Male sperm whale acoustic behavior observed from multipaths at a single hydrophone

Sperm whales generate transient sounds (clicks) when foraging. These clicks have been described as echolocation sounds, a result of having measured the source level and the directionality of these signals and having extrapolated results from biosonar tests made on some small odontocetes. The authors propose a passive acoustic technique requiring only one hydrophone to investigate the acoustic behavior of free-ranging sperm whales. They estimate whale pitch angles from the multipath distribution of click energy. They emphasize the close bond between the sperm whale's physical and acoustic activity, leading to the hypothesis that sperm whales might, like some small odontocetes, control click level and rhythm. An echolocation model estimating the range of the sperm whale's targets from the interclick interval is computed and tested during different stages of the whale's dive. Such a hypothesis on the echolocation process would indicate that sperm whales echolocate their prey layer when initiating their dives and follow a methodic technique when foraging.     

A framework for the automated real-time detection of short tonal sounds from ocean observatories

Acquisition of acoustic data from ocean observatories is expected to play a key role for the long-term monitoring of marine mammals and anthropogenic noise. It typically requires processing of a large volume of acoustic data and it must rely on automated identification of signals. We present an algorithmic framework for the detection of short tonal sounds (e.g. cetacean calls, anthropogenic pings) intended to act as a first stage in a system for the automated real-time detection, classification, and localisation of acoustic sources. The algorithm was validated under a diversity of scenarios expected at ocean observatories. Using simulated signals that emulate a variety of cetacean call-types, perfect identification of signal position was obtained for signal to noise ratios of ?15 to ?5 dB, depending on the signal-type. Separation of real-world data segments with short tonal sounds (mainly cetacean calls) from segments with other sounds or noise resulted in Area Under the ROC Curve values between 0.96 and 0.98. The algorithm can be used to automatically identify cetacean calls and anthropogenic short tonal sounds much faster than in real-time, thereby reducing the burden put on data transmission, storage, or processing by classification and localisation algorithms.     

The monopulsed nature of sperm whale clicks

Traditionally, sperm whale clicks have been described as multipulsed, long duration, nondirectional signals of moderate intensity and with a spectrum peaking below 10 kHz. Such properties are counterindicative of a sonar function, and quite different from the properties of dolphin sonar clicks. Here, data are presented suggesting that the traditional view of sperm whale clicks is incomplete and derived from off-axis recordings of a highly directional source. A limited number of assumed on-axis clicks were recorded and found to be essentially monopulsed clicks, with durations of 100 micros, with a composite directionality index of 27 dB, with source levels up to 236 dB re: 1 microPa (rms), and with centroid frequencies of 15 kHz. Such clicks meet the requirements for long-range biosonar purposes. Data were obtained with a large-aperture, GPS-synchronized array in July 2000 in the Bleik Canyon off Vester?len, Norway (69 degrees 28' N, 15 degrees 40' E). A total of 14 h of sound recordings was collected from five to ten independent, simultaneously operating recording units. The sound levels measured make sperm whale clicks by far the loudest of sounds recorded from any biological source. On-axis click properties support previous work proposing the nose of sperm whales to operate as a generator of sound.     

Comparison of echolocation clicks from geographically sympatric killer whales and long-finned pilot whales (L)

The source characteristics of biosonar signals from sympatric killer whales and long-finned pilot whales in a Norwegian fjord were compared. A total of 137 pilot whale and more than 2000 killer whale echolocation clicks were recorded using a linear four-hydrophone array. Of these, 20 pilot whale clicks and 28 killer whale clicks were categorized as being recorded on-axis. The clicks of pilot whales had a mean apparent source level of 196 dB re 1 μPa pp and those of killer whales 203 dB re 1 μPa pp. The duration of pilot whale clicks was significantly shorter (23 μs, S.E.=1.3) and the centroid frequency significantly higher (55 kHz, S.E.=2.1) than killer whale clicks (duration: 41 μs, S.E.=2.6; centroid frequency: 32 kHz, S.E.=1.5). The rate of increase in the accumulated energy as a function of time also differed between clicks from the two species. The differences in duration, frequency, and energy distribution may have a potential to allow for the distinction between pilot and killer whale clicks when using automated detection routines for acoustic monitoring.     

Tracking sperm whales with a towed acoustic vector sensor

Passive acoustic towed linear arrays are increasingly used to detect marine mammal sounds during mobile anthropogenic activities. However, these arrays cannot resolve between signals arriving from the port or starboard without vessel course changes or multiple cable deployments, and their performance is degraded by vessel self-noise and non-acoustic mechanical vibration. In principle acoustic vector sensors can resolve these directional ambiguities, as well as flag the presence of non-acoustic contamination, provided that the vibration-sensitive sensors can be successfully integrated into compact tow modules. Here a vector sensor module attached to the end of a 800 m towed array is used to detect and localize 1813 sperm whale "clicks" off the coast of Sitka, AK. Three methods were used to identify frequency regimes relatively free of non-acoustic noise contamination, and then the active intensity (propagating energy) of the signal was computed between 4-10 kHz along three orthogonal directions, providing unambiguous bearing estimates of two sperm whales over time. These bearing estimates are consistent with those obtained via conventional methods, but the standard deviations of the vector sensor bearing estimates are twice those of the conventionally-derived bearings. The resolved ambiguities of the bearings deduced from vessel course changes match the vector sensor predictions.     

Click rates and silences of sperm whales at Kaikoura, New Zealand

Analysis of the usual click rates of sperm whales (Physeter macrocephalus) at Kaikoura, New Zealand, confirms the potential for assessing abundance via "click counting." Usual click rates over three dive cycles each of three photographically identified whales showed that 5 min averages of usual click rate did not differ significantly within dives, among dives of the same whale or among whales. Over the nine dives (n= 13 728 clicks) mean usual click rate was 1.272 clicks s(-1) (95% CI= 0.151). On average, individual sperm whales at Kaikoura spent 60% of their time usual clicking in winter and in summer. There was no evidence that whale identity or stage of the dive recorded affects significantly the percentage of time spent usual clicking. Differences in vocal behavior among sperm whale populations worldwide indicate that estimates of abundance that are based on click rates need to based on data from the population of interest, rather than from another population or some global average.     

Off-axis effects on the multipulse structure of sperm whale usual clicks with implications for sound production

Sperm whales (Physeter macrocephalus) produce multipulsed clicks with their hypertrophied nasal complex. The currently accepted view of the sound generation process is based on the click structure measured directly in front of, or behind, the whale where regular interpulse intervals (IPIs) are found between successive pulses in the click. Most sperm whales, however, are recorded with the whale in an unknown orientation with respect to the hydrophone where the multipulse structure and the IPI do not conform to a regular pulse pattern. By combining far-field recordings of usual clicks with acoustic and orientation information measured by a tag on the clicking whale, we analyzed clicks from known aspects to the whale. We show that a geometric model based on the bent horn theory for sound production can explain the varying off-axis multipulse structure. Some of the sound energy that is reflected off the frontal sac radiates directly into the water creating an intermediate pulse p1/2 seen in off-axis recordings. The powerful p1 sonar pulse exits the front of the junk as predicted by the bent-horn model, showing that the junk of the sperm whale nasal complex is both anatomically and functionally homologous to the melon of smaller toothed whales.     

Measuring the off-axis angle and the rotational movements of phonating sperm whales using a single hydrophone

The common use of the bent-horn model of the sperm whale sound generator describes sperm whale clicks as the pulse series {p0, p1, p2, p3,...}. Clicks, however, deviate from this standard when recorded using off-axis hydrophones. The existence of additional pulses within the {p0, p1, p2, p3, ...} series can be explained still using the bent-horn model. Multiple reflections on the whale's frontal and distal sacs of the p0 pulse lead to additional sets of pulses detectable using a farfield, off-axis hydrophone. The travel times of some of these additional pulses depend on the whale's orientation. The authors propose a method to estimate the off-axis angle of sperm whale clicks. They also propose a method to determine the nature of the movement (if it is pitch, yaw, or roll) of phonating sperm whales. The application of both methods requires the measurement of the travel time differences between pulses composing a sperm whale click. They lead, using a simple apparatus consisting of a single hydrophone at an unknown depth, to new measurements of the underwater movements of sperm whales. Using these methods shows that sperm whales would methodically scan seawater while searching for prey, by making periodic pitch and yaw movements in sync with their acoustic activity.     

Compression of Cuvier’s beaked whale (Ziphius cavirostris) vocalizations using fast orthogonal search

Remote sensing of beaked whale vocalizations poses significant problems due to limited communications bandwidths. Many beaked whales vocalize (click) at frequencies up to 50 kHz Hence high bandwidth sampling (typically 100+ kHz) and processing is required in order to detect the clicks, but transmitting the data from a remote sensor using a low-bandwidth (4800 baud) satellite link results in a real-time bottleneck. Even if auto-detection algorithms were used on the remote sensor, some data would need to be relayed to a human operator to verify the classification. Hence, the ability to compress the data in a manner that does not impede the ability to detect and classify the transient signal is required. Typical audio compression techniques have a maximum sampling rate of 48 kHz which is too low to collect beaked whale clicks and still obey the Nyquist criterion. In addition, audio compression algorithms also have a psycho-acoustic model that aids in the compression of the signal but distorts the audio signal.This paper presents a compression algorithm that uses a non-linear modelling technique called fast orthogonal search (FOS) to create a functional expansion of the acoustic data. The candidate functions used in the functional expansion are transient signals that model Cuvier’s beaked whale (Ziphius cavirostris) clicks as well as sinusoidal functions for modelling whale songs. A compression ratio of 93 is achieved by transmitting candidate identification numbers and weights for only the candidate functions that are chosen by the FOS algorithm. The acoustic signal is recreated using the weights and candidate numbers transmitted. The reconstructed time series is used as an input to a band-limited energy detector for whale vocalizations. The raw data and the reconstructed data have comparable probability of detection and missed detections, with fewer false alarms for the reconstructed signal.     

An efficient statistics-based method for the automated detection of sperm whale clicks

In this paper, we present a new method for the automated detection of sperm whale regular clicks and creaks based on statistical computations. In the first stage, a spectrogram is computed from the input waveform, followed by a noise normalisation process. A frequency domain filter is then applied, and the energy accumulated in each time frame is calculated. Two-second time-windows are then classified as containing either regular clicks, creaks, or noise based on statistical parameters using a neural network classifier. Finally, previously obtained statistical parameters are used to implement an energy-based detection criterion for the classified time-windows. Individual regular clicks and creaks are isolated by linking contiguous detected time frames. The proposed method was tested on five recordings of sperm whale sounds. Comparison of the detection performances to hand-labelled regular clicks and creaks revealed that this method outperforms two recently reported waveform-based methods when working with the same recordings files. An average percentage of detection of 86.97% was attained for the set of files. This method consumes also little computation time.     

Sperm whales (Physeter catodon L. 1758) do not react to sounds from detonators

A number of observations show that sperm whales (Physeter catodon L. 1758) react to various man-made pulses with moderate source levels. The behavioral responses are described to vary from silence to fear. Click rates of five submerged male sperm whales were measured during the discharge of eight detonators off Andenes, northern Norway. In addition, the behavioral response of a surfaced specimen was observed. Click rates of the submerged whales and the behavior of the surfaced specimen did not change during the discharges with received sound levels of some 180 dB re 1 microPa peRMS. The apparent lack of response to the discharges could be due to similarity between sperm whale clicks and detonations. Accordingly, it can be speculated that the discharges may have been perceived as isolated clicks from conspecifics.     

Comparison of beaked whale detection algorithms

Due to recent advances in passive acoustic monitoring techniques, beaked whales are now more effectively detected acoustically than visually during vessel-based (e.g. line-transect) surveys. Beaked whales signals can be discriminated from those of other cetaceans by the unique characteristics of their echolocation clicks (e.g. duration >175 μs, center frequencies between 30 and 40 kHz, inter-click intervals between 0.2 and 0.4 s and frequency upsweeps). Furthermore, these same characteristics make these signals ideal candidates for testing automated detection and classification algorithms. There are several different beaked whale automated detectors currently available for use. However, no comparative analysis of detectors exists. Therefore, comparison between studies and datasets is difficult. The purpose of this study was to test, validate, and compare algorithms for detection of beaked whales in acoustic line-transect survey data. Six different detection algorithms (XBAT, Ishmael, PAMGUARD, ERMA, GMM and FMCD) were evaluated and compared. Detection trials were run on three sample days of towed-hydrophone array recordings collected by NOAA Southwest Fisheries Science Center (SWFSC) during which were confirmed visual sightings of beaked whales (Ziphius cavirostris and Mesoplodon peruvianus). Detections also were compared to human verified acoustic detections for a subset of these data. In order to measure the probabilities of false detection, each detector was also run on three sample recordings containing clicks from another species: Risso’s dolphin (Grampus griseus). Qualitative and quantitative comparisons and the detection performance of the different algorithms are discussed.     

Space-time and hybrid algorithms for the passive acoustic localisation of sperm whales and vessels

In the frame of the European Sea-floor Observatory Network (ESONET) and in preparation of the Demonstration Mission Listening to the Deep-Ocean Environment (LIDO) algorithms for the automated real-time detection, classification and localisation of cetaceans have been developed.Such Passive Acoustic Monitoring techniques have the potential to play a key role in cetaceans’ conservation for they allow a non-invasive study of their behaviour, a better knowledge of their population dynamics, and a better understanding of their dynamic relationship with their environment. This paper investigates the development of efficient and accurate techniques to be used as the basis of a localisation module for an automated real-time Passive Acoustic Monitoring system.An opportunity to assess the capabilities of the developed localisation modules was given by recordings collected with a bottom-mounted (around 2080 m depth) tetrahedral compact hydrophone array located offshore the port of Catania (Sicily) during the NEMO-ONDE campaign in the years 2005-2006 by INFN and CIBRA [2]. A well-known class of methods for acoustic source localisation is based on time differences of arrival (TDOA). Its capabilities have shown to be useful even in adverse situations (i.e., few sensors, high noise levels and/or poor calibration). A second class of methods, the space-time methods, originated in underwater applications such as sonar but reached its most significant achievements over the last 20 years in digital communications with recent progress in the treatment of broadband signals. These developments are here revisited under the scope of the localisation and tracking of cetacean vocalisations.Various broadband space-time methods were implemented and allowed to map the sound radiated during the detected clicks and to consequently localise both sperm whales and vessels. Hybrid methods were also developed which improved the robustness of space-time methods to noise and reverberation and reduced processing time. In most cases, the small variance obtained for these estimates lessened the necessity of additional statistical clustering. Even though not independently confirmed by sightings, the tracks derived in the proposed frame can be considered to be consistent with the known movements of sperm whales and vessels.     

Sperm whale clicks: directionality and source level revisited

In sperm whales (Physeter catodon L. 1758) the nose is vastly hypertrophied, accounting for about one-third of the length or weight of an adult male. Norris and Harvey [in Animal Orientation and Navigation, NASA SP-262 (1972), pp. 397-417] ascribed a sound-generating function to this organ complex. A sound generator weighing upward of 10 tons and with a cross-section of 1 m is expected to generate high-intensity, directional sounds. This prediction from the Norris and Harvey theory is not supported by published data for sperm whale clicks (source levels of 180 dB re 1 microPa and little, if any, directionality). Either the theory is not borne out or the data is not representative for the capabilities of the sound-generating mechanism. To increase the amount of relevant data, a five-hydrophone array, suspended from three platforms separated by 1 km and linked by radio, was deployed at the slope of the continental shelf off Andenes, Norway, in the summers of 1997 and 1998. With this system, source levels up to 223 dB re 1 microPa peRMS were recorded. Also, source level differences of 35 dB for the same click at different directions were seen, which are interpreted as evidence for high directionality. This implicates sonar as a possible function of the clicks. Thus, previously published properties of sperm whale clicks underestimate the capabilities of the sound generator and therefore cannot falsify the Norris and Harvey theory.     

Vocal characteristics of pygmy blue whales and their change over time

Vocal characteristics of pygmy blue whales of the eastern Indian Ocean population were analyzed using data from a hydroacoustic station deployed off Cape Leeuwin in Western Australia as part of the Comprehensive Nuclear-Test-Ban Treaty monitoring network, from two acoustic observatories of the Australian Integrated Marine Observing System, and from individual sea noise loggers deployed in the Perth Canyon. These data have been collected from 2002 to 2010, inclusively. It is shown that the themes of pygmy blue whale songs consist of ether three or two repeating tonal sounds with harmonics. The most intense sound of the tonal theme was estimated to correspond to a source level of 179 ± 2 dB re 1 μPa at 1 m measured for 120 calls from seven different animals. Short-duration calls of impulsive downswept sound from pygmy blue whales were weaker with the source level estimated to vary between 168 to 176 dB. A gradual decrease in the call frequency with a mean rate estimated to be 0.35 ± 0.3 Hz/year was observed over nine years in the frequency of the third harmonic of tonal sound 2 in the whale song theme, which corresponds to a negative trend of about 0.12 Hz/year in the call fundamental frequency.     

Directionality of sperm whale sonar clicks and its relation to piston radiation theory

This paper investigates the applicability to sperm whales of the theory of sound radiating from a piston. The theory is applied to a physical model and to a series of sperm whale clicks. Results show that wave forms of off-axis signals can be reproduced by convolving an on-axis signal with the spatial impulse response of a piston. The angle of a recorded click can be estimated as the angle producing the spatial impulse response that gives the best match with the observation when convolved with the on-axis wave form. It is concluded that piston theory applies to sperm whale sonar click emission.     

Three-dimensional localization of sperm whales using a single hydrophone

A three-dimensional localization method for tracking sperm whales with as few as one sensor is demonstrated. Based on ray-trace acoustic propagation modeling, the technique exploits multipath arrival information from recorded sperm whale clicks and can account for waveguide propagation physics like interaction with range-dependent bathymetry and ray refraction. It also does not require ray identification (i.e., direct, surface reflected) while utilizing individual ray arrival information, simplifying automation efforts. The algorithm compares the arrival pattern from a sperm whale click to range-, depth-, and azimuth-dependent modeled arrival patterns in order to estimate whale location. With sufficient knowledge of azimuthally dependent bathymetry, a three-dimensional track of whale motion can be obtained using data from a single hydrophone. Tracking is demonstrated using data from acoustic recorders attached to fishing anchor lines off southeast Alaska as part of efforts to study sperm whale depredation of fishing operations. Several tracks of whale activity using real data from one or two hydrophones have been created, and three are provided to demonstrate the method, including one simultaneous visual and acoustic localization of a sperm whale actively clicking while surfaced. The tracks also suggest that whales' foraging is shallower in the presence of a longline haul than without.     

A Bayesian method to estimate the depth and the range of phonating sperm whales using a single hydrophone

Some bioacousticians have used a single hydrophone to calculate the depth/range of phonating diving animals. The standard one-hydrophone localization method uses multipath transmissions (direct path, sea surface, and seafloor reflections) of the animal phonations as a substitute for a vertical hydrophone array. The standard method requires three multipath transmissions per phonation. Bioacousticians who study foraging sperm whales usually do not have the required amount of multipath transmissions. However, they usually detect accurately (using shallow hydrophones towed by research vessels) direct path transmissions and sea surface reflections of sperm whale phonations (clicks). Sperm whales emit a few thousand clicks per foraging dive, therefore researchers have this number of direct path transmissions and this number of sea surface reflections per dive. The author describes a Bayesian method to combine the information contained in those acoustic data plus visual observations. The author's tests using synthetic data show that the accurate estimation of the depth/range of sperm whales is possible using a single hydrophone and without using any seafloor reflections. This method could be used to study the behavior of sperm whales using a single hydrophone in any location no matter what the depth, the relief, or the constitution of the seafloor might be.     

Passive acoustic location of bowhead whales in a population census off Point Barrow, Alaska

A sonobuoy array placed in the nearshore lead was used for locating bowhead whale sounds to determine if whales migrated past census stations beyond visual range and were uncounted. Based on a sample of 182 whale sounds (over 48 h) from closest point of approach (CPA) distances out to more than 10 km, 68% originated beyond 2 km (CPA), where only 1% of the 242 whales were sighted. No whales were sighted beyond 3 km during this time, but 53% of the located sounds originated that far and beyond. Thirty-seven other bowhead sounds over 15 h were distributed out to 6 km. Two tracked whales moved at average speeds of 1.5 and 1.8 kn. Maximum location error was 1%-25% in a sector of 120 degrees X 5-10 km, depending upon bearing and range. Most whale sounds were low-frequency moans, trumpeting roars, and repetitive sequences (songs) with peak spectrum source level up to 189 dB re: 1 microPa, 1 m. Lack of correlations between numbers of sounds and sighted whales precluded using bowhead sounds to count individuals or even to extrapolate ratios of unseen to observed whales.     

Observations of potential acoustic cues that attract sperm whales to longline fishing in the Gulf of Alaska

Sperm whales (Physeter macrocephalus) have learned to remove fish from demersal longline gear deployments off the eastern Gulf of Alaska, and are often observed to arrive at a site after a haul begins, suggesting a response to potential acoustic cues like fishing-gear strum, hydraulic winch tones, and propeller cavitation. Passive acoustic recorders attached to anchorlines have permitted continuous monitoring of the ambient noise environment before and during fishing hauls. Timing and tracking analyses of sperm whale acoustic activity during three encounters indicate that cavitation arising from changes in ship propeller speeds is associated with interruptions in nearby sperm whale dive cycles and changes in acoustically derived positions. This conclusion has been tested by cycling a vessel engine and noting the arrival of whales by the vessel, even when the vessel is not next to fishing gear. No evidence of response from activation of ship hydraulics or fishing gear strum has been found to date.