Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009. / ENGLISH ABSTRACT: Sonars are used extensively for underwater sensing and recent advances in forward-looking imaging sonar have made this type of sonar an appropriate choice for use on Autonomous Underwater Vehicles. The images received from these sonar do however, tend to be noisy and when used in shallow water contain strong bottom reflections that obscure returns from actual targets. The focus of this work was the investigation and development of post-processing techniques to enable the successful use of the sonar images for automated navigation. The use of standard image processing techniques for noise reduction and background estimation, were evaluated on sonar images with varying amounts of noise, as well as on a set of images taken from an AUV in a harbour. The use of multiple background removal and noise reduction techniques on a single image was also investigated. To this end a performance measure was developed, based on the dynamic range found in the image and the uniformity of returned targets. This provided a means to quantitatively compare sets of post-processing techniques and identify the “optimal” processing. The resultant images showed great improvement in the visibility of target areas and the proposed techniques can significantly improve the chances of correct target extraction. / AFRIKAANSE OPSOMMING: Sonars word algemeen gebruik as onderwater sensors. Onlangse ontwikkelings in vooruit-kykende sonars, maak hierdie tipe sonar ’n goeie keuse vir die gebruik op ’n Outomatiese Onderwater Voertuig. Die beelde wat ontvang word vanaf hierdie sonar neig om egter raserig te wees, en wanneer dit in vlak water gebruik word toon dit sterk bodemrefleksies, wat die weerkaatsings van regte teikens verduister. Die fokus van die werk was die ondersoek en ontwikkeling van naverwerkings tegnieke, wat die sonar beelde bruikbaar maak vir outomatiese navigasie. Die gebruik van standaard beeldverwerkingstegnieke vir ruis-onderdrukking en agtergrond beraming, is geëvalueer aan die hand van sonar beelde met verskillende hoeveelhede ruis, asook aan die hand van ’n stel beelde wat in ’n hawe geneem is. Verdere ondersoek is ingestel na die gebruik van meer as een agtergrond beramings en ruis onderdrukking tegniek op ’n enkele beeld. Hierdie het gelei tot die ontwikkeling van ’n maatstaf vir werkverrigting van toegepaste tegnieke. Hierdie maatstaf gee ’n kwantitatiewe waardering van die verbetering op die oorspronklike beeld, en is gebaseer op die verbetering in dinamiese bereik in die beeld en die uniformiteit van die teiken se weerkaatsing. Hierdie maatstaf is gebruik vir die vergelyking van verskeie tegnieke, en identifisering van die “optimale” verwerking. Die verwerkte beelde het ’n groot verbetering getoon in die sigbaarheid van teikens, en die voorgestelde tegnieke kan ’n betekenisvolle bedrae lewer tot die suksesvolle identifisering van obstruksies.

Acoustic survey techniques are widely used to quantify abundance and distribution of a variety of pelagic fish such as herring (Clupea harengus). The information provided is becoming increasingly important for stock assessment and ecosystem studies, however, the data collected are used as relative indices rather than absolute measures, due to the uncertainty of target strength (TS) estimates. A fish’s TS is a measure of its capacity to reflect sound and, therefore, the TS value will directly influence the estimate of abundance from an acoustic survey. The TS is a stochastic variable, dependent on a range of factors such as fish size, orientation, shape, physiology, and acoustic frequency. However, estimates of mean TS, used to convert echo energy data from acoustic surveys into numbers of fish, are conveniently derived from a single metric - the fish length (L). The TS used for herring is based on TS-L relationships derived from a variety of experiments on dead and caged fish, conducted 25-30 years ago. Recently, theoretical models for fish backscatter have been proposed to provide an alternative basis for exploring fish TS. Another problem encountered during acoustic surveys is the identification of insonified organisms. Trawl samples are commonly collected for identification purposes, however, there are several selectivity issues associated with this method that may translate directly into biased acoustic abundance estimates. The use of different acoustic frequencies has been recognised as a useful tool to distinguish between different species, based on their sound reflection properties at low and high frequencies. In this study I developed theoretical models to describe the backscatter of herring at multiple frequencies. Data collected at four frequencies (18, 38, 120 and 200 kHz) during standard acoustic surveys for herring in the North Sea were examined and compared to model results. Multifrequency backscattering characteristics of herring were described and compared to those of Norway pout, a species also present in the survey area. Species discrimination was attempted based on differences in backscatter at the different frequencies. I examined swimbladder morphology data of Baltic and Atlantic herring and sprat from the Baltic Sea. Based on these data, I modelled the acoustic backscatter of both herring stocks and attempted to explain differences previously observed in empirical data. I investigated the change in swimbladder shape of herring, when exposed to increased water pressures at deeper depths, by producing true shapes of swimbladders from MRI scans of herring under pressure. The swimbladder morphology representations in 3-D were used to model the acoustic backscatter at a range of frequencies and water pressures. I developed a probabilistic TS model of herring in a Bayesian framework to account for uncertainty associated with TS. Most likely distributions of model parameters were determined by fitting the model to in situ data. The resulting probabilistic TS was used to produce distributions of absolute abundance and biomass estimates, which were compared to official results from ICES North Sea herring stock assessment. Modelled backscatter levels of herring from the Baltic Sea were on average 2.3 dB higher than those from herring living in northeast Atlantic waters. This was attributed to differences in swimbladder sizes between the two herring stocks due to the lower salinity Baltic Sea compared to Atlantic waters. Swimbladders of Baltic herring need to be bigger to achieve a certain degree of buoyancy. Morphological swimbladder dimensions of Baltic herring and sprat were found to be different. Herring had a significantly larger swimbladder height at a given length compared to sprat, resulting in a modelled TS that was on average 1.2 dB stronger. Water depth, and therefore the increase in ambient pressure, was found to have a considerable effect on the size and shape of the herring swimbladder. Modelled TS values were found to be around 3 dB weaker at a depth of 50 m compared to surface waters. At 200 m, this difference was estimated to be about 5 dB. The Bayesian model predicted mean abundances and biomass were 23 and 55% higher, respectively, than the ICES estimates. The discrepancy was linked to the depth-dependency of the TS model and the particular size-dependent bathymetric distribution of herring in the survey area.

As the biomass of jellyfish (medusae of the Scyphozoa and Hydrozoa) has risen in numerous locations worldwide, awareness of their potential to exert a controlling influence on marine ecosystems and hinder the recruitment of fish stocks has increased. Medusae are capable of intensive, size–selective, predation on zooplankton, which may alter the composition of the plankton community. Jellyfish are often found in dense layers, up to hundreds of metres thick, which can extend horizontally for hundreds of kilometres. Such aggregations may benefit specialist feeders, such as turtles, that rely upon jellyfish for food and those fish that are able to find refuge under the jellyfish umbrellas. Nonetheless, the predominance of jellyfish in pelagic ecosystems is not generally viewed as desirable; in fact, this situation has been portrayed as the result of pollution and overexploitation of otherwise productive seas. However, jellyfish are sensitive indicators of environmental change, and their populations appear to respond to climatic fluctuations, so jellyfish warrant study for their intrinsic ecosystem role particularly given present concerns over climate change. With growing acceptance that fishery management should take an holistic ‘ecosystem approach’, knowledge of the interactions between jellyfish, fisheries and climate may be vital in progression towards the goal of ecosystem–based sustainable management of fisheries. Unfortunately, due to their gelatinous nature, medusae are difficult to sample using conventional netting techniques and data on changes in distribution and abundance are consequently sparse. Recent studies have demonstrated that medusae can be detected acoustically and that this technique could provide a rapid and cost–effective estimate of their biomass and distribution. This thesis reports my endeavour to demonstrate the ecosystem role of medusae and to develop acoustic techniques to monitor their biomass. Through regession analyses, I link the abundance of medusae (Aurelia aurita, Cyanea lamarckii, and Cyanea capillata) in regions of the North Sea to climatic fluctuations, as quantified by the North Atlantic Oscillation Index, and show that medusae may be important indicators of regional ecosystem change. The mechanisms linking climatic fluctuations to ecosystem changes are explored via a correlative modelling approach using General Additive Models; I show that the mechanisms are location dependent and explainable in terms of direct, rapidly responding (intra–annual) influences (surface warming, river run–off, and wind–driven mixing and advection) and longer–term (interannual) oceanographic responses (changes in circulation currents i.e. the northward extent of the gulf stream and relative strength of inflow into the North Sea of the North Atlantic current, Continental Shelf Jet and Arctic waters). I present correlative evidence for a detrimental impact by Aurelia aurita on herring 0–group recruitment, once the influence of interannual change in herring spewing stock biomass on recruitment is factored out through modelling with a Ricker stock–recruitment relationship. Similarly, a commensal relationship between whiting and Cyanea spp. medusae is shown to improve North Sea whiting survival to the 1–group. In progress towards the automated acoustic identification of species, I have developed an in situ discrimination tool that can distinguish between echoes from: Aequorea aequorea; Chrysaora hysoscella; clupeid fish (sardine, anchovy and round herring); and horse mackerel/Cape hake. The technique relies upon characteristic differences in echo strength between frequencies, which are determined for each jellyfish species and finfish group using combined multifrequency acoustic and pelagic trawl samples. This method has facilitated the world’s first acoustic–based estimate of jellyfish biomass in the Namibian Benguela Sea. The 12.2 million tonnes of biomass of medusae (Aequorea aequorea and Chrysaora hysoscella) in the Namibian Benguela Sea was found to be greater than the combined biomass, 3.6 million tonnes, of commercially important fish (horse mackerel, Cape hake, sardines, anchovy, and round herring) in the same area. These results suggest that medusae may have an important role in the Benguela ecosystem that has previously been overlooked and that their biomass should be monitored.

This thesis presents an evaluation of the performance, in terms of throughput and latency, of two Media Access Control (MAC) mechanisms in Underwater Acoustic Networks (UANs), using a model designed in the COTS simulation tool OPNET 10.5. The carrier sense multiple access with collision avoidance is the predominant approach for implementing the MAC mechanism in UANs. However, the underwater acoustic environment is characterized by extreme propagation delays and limited bandwidth, which suggests that an Aloha-like scheme may merit consideration. The performance of these two schemes was compared with respect to two topologies: tree and grid. The results showed that an Aloha-like scheme that does not segment messages outperforms the contention-based scheme under all load conditions, in terms of both throughput and latency, for the two topologies. This thesis is the first to establish that Aloha-like MAC mechanisms can be more than a limited alternative for lightly loaded networks; more specifically, they can be the preferred choice for an environment with large propagation delays. / Lieutenant Commander, Portuguese Navy

Approved for public release, distribution is unlimited / Direct-Sequence Spread Spectrum (DSSS) modulation is being advanced as the physical-layer basis for Seaweb undersea acoustic networking. DSSS meets the need for channel tolerance, transmission security, and multi-user access. This thesis investigates the performance of subspace-decomposition blind-equalization algorithms as alternatives to RAKE processing of DSSS signals. This approach is tailored for superior performance in time-dispersive and frequency-dispersive channels characteristic of ocean acoustic propagation. Transmitter and receiver structures are implemented in Matlab and evaluated with a statistics-based model of a doubly spread channel with additive noise. Receiver performance is examined using Monte Carlo simulation. Biterror rates versus signal-to-noise ratio are presented for various multipath assumptions, noise assumptions, and receiver synchronization assumptions. / Lieutenant, Hellenic Navy

High data rate acoustic communications become feasible with the use of communication systems that operate at high frequency. The high frequency acoustic transmission in shallow water endures severe distortion as a result of the extensive intersymbol interference and Doppler shift, caused by the time variable multipath nature of the channel. In this research a Single Input Multiple Output (SIMO) acoustic communication system is developed to improve the reliability of the high data rate communications at short range in the shallow water acoustic channel. The proposed SIMO communication system operates at very high frequency and combines spatial diversity and decision feedback equalizer in a multilevel adaptive configuration. The first configuration performs selective combining on the equalized signals from multiple receivers and generates quality feedback parameter for the next level of combining. / Includes bibliography. / Dissertation (Ph.D.)--Florida Atlantic University, 2015. / FAU Electronic Theses and Dissertations Collection

Oyster reefs are biodiverse communities that provide many ecological and commercial benefits. However, oyster reefs have declined around the world from human activities. Oyster reef restoration programs have begun to limit some of the decline, but the need for determining the success of a program has been problematic. Passive acoustic techniques can use naturally occurring sounds produced by organisms to assess biodiversity. Passive acoustics was utilized to compare the sounds in natural and restored oyster reefs, with special attention on snapping shrimp (Alpheus spp.) snap sounds, in the St. Lucie Estuary, Florida over a one year period. Season, estuary region, habitat and day period had an effect on sound production. Passive acoustic monitoring of snapping shrimp sound production may be a useful non-destructive technique for monitoring the progress of oyster reef restoration projects once further correlations are established between environmental effects and sound production. / by Hilde P. Zenil Becerra. / Thesis (M.S.)--Florida Atlantic University, 2012. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2012. Mode of access: World Wide Web.

Thesis (S.M.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2009. / Includes bibliographical references (p. 101-107). / Marine mammal whistle calls present an attractive medium for covert underwater communications. High quality models of the whistle calls are needed in order to synthesize natural-sounding whistles with embedded information. Since the whistle calls are composed of frequency modulated harmonic tones, they are best modeled as a weighted superposition of harmonically related sinusoids. Previous research with bottlenose dolphin whistle calls has produced synthetic whistles that sound too "clean" for use in a covert communications system. Due to the sensitivity of the human auditory system, watermarking schemes that slightly modify the fundamental frequency contour have good potential for producing natural-sounding whistles embedded with retrievable watermarks. Structured total least squares is used with linear prediction analysis to track the time-varying fundamental frequency and harmonic amplitude contours throughout a whistle call. Simulation and experimental results demonstrate the capability to accurately model bottlenose dolphin whistle calls and retrieve embedded information from watermarked synthetic whistle calls. Different fundamental frequency watermarking schemes are proposed based on their ability to produce natural sounding synthetic whistles and yield suitable watermark detection and retrieval. / by Jared Severson. / S.M.

Thesis (S.M.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science; and the Woods Hole Oceanographic Institution), 2009. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 85-87). / Mode filtering is most commonly implemented using the sampled mode shape or pseudoinverse algorithms. Buck et al [1] placed these techniques in the context of a broader maximum a posteriori (MAP) framework. However, the MAP algorithm requires that the signal and noise statistics be known a priori. Adaptive array processing algorithms are candidates for improving performance without the need for a priori signal and noise statistics. A variant of the physically constrained, maximum likelihood (PCML) algorithm [2] is developed for mode filtering that achieves the same performance as the MAP mode filter yet does not need a priori knowledge of the signal and noise statistics. The central innovation of this adaptive mode filter is that the received signal's sample covariance matrix, as estimated by the algorithm, is constrained to be that which can be physically realized given a modal propagation model and an appropriate noise model. The first simulation presented in this thesis models the acoustic pressure field as a complex Gaussian random vector and compares the performance of the pseudoinverse, reduced rank pseudoinverse, sampled mode shape, PCML minimum power distortionless response (MPDR), PCML-MAP, and MAP mode filters. The PCML-MAP filter performs as well as the MAP filter without the need for a priori data statistics. The PCML-MPDR filter performs nearly as well as the MAP filter as well, and avoids a sawtooth pattern that occurs with the reduced rank pseudoinverse filter. The second simulation presented models the underwater environment and broadband communication setup of the Shallow Water 2006 (SW06) experiment. / (cont.) Data processing results are presented from the Shallow Water 2006 experiment, showing the reduced sensitivity of the PCML-MPDR filter to white noise compared with the reduced rank pseudoinverse filter. Lastly, a linear, decision-directed, RLS equalizer is used to combine the response of several modes and its performance is compared with an equalizer applied directly to the data received on each hydrophone. / by Joseph C. Papp. / S.M.

Thesis (S.M.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2009. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 140-141). / A confluence of several coastal oceanographic features creates an acoustically interesting region with high variability along the New England Shelfbreak. Determining the effect of the variability on acoustic propagation is critical for sonar systems. In the Nantucket Shoals area of the Middle Atlantic Bight, two experiments, the New England Shelfbreak Tests (NEST), were conducted in May and June, 2007 and 2008, to study this variability. A comprehensive climatology of the region along with the experimental data provided detailed information about the variability of the water column, particularly the temperature and sound speed fields. Empirical orthogonal function (EOF) analysis of the ocean sound speed field defined a set of perturbations to the background sound speed field for each of the NEST Scanfish surveys. Attenuation due to bottom sediments is the major contributor of transmission loss in the ocean. In shallow water, available propagation paths most often include bottom interaction. Perturbations in the ocean sound speed field can cause changes in the angle of incidence of sound rays with the bottom, which can result in changes to the amount of sound energy lost to the bottom. In lieu of complex transmission loss models, the loss/bounce model provides a simpler way to predict transmission loss changes due to perturbations in the background sound speed field in the ocean. Using an acoustic wavenumber perturbation method, sound speed perturbations, defined by the ocean EOF modes, are translated into a change in the horizontal wavenumber, which in turn changes the modal angle of incidence. / (cont.) The loss/bounce model calculates the loss of sound energy (dB) per bottom bounce over a given distance based on the change in angle of incidence. Evaluated using experimental data from NEST, the loss/bounce model provided accurate predictions of changes to transmission loss due to perturbations of the background sound speed field. / by Heather René Hornick. / S.M.