Search Results (37)

To address the limitations of traditional acoustic experimental equipment, such as large volume, discrete modules, and complex operation, this paper proposes and implements a set of digital portable acoustic teaching systems. The hardware component is based on an FPGA, enabling a highly integrated design for signal source excitation and multi-channel synchronous acquisition. It supports the output of various signals, including pulses, sine waves, chirps, and arbitrary waveforms. The software component is developed based on the Qt framework, offering cross-platform compatibility and excellent graphical interaction capabilities. It supports signal configuration, data acquisition, real-time processing, result visualization, and historical playback, establishing a closed-loop experimental workflow of signal excitation–synchronous acquisition–real-time processing–data storage–result visualization. The system supports both local USB connection and remote TCP operation modes, accommodating scenarios such as real-time classroom experiments and cross-regional collaborative teaching. The verification results of three typical experiments, namely, multi-media sound velocity measurement, TDOA hydrophone positioning, and remote acoustic detection, demonstrate that the system performs well in terms of measurement accuracy, positioning stability, and the feasibility of remote detection. This study demonstrates the technical advantages and engineering adaptability of a digital teaching platform in acoustic experimental education. It provides a scalable system solution for cross-regional hybrid teaching models and practice-oriented education under the framework of emerging engineering disciplines. Future work will focus on expanding experimental scenarios, enhancing system intelligence, and improving multi-user collaboration capabilities, aiming to develop a more comprehensive and efficient platform to support acoustic teaching. Full article

To address the problem of shallow-sea hydrophone calibration, this paper proposes a shallow-sea hydrophone calibration algorithm for the horizontal and depth directions, respectively. In the horizontal direction, a calibration method combining an improved Particle Swarm Optimization (PSO) algorithm and the Time Difference Of Arrival (TDOA) algorithm is proposed. In the depth direction, a depth calibration formula using the time delay difference between Non-Line-of-Sight (NLOS) waves and Line-of-Sight (LOS) waves is put forward. By combining this with the proposed PSO algorithm, the PSO NLOS–LOS depth correction algorithm is obtained. The specific position of the hydrophone is determined by combining the algorithms for horizontal direction and depth. The advantages of the proposed algorithms are verified through simulations and experiments. Simulations show that in the horizontal direction, the proposed algorithm can reduce the average calibration error under different hydrophone array radii to 0.8690 m. In the depth direction, the specific propagation delay is unknown. Compared with the traditional depth calculation method, which requires the specific propagation delay to be known, the algorithm proposed in this paper can reduce the impact on depth calculation caused by delay deviation due to sound ray refraction; in addition, it provides stronger robustness and more accurate depth calibration in shallow sea environments. The new method shows significant improvement in the depth calculation process compared with the traditional algorithm, especially in terms of fault tolerance for errors in the horizontal direction. Experiments show that by combining the calibration algorithms proposed in this paper, the positioning accuracy of the hydrophone array is significantly improved and the average positioning error of the hydrophone array is reduced to within 12 m. Full article

In ocean engineering, the demand for fiber-optic vector hydrophones (FOVHs) is increasing. The performance of a FOVH depends on phase consistency between its pressure and acceleration channels, which should match the acoustic field’s properties. Phase polarity, which refers to the alignment of the output signal with the acoustic field direction, is critical. Incorrect phase polarity during sensor assembly can disrupt phase consistency and invalidate directional measurements. This study investigates phase polarity in mandrel FOVHs that use the Phase Generated Carrier (PGC) technique. We develop a theoretical model combining the PGC algorithm with elastic mechanics to analyze the response of acoustic signals. Our model shows that correct demodulated signal polarity requires a specific physical setup: the pressure sensor’s long arm should be on the inner mandrel and the short arm on the outer, while the accelerometer’s positive axis should follow the vector from the long to its short arm. These results are validated through standing wave tube experiments and lake tests. This research provides practical guidelines for the installation and calibration of FOVHs, ensuring phase consistency in underwater acoustic sensing. Full article

Noise interference and multipath effects in complex marine environments seriously constrain the performance of hydroacoustic positioning systems. Traditional millisecond-level signal application and processing methods are widely used in existing research; however, it is difficult to meet the requirements of centimeter-level positioning accuracy in marine engineering. To address this problem, this study proposes a hydroacoustic positioning method based on a short baseline system for the cooperative reception of multi-channel signals. The method adopts ultra-short pulse signals with microsecond pulse width, and significantly improves the system signal-to-noise ratio and anti-interference capability through multi-channel signal alignment and coherent superposition techniques; meanwhile, a joint energy gradient-phase detection algorithm is designed, which solves the instability problem of the traditional cross-correlation algorithm in the detection of ultra-short pulse signals through the identification of signal stability intervals and accurate phase estimation. Simulation verification shows that the 8-hydrophone × 4-channel configuration can achieve 36.06% signal-to-noise gain under harsh environmental conditions (−10 dB), and the performance of the joint energy gradient-phase detection algorithm is improved by about 19.1% compared with the traditional method in an integrated manner. Marine tests further validate the engineering practicability of the method, with an average SNR gain of 2.27 dB achieved for multi-channel signal reception, and the TDOA estimation stability of the new algorithm is up to 32.0% higher than that of the conventional method, which highlights the significant advantages of the proposed method in complex marine environments. The results show that the proposed method can effectively mitigate the noise interference and multipath effects in complex marine environments, significantly improve the accuracy and stability of hydroacoustic positioning, and provide reliable technical support for centimeter-level accuracy applications in marine engineering. Full article

The shape and position information of towed streamers is crucial for both implementing marine seismic exploration operations and analyzing exploration data. Streamer positioning accuracy directly impacts the quality and reliability of seismic imaging. Existing polynomial curve models exhibit deviations between the calculated and actual shapes during streamer turning. This paper proposes a segmented fitting positioning model based on spline curves. It is mathematically rigorous and applicable to complex scenarios. First, the specific function expression of the spline curve model is constructed. Then, using a cubic spline as an example, the segmented fitting method is explained, incorporating smoothness constraints at the connection points. The error equations for positioning observations and the calculation processes for curve parameters and hydrophone coordinates are derived. Finally, the model is verified through simulations and field tests. The experimental results show that, compared with the polynomial curve model, the spline curve model improves positioning accuracy by 47.1% in simulations involving six streamers and by 20.0% and 35.0% in field tests with six and ten streamers, respectively. In straight scenarios, both models perform similarly. Thus, the spline model can effectively reduce the modeling errors of the polynomial curve model under high-curvature conditions. Full article

Background: This study aimed to optimize low-intensity extracorporeal shockwave therapy (Li-ESWT) for the treatment of penile indications through the addition of a secondary reflector. The therapeutic potential of Li-ESWT is well-established, but its efficiency is limited by uncontrolled wave propagation and reflection resulting in regions of increased tensile pressures. The objective is to manage and reduce high tensile pressure and enhance treatment efficacy by reflecting applied shockwaves back into the treatment zone using a novel reflector design. Methods: A comprehensive investigation, including numerical modeling and phantom measurements, exploring a range of improvements to traditional shockwave application by reflecting applied therapeutic shockwaves back into the treatment zone. Computational optimization was employed to identify the most suitable secondary reflector shape for potential future clinical use. Subsequent hydrophone phantom reference measurements were extended to volumetric fields using 3D simulations. Results: Traditional treatment resulted in high tensile pressures in the treatment zone, which was mitigated by introducing an impedance-matched layer (IML) while preserving the initial shockwave’s therapeutic function. The addition of the secondary reflector enabled controlled refocusing of the therapeutic shockwave back into the initial focal zone, thus either increasing the treatment volume or achieving a rapid secondary application. Choice of the reflector’s impedance allowed for the secondary refocusing of either a tensile or positive pressure wave. Conclusions: The combined modifications of employing an IML and secondary reflector eliminate uncontrolled tensile waves and reflections, provide better control over consecutive reflections, and enable repeated shockwave signals with a single applicator shot, potentially reducing the number of required shots per session. Full article

This paper addresses the aperture limitation problem faced by array-equipped underwater gliders (UGs) in direction-of-arrival (DOA) estimation. A passive synthetic aperture (PSA) method for DOA estimation using a single hydrophone mounted on a UG is proposed. This method uses the motion of the UG to synthesize a linear array whose elements are positioned to acquire the target signal, thereby increasing the array aperture. The dead-reckoning method is used to determine the underwater trajectory of the UG, and the UG’s trajectory was corrected by the UG motion parameters, from which the array shape was adjusted accordingly and the position of the array elements was corrected. Additionally, array distortion caused by movement offsets due to ocean currents underwent linearization, reducing computational complexity. To validate the proposed method, a sea trial was conducted in the South China Sea using the Haiyi 1000 UG equipped with a hydrophone, and its effectiveness was demonstrated through the processing of the collected data. The performance of DOA estimation prior to and following UG trajectory correction was compared to evaluate the impact of ocean currents on target DOA estimation accuracy. Full article

Underwater radiated noise power estimation is crucial for the quantitative assessment of noise levels emitted by ships and underwater vehicles. This paper therefore proposes a maximum likelihood estimation method for determining the power of underwater radiated noise. The method establishes the probability density function of the hydrophones array received data and derives the minimum variance unbiased estimation of the power through theoretical analysis under the maximum likelihood criterion. Numerical simulations and experimental data demonstrate that this method can significantly reduce the influence of ambient noise on estimation results and improve the estimation accuracy under low signal-to-noise ratio conditions, outperforming commonly used beamforming-based estimation methods. In addition, the estimation variance achieves the Cramér–Rao lower bound, which is consistent with theoretical derivation. When the source position is unknown, this method can simultaneously localize the sound source and estimate its power by searching for the maximum value within a specified region. Full article

The use of inertial actuators to control the radiated sound pressure of a steel ship model at a lake measurement facility is examined. Therefore, methods of active vibration control as well as active control of target sound fields are applied using a fixed configuration of twelve accelerometers, eight control actuators, and five hydrophones. A narrowband feedforward active control system is used to manipulate the sound pressure at hydrophone positions, focusing not only on reducing but also on adding spectral lines in the radiated signature. The performance is assessed using measured data by additional accelerometers inside the ship model as well as by hydrophones surrounding the measurement facility. It is found that less control effort is necessary for the generation of additional tones compared to the control of a present disturbance at hydrophones. In the frequency range considered (below 500 Hz), the actively induced change in the mean structural velocity is not necessarily proportional to the change in the radiated sound pressure. In contrast to the vibration velocity, no unwanted amplification of the sound pressure is found for the frequencies observed. Full article

Biodiversity monitoring requires the discovery of multi-target tracking. The main requirement is not to reduce the localization error but the continuity of the tracks: a high ratio between the duration of the track and the lifetime of the target. To this end, we present an algorithm for detecting and tracking mobile underwater targets that utilizes reflections from active acoustic emission of broadband signals received by a rigid hydrophone array. The method overcomes the problem of a high false alarm rate by applying a tracking approach to the sequence of received reflections. A 2D time–distance matrix is created for the reflections received from each transmitted probe signal by performing delay and sum beamforming and pulse compression. The result is filtered by a 2D constant false alarm rate (CFAR) detector to identify reflection patterns that correspond to potential targets. Closely spaced signals for multiple probe transmissions are combined into blobs to avoid multiple detections of a single target. The position and velocity are estimated using the debiased converted measurement Kalman filter. The results are analyzed for simulated scenarios and for experiments in the Adriatic Sea, where six Global Positioning System (GPS)-tagged gilt-head seabream fish were released and tracked by a dedicated autonomous float system. Compared to four recent benchmark methods, the results show favorable tracking continuity and accuracy that is robust to the choice of detection threshold. Full article

Passive acoustic monitoring plays a critical role in the study of marine species, particularly in understanding the behavior of deep-diving endangered species like the Mediterranean sperm whale (Physeter macrocephalus). This paper presents an effective method for tracking sperm whales using synchronized acoustic data from four hydrophones. The tracking method estimates the location of sperm whales by measuring the time difference of arrival of detected clicks. The direction of arrival of the clicks and their reflections on the surface are then reconstructed to determine the position of the whale. The method was used to perform the first acoustic tracking study of sperm whale dives recorded in the Central Mediterranean Sea by the NEMO-O$\nu$DE cabled observatory, deployed at a depth of 2100 m in the Gulf of Catania. The data analyzed in this study were collected in August and October 2005 and include 49 five-minute recordings with the presence of sperm whale clicks. A Monte Carlo simulation revealed an estimated relative error of 2.7% in depth and 1.9% in the horizontal distance for the positioning of clicks. The algorithm successfully reconstructed 64 tracks of diving sperm whales and demonstrated its potential for monitoring within a 12 km radius. Moreover, a simultaneous tracking of a vessel and a sperm whale was performed, illustrating how the method can be used to study potential changes during dives in the presence of vessels. This method offers a reliable, non-invasive approach to studying sperm whale behavior, ecology, and interaction with anthropogenic activities. Full article

Low-frequency ocean noise (50–500 Hz) was recorded by a single omnidirectional hydrophone in the open waters of the Chukchi Plateau from 31 August 2021 to 6 September 2021 (local time). After other non-wind interference was filtered out, wind-generated noise source levels (NSLs) were extracted from the wind-generated noise. The correlation coefficients between the one-third octave wind-generated NSLs and sea surface wind speed exceed 0.84, an improvement of approximately 10% compared to those between the raw data and the wind speed. For 200–500 Hz, the wind-generated NSLs are highly consistent with Wilson’s (1983) estimated curve. The 50–300 Hz results closely match those of Chapman and Cornish (1993) from vertical line array (VLA) measurements. Both demonstrate the feasibility of extracting wind-generated NSLs by utilizing a single omnidirectional hydrophone in the Chukchi Plateau’s open waters. Furthermore, the research results of wind speed dependence and frequency dependence can be applied to calculate wind-generated NSLs in the Chukchi Plateau. Wind-derived ocean ambient noise data are useful for background correction in underwater target detection, recognition, tracking, and positioning. Full article

This article explores the features of using hydroacoustic methods to measure and monitor climate-induced temperature variations along acoustic paths in the Sea of Japan. It delves into effective techniques for controlling and positioning of deep-sea autonomous measuring systems (DSAMS) for diverse applications. Theoretical and experimental findings from research conducted in the Sea of Japan in August 2023 along a 144.4 km acoustic route under summer–autumn hydrological conditions, including the aftermath of the powerful typhoon “Khanun”, are presented. The main hydrological regime characteristics for this period are compared with data obtained in 2022. This study explores the transmission of pulsed pseudorandom signals from a broad shelf into the deep area of the sea, with receptions occurring at depths of 69, 126, 680, and 914 m. An experiment was conducted to receive broadband pulse signals centered at a frequency of 400 Hz, located 144.4 km from the source of navigation signals (SNS), which is positioned on the shelf at a depth of 30 m in waters that are 45 m deep. A system of hydrophones, deployed to depths of up to 1000 m, was utilized to capture signal data, allowing for prolonged recording at fixed depths or during descent. An analysis of the experimentally acquired impulse characteristics revealed a series of ray arrivals lasting approximately 0.5 s, with a peak consistently observed across all depths. Findings from both full-scale and numerical experiments enabled the assessment of impulse characteristics within an acoustic waveguide, the calculation of effective signal propagation speeds at varying depths, and the development of conclusions regarding the viability of tackling control and positioning challenges for DSAMS at depths reaching up to 1000 m and distances spanning hundreds of kilometers from control stations. Full article

Towed streamer positioning is a vital and essential stage in marine seismic exploration, and accurate hydrophone coordinates exert a direct and significant influence on the quality and reliability of seismic imaging. Current methods predominantly rely on analytical polynomial models for towed streamer positioning; however, these models often produce significant errors when fitting to streamers with high curvature, particularly during turning scenarios. To address this limitation, this study introduces a novel multi-streamer analytical positioning method that uses a hybrid harmonic function to model the three-dimensional coordinates of streamers. This approach mitigates the substantial modeling errors associated with polynomial models in high-curvature conditions and better captures the dynamic characteristics of streamer fluctuations. Firstly, the mathematical model for the hybrid harmonic function is constructed. Then, the algorithmic implementation of the model is detailed, along with the derivation of the error equation and the multi-sensor fusion solution process. Finally, the validity of the model is verified using both simulated and field data. The results demonstrate that, in the turning scenario without added error, the proposed harmonic model improves simulation accuracy by 35.5% compared to the analytical polynomial model, and by 27.2% when error is introduced. For field data, accuracy improves by 18.1%, underscoring the model’s effectiveness in significantly reducing errors associated with polynomial models in turning scenarios. The performance of the harmonic function model is generally comparable to that of the polynomial model in straight scenarios. Full article

In practical applications, the hydrophone array has element position errors, which seriously degrade the performance of the direction of arrival estimation. We propose a direction of arrival (DOA) estimation method based on sparse Bayesian learning using existing array position errors to solve this problem. The array position error and angle grid error parameters are introduced, and the prior distribution of these two errors is determined. The joint probability density distribution function is established by means of a sparse Bayesian learning model. At the same time, the unknown parameters are optimized and iterated using the expectation maximum algorithm and the corresponding parameters are solved to obtain the spatial spectrum. The results of the simulation and the lake experiments show that the proposed method effectively overcomes the problem of array element position errors and has strong robustness. It shows a good performance in terms of its estimation accuracy, meaning that the resolution ability can be greatly improved in the case of a low signal-to-noise ratio or small number of snapshots. Full article