High-Frequency Scattered Envelope Statistics of Patchy Seafloors

The scattering properties of the individual components of seafloors consisting of discrete patches of different materials may have a complicated relationship in terms of their angular response and/or frequency dependence. Consequently, this relationship directly influences the angular and frequency response of scattered envelope probability density functions (pdfs). In this paper, the influence of the relative scattering strength of seafloor patches on scattered envelope statistics will be explored through both a modified form of a recently developed model [Abraham and Lyons, IEEE J. Ocean. Eng., vol. 27, pp. 800-813, 2002] and analysis of experimental data collected off Elba Island, Italy, in May 2003, by the NATO Undersea Research Centre, La Spezia, Italy. Qualitative comparisons of the $K$-distribution shape parameter $(alpha)$ between that predicted by the model and that measured from data display promising similarities such as the inverse relationship between $alpha$ and bandwidth, the relative difference in values of $alpha$ for the various seafloor types studied, and the dependence on grazing angle. The favorable model/data comparisons show that it is possible to link the scattered envelope distribution to measurable geoacoustic properties, providing the foundation necessary for solving several important problems related to the detection of targets in non-Rayleigh clutter including performance prediction for different systems based on seafloor properties, extrapolation of performance to other system/bandwidths, and optimization of system parameters such as bandwidth to local environment.      

Acoustic Observation of the Time Dependence of the Roughness of Sandy Seafloors

A statistical model for the time evolution of seafloor roughness due to biological activity is applied to photographic and acoustic data. In this model, the function describing small scale seafloor topography obeys a time-evolution equation with a random forcing term that creates roughness and a diffusion term that degrades roughness. When compared to acoustic data from the 1999 and 2004 Sediment Acoustics Experiments (SAX99 and SAX04), the model yields diffusivities in the range from 3.5$,times {hbox {10}} ^{-11}$ to 2.5 $,times {hbox {10}} ^{-10}~{hbox {m}}^{2} {hbox {s}} ^{-1}$ (from 10 to 80 cm$^{2} {hbox {yr}}^{-1}$), with the larger values occurring at sites where bottom-feeding fish were active. While the experimental results lend support to the model, a more focused experimental and simulation effort is required to test several assumptions intrinsic to the model.      

Attenuation Measurements Across Surface-Ship Wakes and Computed Bubble Distributions and Void Fractions

A surface ship's wake is composed of several hydrodynamic phenomena. A large part of that wake contains a mixture of air bubbles of various sizes in turbulent water. Eventually, as the wake ages, the turbulence subsides and bubbles begin to rise at rates that are determined by their sizes. These bubbles of various sizes and concentrations control the propagation of acoustic signals inside and across a wake. To further our understanding of these phenomena, a series of three continuous-wave (CW)-pulsed signals were transmitted across a wake as the wake aged. Each transmission contained a set of four 0.5-ms-long pulses. The 12 pulses ranged over frequencies from 30 to 140 kHz in 10-kHz steps. The acoustic attenuations across wakes that were due to varying bubble-size densities within the wakes were determined experimentally. From those data, estimates of the bubble densities as functions of the speed of the wake-generating ship, the wake's age, and acoustic frequency were calculated. From the bubble-density results, power-law fits and void fractions are calculated. The attenuation measurements were taken at 7.5-m intervals behind the wake-generating ship and continued for about 2 km. The experiment was run for wakes generated at ship speeds of 12- and 15-kn wakes, and the 15-kn run was repeated for consistence determination. The bubble densities were observed to have power-law forms with varying parameters with the strongest, for early ages, having an exponent of ${-}$3.6 and a void fraction of 4 $times$ 10$^{-7}$ , and with both diminishing for older wakes, as might be expected.      

Evaluation of Laser Scanning and Stereo Photography Roughness Measurement Systems Using a Realistic Model Seabed Surface

The topography of the seabed is influenced by sediment transport due to wave motion, current disturbance, and biological activities. The bottom roughness generated by these processes can substantially alter acoustic wave penetration into and scattering from the bottom, and therefore, it is essential to make accurate measurements of the bottom roughness for such acoustic applications. Methods to make direct measurements of bottom roughness include stereo photography, laser line scanning, and sediment conductivity. Roughness can also be measured indirectly using high-frequency sound backscatter. For optically-based methods, the accuracy of these measurements is typically evaluated using the elevations, lengths, or diameters of simple surface features of known dimensions. However, for acoustic applications, the statistical characteristics of the surface, e.g., the roughness spectrum, are more meaningful. In this paper, we present a fabricated rough surface milled into a 40 $,times ,$60 cm $^{2}$ plastic block for use as a benchmark in the assessment of two in situ roughness measurement systems: a laser scanning system and a digital stereo photography system. The surface has a realistic roughness power spectrum that is derived from the bottom roughness measured during the 1999 Sediment Acoustics Experiment (SAX99) and was fabricated by a computer numerical controlled milling machine. By comparing the fabricated surface spectrum to the measured spectrum, a determination of the accuracy of the roughness measurement is evaluated, which is of direct relevance to acoustic applications.      

Buried Sphere Detection Using a Synthetic Aperture Sonar

This paper presents observations of a buried sphere detected with a low-frequency (5–35-kHz) synthetic aperture sonar (SAS). These detections were made with good signal-to-noise ratios (SNRs) at both above and below the critical grazing angle. The raw data for the below-critical-grazing angle detection shows that the acoustic penetration is skewed by the 29$^{circ}$ offset of the ripple field relative to the sonar path. This observed skew is in agreement with T-matrix calculations carried out to model penetration into the bottom via ripple diffraction. Additionally, measured SNRs over different frequency bands are compared to predictions made using both first- and second-order perturbation theory for ripple diffraction. Both the data and the models indicate a peak detection region around 25 kHz for the environmental conditions present during the test. These results confirm that ripple diffraction can play a critical role in long range (subcritical angle) buried target detection.      

$H_{2}$ and $H_{infty}$ Designs for Diving and Course Control of an Autonomous Underwater Vehicle in Presence of Waves

$H_{2}$ and $H_{infty}$ designs applied to the diving and course control of an autonomous underwater vehicle (AUV) considering the presence of wave disturbances are described. The six-degrees-of-freedom equations of motion of the vehicle are described as a linear model and divided into three noninteracting (or lightly interacting) subsystems for speed control, steering, and diving. This work is based on the slender form of the Naval Postgraduate School (NPS, Monterey, CA) AUV, considering that the subsystems can be controlled by means of two single-screw propellers, a rudder, port and starboard bow planes, and a stern plane. A model of the AUV dynamics is presented with the first- and the second-order wave force disturbances, i.e., the Froude–Kriloff and diffraction forces. An algorithm of nonlinear regression for the rationalization of the subsurface sea spectrum is provided in this case study. The obtained results are analyzed and evaluated in the frequency domain comparing the controllers performance considering or not the inclusion of the model of waves.      

Geoacoustic Inversion for the New Jersey Shelf: 3-D Sediment Model

A 3-D model of sediment sound speed for a 90-km $^{2}$ area on the New Jersey shelf was constructed by application of a geoacoustic inversion technique. This approach is based on a combination of seismic reflection measurements and a perturbative inversion scheme using horizontal wave number estimates. In a two-step process, seismic reflection measurements were used to identify depths at which discontinuities in the sound-speed profile (SSP) likely occur. Then, the perturbative inversion algorithm made use of this a priori information by employing qualitative regularization, an optimal method for addressing stability and uniqueness issues associated with solving the ill-posed inversion problem that provides for resolution of the layered seabed structure.      

Sparse Cylindrical Sonar Arrays

Sparse arrays offer a means for reducing the cost and complexity of beamforming systems. Most of the work in the literature has focused on sparse linear arrays with isotropic transducer elements, which simplifies analysis greatly. In this paper, we will focus on multibeam cylindrical arrays using highly directive elements for use in fishery applications, which requires a directionally independent imaging performance in the azimuth direction as well as beam steerability in the elevational direction. To populate such an array, we suggest a low periodicity in the azimuth direction of the array, which ensures a (near) directionally independent imaging performance in this direction. At the same time it reduces the complexity of the problem so that a suggested iterative method can find the optimal layout under the given constraints, within reasonable time. The optimality of the constrained solution is verified using a stochastic optimization procedure, with a “loosened” periodicity constraint. Simulations then show that the proposed layout, having low periodicity in the azimuth direction, has a reduced peak sidelobe level compared to the fully sampled array. All of the layouts have been required to support beam steering from $-$30 $^{circ}$ to 0$^{circ}$ in elevation and in all 360$^{circ}$ in azimuth, without deterioration in performance.      

The Impact of Multipath on High-Resolution SAS Image Statistics

As with traditional sonar, synthetic aperture sonar (SAS) is susceptible to multipath contamination, reducing the quality and also modifying the statistics of the image. Such multipath contaminants may either be environmentally induced, as is often the case when attempting to image ranges greater than the water depth resulting in returns from the boundaries, or may be induced by the system's supporting structure itself. A clear understanding of such statistical impact is necessary to advance synthetic aperture formation algorithms and for predicting system performance. Broadband acoustic data suitable for SAS processing collected with a rail-mounted mobile-tower as part of the U.S. Office of Naval Research (ONR)-funded Sediment Acoustics eXperiment 2004 (SAX04) are analyzed in this paper. Analysis focused on both system structure and environmentally induced multipath using the $K$ -distribution shape parameter as a metric. High-resolution sonar imagery often exhibited significantly non-Rayleigh, heavy-tailed envelope statistics, characterized by a low equivalent $K$-distribution shape parameter. Analysis showed a clear and significant increase in the estimated shape parameter in the presence of multipath, representing a trend toward a Rayleigh-distributed envelope. A model for reverberation is presented to provide bounds of the statistical impact using observable image intensity level increases in synthetic-aperture-formed images caused by multipath contamination. This model further shows potential for statistical impact when multipath arrivals are of similar level as the direct path even when not observable in the image (e.g., within 10 dB).      

Measurement of the In Situ Compressional Wave Properties of Marine Sediments

Geoacoustic inversion requires a generic knowledge of the frequency dependence of compressional wave properties in marine sediments, the nature of which is still under debate. The use of in situ probes to measure sediment acoustic properties introduces a number of experimental difficulties that must be overcome. To this end, a series of well-constrained in situ acoustic transmission experiments were undertaken on intertidal sediments using a purpose-built in situ device, the Sediment Probing Acoustic Detection Equipment (SPADE). Compressional wave speed and attenuation coefficient were measured from 16 to 100 kHz in medium to fine sands and coarse to medium silts. Spreading losses, which were adjusted for sediment type, were incorporated into the data processing, as were a thorough error analysis and an examination of the repeatability of both the acoustic wave emitted by the source and the coupling between probes and sediment. Over the experimental frequency range and source-to-receiver (S-R) separations of 0.99-8.1 m, resulting speeds are accurate to between 1.1% and 4.5% in sands and less than 1.9% in silts, while attenuation coefficients are accurate to between 1 and 7 dBm in both sands and silts. Preliminary results indicate no speed dispersion and an attenuation coefficient that is proportional to frequency.     

南黄海海底沉积物声学特性及其影响因素试验研究

利用自南黄海中西部海底取回的沉积物样品,对其声学特性及其影响因素进行了试验研究,结果显示,研究区海底沉积物的压缩波速为1.359 ~1.695 km/s,剪切波速为12.5 ~70.9 m/s;颗粒较细的沉积物与较低的压缩波速、剪切波速对应,主要集中在研究区东侧水深较深处;沉积物的物理力学性质对其压缩波速、剪切波速的影响较显著,沉积物的温度和换能器的频率对上述声学两参数也具有一定的影响,而沉积物的包含物及薄夹层等影响声波传播的理论计算结果。给出了研究区海底沉积物物理力学各参数与压缩波速、剪切波速之间的回归方程,以期为国防、工程提供基础资料。     

Mid- to High-Frequency Acoustic Penetration and Propagation Measurements in a Sandy Sediment

During the recent 2004 Sediment Acoustics Experiment (SAX04), a buried hydrophone array was deployed in a sandy sediment near Fort Walton Beach, FL. The array was used to measure both the acoustic penetration into the sediment and sound speed and attenuation within the sediment while a smaller, diver-deployed array was also used to measure sound speed and attenuation. Both of these systems had been deployed previously during the 1999 Sediment Acoustics Experiment (SAX99). In that experiment, the buried array was used to make measurements in the 11–50-kHz range while the diver-deployed array made measurements in the 80–260-kHz range. For the SAX04 deployment, the frequency range for the measurements using the buried array was lowered to 2 kHz. The diver-deployed array was also modified to cover the 40–260-kHz range. Unlike the SAX99 deployment, there were no obvious sand ripples at the SAX04 buried array site at the time of the measurements. To examine the role of sand ripples in acoustic penetration over this new frequency range, artificial ripple fields were created. For the high frequencies, the penetration was consistent with the model predictions using small-roughness perturbation theory as in SAX99. As the frequency of the incident acoustic field decreased, the evanescent field became the dominant penetration mechanism. The sound speed measured using the buried array exhibits dispersion consistent with the Biot theory while the measured attenuation exceeds the theory predictions at frequencies above 200 kHz.      

Biot反演在夏威夷钙质沉积物原位测量声速和衰减中的应用

对夏威夷檀香山岛的两个站(H3和H4)钙质沉积物进行了20～100kHz的原位纵波声速和声衰减测量.它们均有轻微的频散.随频率的增加H3站位声速从1691m/s增加到1708m/s,H4站位的声速从1579m/s增加到1585m/s.随频率的增加H3站位的有效衰减从15dB/m增加到75dB/m,H4站位的有效衰减从22dB/m增加到62dB/m.运用Biot-Stoll模型对所测得的纵波速度和声衰减数据进行了Biot模型未知参数反演,发现粒径较大的H3站的沉积物(孔隙率为45%)比粒径较小的H4站的沉积物(孔隙率为56%)具有曲率小和渗透率及孔隙半径都大的性质.     

中国黄渤海沉积物声速与物理性质研究

In order to investigate the correlation between a sound velocity and sediment bulk properties and explore the influence of frequency dependence of the sound velocity on the prediction of the sediment properties by the sound velocity,a compressional wave velocity is measured at frequencies of 25–250 k Hz on marine sediment samples collected from the Bohai Sea and the Yellow Sea in laboratory,together with the geotechnical parameters of sediments.The results indicate that the sound velocity ranges from 1.232 to 1.721 km/s for the collected sediment samples with a significant dispersion within the series measuring frequency.Poorly sorted sediments are highly dispersive nearly with a positive linear relationship.The porosity shows a better negative logarithmic correlation with the sound velocity compared with other geotechnical parameters.Generally,the sound velocity increases with the increasing of the average particle size,sand content,wet and dry bulk densities,and decreasing of the clay content,and water content.An important point should be demonstrated that the higher correlation can be obtained when the measuring frequency is low within the frequency ranges from 25 to 250 k Hz since the inhomogeneity of sediment properties has a more remarkably influence on the laboratory sound velocity measurement at the high frequency.     

Experimental Studies of Sound Attenuation in Seabed Sediments on Column Sample Length Scale

Seabed sediment microstructure has an influence on its acousto-physical properties, and the properties in a length of the sediment column reflect an aspect of the macroscopic behavior of the microstructure. An original measurement method of the sound attenuation within small distance cross sections in a sediment column, and the corresponding approach in data processing to attain an attenuation factor are detailed in the paper. This method was used to measure the compressional wave in series of points with a small distance in the sediment column, and it is shown that exponential attenuation is a type of compressional wave attenuation model for a sediment column in its full length. It indicates that there are various models of compressional wave attenuation in seabed sediments in the South China Sea after comparison of data from other literature. The method of measuring sound attenuation satisfies the sampling space interval in the acoustical forward and inverse problems in seabed sediments, and the original method provides a new approach for finding out sound attenuation mechanism in seabed sediments on small length scale.     

A new automated nondestructive system for high resolution multi-sensor core logging of open sediment cores

 A new system for logging the geophysical properties of marine sediment cores allows both whole cores and split cores to be measured in a nondestructive fashion. The current sensor configuration measures compressional (P) wave velocity (500 kHz), bulk density (using gamma-ray attenuation), and magnetic susceptibility at user-defined sample intervals down the core. Split-core logging gives more reliable results than whole core logging as it mostly eliminates core-slumping effects that can lead to spurious results; it also gives higher resolution magnetic susceptibility readings. Received: 16 May 1997 / Revision received: 24 October 1997     

海底松散沉积物声学性质原位测量实验研究

分析研究了国内外海底松散泥沙的声速和声衰减系数测量的研究现状,并据此研制了海底表层沉积物声速声衰减系数原位测量系统。利用原位测量系统分别在实验室和海滩对不同粒度的沉积物进行了测量分析,得到了不同粒度沉积物的声速和声衰减系数。数据分析表明,沉积物的声速和声衰减系数与沉积物的粒径有密切的关系,粒径越粗,声速越高,声衰减系数越大。通过沉积物声学性质研究,可以开发海底浅层沉积物声学性质原位测量技术,提高相关海洋调查的速度和效率。     

A technique for measuring in-situ compressional wave speed dispersion in marine sediments

Compressional speed dispersion exists in all marine sediments. If the dispersion is great enough it may play a significant role in acoustic interaction with the seabed. On the other hand if dispersion is weak, seabed models and databases can be substantially simpler. The ocean acoustics community is divided on this issue, in part because of the lack of observations. One of the experimental challenges has been to measure speed over several decades of frequency using a single technique so that observed speed changes cannot be due to different biases in the techniques. A simple in-situ experimental approach was developed that measures the critical angle as a function of frequency and thus infers the speed dispersion. Measurements on the mid to outer continental shelf (Malta Plateau and the New Jersey Shelf STRATAFORM area) show a weak dispersion over the band from /spl sim/10/sup 2/-10/sup 4/ Hz. This implies (via the Kramers-Kronig relations) that the compressional wave attenuation for these sediments is small and/or approximately linear over this band.     

浅海声信道“时域衰落”特性研究

研究了浅海声信道“时域衰落”与海况、波高、中心频率和作用距离的关系。结果表明：在相同海况下,波浪愈高,振幅起伏愈明显;在同样作用距离、深度下,中心频率２０ｋＨｚ是信道较好的传播频率,其振幅起伏小,自相关时间较长;在该声道中,作用距离在２０００─２５００ｍ处振幅起伏最大。     

Comparison of sound speed and attenuation measured in a sandy sediment to predictions based on the Biot theory of porous media

During the sediment acoustics experiment in 1999 (SAX99), several researchers measured sound speed and attenuation. Together, the measurements span the frequency range of about 125 Hz-400 kHz. The data are unique both for the frequency range spanned at a common location, and for the extensive environmental characterization that was carried out as part of SAX99. Environmental measurements were sufficient to determine or bound the values of almost all the sediment and pore water physical property input parameters of the Biot poroelastic model for sediment. However, the measurement uncertainties for some of the parameters result in significant uncertainties for Biot-model predictions. Here, measured sound-speed and attenuation results are compared to the frequency dependence predicted by Biot theory and a simpler "effective density" fluid model derived from Biot theory. Model/data comparisons are shown where the uncertainty in Biot predictions due to the measurement uncertainties for values of each input parameter are quantified. A final set of parameter values, for use in other modeling applications e.g., in modeling backscattering (Williams et al., 2002) are given, that optimize the fit of the Biot and effective density fluid models to the sound-speed dispersion and attenuation measured during SAX99. The results indicate that the variation of sound speed with frequency is fairly well modeled by Biot theory but the variation of attenuation with frequency deviates from Biot theory predictions for homogeneous sediment as frequency increases. This deviation may be due to scattering from volume heterogeneity. Another possibility for this deviation is shearing at grain contacts hypothesized by Buckingham; comparisons are also made with this model.