Zugl.: Aachen, Techn. Hochsch., Diss., 2007.

<p>This thesis investigates techniques for stealth hydroacoustic communication using spread spectrum. The Swedish naval defense organisations have a vision that all their units should be able to communicate with each other, even between underwater vehicles. But the properties of water makes it a complex channel to use for wireless communications. Radiomagnetic waves have very limited range in water, therefore acoustic waves are used. </p><p>In this report the basics of wireless communication systems are described including source coding, channel coding, modulation techniques as well as different techniques for spread spectrum. The fundamental principle for all spread spectrum systems is to use more bandwidth than necessary to spread the signal energy in the frequency spectrum. This limits the data rate but results in a robust communication link which is difficult to detect, intercept and to jam. </p><p>In addition to the theoretical background, this thesis also gives a brief description of a Matlab system and a VHDL-system that was developed during the project. Finally the results of this project are presented and some suggestions of further developments are given.</p>

This thesis investigates techniques for stealth hydroacoustic communication using spread spectrum. The Swedish naval defense organisations have a vision that all their units should be able to communicate with each other, even between underwater vehicles. But the properties of water makes it a complex channel to use for wireless communications. Radiomagnetic waves have very limited range in water, therefore acoustic waves are used. In this report the basics of wireless communication systems are described including source coding, channel coding, modulation techniques as well as different techniques for spread spectrum. The fundamental principle for all spread spectrum systems is to use more bandwidth than necessary to spread the signal energy in the frequency spectrum. This limits the data rate but results in a robust communication link which is difficult to detect, intercept and to jam. In addition to the theoretical background, this thesis also gives a brief description of a Matlab system and a VHDL-system that was developed during the project. Finally the results of this project are presented and some suggestions of further developments are given.

Modern bottom-hole assemblies are equipped with various sensors which measure the geological and directional information of the borehole while drilling. It is very crucial to get the measured downhole information to the surface in real time in order to be able to monitor, steer and optimize the drilling process while drilling. The transmission of the information to the surface is most commonly carried out by coded pressure pulses (the technology called mud pulse telemetry) which propagate through the drilling mud inside the drill string towards the surface. However, hardly any specific experimental research on the hydraulic data transmission can be found in the literature. Moreover, it is essential to use a reliable model/simulation tool which can more accurately simulate the pressure pulse propagation in fluids inside drill strings under various drilling operation conditions in order to improve the performance of the data transmission process. The aims of this study are to develop and test a laboratory experimental setup, a simulation model and a novel method for detecting and decoding of measurement while drilling pressure pulse propagation in fluids inside drill strings. This thesis presents a laboratory experimental setup for investigating the process of data transmission in boreholes by mud pulse telemetry. The test facility includes a flow loop, a centrifugal pump, a positive mud pulser or alternatively a mud siren, pressure transducers at four different locations along the flow loop and a data collection system. Moreover, it includes an “actuator system” for the simulation of typical noise patterns created by the common duplex or triplex mud pumps. This laboratory setup with great capabilities opens the way for testing and developing new concepts for data transmission. A theoretical model using ANSYS CFX11 (Computational Fluid Dynamics (CFD) commercial code) was successfully developed to simulate dynamic pressure pulse transmission behavior in the fluid inside the flow loop. The collected laboratory data which simulate various data transmission processes in boreholes were used to verify and calibrate the theoretical method. A pretty good agreement is achieved between the predicted and measured pressure pulses at different locations along the flow loop for positive pulses with various durations using different flow rates and for continuous pressure pulses using different carrier frequencies. A novel approach (continuous wavelet transformation) for detecting and decoding the received continuous pressure pulses in a noisy environment was applied to various simulated drilling operation conditions for data transmission in boreholes in the laboratory. The concept was registered at the German Patent and Trade Mark Office (DPMA) for a patent in 2011. The results indicate that the continuous wavelet transformation can be used to clearly identify and better detect the continuous pressure pulse periods, frequencies and discontinuity positions in the time domain compared to the conventional method (Fourier transformation). This method will contribute to the possibility of transmitting the data at higher rates and over longer distances. A concept for developing an innovative pulser using electrical discharge or acoustic sources for inducing pulses keeping the drill strings fully open (eliminating the problem of plugging the pulser by pumped lost circulation materials) and without any mechanical moving parts (eliminating the failure related to the pulser moving parts) was also registered at the German Patent and Trade Mark Office (DPMA) for a patent in 2012. With this pulser, it is expected that it would be possible to transmit the data over longer distances and at higher rates. Realizing the concept of the new pulser and using continuous wavelet transformation for detecting and decoding the pulser signal are recommended for future work.

Modern bottom-hole assemblies are equipped with various sensors which measure the geological and directional information of the borehole while drilling. It is very crucial to get the measured downhole information to the surface in real time in order to be able to monitor, steer and optimize the drilling process while drilling. The transmission of the information to the surface is most commonly carried out by coded pressure pulses (the technology called mud pulse telemetry) which propagate through the drilling mud inside the drill string towards the surface. However, hardly any specific experimental research on the hydraulic data transmission can be found in the literature. Moreover, it is essential to use a reliable model/simulation tool which can more accurately simulate the pressure pulse propagation in fluids inside drill strings under various drilling operation conditions in order to improve the performance of the data transmission process. The aims of this study are to develop and test a laboratory experimental setup, a simulation model and a novel method for detecting and decoding of measurement while drilling pressure pulse propagation in fluids inside drill strings. This thesis presents a laboratory experimental setup for investigating the process of data transmission in boreholes by mud pulse telemetry. The test facility includes a flow loop, a centrifugal pump, a positive mud pulser or alternatively a mud siren, pressure transducers at four different locations along the flow loop and a data collection system. Moreover, it includes an “actuator system” for the simulation of typical noise patterns created by the common duplex or triplex mud pumps. This laboratory setup with great capabilities opens the way for testing and developing new concepts for data transmission. A theoretical model using ANSYS CFX11 (Computational Fluid Dynamics (CFD) commercial code) was successfully developed to simulate dynamic pressure pulse transmission behavior in the fluid inside the flow loop. The collected laboratory data which simulate various data transmission processes in boreholes were used to verify and calibrate the theoretical method. A pretty good agreement is achieved between the predicted and measured pressure pulses at different locations along the flow loop for positive pulses with various durations using different flow rates and for continuous pressure pulses using different carrier frequencies. A novel approach (continuous wavelet transformation) for detecting and decoding the received continuous pressure pulses in a noisy environment was applied to various simulated drilling operation conditions for data transmission in boreholes in the laboratory. The concept was registered at the German Patent and Trade Mark Office (DPMA) for a patent in 2011. The results indicate that the continuous wavelet transformation can be used to clearly identify and better detect the continuous pressure pulse periods, frequencies and discontinuity positions in the time domain compared to the conventional method (Fourier transformation). This method will contribute to the possibility of transmitting the data at higher rates and over longer distances. A concept for developing an innovative pulser using electrical discharge or acoustic sources for inducing pulses keeping the drill strings fully open (eliminating the problem of plugging the pulser by pumped lost circulation materials) and without any mechanical moving parts (eliminating the failure related to the pulser moving parts) was also registered at the German Patent and Trade Mark Office (DPMA) for a patent in 2012. With this pulser, it is expected that it would be possible to transmit the data over longer distances and at higher rates. Realizing the concept of the new pulser and using continuous wavelet transformation for detecting and decoding the pulser signal are recommended for future work.

Akustiska kanaler för undervattenskommunikation är flervägskanaler där ljudet reflekteras från havets yta och botten och bryts vid ljudhastighetsförändringar. I grunt vatten är impulssvaret långt jämfört med symbolernas tidslängd i ett utskickat meddelande. Detta orsakar intersymbolinterferens, vilket gör det svårt att återskapa meddelandet. Denna avhandling behandlar fysikalisk modellering av kommunikationskanalen. Sådan modellering kan öka insikten om de svårigheter som finns vid design av kommunikationssystem och kan vara till hjälp vid utveckling av lämpliga modulationstekniker och avkodningsalgoritmer. Ljudutbredningen simuleras med en strålgångsmetod med reflektionskoefficienter beräknade för plana vågor. I artikel 4 och 5 utvidgas modellen till en algoritm för gaussisk strålsummation. De viktigaste vetenskapliga bidragen är följande. Artikel 1: Aktuell kunskap om impulssvaret hos kommunikationskanalen gör det betydligt lättare att tolka det mottagna meddelandet. I denna artikel studeras tidsvariabiliteten hos impulssvaret i termer av bitfelssannolikhet när ett gammalt impulssvar används för kanalutjämning. Tidsvariabiliteten visar sig variera avsevärt med mottagarpositionen, inte bara när det gäller avståndet till sändaren, utan även när det gäller placeringen i djupled. Artikel 2: En hybridmetod presenteras, där strålgång i ett avståndsberoende medium kombineras med lokal fullfältsmodellering av interaktionen med havsbottnen. Metoden används för simuleringar av akustisk kommunikation i grunt vatten. Artikel 3: För att kunna göra tillförlitliga simuleringar av ljudutbredning behöver man god kunskap om mediets ljudhastighetsprofil --- information som inte alltid är tillgänglig. I denna artikel används den hybrida strålgångsmetoden från artikel 2 för att skatta ljudhastighetsprofilen från kommunikationsdata. Miljöparametrarna som beräknats genom inversionen minskar avvikelsen mellan simulerade och observerade skattningar av impulssvaret jämfört med avvikelsen då en uppmätt, två dagar gammal ljudhastighetsprofil används vid simuleringen. Miljömodellen används också för en genomgång av alternativa käll- och mottagarpositioner. Artikel 4: Gaussisk strålsummation är en vågutbredningsmodell som liknar strålgång men kan ge korrekta resultat i strålgångens singulära områden, som skuggzoner och kaustikor. I denna artikel diskuteras hur några olika val av den komplexa strålparametern $\epsilon$ fungerar i grunda vågledare. Bäst resultat erhålls om man väljer $\epsilon$ så att strålen blir smal i punkten närmast mottagaren och får en plan vågfront där. Artikel 5: En adaptiv metod för gaussisk strålsummation i grunda vågledare presenteras. Algoritmen ger en noggrannhet som är bättre än eller minst lika bra som strålgångens, även i grunda vågledare med en starkt djupberoende ljudhastighet. / Acoustic underwater communication channels are multipath channels where sound is reflected from the surface and the bottom of the sea and refracted by sound speed variations. In shallow water, the impulse response is typically long compared to the time length of the symbols in a transmitted message. This causes inter-symbol interference, which makes the message difficult to decode. This thesis deals with physical modelling of the communication channel. Such modelling can provide insight into the difficulties of communication system design and may serve as an aid in the development of appropriate modulation techniques and decoding algorithms. The sound propagation is simulated by a ray tracing method with plane-wave reflection coefficients, in papers 4 and 5 expanded to a Gaussian beam summation algorithm. The main scientific contributions are the following. Paper 1: Up-to-date knowledge of the impulse response of the communication channel considerably simplifies the extraction of information from a detected signal. In this paper the time variability of the impulse response is studied in terms of the bit-error rate, when an old impulse response is used for channel equalisation. The time variability is found to vary significantly with the receiver position, not only in range, but also in depth. Paper 2: A hybrid raytrace method is presented, combining ray tracing in a range-dependent water column with local full-field modelling of the seabed interaction. The method is applied to simulations of acoustic communication in shallow water. Paper 3: To be able to make reliable simulations of sound propagation, one needs to know, quite accurately, the sound speed profile of the medium --- information which is not always available. In this paper the hybrid raytrace method from paper 2 is used to estimate the sound speed profile from communication data. The environmental model obtained by the inversion reduces the mismatch between the modelled and the observed impulse response estimates, compared to the mismatch with a two-days-old sound speed profile. The model is also used to investigate alternative source-receiver configurations. Paper 4: Gaussian beam summation is a wave propagation model similar to ray tracing, which can yield correct results in singular regions like shadow zones and caustic points. In this paper some different choices of the complex beam parameter $\epsilon$ are discussed for shallow waveguides. Best results are observed when $\epsilon$ is chosen so that each beam is narrow at the point where it is closest to the receiver and has a plane wavefront there. Paper 5: An adaptive method for Gaussian beam summation in shallow waveguides is presented. The algorithm yields better or at least as good accuracy as ray tracing, even in shallow waveguides with a strongly depth-dependent sound speed profile. / QC 20100819

Fischgemeinschaften in Seen sind zunehmenden Umweltveränderungen unterworfen. Die Analyse des Einflusses abiotischer und biotischer Faktoren auf die Größenstruktur von Fischgemeinschaften ist entscheidend, um die Entwicklung von Seeökosystemen im Zuge von Umweltveränderungen vorhersagen zu können. Es ist jedoch schwierig Fische in Seen zu beproben, da Fanggeräte selektiv sind. Die Qualität und Vergleichbarkeit von Fischfängen durch Angler, Kiemennetze, Schleppnetze und Hydroakustik wurden untersucht. Anglerfänge eignen sich begrenzt für vergleichende Fischbestandsuntersuchungen. Vertikale Hydroakustik eignet sich für die Fischbiomassequantifizierung in geschichteten Seen. Der Beprobungsaufwand von Kiemennetzen kann reduziert werden, wenn zeitnah hydroakustische Untersuchungen statt finden. Schleppnetze eignen sich für die Beprobung von pelagischen Fischen in tiefen Seen. Die Größenstruktur von Fischgemeinschaften unterschied sich auf regionaler und überregionaler Ebene entlang abiotischer und biotischer Gradienten. Die regionale Studie zeigte, dass tiefe nährstoffarme Seen mit hohen Raubfischabundanzen durch mehr große Fische gekennzeichnet waren. Nährstoffreiche Flachseen mit wenigen Raubfischen zeigten höhere Anteile von mittleren Fischgrößen. Im überregionalen Vergleich führten Temperaturpräferenzen der Fischarten zu zwei Fischgemeinschaften, die sich in ihrer Größenzusammensetzung unterschieden. Ein hoher Anteil großer Salmoniden war typisch für hochgelegene Kaltwasserseen im Norden und Süden Europas. Flachlandseen mit Kühl- und Warmwasserfischen zeichneten sich durch eine Dominanz von kleinen Fischen aus. Das lässt vermuten, dass Fischgemeinschaften in Flachlandseen relativ robust gegenüber Umweltveränderungen reagieren. Kaltwasserfischgemeinschaften könnten im Zuge der Klimaerwärmung starken Änderungen unterliegen, da eine Veränderung in der Artenzusammensetzung von einer Verschiebung in der Größenstruktur hin zu mehr kleinen Fischen begleitet sein wird. / Lake fish assemblages are increasingly exposed to environmental change in their habitats. The investigation of abiotic and biotic factors and their effects on the size structure of lake fish is essential for predicting the response of fish assemblages to environmental change. However, sampling of lake fish is challenging because sampling gears are selective. The quality and correspondence of fish catches from angling, gillnetting, trawling and hydroacoustics were analysed. Non-standardised catch data from recreational angling were of limited quality for a comparison of fish stocks. Vertical hydroacoustics is an efficient method to quantify fish biomass in stratified lakes. Sampling effort of multi-mesh gillnets can be reduced when fish abundance estimates are derived from contemporarily operating hydroacoustics. Trawling is useful to sample pelagic fish assemblages in deep lakes. The size structures of fish assemblages differed on a small and a large geographical scale along gradients of abiotic and biotic lake descriptors and differences in fish assemblage composition. At a small geographical scale assemblages in deep and less nutrient-rich lakes with high predator abundances were characterised by a higher proportion of large fish. Shallow nutrient-rich lakes with few predators were characterised by more medium-sized fish. At a large geographical scale thermal optima of fish generated two types of assemblages with different size structures. A high proportion of large salmonids was observed in coldwater lakes at high elevation sites in northern and southern Europe. Lowland lakes with cool- and warmwater fish were dominated by small-sized individuals. The results suggest that lowland lake fish assemblages are relatively robust against environmental change. Coldwater fish assemblages instead may suffer dramatic consequences from global warming as expected species shifts are likely to be accompanied by shifts in the size structure towards smaller individuals.