Vast assembly of vocal marine mammals from diverse species on fish spawning ground.

Observing marine mammal (MM) populations continuously in time and space over the immense ocean areas they inhabit is challenging but essential for gathering an unambiguous record of their distribution, as well as understanding their behaviour and interaction with prey species. Here we use passive ocean acoustic waveguide remote sensing (POAWRS) in an important North Atlantic feeding ground to instantaneously detect, localize and classify MM vocalizations from diverse species over an approximately 100,000 km(2) region. More than eight species of vocal MMs are found to spatially converge on fish spawning areas containing massive densely populated herring shoals at night-time and diffuse herring distributions during daytime.

Simultaneous localization of multiple broadband non-impulsive acoustic sources in an ocean waveguide using the array invariant.

The array invariant method, previously derived for instantaneous range and bearing estimation of a single broadband impulsive source in a horizontally stratified ocean waveguide, can be generalized to simultaneously localize multiple uncorrelated broadband noise sources that are not necessarily impulsive in the time domain by introducing temporal pulse compression and an image processing technique similar to the Radon transform. This can be done by estimating the range and bearing of broadband non-impulsive sources from measured beam-time migration lines of modal arrivals along a horizontal array arising from differences in modal group velocity and modal polar angle for each propagating mode. The generalized array invariant approach is used to estimate the range of a vertical source array and vocalizing humpback whales over wide areas from measurements made by a towed horizontal receiver array during the Gulf of Maine 2006 Experiment.

Ecosystem scale acoustic sensing reveals humpback whale behavior synchronous with herring spawning processes and re-evaluation finds no effect of sonar on humpback song occurrence in the Gulf of Maine in fall 2006.

We show that humpback-whale vocalization behavior is synchronous with peak annual Atlantic herring spawning processes in the Gulf of Maine. With a passive, wide-aperture, densely-sampled, coherent hydrophone array towed north of Georges Bank in a Fall 2006 Ocean Acoustic Waveguide Remote Sensing (OAWRS) experiment, vocalizing whales could be instantaneously detected and localized over most of the Gulf of Maine ecosystem in a roughly 400-km diameter area by introducing array gain, of 18 dB, orders of magnitude higher than previously available in acoustic whale sensing. With humpback-whale vocalizations consistently recorded at roughly 2000/day, we show that vocalizing humpbacks (i) were overwhelmingly distributed along the northern flank of Georges Bank, coinciding with the peak spawning time and location of Atlantic herring, and (ii) their overall vocalization behavior was strongly diurnal, synchronous with the formation of large nocturnal herring shoals, with a call rate roughly ten-times higher at night than during the day.

Using a coherent hydrophone array for observing sperm whale range, classification, and shallow-water dive profiles.

Sperm whales in the New England continental shelf and slope were passively localized, in both range and bearing, and classified using a single low-frequency (<2500 Hz), densely sampled, towed horizontal coherent hydrophone array system. Whale bearings were estimated using time-domain beamforming that provided high coherent array gain in sperm whale click signal-to-noise ratio. Whale ranges from the receiver array center were estimated using the moving array triangulation technique from a sequence of whale bearing measurements.

Comparing passive source localization and tracking approaches with a towed horizontal receiver array in an ocean waveguide.

Approaches for instantaneous passive source localization using a towed horizontal receiver array in a random range-dependent ocean waveguide are examined. They include: (1) Moving array triangulation, (2) array invariant, (3) bearings-only target motion analysis in modified polar coordinates via the extended Kalman filter, and (4) bearings-migration minimum mean-square error. These methods are applied to localize and track a vertical source array deployed in the far-field of a towed horizontal receiver array during the Gulf of Maine 2006 Experiment.

Temporal coherence of the acoustic field forward propagated through a continental shelf with random internal waves.

An analytical model derived from normal mode theory for the accumulated effects of range-dependent multiple forward scattering is applied to estimate the temporal coherence of the acoustic field forward propagated through a continental-shelf waveguide containing random three-dimensional internal waves. The modeled coherence time scale of narrow band low-frequency acoustic field fluctuations after propagating through a continental-shelf waveguide is shown to decay with a power-law of range to the -1/2 beyond roughly 1 km, decrease with increasing internal wave energy, to be consistent with measured acoustic coherence time scales. The model should provide a useful prediction of the acoustic coherence time scale as a function of internal wave energy in continental-shelf environments.

Probability distribution for energy of saturated broadband ocean acoustic transmission: results from Gulf of Maine 2006 experiment.

The probability distribution of ocean-acoustic broadband signal energy after saturated multipath propagation is derived using coherence theory. The frequency components obtained from Fourier decomposition of a broadband signal are each assumed to be fully saturated with energy spectral density that obey the exponential distribution with 5.6 dB standard deviation and unity scintillation index.

Scattering from extended targets in range-dependent fluctuating ocean-waveguides with clutter from theory and experiments.

Bistatic, long-range measurements of acoustic scattered returns from vertically extended, air-filled tubular targets were made during three distinct field experiments in fluctuating continental shelf waveguides. It is shown that Sonar Equation estimates of mean target-scattered intensity lead to large errors, differing by an order of magnitude from both the measurements and waveguide scattering theory. The use of the Ingenito scattering model is also shown to lead to significant errors in estimating mean target-scattered intensity in the field experiments because they were conducted in range-dependent ocean environments with large variations in sound speed structure over the depth of the targets, scenarios that violate basic assumptions of the Ingenito model.

Effects of multiple scattering, attenuation and dispersion in waveguide sensing of fish.

An ocean acoustic waveguide remote sensing system can instantaneously image and continuously monitor fish populations distributed over continental shelf-scale regions. Here it is shown theoretically that the areal population density of fish groups can be estimated from their incoherently averaged broadband matched filtered scattered intensities measured using a waveguide remote sensing system with less than 10% error. A numerical Monte-Carlo model is developed to determine the statistical moments of the scattered returns from a fish group.

General second-order covariance of Gaussian maximum likelihood estimates applied to passive source localization in fluctuating waveguides.

A method is provided for determining necessary conditions on sample size or signal to noise ratio (SNR) to obtain accurate parameter estimates from remote sensing measurements in fluctuating environments. These conditions are derived by expanding the bias and covariance of maximum likelihood estimates (MLEs) in inverse orders of sample size or SNR, where the first-order covariance term is the Cramer-Rao lower bound (CRLB). Necessary sample sizes or SNRs are determined by requiring that (i) the first-order bias and the second-order covariance are much smaller than the true parameter value and the CRLB, respectively, and (ii) the CRLB falls within desired error thresholds.

Force estimation and prediction from time-varying density images.

We present methods for estimating forces which drive motion observed in density image sequences. Using these forces, we also present methods for predicting velocity and density evolution. To do this, we formulate and apply a Minimum Energy Flow (MEF) method which is capable of estimating both incompressible and compressible flows from time-varying density images.

Low-frequency target strength and abundance of shoaling Atlantic herring (Clupea harengus) in the Gulf of Maine during the Ocean Acoustic Waveguide Remote Sensing 2006 Experiment.

The low-frequency target strength of shoaling Atlantic herring (Clupea harengus) in the Gulf of Maine during Autumn 2006 spawning season is estimated from experimental data acquired simultaneously at multiple frequencies in the 300-1200 Hz range using (1) a low-frequency ocean acoustic waveguide remote sensing (OAWRS) system, (2) areal population density calibration with several conventional fish finding sonar (CFFS) systems, and (3) low-frequency transmission loss measurements. The OAWRS system's instantaneous imaging diameter of 100 km and regular updating enabled unaliased monitoring of fish populations over ecosystem scales including shoals of Atlantic herring containing hundreds of millions of individuals, as confirmed by concurrent trawl and CFFS sampling. High spatial-temporal coregistration was found between herring shoals imaged by OAWRS and concurrent CFFS line-transects, which also provided fish depth distributions.

High resolution population density imaging of random scatterers with the matched filtered scattered field variance.

The matched filter enables imaging with high spatial resolution and high signal-to-noise ratio by coherent correlation with the expected field from what is assumed to be a discrete scatterer. In many physical imaging systems, however, returns from a large number of randomized scatterers, ranging from thousands to millions of individuals, are received together and the coherent or expected field vanishes. Despite this, it is shown that cross-spectral coherence in the matched filtered variance retains a pulse compression property that enables high-resolution imaging of scatterer population density.

Effects of incident field refraction on scattered field from vertically extended cylindrical targets in range-dependent ocean waveguides.

The effect of incident field refraction on the scattered field from vertically extended cylindrical targets is investigated. A theoretical model for the total scattered field from a cylindrical target in a range-dependent ocean waveguide is developed from Green's theorem. The locally scattered field on the target surface is estimated as a function of the incident field by applying the appropriate boundary conditions on continuity of acoustic pressure and normal velocity, making the model applicable to general penetrable cylinders.

Critical population density triggers rapid formation of vast oceanic fish shoals.

Similarities in the behavior of diverse animal species that form large groups have motivated attempts to establish general principles governing animal group behavior. It has been difficult, however, to make quantitative measurements of the temporal and spatial behavior of extensive animal groups in the wild, such as bird flocks, fish shoals, and locust swarms. By quantifying the formation processes of vast oceanic fish shoals during spawning, we show that (i) a rapid transition from disordered to highly synchronized behavior occurs as population density reaches a critical value; (ii) organized group migration occurs after this transition; and (iii) small sets of leaders significantly influence the actions of much larger groups.

Empirical dependence of acoustic transmission scintillation statistics on bandwidth, frequency, and range in New Jersey continental shelf.

The scintillation statistics of broadband acoustic transmissions are determined as a function of signal bandwidth B, center frequency f(c), and range with experimental data in the New Jersey continental shelf. The received signal intensity is shown to follow the Gamma distribution implying that the central limit theorem has led to a fully saturated field from independent multimodal propagation contributions. The Gamma distribution depends on the mean intensity and the number of independent statistical fluctuations or coherent cells micro of the received signal.

Temporal coherence after multiple forward scattering through random three-dimensional inhomogeneities in an ocean waveguide.

An analytical expression is derived for the temporal coherence of an acoustic field after multiple forward scattering through random three-dimensional (3D) inhomogeneities in an ocean waveguide. This expression makes it possible to predict the coherence time scale of field fluctuations in ocean-acoustic measurements from knowledge of the oceanography. It is used to explain the time scale of acoustic field fluctuations observed at megameter ranges in various deep ocean-acoustic transmission experiments.

Range-dependent waveguide scattering model calibrated for bottom reverberation in a continental shelf environment.

An analytic model is developed for scattering from random inhomogeneities in range-dependent ocean waveguides using the Rayleigh-Born approximation to Green's theorem. The expected scattered intensity depends on statistical moments of fractional changes in compressibility and density, which scatter as monopoles and dipoles, respectively, and the coherence volume of the inhomogeneities. The model is calibrated for ocean bottom scattering using data acquired by instantaneous wide-area ocean acoustic waveguide remote sensing (OAWRS) and geophysical surveys of the ONR Geoclutter Program.

Model for continuously scanning ultrasound vibrometer sensing displacements of randomly rough vibrating surfaces.

An analytic model is developed for the time-dependent ultrasound field reflected off a randomly rough vibrating surface for a continuously scanning ultrasound vibrometer system in bistatic configuration. Kirchhoff's approximation to Green's theorem is applied to model the three-dimensional scattering interaction of the ultrasound wave field with the vibrating rough surface. The model incorporates the beam patterns of both the transmitting and receiving ultrasound transducers and the statistical properties of the rough surface.

Fish population and behavior revealed by instantaneous continental shelf-scale imaging.

Until now, continental shelf environments have been monitored with highly localized line-transect methods from slow-moving research vessels. These methods significantly undersample fish populations in time and space, leaving an incomplete and ambiguous record of abundance and behavior. We show that fish populations in continental shelf environments can be instantaneously imaged over thousands of square kilometers and continuously monitored by a remote sensing technique in which the ocean acts as an acoustic waveguide.

Long range acoustic imaging of the continental shelf environment: the Acoustic Clutter Reconnaissance Experiment 2001.

An active sonar system is used to image wide areas of the continental shelf environment by long-range echo sounding at low frequency. The bistatic system, deployed in the STRATAFORM area south of Long Island in April-May of 2001, imaged a large number of prominent clutter events over ranges spanning tens of kilometers in near real time. Roughly 3000 waveforms were transmitted into the water column.

Necessary conditions for a maximum likelihood estimate to become asymptotically unbiased and attain the Cramer-Rao lower bound. II. Range and depth localization of a sound source in an ocean waveguide.

Analytic expressions for the first order bias and second order covariance of a maximum-likelihood estimate (MLE) are applied to the problem of localizing an acoustic source in range and depth in a shallow water waveguide with a vertical hydrophone array. These expressions are then used to determine necessary conditions on sample size, or equivalently signal-to-noise ratio (SNR), for the localization MLE to become asymptotically unbiased and attain minimum variance as expressed by the Cramer-Rao lower bound (CRLB). These analytic expressions can be applied in a similar fashion to any ocean-acoustic inverse problem involving random data.

Validity of the sonar equation and Babinet's principle for scattering in a stratified medium.

The sonar equation rests on the assumption that received sound pressure level after scattering can be written in decibels as a sum of four terms: source level, transmission loss from the source to the target, target strength, and transmission loss from the target to the receiver. This assumption is generally not valid for scattering in a shallow water waveguide and can lead to large errors and inconsistencies in estimating a target's scattering properties as well as its limiting range of detection. By application of coherent waveguide scattering theory, the sonar equation is found to become approximately valid in a shallow water waveguide when the object's complex scatter function is roughly constant over the equivalent horizontal grazing angles +/- delta psi spanned by the dominant waveguide modes.