Variation in humpback whale (Megaptera novaeangliae) song length in relation to low-frequency sound broadcasts

Humpback whale song lengths were measured from recordings made off the west coast of the island of Hawai'i in March 1998 in relation to acoustic broadcasts ("pings") from the U.S. Navy SURTASS Low Frequency Active sonar system. Generalized additive models were used to investigate the relationships between song length and time of year, time of day, and broadcast factors. There were significant seasonal and diurnal effects. The seasonal factor was associated with changes in the density of whales sighted near shore. The diurnal factor was associated with changes in surface social activity. Songs that ended within a few minutes of the most recent ping tended to be longer than songs sung during control periods. Many songs that were overlapped by pings, and songs that ended several minutes after the most recent ping, did not differ from songs sung in control periods. The longest songs were sung between 1 and 2 h after the last ping. Humpbacks responded to louder broadcasts with longer songs. The fraction of variation in song length that could be attributed to broadcast factors was low. Much of the variation in humpback song length remains unexplained.     

Vocalizations produced by humpback whale (Megaptera novaeangliae) calves recorded in Hawaii

Although humpback whale (Megaptera novaeangliae) calves are reported to vocalize, this has not been measurably verified. During March 2006, an underwater video camera and two-element hydrophone array were used to record nonsong vocalizations from a mother-calf escort off Hawaii. Acoustic data were analyzed; measured time delays between hydrophones provided bearings to 21 distinct vocalizations produced by the male calf. Signals were pulsed (71%), frequency modulated (19%), or amplitude modulated (10%). They were of simple structure, low frequency (mean=220 Hz), brief duration (mean=170 ms), and relatively narrow bandwidth (mean=2 kHz). The calf produced three series of "grunts" when approaching the diver. During winters of the years 2001-2005 in Hawaii, nonsong vocalizations were recorded in 109 (65%) of 169 groups with a calf using an underwater video and single (omnidirectional) hydrophone. Nonsong vocalizations were most common (34 of 39) in lone mother-calf pairs. A subsample from this dataset of 60 signals assessed to be vocalizations provided strong evidence that 10 male and 18 female calves vocalized based on statistical similarity to the 21 verified calf signals, proximity to an isolated calf (27 of 28 calves), strong signal-to-noise ratio, and/or bubble emissions coincident to sound.     

Behavioral responses of humpback whales (Megaptera novaeangliae) to full-scale ATOC signals

Loud (195 dB re 1 microPa at 1 m) 75-Hz signals were broadcast with an ATOC projector to measure ocean temperature. Respiratory and movement behaviors of humpback whales off North Kauai, Hawaii, were examined for potential changes in response to these transmissions and to vessels. Few vessel effects were observed, but there were fewer vessels operating during this study than in previous years. No overt responses to ATOC were observed for received levels of 98-109 dB re 1 microPa. An analysis of covariance, using the no-sound behavioral rate as a covariate to control for interpod variation, found that the distance and time between successive surfacings of humpbacks increased slightly with an increase in estimated received ATOC sound level. These responses are very similar to those observed in response to scaled-amplitude playbacks of ATOC signals [Frankel and Clark, Can. J. Zool. 76, 521-535 (1998)]. These similar results were obtained with different sound projectors, in different years and locations, and at different ranges creating a different sound field. The repeatability of the findings for these two different studies indicates that these effects, while small, are robust. This suggests that at least for the ATOC signal, the received sound level is a good predictor of response.     

The social vocalization repertoire of east Australian migrating humpback whales (Megaptera novaeangliae)

Although the songs of humpback whales have been extensively studied, other vocalizations and percussive sounds, referred to as "social sounds," have received little attention. This study presents the social vocalization repertoire of migrating east Australian humpback whales from a sample of 660 sounds recorded from 61 groups of varying composition, over three years. The social vocalization repertoire of humpback whales was much larger than previously described with a total of 34 separate call types classified aurally and by spectrographic analysis as well as statistically. Of these, 21 call types were the same as units of the song current at the time of recording but used individually instead of as part of the song sequence, while the other 13 calls were stable over the three years of the study and were not part of the song. This study provides a catalog of sounds that can be used as a basis for future studies. It is an essential first step in determining the function, contextual use and cultural transmission of humpback social vocalizations.     

Acoustic detections of singing humpback whales (Megaptera novaeangliae) in the eastern North Pacific during their northbound migration.

Numerous (84) acoustic detections of singing humpback whales were made during a spring (08 March-09 June 1997) research cruise to study sperm whales in the central and eastern North Pacific. Over 15,000 km of track-line was surveyed acoustically using a towed hydrophone array. Additionally, 83 sonobuoys were deployed throughout the study area. Detection rates were greatest in late March, near the Hawaiian Islands, and in early April, northeast of the islands. Only one detection was made after April. Detection rates for sonobuoys were unequal in three equally divided longitudinal regions of the study area. Two high density clusters of detections occurred approximately 1200-2000 km northeast of the Hawaiian Islands and were attributed to a large aggregation of migrating animals. The distribution of these detections corroborates findings of previous studies. It is possible that these animals were maintaining acoustic contact during migration. Two unexpected clusters of singing whales were detected approximately 900 to 1000 km west of central and southern California. The location of these detections may indicate a previously undocumented migration route between an offshore breeding area, such as the Revillagigedo Islands, Mexico, and possible feeding areas in the western North Pacific or Bering Sea.     

Beaked whale (Mesoplodon densirostris) passive acoustic detection in increasing ambient noise

Passive acoustic detection is being increasingly used to monitor visually cryptic cetaceans such as Blainville's beaked whales (Mesoplodon densirostris) that may be especially sensitive to underwater sound. The efficacy of passive acoustic detection is traditionally characterized by the probability of detecting the animal's sound emissions as a function of signal-to-noise ratio. The probability of detection can be predicted using accepted, but not necessarily accurate, models of the underwater acoustic environment. Recent field studies combining far-field hydrophone arrays with on-animal acoustic recording tags have yielded the location and time of each sound emission from tagged animals, enabling in-situ measurements of the probability of detection. However, tagging studies can only take place in calm seas and so do not reflect the full range of ambient noise conditions under which passive acoustic detection may be used. Increased surface-generated noise from wind and wave interaction degrades the signal-to-noise ratio of animal sound receptions at a given distance leading to a reduction in probability of detection. This paper presents a case study simulating the effect of increasing ambient noise on detection of M. densirostris foraging clicks recorded from a tagged whale swimming in the vicinity of a deep-water, bottom-mounted hydrophone array.     

A real-time method for autonomous passive acoustic detection-classification of humpback whales

This paper describes a method for real-time, autonomous, joint detection-classification of humpback whale vocalizations. The approach adapts the spectrogram correlation method used by Mellinger and Clark [J. Acoust. Soc. Am. 107, 3518-3529 (2000)] for bowhead whale endnote detection to the humpback whale problem. The objective is the implementation of a system to determine the presence or absence of humpback whales with passive acoustic methods and to perform this classification with low false alarm rate in real time. Multiple correlation kernels are used due to the diversity of humpback song. The approach also takes advantage of the fact that humpbacks tend to vocalize repeatedly for extended periods of time, and identification is declared only when multiple song units are detected within a fixed time interval. Humpback whale vocalizations from Alaska, Hawaii, and Stellwagen Bank were used to train the algorithm. It was then tested on independent data obtained off Kaena Point, Hawaii in February and March of 2009. Results show that the algorithm successfully classified humpback whales autonomously in real time, with a measured probability of correct classification in excess of 74% and a measured probability of false alarm below 1%.     

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.     

Subunit definition and analysis for humpback whale call classification

Songs of humpback whales (Megaptera novaeangliae) have been studied for several years to gain a deeper insight on the intraspecific social interactions. Such a complex acoustic display is indeed thought to play an important role in both the mating ritual and male to male interaction. Hence, the need to classify the unit constituents of a song objectively and systematically has become crucial to allow processing large data sets. We propose a new approach for song segmentation based on the definition of subunits. Songs of humpback whales collected in Madagascar in August 2008 and 2009 were segmented using an energy detector with a double threshold and classified automatically with a clustering algorithm using MFCCs: the results, which were checked against a manual classification, showed that the use of subunit as the basic constituent of a song rather than the unit produces a more accurate classification of the calls. Such results were expected given that subunits are generally shorter in duration and less variable in terms of their frequency content and so their characteristics are more easily captured by an automatic classifier. Analysis of songs from other years and various areas of the World is necessary to corroborate the repeatability of the method proposed.     

A generalized power-law detection algorithm for humpback whale vocalizations

Conventional detection of humpback vocalizations is often based on frequency summation of band-limited spectrograms under the assumption that energy (square of the Fourier amplitude) is the appropriate metric. Power-law detectors allow for a higher power of the Fourier amplitude, appropriate when the signal occupies a limited but unknown subset of these frequencies. Shipping noise is non-stationary and colored and problematic for many marine mammal detection algorithms. Modifications to the standard power-law form are introduced to minimize the effects of this noise. These same modifications also allow for a fixed detection threshold, applicable to broadly varying ocean acoustic environments. The detection algorithm is general enough to detect all types of humpback vocalizations. Tests presented in this paper show this algorithm matches human detection performance with an acceptably small probability of false alarms (P(FA) < 6%) for even the noisiest environments. The detector outperforms energy detection techniques, providing a probability of detection P(D) = 95% for P(FA) < 5% for three acoustic deployments, compared to P(FA) > 40% for two energy-based techniques. The generalized power-law detector also can be used for basic parameter estimation and can be adapted for other types of transient sounds.     

Evidence for simultaneous sound production in the bowhead whale (Balaena mysticetus)

Simultaneous production of two harmonically independent sounds, the two-voice phenomenon, is a well-known feature in bird song. Some toothed whales can click and whistle simultaneously, and a few studies have also reported simultaneous sound production by baleen whales. The mechanism for sound production in toothed whales has been largely uncovered within the last three decades, whereas mechanism for sound production in baleen whales remains poorly understood. This study provides three lines of evidence from recordings made in 2008 and 2009 in Disko Bay, Western Greenland, strongly indicating that bowhead whales are capable of simultaneous dual frequency sound production. This capability may function to enable more complex singing in an acoustically mediated reproductive advertisement display, as has been suggested for songbirds, and/or have significance in individual recognition.     

采用被动声监测方法识别波弗特海区域海洋水声环境

为了研究北冰洋冰下水声环境的噪声特性,对2016年中国第七次北极科考期间在波弗特海进行的声学观测实验获取的数据集,采用时间统计分析和频域谱分析方法进行了处理,讨论了处理结果与同时期获取的海洋、大气之间的联系。针对冰下噪声长期监测和北冰洋水声环境特性的准实时观测,确定了描述冰下水声环境特性的参数组,给出了处理方法和流程,用于基于被动声监测的水声环境识别,指导研究设计和硬件选择。回传的实测结果可以与已发表的结论进行比较,从而确切描述和理解北冰洋水声环境的变化。     

Studies of sound transmission in various types of stored grain for acoustic detection of insects

In developing passive acoustic systems for detecting insect infestations in bulk-stored grain, it is advantageous to understand the transmission of sound in the grain between the insects and the sensors. In the work presented here grain is shown to be a strong acoustical absorber, the attenuation coefficient increasing roughly as the square root of the frequency. Tests with soft wheat immersed in three different gases: air, argon and carbon dioxide, support an earlier conclusion that sound is transmitted principally through the gas in the passageways between the grain kernels. The speed of sound and the attenuation coefficient were measured as a function of frequency for six different types of grain: hard and soft wheat, brown rice, soybeans, corn and sorghum. It was determined that sound is transmitted over longer distances in grains with a larger inter-kernel spacing, such as corn and soybeans. Grain depth, up to several meters, appears to have little effect on sound transmission.     

An acoustic chamber for sound intensity measurements

The construction and performance of an acoustic chamber suitable for sound intensity measurements is described. The walls and the ceiling of the room are treated with glass wool sheets, air gap and pleated carpet in that order for sound absorption. The final testing of the room shows that good sound absorption is obtained down to low frequencies. The sound absorption coefficient for the room varies between 0.83 and 0.91 for different frequencies.     

Method of acoustic sweep monitoring of oceanic inhomogeneities (Review)

Theoretical grounds of the new method of monitoring of the temporal variability of oceanic inhomogeneities, which uses the data on frequency shifts of interference maxima of the sound field, were described. The method is free of limitations on both the resolution of signals coming in individual modes (rays) and the adiabatic approximation underlying the conventional methods of inhomogeneity reconstruction. The monitoring sensitivity was estimated, which allows us to estimate minimum detectable changes in the speed of sound by measurement data on frequency shifts of local maxima. Experimental data on shifts of the frequency spectrum of a broadband low-frequency signal on a stationary path in a shallow sea were presented. On their basis, the possibility of applying this method to diagnose tidal variations was shown. Within a numerical simulation, model reconstruction of the frequency spectrum of background internal waves was considered on the basis of the data on measurements of the spectrum of frequency shifts of the interference maximum. The results of the spectrum reconstruction with and without focusing of the conjugate wave field are presented. The problems of monitoring stability and efficiency with respect to the interference pattern formed by various groups of modes were discussed.     

水下蛙人被动探测测向实验研究

为了对携带开式呼吸器的水下蛙人进行被动探测,本文采用四个水听器组成的十字阵在浅海水域对水下开式蛙人进行了被动探测、测向实验。结果表明:蛙人辐射噪声具有周期性特征,其周期与蛙人的呼吸频率有关;另外,蛙人呼吸辐射噪声具有显著频带,并且其频带与蛙人携带的呼吸器有关。根据蛙人辐射噪声的显著频带和周期性特征,设计信号处理算法实现了对蛙人的被动声学探测识别。使用互相关方法处理一对水听器的接收信号,可以确定蛙人的方位,但是根据理论分析会出现一个假方位。对比十字阵中两对水听器的测向结果可确定蛙人的准确方位。     

Improved passive acoustic band-limited energy detection for cetaceans

Acoustic detection of cetaceans is challenged by the variability of calls and the presence of variable background noise. One detection method is to start with frequency band-limited signal and noise estimates, and apply a likelihood ratio test (LRT). These detectors suffer from false alarms when broadband signals overlap the band of interest, triggering detection. Some detectors only consider previous samples, causing further false alarms. The authors propose a method of reducing false alarms by defining a guard band that is not expected to contain energy from the species of interest. A second LRT is performed by testing the ratio of the signal estimate in the signal band with the signal estimate of the guard band. This method is shown to reduce false alarms with a small reduction in detection performance. A detection method is also presented that can be optimized for high processing efficiency, while improving false-alarm rejection from signals that are longer in duration than the signal of interest. Performance is demonstrated on real cetacean recordings and ocean noise. The detection algorithm is implemented in PAMGUARD, an open source Java application designed for passive acoustic monitoring (PAM) of cetaceans.     

Three-dimensional passive acoustic tracking of sperm whales (Physeter macrocephalus) in ray-refracting environments

A wide-aperture towed passive acoustic array is used to obtain ranges and depths of acoustically active sperm whales in the Gulf of Mexico in June 2004, by extending a technique previously reported [Thode, J. Acoust. Soc. Am. 116, 245-253 (2004)] to explicitly account for ray-refraction effects arising from a depth-dependent sound speed profile. Under this expanded approach, three quantities are measured from an impulsive sound: the time difference between direct-path arrivals on a forward and rear subarray, the time difference between the direct and surface-reflected paths on the rear subarray, and the acoustic bearing measured on the rear subarray. These quantities, combined with independent measurements of hydrophone depths and cable inclination, are converted into range-depth position fixes by implementing an efficient numerical procedure that uses a ray-tracing code to account for ray-refraction effects caused by depth-dependent sound speed profiles. Analytic expressions that assume a constant waterborne sound speed are also derived. Foraging depths of various sperm whales over 10 days in June, 2004 are estimated using the numerical technique.     

Trouble-shooting deployment and recovery options for various stationary passive acoustic monitoring devices in both shallow- and deep-water applications

Deployment of any type of measuring device into the ocean, whether to shallow or deeper depths, is accompanied by the hope that this equipment and associated data will be recovered. The ocean is harsh on gear. Salt water corrodes. Currents, tides, surge, storms, and winds collaborate to increase the severity of the conditions that monitoring devices will endure. All ocean-related research has encountered the situations described in this paper. In collating the details of various deployment and recovery scenarios related to stationary passive acoustic monitoring use in the ocean, it is the intent of this paper to share trouble-shooting successes and failures to guide future work with this gear to monitor marine mammal, fish, and ambient (biologic and anthropogenic) sounds in the ocean-in both coastal and open waters.