Spatial perception and adaptive sonar behavior

Bat echolocation is a dynamic behavior that allows for real-time adaptations in the timing and spectro-temporal design of sonar signals in response to a particular task and environment. To enable detailed, quantitative analyses of adaptive sonar behavior, echolocation call design was investigated in big brown bats, trained to rest on a stationary platform and track a tethered mealworm that approached from a starting distance of about 170 cm in the presence of a stationary sonar distracter. The distracter was presented at different angular offsets and distances from the bat. The results of this study show that the distance and the angular offset of the distracter influence sonar vocalization parameters of the big brown bat, Eptesicus fuscus. Specifically, the bat adjusted its call duration to the closer of two objects, distracter or insect target, and the magnitude of the adjustment depended on the angular offset of the distracter. In contrast, the bat consistently adjusted its call rate to the distance of the insect, even when this target was positioned behind the distracter. The results hold implications for understanding spatial information processing and perception by echolocation.     

The role of the external ear in vertical sound localization in the free flying bat, Eptesicus fuscus

The role of the external ear in sonar target localization for prey capture was studied by deflecting the tragus of six big brown bats, Eptesicus fuscus. The prey capture performance of the bat dropped significantly in the tragus-deflection condition, compared with baseline, control, and recovery conditions. Target localization error occurred in the tragus-deflected bat, and mainly in elevation. The deflection of the tragus did not abolish the prey capture ability of the bat, which suggests that other cues are available used for prey localization. Adaptive vocal and motor behaviors were also investigated in this study. The bat did not show significant changes in vocal behaviors but modified its flight trajectories in response to the tragus manipulation. The tragus-deflected bat tended to attack the prey item from above and had lower tangential velocity and larger bearing from the side, compared with baseline and recovery conditions. These findings highlight the contribution of the tragus to vertical sound localization in the free-flying big brown bat and demonstrate flight adaptations the bat makes to compensate altered acoustic cues.     

The bat head-related transfer function reveals binaural cues for sound localization in azimuth and elevation

Directional properties of the sound transformation at the ear of four intact echolocating bats, Eptesicus fuscus, were investigated via measurements of the head-related transfer function (HRTF). Contributions of external ear structures to directional features of the transfer functions were examined by remeasuring the HRTF in the absence of the pinna and tragus. The investigation mainly focused on the interactions between the spatial and the spectral features in the bat HRTF. The pinna provides gain and shapes these features over a large frequency band (20-90 kHz), and the tragus contributes gain and directionality at the high frequencies (60 to 90 kHz). Analysis of the spatial and spectral characteristics of the bat HRTF reveals that both interaural level differences (ILD) and monaural spectral features are subject to changes in sound source azimuth and elevation. Consequently, localization cues for horizontal and vertical components of the sound source location interact. Availability of multiple cues about sound source azimuth and elevation should enhance information to support reliable sound localization. These findings stress the importance of the acoustic information received at the two ears for sound localization of sonar target position in both azimuth and elevation.     

基于双水听器的目标深度辨识

随着水下目标越来越安静,探测并区分水下目标变得越来越困难。现在对目标的深度辨识多采用匹配场的方法,但其需要大量的先验知识,由于海洋情况多变复杂,这种方法并不适合进行工程实践。本文旨在探索出一种适用于浅海波导的目标深度辨识方法,并减轻工程实践的复杂度。此方法基于Pekeris波导模型,应用了数值仿真技术对垂直双水听器声压互谱的有功分量进行了分析,发现当声源深度变化时互谱有功分量符号随之变化,这个变化规律可以用于目标深度辨识。本文总结了简正波阶数以及水听器深度变化对目标深度辨识结果的影响。通过实验验证,此方法可以较好的对浅海目标进行深度辨识,方法较为可靠,有一定的应用前景。     

Bat noseleaf model: echolocation function, design considerations, and experimental verification

This paper describes a possible bat noseleaf echolocation function that improves target elevation resolution. Bats with a protruding noseleaf can rotate the lancet to act as an acoustic mirror that reflects the nostril emission, modeled as a virtual nostril that produces a delayed emission. The cancellation of the nostril and virtual nostril components at a target produces a sharp spectral notch whose frequency location relates to target elevation. This notch can be observed directly from the swept-frequency emission waveform, suggesting cochlear processing capabilities. Physical acoustic principles indicate the design considerations and trade-offs that a bat can accomplish through noseleaf shape and emission characteristics. An experimental model verifies the analysis and exhibits an elevation versus notch frequency sensitivity of approximately 1°/kHz.     

用于浅海有源声呐目标深度估计的匹配相位处理EI北大核心CSCD

针对浅海波导中有源声呐目标深度估计问题,提出了通过单个声源发射低频宽带信号,垂直双接收水听器接收目标回波,利用宽带目标回波比值的相位特征进行匹配相位处理的方法,不仅消除了目标散射特性对有源声呐目标深度估计的影响,而且仅需计算单程的信道传递函数,运算量小,有利于实时处理的实现需求。首先通过理论推导,定义了一个隐含目标深度、且与目标散射特性无关的声场特征——单程传播向量宽带干涉结构,在Pekeris波导条件下仿真分析了简正波阶数与单程传播向量宽带干涉结构的幅度和相位的关系,发现选取较多的简正波阶数贡献的单程传播向量宽带干涉结构进行匹配相位处理可以提高目标深度估计的性能。进一步仿真分析表明,在发射信号选取一定的时间长度和带宽的条件下,利用全部阶简正波且信噪比大于-10 dB时,方法的深度估计误差在5 m之内。最后分析了信号时间长度和处理带宽对有源声呐目标深度估计性能的影响,以及海底声速、海深和声速剖面失配时方法的鲁棒性。     

The effect of climate on acoustic signals: does atmospheric sound absorption matter for bird song and bat echolocation?

The divergence of signals along ecological gradients may lead to speciation. The current research tests the hypothesis that variation in sound absorption selects for divergence in acoustic signals along climatic gradients, which has implications for understanding not only diversification, but also how organisms may respond to climate change. Because sound absorption varies with temperature, humidity, and the frequency of sound, individuals or species may vary signal structure with changes in climate over space or time. In particular, signals of lower frequency, narrower bandwidth, and longer duration should be more detectable in environments with high sound absorption. Using both North American wood warblers (Parulidae) and bats of the American Southwest, this work found evidence of associations between signal structure and sound absorption. Warbler species with higher mean absorption across their range were more likely to have narrow bandwidth songs. Bat species found in higher absorption habitats were more likely to have lower frequency echolocation calls. In addition, bat species changed echolocation call structure across seasons, using longer duration, lower frequency calls in the higher absorption rainy season. These results suggest that signals may diverge along climatic gradients due to variation in sound absorption, although the effects of absorption are modest.     

A study on the random array generation method for moving sound source identification

Based on the problem that the generating method of random array structure is inefficient,a method is proposed to generate the random target arrays by using coaxial circular array in the polar coordinates in the premise that the array angular resolution of source identification is guaranteed.According to the principle of moving sound source identification,this work deduces the basic non-equidistance coaxial circular rings'radius,and generates target random arrays which were suitable for moving sound source identification through array partitioning,condition filtering in the polar coordinates and simulation evaluation.Finally,numerical simulation and moving car sound source identification test have been done.The analytical results show that using this method to generate random array is effective.Compared with the traditional regular arrays,the target random array has more accurate moving sound source identification performance.     

识别运动声源随机阵列生成法研究

针对随机阵列结构设计方面欠缺高效的生成方法这一问题,在保证阵列对声源识别精度的前提下,提出一种在极坐标下用于识别运动声源的随机阵列生成方法。根据声阵列识别运动声源的原理,推导了非等间距基本同轴圆环的半径,再通过降列分区、极坐标下条件筛选和模拟评价三个步骤,生成适用于识别运动声源的目标随机阵列,最后进行数值模拟和运动汽车噪声源识别实验进行验证。研究结果表明,用该方法能够高效地生成目标随机阵列,与常用规则阵列相比具有更良好的声源识别特性,并且具有准确的运动声源识别性能。      

Phase calibration of sonar systems using standard targets and dual-frequency transmission pulses

The phase angle component of the complex frequency response of a sonar system operating near transducer resonance is usually distorted. Interpretation and classification of the received sonar signal benefits from the preservation of waveform fidelity over the full bandwidth. A calibration process that measures the phase response in addition to the amplitude response is thus required. This paper describes an extension to the standard-target calibration method to include phase angle, without affecting the experimental apparatus, by using dual-frequency transmission pulses and frequency-domain data processing. This approach reduces the impact of unknown range and sound speed parameters upon phase calibration accuracy, as target phase is determined from the relationship of the two frequency components instead of relying on a local phase reference. Tungsten carbide spheres of various sizes were used to simultaneously calibrate the amplitude and phase response of an active sonar system in a laboratory tank. Experimental measurements of target phase spectra are in good agreement with values predicted from a theoretical model based upon full-wave analysis, over an operating frequency of 50-125 kHz.     

一种双正交心音小波的构造方法

为了提高小波分析在心音信号处理中的性能, 在分析小波构造理论的基础上, 构造了一种专门用于心音信号处理的小波基. 首先提出一种构造滤波器长度为偶数的紧支撑双正交小波的一般方法; 然后根据心音信号的特点, 讨论心音小波的构造原则和一种基于心音 小波族的心音信号合成模型, 并且在此基础上构造出心音小 波. 为了突出使用心音小波处理心音信号的先进性和实用性, 对心音小波进行了比较全面的理论和数值仿真分析. 实验结果表明, 相比常用的db, bior系列小波, 运用心音小波对心音信号进行处理, 能够获得更好的去噪效果、 更精确的心音分类信息以及更小的重构误差率, 为心音特征提取和身份识别的深入研究提供了一种新方法, 在表征心音个体特征的细节方面具有积极的意义. 本文根据应用对象设计专用小波的方法也为工程应用中小波基的选择提供了一种新途径. 关键词： 双正交小波 心音小波 构造方法 心音合成模型     

Echo-to-reverberation enhancement based on decomposition of time reversal operator with forward and backward reverberation nulling constrains

Combined the decomposition of time reversal operator and the time reversal reverberation nulling, a new time reversal processing approach for echo-to-reverberation ratio enhancement is proposed. In this method, a 2-dimensional signal subspace for the range of the target and two bottom focusing weight vectors for the ranges near the target are obtained by the decomposition of time reversal operator. From the signal subspace and focusing weight vectors, a constrained optimal excitation weight vector of source receiver array can be deduced to null the acoustic energy on the corresponding bottom and maximize the energy at the tar- get. This method remedies the shortages of conventional time reversal processing, time reversal reverberation nulling and time reversal selective focusing method. It focuses sound energy at the target and nulls the energy at the bottom near the target range simultaneously, therefore enhancing the echo-to-reverberation ratio without probe source and prior-knowledge of the relative scattering intensity of target and bottom. Numerical simulations in typical shallow water environments showed the effectiveness of the proposed method and its improved performance for echo-reverberation enhancement than conventional time reversal processing.     

数字图像注入式红外目标捕获跟踪训练仿真

介绍一种利用数字图像注入构建目标环境来完成目标捕获跟踪仿真训练任务的新方法,该方法通过模拟目标的理论航迹,实时接收并解算编码器输出值,同时与目标的运动方程做综合处理,计算出目标的位置信息,最后在背景中合成目标后按照红外图像的格式将数字图像注入到数字图像处理系统中。该方法可以在不开启红外相机的情况下,方便地完成手动及自动跟踪的训练任务,节约了训练成本,并已成功运用到某光电跟瞄设备的仿真训练系统中。     

水下爆炸声源辅助声呐系统的目标定位和参数估计研究（英文）

Underwater target localization and parameters(azimuth and range) estimation by the method of utilizing explosions as underwater sound sources are described in this paper.The narrow beam reverberation model of the target echo signal is researched to estimate the target azimuth in reverberation background.Estimation errors of target azimuth and range are studied and proved to approximately meet Gauss distribution.Then the variance formula of target range error is deduced.Simulation experiments are applied to research the target range error and its standard deviation,and a series of measures to improve the estimation accuracy of target range are proposed.It is confirmed by the data processing results of simulations and lake experiments that the proposed method can accurately locate underwater target at a long distance on the condition of a certain underwater explosion range error.     

Echolocation call intensity and directionality in flying short-tailed fruit bats, Carollia perspicillata (Phyllostomidae)

The directionality of bat echolocation calls defines the width of bats' sonar "view," while call intensity directly influences detection range since adequate sound energy must impinge upon objects to return audible echoes. Both are thus crucial parameters for understanding biosonar signal design. Phyllostomid bats have been classified as low intensity or "whispering bats," but recent data indicate that this designation may be inaccurate. Echolocation beam directionality in phyllostomids has only been measured through electrode brain-stimulation of restrained bats, presumably excluding active beam control via the noseleaf. Here, a 12-microphone array was used to measure echolocation call intensity and beam directionality in the frugivorous phyllostomid, Carollia perspicillata, echolocating in flight. The results showed a considerably narrower beam shape (half-amplitude beam angles of approximately 16° horizontally and 14° vertically) and louder echolocation calls [source levels averaging 99 dB sound pressure level (SPL) root mean square] for C. perspicillata than was found for this species when stationary. This suggests that naturally behaving phyllostomids shape their sound beam to achieve a longer and narrower sonar range than previously thought. C. perspicillata orient and forage in the forest interior and the narrow beam might be adaptive in clutter, by reducing the number and intensity of off-axis echoes.     

利用Doppler-warping变换的水下对空运动声源的线谱探测EI北大核心CSCD

提出了一种利用Doppler-warping变换的水下对空运动声源的线谱探测方法。该方法首先利用Doppler-warping变换线性化目标线谱的多普勒相位,再提取线性化后的目标线谱点,结合波束形成算法实现对目标的探测。仿真和海试数据处理结果表明,与直接提取目标线谱实现探测的方法相比,所提出方法有以下几个优势:(1)将目标线谱多普勒相位线性化,线谱跟踪更为稳定连续;(2)将目标线谱频带展宽的能量重新集中到原频率附近,在低信噪比环境下能更好地提取目标线谱;(3)将干扰线谱瞬时频率非线性化,能更好地实现干扰线谱的分离。海试数据处理结果表明,实现了对远至16.8 km处空中运动目标的水下有效探测,探测能力与抗干扰能力明显增强。     

A method for estimating the orientation of a directional sound source from source directivity and multi-microphone recordings: principles and application

Taking into account directivity of real sound sources makes it possible to try solving an interesting and biologically relevant problem: estimating the orientation in three-dimensional space of a directional sound source. The source, of known directivity, produces a broadband signal (in the ultrasonic range, in this application) that is recorded by microphones whose position with respect to source is known. An analytical method to process the recorded signals and estimate source orientation is developed in this paper. Experiments testing method performance in estimating source orientation were performed both in a laboratory environment with a Polaroid transducer as source and in a flight room with a Myotis daubentonii bat. In the first case, results showed the estimation method to be accurate and pointed out its limitations. The latter case is significant as an example biological application of the method for extracting behavioral features from bats; results are compared with alternative calculations based on microphone root-mean-square (rms)-pressure values.     

采用稀疏测量的高分辨率相干声场分离

现有相干声场分离方法受限于采样定理,要获取高分辨率的分离结果需要大量的测点。为降低测量成本,提出一种采用稀疏测量的高分辨率相干声场分离方法。该方法首先根据波叠加原理构建传递矩阵,然后通过奇异值分解技术获取声场的一组稀疏正交基,最后利用稀疏正则化获取权重系数的稀疏解并将其用于分离目标声场。仿真和实验结果表明:在测点数较少的情况下,该方法相较于常规等效源声场分离方法的分离精度更高。同时,常规等效源声场分离方法的分离结果分辨率受限于测点数目,而该方法可以在测点数较少情况下实现高分辨率的相干声场分离。      

Acoustic flow perception in cf-bats: properties of the available cues.

Signal design in cf-bats is hypothesized to be commensurate with the evaluation of time-variant echo parameters, imposed by changes in the sound channel occurring as the bat flies by a target. Two such parameters, the proportional changes in Doppler frequency and sound pressure amplitude, are surveyed, employing a simplified acoustic model in order to assess their fitness for target localization given a translational movement within a plane. This is accomplished by considering the properties of the scalar fields given by the value of these putative sensory variables as a function of position in a plane. The considered criteria are: existence and extent of ambiguity areas (i.e., multiple solutions for target position), magnitude of the variables (relevant with regard to perceptual thresholds), as well as magnitude and orthogonality of the gradients (relevant to localization accuracy). It is concluded that these properties render the considered variables compatible with gross judgements of target position. This may be sufficient for behavioral contexts like obstacle avoidance, where adoption of suitable safety margins could compensate for the variance and bias associated with estimates of target location.     

深海海底反射区声场的相干结构及其有源声呐估距

有源声呐在探测深海海底反射区的目标时,由于声线大掠射角弯曲且声速沿声线传播路径不断变化,造成了常规估距方法产生较大的误差。有效声速法是减小常规估距方法误差的有效途径,但由于需要预先计算空间每一位置点的"声线时延有效声速"对,复杂度高,实时性差。针对有效声速法的实时性问题,本文基于深海海底反射区声场的相干结构,提出一种改进的有效声速估距方法.首先指出深海声场能量沿声源出射角强弱相间变化及其引起的海底反射区离散声呐可探测区现象,并利用深海近水面声源的声线干涉效应解释了该现象的物理机理,建立了声呐可探测区与高能量声线的量化关系。在此基础上,计算声呐可探测区边界位置的"声线时延-有效声速"对,并线性拟合出可探测区所有位置点对应的值。经仿真验证,该方法与传统的有效声速法均可实现对常规估距方法估距误差的有效校正。虽然该方法估距精度较传统的有效声速法略有增大,但计算复杂度和计算时间显著减小,实时性好,具有良好的工程应用前景。