per channel. Using this method more than 5000 whistles were recorded. All recordings were made in sea states 0-1 (Beaufort scale). Dolphins were located in a 2D horizontal plane by using the difference of arrival time to the three hydrophones, and source levels were estimated from these positions using two different methods (I and II). Forty-three whistles gave a reliable location for the vocalizing dolphin when using method II and of these 12 when using method I. Source level estimates on the center hydrophone were higher using method I [average source level 148 (rms) +/- 12 dB, n = 36] than for method II [average source level 139 (rms) +/- 12 dB, n = 36]. Using these rms values the maximum possible communication range for whistling dolphins given the local ambient noise conditions was then estimated. The maximum range was 10.5 km for a dolphin whistle with the highest source level (167 dB) and about 140 m for a whistle with the lowest source level (118 dB). Only two of the 43 whistles contained an unequal number of harmonics recorded at the three hydrophones judging from the spectrograms. Such signals could be used to calculate the directionality of whistles, but more recordings are necessary to describe the directionality of white-beaked dolphin whistles.     

Target detection by an echolocating harbor porpoise (Phocoena phocoena)

Two echolocation experiments are described. They were conducted on the same harbor porpoise housed in a sea pen, one year apart at Neeltje Jans, The Netherlands. The aims were to determine the target detection ability of an echolocating harbor porpoise, with the ultimate goal to predict the distance at which harbor porpoises can detect fishing nets. In experiment 1, the maximum distance at which the 3-year-old porpoise could detect a 7.62-cm diameter water-filled stainless-steel sphere by echolocation was determined psychophysically. The 50%-current detection threshold was reached when the sphere was at a distance of 26 m from the porpoise's rostrum. In experiment 2, conducted a year later, the maximum detection distance for a 5.08-cm water-filled stainless-steel sphere was 15.9 m. The target strengths of both targets were measured using simulated harbor porpoise echolocation signals and the results, coupled with transmission-loss calculations, indicated that the echo levels received by the porpoise with the targets at the threshold ranges in the two experiments were only 1.3 dB apart. Together with information on the target strengths of various fishing nets, the results of the present study can be used to predict the distance at which the nets can be detected by harbor porpoises.