Thesis (M.S.)--University of North Carolina Wilmington, 2009. / Title from PDF title page (February 17, 2010) Includes bibliographical references (p. 63-67)

Swath bathymetry sidescan (SBS) sonar and the angle-of-arrival processing that underlies these systems has the capability to produce much higher resolution three dimensional imagery and bathymetry than traditional beamformed approaches. However, the performance of these high resolution systems is limited by signal-to-noise ratio (SNR) and they are also susceptible to multipath interference. This thesis explores two methods for increasing SNR and mitigating multipath interference for SBS systems. The first, binary coded pulse transmission and pulse compression is shown to increase the SNR and in turn provide reduced angle variance in SBS systems. The second, transmit beamforming, and more specifically steering and shading, is shown to increase both acoustic power in the water and directivity of the transmitted acoustic radiation. The transmit beamforming benefits are achieved by making use of the 8-element linear angle-of-arrival array typical in SBS sonars, but previously not utilized for transmit. Both simulations and real world SBS experiments are devised and conducted and it is shown that in practice pulse compression increases the SNR, and that transmit beamforming increases backscatter intensity and reduces the intensity of interfering multipaths. The improvement in achievable SNR and the reduction in multipath interference provided by the contributions in this thesis further strengthens the importance of SBS systems and angle-of-arrival based processing, as an alternative to beamforming, in underwater three dimensional imaging and mapping. / Graduate / 2015-04-15 / 0544 / 0547 / mark.butowski@gmail.com

Thesis (M.S.) -- Mississippi State University. Department of Electrical and Computer Engineering. / Title from title screen. Includes bibliographical references.

Swath bathymetry sidescan (SBS) sonar and the angle-of-arrival processing that underlies these systems has the capability to produce much higher resolution three dimensional imagery and bathymetry than traditional beamformed approaches. However, the performance of these high resolution systems is limited by signal-to-noise ratio (SNR) and they are also susceptible to multipath interference. This thesis explores two methods for increasing SNR and mitigating multipath interference for SBS systems. The first, binary coded pulse transmission and pulse compression is shown to increase the SNR and in turn provide reduced angle variance in SBS systems. The second, transmit beamforming, and more specifically steering and shading, is shown to increase both acoustic power in the water and directivity of the transmitted acoustic radiation. The transmit beamforming benefits are achieved by making use of the 8-element linear angle-of-arrival array typical in SBS sonars, but previously not utilized for transmit. Both simulations and real world SBS experiments are devised and conducted and it is shown that in practice pulse compression increases the SNR, and that transmit beamforming increases backscatter intensity and reduces the intensity of interfering multipaths. The improvement in achievable SNR and the reduction in multipath interference provided by the contributions in this thesis further strengthens the importance of SBS systems and angle-of-arrival based processing, as an alternative to beamforming, in underwater three dimensional imaging and mapping. / Graduate / 0544 / 0547 / mark.butowski@gmail.com

The so-called "Marine Testing Field (MTF)" is a concept to set up a natural site so that a laboratory experiment may be implemented directly at sea. In viewing the geographical advantage of National Sun Yat-sen University (NSYSU), an MTF has been proposed near the Shziwan bay area, which is particularly suitable to conduct research on near shore processes and harbor monitoring and protection. The purpose of this study is implemented the first phase towards the establishment of Shziwan MTF, that is, to conduct a complete survey of this area, including topological, morphological, geological, and dynamical properties of this area. The survey employs various equipment including sidescan sonar, subbpttom profiler, multibeam system, and seabed sampling, etc. To achieve a good quality, the survey routes were carefully planned, and 10 seabed samples were taken. The results have shown that the slope of the seafloor is about 145:1, indicating that the area has a very slow varying topography. Sidescan images have been carefully analyzed, and several objects on the seabed have been identified; furthermore, the subbottom images have shown layering structure in this area. The seabed sampling shows that the seabed is mostly consisted of fine sand with average particle size of about 0.263 mm. Overall, the field already explored shows that it is about 4116725m2 in area, in which 88.1% is sand, 7.2% sand with ripple marks, and 4.7% rocks.

The application of underwater search and identification technology has been widely used in the underwater engineering. There are two major fields in this thesis: monitoring of underwater structures and analysis of upper-layer geological properties of seabed. The former focus on the cooperation of these three major equipments: sidescan sonar, sub-bottom profiler, and marine magnetometer to improve the ability of identification. The latter analyzes the image displayed by the sub-bottom profiler to set up the data base of different environments and equipments. Finally, it is illustrated that the difference between the actual position and the data position exists in equipment with a tow fish style to refine the search technology and predict the real position. This thesis will demonstrate the monitoring of underwater structures, analysis of upper-layer geological properties of seabed, and the position error of underwater targets to discuss and improve the capability of the underwater search and identification technology.

Στην παρούσα έρευνα αναπτύχθηκε μια γρήγορη μεθοδολογία για την ποσοτικοποίηση των αλιευτικών ιχνών από ηχογραφίες ηχοβολιστή πλευρικής σάρωσης. Πεδίο έρευνας ήταν δυο γειτονικές περιοχές, ενός αλιευτικού πεδίου μηχανοτρατών πυθμένα με υδραετούς («πόρτες») στον Πατραϊκό κόλπο. Οι υψηλής ανάλυσης ηχογραφίες αποκάλυψαν αλιευτικά ίχνη στον πυθμένα από τη σύρση των «πορτών» του αλιευτικού εξοπλισμού και υβώματα βιογενούς προέλευσης (biogenic mounds). Η περιοχή έρευνας ταξινομήθηκε σε επιμέρους περιοχές με βάση τους ακουστικούς τύπους που προέκυψαν από την ερμηνεία των ηχογραφιών. Η στατιστική ανάλυση των αλιευτικών ιχνών περιέλαβε τον υπολογισμό: 1) πυκνοτήτων ανά μονάδα επιφανείας, 2) μέσων διευθύνσεων ανά μονάδα επιφανείας, 3) συνολικής μέσης διεύθυνσης, και 4) συνολικού μήκους. Χρησιμοποιήθηκαν τα λογισμικά ArcMap® και Matlab®. Τα αποτελέσματα αποκαλύπτουν την ύπαρξη έντονης αλιευτικής δραστηριότητας στη περιοχή έρευνας, η οποία φαίνεται να ελέγχεται από την βυθομετρία και την παρουσία των βιογενών υβωμάτων. / This study suggests a promising, reliable and rapid methodology for the quantification of trawl marks from sidescan sonar records. Two adjacent sites were surveyed, from an otter trawl fishing ground in the Gulf of Patras. The high resolution sidescan sonar records revealled trawl marks made by the doors of the otter trawls as well as biogenic mounds. The study area was classified on the basis of the acoustic types resulted from the interpretation of the sidescan records. The statistical analysis of the trawl marks included the calculation of: 1) densities per surface block 2) mean directions per surface block, 3) total mean direction and 4) total length. ArcMap® and Matlab® softwares were used. The results reveal the existence of intensive fishing activity, which seems to be controled by the bathymetry and the presence of biogenic mounds.

Substrate composition plays a critical role in determining the spawning success of Atlantic sturgeon. A benthic analysis of the tidal freshwater portion of the James River, Virginia, was performed to locate and protect remaining sturgeon spawning habitat within the James River system. I modeled structural habitat, substrate distribution, and river bathymetry from Richmond, Virginia to the Appomattox River confluence. A classification model was developed to describe the dominant substrate type (mud/silt, sand, gravel, bedrock) using side scan sonar data collected from August 2011-Febuary 2012. River depth, bottom imagery, substrate density (hardness), and ground truth substrate samples were interpolated into a GIS model to spatially describe and quantify essential sturgeon spawning habitat. Finally, I attempted a change analysis of historical substrate composition throughout the study area. Gravel, cobble, and bedrock, swept clean of silt or mud, was deemed a hard bottom substrate suitable for spawning success. Mud and silt dominated the vast majority of river substrate, representing approximately 67 % of river bottom surveyed. Sand comprised 17 % of river bottom, gravel represented 11 % and bedrock represented 5 %. Sixteen percent of the reach was hard bottom habitat consisting of a bed substrate dominated by gravel, cobble, or bedrock. Regions of hard bottom habitat found at depths ≥ 10 m were selected to model essential sturgeon spawning habitat. The river bottom within the reach contained approximately 8 % essential spawning habitat. The majority of hard bottom habitat was located in major bends of the river where scouring occurs. The historical comparison of available hard bottom habitat identified a 28 % loss of hard bottom since 1853. The greatest losses in hard bottom occurred in the upper portions of the study area (55 % loss in hard bottom habitat). Hard bottom habitat lost in the lower portion of the study area was partially offset by the creation of new hard bottom habitat within the narrow channel cuts bypassing Jones Neck and Turkey Island. Historical comparison of the Hatcher Island, Turkey Island, and Jones Neck oxbows identified heavy siltation and reduced depths likely due to anthropogenic alterations in the meander bends linked to shipping channel creation. The altered flow regime has resulted in increased sedimentation and has drastically reduced available hard bottom substrate within the natural channel of Jones Neck and Turkey Island. The increased availability of hard bottom habitat within the confines of the shipping channel has indicated that the alteration of the river bottom, through flow modification and dredging practices, may have replaced a portion of lost historical spawning habitat. Fisheries managers could use the data from the substrate analysis to better understand and protect essential areas necessary for Atlantic sturgeon spawning success.

The aim of this thesis work has been to investigate how miniaturization, such as microsystems technology, can potentially increase the scientific throughput in exploration of hard-to-reach underwater environments, such as the subglacial lakes of Antarctica, or other challenging environments, including cave systems and wrecks. A number of instruments and subsystems applicable to miniature submersibles have been developed and studied, and their potential to provide a high functionality density for size-restricted exploration platforms has been assessed. To provide an onboard camera system with measurement capabilities, simulation and design tools for diffractive optics were developed, and microoptics realized to project reference patterns onto objects to reveal their topography. The influence of murky water on the measurement accuracy was also studied. For longer-range mapping of the surroundings, and under conditions with even less visibility, the performance of a very small, high-frequency side-scanning sonar was investigated using extensive modeling and physical testing. In particular, the interference on the acoustic beam from tight mounting in a hull was investigated. A range in excess of 30 m and centimeter resolution were obtained. Besides these systems, which can be used to navigate and map environments, a two-dimensional, thermal sensor for minute flows was developed. Measuring speed and direction of water flows, this sensor can aid in the general classification of the environment and also monitor the submersible’s movement. As the flow of waters in subglacial lakes is estimated to be minute, the detection limit and sensitivity were investigated. Measurements of water properties are facilitated by the chip-based conductivity, temperature, and depth sensor system developed. Macroscopically, this is an essential oceanographic instrument with which salinity is determined. Contrary to what was expected, MHz frequencies proved to be advantageous for conductivity measurements. Finally, sampling of water using an acoustically enriching microdevice, and even enabling return of pristine samples via the use of integrated latchable, high-pressure valves, was realized and evaluated. Particularly, investigations of the device’s ability to capture and hold on to microorganisms, were conducted. Further developed and studied, these devices – as subsystems to miniature submersibles, or as stand-alone instruments – should enable exploration of previously unreachable submerged environments. / Deeper Access, Deeper Understanding (DADU)

Au cours des dernières décennies, les avancées en termes de technologies robotiques sous-marines ont permis de réaliser des levés sur les fonds marins à l'aide de véhicules sous-marins autonomes (AUV). Ainsi, équiper un AUV avec un sonar latéral permet de scanner une vaste zone de manière rapide. Naturellement, les forces armées se sont intéressées à de tels dispositifs pour effectuer des missions de chasses aux mines rapides et sécurisées pour le facteur humain. Néanmoins, analyser des images sonar par un ordinateur plutôt que par un opérateur reste très complexe. En effet, les chaînes de reconnaissance automatique de cibles (ATR) doivent faire face à la variabilité de l'environnement marin et il a été démontré qu'une forte relation existe entre la texture d'une image et la difficulté d'y détecter des mines. Effectivement, sur des fonds fortement texturés, voire encombrés, les performances d'une chaîne ATR peuvent être très dégradées. Ainsi, intégrer des informations environnementales dans le processus apparaît comme une piste crédible pour améliorer ses performances. Ces travaux de thèse proposent d'étudier la manière de décrire cet environnement marin et comment l'intégrer dans un processus ATR. Pour répondre à ces défis, nous proposons tout d'abord une nouvelle représentation des images sonar basée sur l'utilisation du signal monogène. Ce dernier permet d'extraire des informations énergétiques, géométriques et structurelles sur la texture locale d'une image. La nature multi-échelle de cet outil permet de tenir compte de la variabilité en taille des structures sous-marines. Ensuite, le concept de dimension intrinsèque est introduit pour décrire une image sonar en termes d'homogénéité, d'anisotropie et de complexité. Ces trois descripteurs sont directement reliés à la difficulté de détection des mines sous-marines dans un fond texturé et permettent de réaliser une classification très précise des images sonar en fonds homogènes, anisotropes et complexes. De notre point de vue, la chasse aux mines sous-marines ne peut pas être réalisée de la même manière sur ces trois types de fond. En effet, leurs natures et caractéristiques propres mènent à des challenges variés pour le processus ATR. Pour le démontrer, nous proposons de réaliser un premier algorithme de détection spécifique, appliqué aux zones anisotropes, qui prend en considération les caractéristiques environnementales de ces régions. / In the last decades, advances in marine robot technology allowed to perform accurate seafloor surveys by means of autonomous underwater vehicles (AUVs). Thanks to a sidescan sonar carried by an AUV, a wide area can be scanned quickly. Navies are really interested in using such vehicles for underwater mine countermeasures (MCM) purposes, in order to perform mine hunting missions rapidly and safely for human operators. Nevertheless, on-board intelligence, which intends to replace human operator for sonar image analysis, remains challenging. Current automatic target recognition (ATR) processes have to cope with the variability of the seafloor. Indeed, there is a strong relationship between the seafloor appearance on sidescan sonar images and the underwater target detection rates. Thus, embed some environmental information in the ATR process seems to be a way for achieving more effective automatic target recognition. In this thesis, we address the problem of improving the ATR process by taking into account the local environment. To this end, a new representation of sonar images is considered by use of the theory of monogenic signal. It provides a pixelwise energetic, geometric and structural information into a multi-scale framework. Then a seafloor characterization is carried out by estimating the intrinsic dimensionality of the underwater structures so as to describe sonar images in terms of homogeneity, anisotropy and complexity. These three features are directly linked to the difficulty of detecting underwater mines and enable an accurate classification of sonar images into benign, rippled or complex areas. From our point of view, underwater mine hunting cannot be performed in the same way on these three seafloor types with various challenges from an ATR point of view. To proceed with this idea, we propose to design a first specific detection algorithm for sand rippled areas. This algorithm takes into consideration an environmental description of ripples which allow to outperform classic approaches in this type of seafloor.