A statistical acoustics approach for estimating population-scale bowhead whale migration speed and direction.

Bowhead whales vocalize during their annual fall migration from the Beaufort Sea to the Bering Sea, but the calling rates of individual animals are so low that tracking an individual trajectory is impractical using passive acoustic methods. However, the travel speed and direction of the migrating population can be inferred on a statistical basis by cross-correlating time sequences of call density measured at two locations spaced several kilometers apart. By using the triangulation abilities of a set of vector sensors deployed offshore the Alaskan North Slope between 2008 and 2014, call density time sequences were generated from 1-km wide and 40-km tall rectangular "zones" that were separated by distances ranging from 3.

Diel spatio-temporal patterns of humpback whale singing on a high-density breeding ground.

Humpback whale song chorusing dominates the marine soundscape in Hawai'i during winter months, yet little is known about spatio-temporal habitat use patterns of singers. We analysed passive acoustic monitoring data from five sites off Maui and found that ambient noise levels associated with song chorusing decreased during daytime hours nearshore but increased offshore. To resolve whether these changes reflect a diel offshore-onshore movement or a temporal difference in singing activity, data from 71 concurrently conducted land-based theodolite surveys were analysed.

Automating multi-target tracking of singing humpback whales recorded with vector sensors.

Passive acoustic monitoring is widely used for detection and localization of marine mammals. Typically, pressure sensors are used, although several studies utilized acoustic vector sensors (AVSs), that measure acoustic pressure and particle velocity and can estimate azimuths to acoustic sources. The AVSs can localize sources using a reduced number of sensors and do not require precise time synchronization between sensors.

Multi-target 2D tracking method for singing humpback whales using vector sensors.

Acoustic vector sensors allow estimating the direction of travel of an acoustic wave at a single point by measuring both acoustic pressure and particle motion on orthogonal axes. In a two-dimensional plane, the location of an acoustic source can thus be determined by triangulation using the estimated azimuths from at least two vector sensors. However, when tracking multiple acoustic sources simultaneously, it becomes challenging to identify and link sequences of azimuthal measurements between sensors to their respective sources.

Measurements of open-water arctic ocean noise directionality and transport velocity.

Measurements from bottom-mounted acoustic vector sensors, deployed seasonally between 2008 and 2014 on the shallow Beaufort Sea shelf along the Alaskan North Slope, are used to estimate the ambient sound pressure power spectral density, acoustic transport velocity of energy, and dominant azimuth between 25 and 450 Hz. Even during ice-free conditions, this region has unusual acoustic features when compared against other U.S.

Using anisotropic and narrowband ambient noise for continuous measurements of relative clock drift between independent acoustic recorders.

Relative clock drift between instruments can be an issue for coherent processing of acoustic signals, which requires data to be time-synchronized between channels. This work shows how cross correlation of anisotropic narrowband ambient noise allows continuous estimation of the relative clock drift between independent acoustic recorders, under the assumption that the spatial distribution of the coherent noise sources is stationary. This method is applied to two pairs of commercial passive acoustic recorders deployed up to 14 m apart at 6 and 12 m depth, respectively, over a period of 10 days.

Estimating acoustic cue rates in bowhead whales, Balaena mysticetus, during their fall migration through the Alaskan Beaufort Sea.

Eight years of passive acoustic data (2007-2014) from the Beaufort Sea were used to estimate the mean cue rate (calling rate) of individual bowhead whales (Balaena mysticetus) during their fall migration along the North Slope of Alaska. Calls detected on directional acoustic recorders (DASARs) were triangulated to provide estimates of locations at times of call production, which were then translated into call densities (calls/h/km). Various assumptions were used to convert call density into animal cue rates, including the time for whales to cross the arrays of acoustic recorders, the population size, the fraction of the migration corridor missed by the localizing array system, and the fraction of the seasonal migration missed because recorders were retrieved before the end of the migration.

Deep embedded clustering of coral reef bioacoustics.

Deep clustering was applied to unlabeled, automatically detected signals in a coral reef soundscape to distinguish fish pulse calls from segments of whale song. Deep embedded clustering (DEC) learned latent features and formed classification clusters using fixed-length power spectrograms of the signals. Handpicked spectral and temporal features were also extracted and clustered with Gaussian mixture models (GMM) and conventional clustering.

Automated two-dimensional localization of underwater acoustic transient impulses using vector sensor image processing (vector sensor localization).

Detecting acoustic transients by signal-to-noise ratio (SNR) becomes problematic in nonstationary ambient noise environments characteristic of coral reefs. An alternate approach presented here uses signal directionality to automatically detect and localize transient impulsive sounds collected on underwater vector sensors spaced tens of meters apart. The procedure, which does not require precise time synchronization, first constructs time-frequency representations of both the squared acoustic pressure (spectrogram) and dominant directionality of the active intensity (azigram) on each sensor.

Roaring and repetition: How bowhead whales adjust their call density and source level (Lombard effect) in the presence of natural and seismic airgun survey noise.

Over 500 000 automated and manual acoustic localizations, measured over seven years between 2008 and 2014, were used to examine how natural wind-driven noise and anthropogenic seismic airgun survey noise influence bowhead whale call densities (calls/km/min) and source levels during their fall migration in the Alaskan Beaufort Sea. Noise masking effects, which confound measurements of behavioral changes, were removed using a modified point transect theory. The authors found that mean call densities generally rose with increasing continuous wind-driven noise levels.

Nonlinear time-warping made simple: A step-by-step tutorial on underwater acoustic modal separation with a single hydrophone.

Classical ocean acoustic experiments involve the use of synchronized arrays of sensors. However, the need to cover large areas and/or the use of small robotic platforms has evoked interest in single-hydrophone processing methods for localizing a source or characterizing the propagation environment. One such processing method is "warping," a non-linear, physics-based signal processing tool dedicated to decomposing multipath features of low-frequency transient signals (frequency f < 500 Hz), after their propagation through shallow water (depth D < 200 m) and their reception on a distant single hydrophone (range r > 1 km).

Displaying bioacoustic directional information from sonobuoys using "azigrams".

The AN/SSQ-53 Directional Frequency Analysis and Recording (DIFAR) sonobuoy is an expendable device that can derive acoustic particle velocity along two orthogonal horizontal axes, along with acoustic pressure. This information enables computation of azimuths of low-frequency acoustic sources from a single compact sensor. The standard approach for estimating azimuth from these sensors is by conventional beamforming (i.

A double-difference method for high-resolution acoustic tracking using a deep-water vertical array.

Ray-tracing is typically used to estimate the depth and range of an acoustic source in refractive deep-water environments by exploiting multipath information on a vertical array. However, mismatched array inclination and uncertain environmental features can produce imprecise trajectories when ray-tracing sequences of individual acoustic events. "Double-difference" methods have previously been developed to determine fine-scale relative locations of earthquakes along a fault [Waldhauser and Ellsworth (2000).

Effects of tones associated with drilling activities on bowhead whale calling rates.

During summer 2012 Shell performed exploratory drilling at Sivulliq, a lease holding located in the autumn migration corridor of bowhead whales (Balaena mysticetus), northwest of Camden Bay in the Beaufort Sea. The drilling operation involved a number of vessels performing various activities, such as towing the drill rig, anchor handling, and drilling. Acoustic data were collected with six arrays of directional recorders (DASARs) deployed on the seafloor over ~7 weeks in Aug-Oct.

Eastern Arctic ambient noise on a drifting vertical array.

Ambient noise in the eastern Arctic was studied from April to September 2013 using a 22 element vertical hydrophone array as it drifted from near the North Pole (89° 23'N, 62° 35'W) to north of Fram Strait (83° 45'N, 4° 28'W). The hydrophones recorded for 108 min/day on six days per week with a sampling rate of 1953.125 Hz.

Decadal-scale frequency shift of migrating bowhead whale calls in the shallow Beaufort Sea.

Automated and manual acoustic localizations of bowhead whale calls in the Beaufort Sea were used to estimate the minimum frequency attained by their highly variable FM-modulated call repertoire during seven westerly fall migrations. Analyses of 13 355 manual and 100 009 automated call localizations found that between 2008 and 2014 the proportion of calls that dipped below 75 Hz increased from 27% to 41%, shifting the mean value of the minimum frequency distribution from 94 to 84 Hz. Multivariate regression analyses using both generalized linear models and generalized estimating equations found that this frequency shift persisted even when accounting for ten other factors, including calling depth, call range, call type, noise level, signal-to-noise ratio, local water depth (site), airgun activity, and call spatial density.

Using nonlinear time warping to estimate North Pacific right whale calling depths in the Bering Sea.

Calling depth distributions are estimated for two types of calls produced by critically endangered eastern North Pacific right whales (NPRWs) in the Bering Sea, using passive acoustic data collected with bottom-mounted hydrophone recorders. Nonlinear time resampling of 12 NPRW "upcalls" and 20 "gunshots" recorded in a critical NPRW habitat isolated individual normal mode arrivals from each call. The relative modal arrival times permitted range estimates between 1 and 40 km, while the relative modal amplitudes permitted call depth estimates, provided that environmental inversions were obtained from high signal-to-noise ratio calls.

Waveguide mode amplitude estimation using warping and phase compensation.

In shallow water, low-frequency propagation can be described by modal theory. Acoustical oceanographic measurements under this situation have traditionally relied on spatially filtering signals with arrays of synchronized hydrophones. Recent work has demonstrated how a method called warping allows isolation of individual mode arrivals on a single hydrophone, a discovery that subsequently opened the door for practical single-receiver source localization and geoacoustic inversion applications.

Source level and calling depth distributions of migrating bowhead whale calls in the shallow Beaufort Sea.

Automated and manual acoustic localizations of migrating bowhead whales were used to estimate source level and calling depth distributions of their frequency-modulated-modulated calls over seven years between 2008 and 2014. Whale positions were initially triangulated using directional autonomous seafloor acoustic recorders, deployed between 25 and 55 m water depth near Kaktovik, Alaska, during the fall westward migration. Calling depths were estimated by minimizing the "discrepancy" between source level estimates from at least three recorders detecting the same call.

Humpback whale-generated ambient noise levels provide insight into singers' spatial densities.

Baleen whale vocal activity can be the dominant underwater ambient noise source for certain locations and seasons. Previous wind-driven ambient-noise formulations have been adjusted to model ambient noise levels generated by random distributions of singing humpback whales in ocean waveguides and have been combined to a single model. This theoretical model predicts that changes in ambient noise levels with respect to fractional changes in singer population (defined as the noise "sensitivity") are relatively unaffected by the source level distributions and song spectra of individual humpback whales (Megaptera novaeangliae).

Using line acceleration to measure false killer whale (Pseudorca crassidens) click and whistle source levels during pelagic longline depredation.

False killer whales (Pseudorca crassidens) depredate pelagic longlines in offshore Hawaiian waters. On January 28, 2015 a depredation event was recorded 14 m from an integrated GoPro camera, hydrophone, and accelerometer, revealing that false killer whales depredate bait and generate clicks and whistles under good visibility conditions. The act of plucking bait off a hook generated a distinctive 15 Hz line vibration.

Acoustic vector sensor beamforming reduces masking from underwater industrial noise during passive monitoring.

Masking from industrial noise can hamper the ability to detect marine mammal sounds near industrial operations, whenever conventional (pressure sensor) hydrophones are used for passive acoustic monitoring. Using data collected from an autonomous recorder with directional capabilities (Directional Autonomous Seafloor Acoustic Recorder), deployed 4.1 km from an arctic drilling site in 2012, the authors demonstrate how conventional beamforming on an acoustic vector sensor can be used to suppress noise arriving from a narrow sector of geographic azimuths.

The ambient acoustic environment in Laguna San Ignacio, Baja California Sur, Mexico.

Each winter gray whales (Eschrichtius robustus) breed and calve in Laguna San Ignacio, Mexico, where a robust, yet regulated, whale-watching industry exists. Baseline acoustic environments in LSI's three zones were monitored between 2008 and 2013, in anticipation of a new road being paved that will potentially increase tourist activity to this relatively isolated location. These zones differ in levels of both gray whale usage and tourist activity.

Effects of airgun sounds on bowhead whale calling rates: evidence for two behavioral thresholds.

In proximity to seismic operations, bowhead whales (Balaena mysticetus) decrease their calling rates. Here, we investigate the transition from normal calling behavior to decreased calling and identify two threshold levels of received sound from airgun pulses at which calling behavior changes. Data were collected in August-October 2007-2010, during the westward autumn migration in the Alaskan Beaufort Sea.

Range estimation of bowhead whale (Balaena mysticetus) calls in the Arctic using a single hydrophone.

Bowhead whales generate low-frequency calls in shallow-water Arctic environments, whose dispersive propagation characteristics are well modeled by normal mode theory. As each mode propagates with a different group speed, a call's range can be inferred by the relative time-frequency dispersion of the modal arrivals. Traditionally, at close ranges modal arrivals are separated using synchronized hydrophone arrays.