-
齿鲸依靠其天然的声呐系统进行水下目标探测. 齿鲸通过前额的声发射系统发出超声脉冲, 经声阻抗各异的声学结构调控形成波束, 作用于目标, 利用下颌区域的多相声接收通道接收目标回波. 齿鲸通过分析目标回波中蕴含的时域、频域与能量等多维度信息, 并进行非线性组合, 实现目标探测与辨别. 齿鲸目标探测过程蕴藏复杂的物理机理. 本文以目标探测实验测量、目标回波散射分析与仿齿鲸声呐系统为出发点, 回溯齿鲸声呐目标探测的相关研究. 齿鲸在目标探测过程中, 会根据目标强度、回波的时频信息, 自适应调整其声发射脉冲频率、发射系统几何形态, 实现高效探测, 是优越的水声探测系统. 参考齿鲸声呐设计人工探测系统可获取多维度的声场信息, 与生物实验测量相辅相成, 加深对生物多相介质中的声发射与声接收过程的理解, 丰富齿鲸目标探测物理机理认知, 为人工仿生声探测技术的发展与仿生水下装置设计提供新参考.Odontocetes have evolved to own a unique natural sonar system to detect targets. Odontocetes use their sound emission systems in their foreheads to produce echolocation clicking targets. Echoes contain information about the size, material and ranges of the targets. Odontocetes can probe into the echoes in both time domain and frequency domain to realize the target discrimination. More studies are necessary to reveal how odontcoetes collect meaningful information from echoes. In this paper, the target detection by odontocetes is reviewed from three aspects, i.e. detection range, target discrimination and biomimetic target detection system. Odontocetes can actively adjust their biosonar systems to realize optimal detection. Numerical simulation and bioinspired systems can help to shed light on physical mechanism of odontocetes’ target detection process. Multiple theories are needed to deepen our understanding of target detection by odontocetes, which can provide references for designing intelligent biomimetic signal processors.
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Keywords:
- biosonar /
- target detection /
- underwater detection /
- odontocetes
通信作者: 张宇, yuzhang@xmu.edu.cn
作者简介:
[1] Kinsler L E, Frey A R, Coppens A B, Sanders J V 2000 Fundamentals of Acoustics (New York: Wiley) pp435−470
[2] Urick R J 1983 Principles of Underwater Sound (New York: McGraw- Hill) pp1−16
[3] Au W W L, Simmons J A 2007 Phys. Today 60 40
[4] Au W W L 1993 The Sonar of Dolphins (New York: Springer-Verlag) pp22−114
[5] Au W W L, Popper A N, Fay R R 2000 Hearing by Whales and Dolphins (New York: Springer-Verlag) pp364−469
[6] Au W W L, Hastings M C 2008 Principles of Marine Bioacoustics (New York: Springer) pp534−538
[7] Au W W L, Hammer Jr C E 1980 Animal Sonar Systems (New York: Plenum Press) pp855−858
[8] Delong C M, Au W W L, Stamper S A 2007 J. Acoust. Soc. Am. 121 605
Google Scholar
[9] Pailhas Y, Capus C, Brown K, Moore P 2010 J. Acoust. Soc. Am. 127 3809
Google Scholar
[10] Delong C M, Au W W L, Lemonds D W, Harley H E, Roitblat H L 2006 J. Acoust. Soc. Am. 119 1867
Google Scholar
[11] Muller M W, Allen III J S, Au W W L, Nachtigall P E 2008 J. Acoust. Soc. Am. 124 657
Google Scholar
[12] Gaunaurd G C, Brill D, Huang H, Moore P W B, Strifors H C 1998 J. Acoust. Soc. Am. 103 1547
Google Scholar
[13] Au W W L, Pawloski D A 1992 J. Comp. Physiol. A 170 41
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Google Scholar
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Google Scholar
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Google Scholar
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Google Scholar
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Google Scholar
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Google Scholar
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[23] Dubrovskiy N A, Krasnov O S 1971 Tr. Akust. Inst. 17 9
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Google Scholar
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[26] Koblitz J C, Wahlberg M, Stilz P, Madsen P T, Beedholm K, Schnitzler H U 2012 J. Acoust. Soc. Am. 131 2315
Google Scholar
[27] Morozov V P, Akopian A I, Burdin V I, Zaitseva K A, Sokovykh Y A 1972 Biofizika 17 139
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Google Scholar
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Google Scholar
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Google Scholar
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Google Scholar
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Google Scholar
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Google Scholar
[37] Evans W E, Powell B A 1967 Animal Sonar Systems: Biology and Bionics (Jouy-enJosas: Laboratoire de Physiologie Acoustique) pp363−383
[38] Norris K S, Evans W E, Turner R N 1967 Animal Sonar Systems: Biology and Bionics (Jouy-enJosas: Laboratoire de Physiologie Acoustique) pp409−437
[39] Turner R N, Norris K S 1966 J. Exp. Anal. Behav. 9 535
Google Scholar
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Google Scholar
[41] Belkovich V M, Dubrovskiy N A 1976 Sensory Bases of Cetacean Orientation (Leningrad: Nauka) pp137−148
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Google Scholar
[43] Bel’kovich V M, Borisov V I 1971 Tru. Akust. Inst. 17 19
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Google Scholar
[45] Leighton T G, Chua G H, White P 2013 Proceedings of Meetings on Acoustics ICA 2013 Montreal, Canada, June 2, 2013 p19
[46] Au W W L, Branstetter B K, Benoit-Bird K J, Kastelein R A 2009 J. Acoust. Soc. Am. 126 460
Google Scholar
[47] Dubrovskiy N A, Krasnov P S, Titov A A 1971 Proceedings of the 7th International Congress on Acoustics Budapest, Hungary, August 24, 1971 p533
[48] Thompson R K R, Herman L M 1975 J. Acoust. Soc. Am. 57 943
Google Scholar
[49] Au W W L, Pawloski J L 1989 J. Acoust. Soc. Am. 86 591
Google Scholar
[50] Dubrovskiy N A 1990 Sensory Abilities of Cetaceans (New York: Plenum Press) pp233−254
[51] Muller M W, Au W W L, Nachtigall P E, Allen III J S, Breese M 2007 J. Acoust. Soc. Am. 122 2255
Google Scholar
[52] Au W W L, Ou H 2014 J. Acoust. Soc. Am. 136 EL67
Google Scholar
[53] Zaslavskiy G L, Titov A A, Lekomtsev V M 1969 Tru. Akust. Inst. 8 134
[54] Babkin V P, Dubrovskiy N A 1971 Tru. Akust. Inst. 17 29
[55] Dubrovskiy N A, Titov A A 1975 Akusticheskij Zhurnal 21 469
[56] Murchison A E 1980 Animal Sonar Systems (New York: Plenum Press) pp43−70
[57] Murchison A E 1976 J. Acoust. Soc. Am. 60 S5
[58] Au W W L, Snyder K J 1980 J. Acoust. Soc. Am. 68 1077
Google Scholar
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Google Scholar
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Google Scholar
[61] Au W W L, Benoit-Bird K J, Kastelein R 2006 J. Acoust. Soc. Am. 119 3316
[62] Brill R L, Pawloski J L, Helweg D A, Au W W L, Moore P W B 1992 J. Acoust. Soc. Am. 92 1324
Google Scholar
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Google Scholar
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图 2 鼠海豚的声波束随目标探测距离的变化趋势[24]
Fig. 2. Approximate detection volume for a harbour porpoise tracking fish in a quiet environment and relative change in the size of ensonified area ahead of the porpoise as it approaches a target[24]. Reprinted with permission (RightsLink:
https://elifesciences.org/terms ).
图 3 宽带仿生声呐脉冲信号及圆柱壳回波 (a) 仿生脉冲作用于圆柱壳示意图; (b) 仿生脉冲时域特性; (c)目标回波时频特性; (d) 目标回波的镜反射与弹性成分[66]
Fig. 3. A biomimetic broadband pulse and echoes from the cylindrical shell: (a) Geometric illustration for a pulse incident upon a shell; (b) waveform of the biomimetic pulse; (c) modified time-frequency of the synthetic echo of targets; (d) extracted elastic echo and the original synthetic echo[66].
图 4 人类与宽吻海豚的目标识别率随厚度的变化趋势对比[8]
Fig. 4. Comparison of performance in identifying the comparison and standard targets between human and dolphin as a function of the wall thickness[8]. Reprinted with permission (RightsLink:
https://s100.copyright.com/CustomerAdmin/PLF.jsp?ref=b173fda8-9b88-4bde-943f-ddbed16528ba ).
图 5 目标回波特征 (a) 时域特征; (b) 频域特征[10]; Duration (Dur), Highlight, TS, Peak frequency, Center frequency, rmsBW分别表示时长、局部峰值、目标强度、峰值频率、中心频率与均方根带宽
Fig. 5. Echo features. (a) Features in time domain, including duration (line above echo) and number of highlights (marked with asterisks). Target strength is also shown on the bottom of the graph. (b) Features in frequency domain, including peak frequency, center frequency, and rms bandwidth[10]. Reprinted with permission (RightsLink:
https://s100.copyright.com/CustomerAdmin/PLF.jsp?ref=34445ac7-c515-4487-bb56-0be555fd3cfc ).
图 6 仿生超声脉冲及与目标回波特性 (a) 仿生超声脉冲信号时域特性; (b) 仿生超声脉冲信号频谱特性; (c) PVC管回波时频特性; (d) 钢管回波时频特性[9]
Fig. 6. Biomimetic pulse acts on tubular targets and the echoes: (a) Display of the biomimetic pulse in time domain; (b) power spectrum of the pulse; spectrograms of PVC tube (c) and steel pipe (d) target for the biomimetic pulse[9]. Reprinted with permission (RightsLink:
https://s100.copyright.com/CustomerAdmin/PLF.jsp?ref=9f39d17e-b79f-4173-a2fd-bc04cca52724 ).
图 8 钢球壳回波的时频信息以及滤除镜面反射波后的时频特性[66] (a) 1 mm厚度球壳回波时频特性; (b) 10 mm厚度球壳回波时频特性; (c) 15 mm厚度球壳回波时频特性; (d) 1 mm球壳滤除镜面反射波时频特性; (e) 10 mm球壳滤除镜面反射波时频特性; (f) 15 mm球壳滤除镜面反射波时频特性
Fig. 8. The Wigner-Ville distribution of the backscattering echoes of the target with (a) 1 mm, (b) 10 mm, and (c) 15 mm thickness. The corresponding modified distributions of the elastic echoes of the target with (d) 1 mm, (e) 10 mm, and (f) 15 mm thickness[66].
图 11 江豚声发射系统人工模型及实验测量 (a) 声发射人工模型目标探测示意图; (b) 目标探测实验系统; (c) 无人工模型目标探测时域波形结果; (d) 人工模型目标探测时域波形结果[71]
Fig. 11. Bioinspired device and its experiment setup: (a) Schematic showing the experimental setup of the biosonar device (PPM); (b) photograph of the underwater target detection setup; (c) measured pressures of the system without PPM at θ = 20° (lower) and 65° (upper), where Object 1 and its jamming Object 2 were used for underwater detection; (d) pressures of the system with PPM at θ = 20° (lower) and 65° (upper)[71].
-
[1] Kinsler L E, Frey A R, Coppens A B, Sanders J V 2000 Fundamentals of Acoustics (New York: Wiley) pp435−470
[2] Urick R J 1983 Principles of Underwater Sound (New York: McGraw- Hill) pp1−16
[3] Au W W L, Simmons J A 2007 Phys. Today 60 40
[4] Au W W L 1993 The Sonar of Dolphins (New York: Springer-Verlag) pp22−114
[5] Au W W L, Popper A N, Fay R R 2000 Hearing by Whales and Dolphins (New York: Springer-Verlag) pp364−469
[6] Au W W L, Hastings M C 2008 Principles of Marine Bioacoustics (New York: Springer) pp534−538
[7] Au W W L, Hammer Jr C E 1980 Animal Sonar Systems (New York: Plenum Press) pp855−858
[8] Delong C M, Au W W L, Stamper S A 2007 J. Acoust. Soc. Am. 121 605
Google Scholar
[9] Pailhas Y, Capus C, Brown K, Moore P 2010 J. Acoust. Soc. Am. 127 3809
Google Scholar
[10] Delong C M, Au W W L, Lemonds D W, Harley H E, Roitblat H L 2006 J. Acoust. Soc. Am. 119 1867
Google Scholar
[11] Muller M W, Allen III J S, Au W W L, Nachtigall P E 2008 J. Acoust. Soc. Am. 124 657
Google Scholar
[12] Gaunaurd G C, Brill D, Huang H, Moore P W B, Strifors H C 1998 J. Acoust. Soc. Am. 103 1547
Google Scholar
[13] Au W W L, Pawloski D A 1992 J. Comp. Physiol. A 170 41
[14] Zhang Y, Song Z C, Wang X Y, Cao W W, Au W W L 2017 Phys. Rev. Appl. 8 064002
Google Scholar
[15] Cranford T W, Trijoulet V, Smith C R, Krysl P 2014 Bioacoustics 23 161
Google Scholar
[16] Cranford T W, Krysl P 2015 PLoS One 10 e0116222
Google Scholar
[17] Cranford T W, Amundin M, Norris K S 1996 J. Morphol. 228 223
Google Scholar
[18] Wei C, Au W W L, Ketten D R, Zhang Y 2018 J. Acoust. Soc. Am. 143 2611
Google Scholar
[19] Wei C, Au W W L, Ketten D R, Song Z C, Zhang Y 2017 J. Acoust. Soc. Am. 141 4179
Google Scholar
[20] Aroyan J L, Cranford T W, Kent J, Norris K S 1992 J. Acoust. Soc. Am. 92 2539
Google Scholar
[21] Cranford T W, Mckenna M F, Soldevilla M S, Wiggins S M, Goldbogen J A, Shadwick R E, Krysl P, Leger J A S, Hilderbrand H A 2008 Anat. Rec. 291 353
Google Scholar
[22] Nachtigall P E 1980 Animal Sonar Systems (New York: Plenum Press) pp71−95
[23] Dubrovskiy N A, Krasnov O S 1971 Tr. Akust. Inst. 17 9
[24] Wisniewska D M, Ratcliffe J M, Beedholm K, Christensen C B, Johnson M, Koblitz J C, Wahlberg M, Madsen P T 2015 eLife 4 e05651
Google Scholar
[25] Linnenschmidt M, Beedholm K, Wahlberg M, Højer-Kristensen J, Nachtigall P E 2012 Proc. R. Soc. London, Ser. B 279 2237
[26] Koblitz J C, Wahlberg M, Stilz P, Madsen P T, Beedholm K, Schnitzler H U 2012 J. Acoust. Soc. Am. 131 2315
Google Scholar
[27] Morozov V P, Akopian A I, Burdin V I, Zaitseva K A, Sokovykh Y A 1972 Biofizika 17 139
[28] Au W W L 2004 J. Acoust. Soc. Am. 115 2614
[29] Hammer Jr C E, Au W W L 1980 J. Acoust. Soc. Am. 68 1285
Google Scholar
[30] Ibsen S D, Au W W L, Nachtigall P E, DeLong C M, Breese M 2007 J. Acoust. Soc. Am. 122 2446
Google Scholar
[31] Au W W L, Pawloski D A 1989 J. Comp. Physiol. A 164 451
Google Scholar
[32] Au W W L, Turl C W 1991 J. Acoust. Soc. Am. 89 2448
Google Scholar
[33] Au W W L, Martin D W 1988 Animal Sonar: Processes and Performance (New York: Plenum Press) pp809−813
[34] Wisniewska D M, Johnson M, Beedholm K, Wahlberg M, Madsen P T 2012 J. Exp. Biol 215 4358
Google Scholar
[35] Finneran J J, Houser D S, Moore P W, Branstetter B K, Trickey J S, Ridgway S H 2010 J. Acoust. Soc. Am. 128 1483
Google Scholar
[36] Kellogg W N 1959 J. Comp. Physiol. Psychol. 52 509
Google Scholar
[37] Evans W E, Powell B A 1967 Animal Sonar Systems: Biology and Bionics (Jouy-enJosas: Laboratoire de Physiologie Acoustique) pp363−383
[38] Norris K S, Evans W E, Turner R N 1967 Animal Sonar Systems: Biology and Bionics (Jouy-enJosas: Laboratoire de Physiologie Acoustique) pp409−437
[39] Turner R N, Norris K S 1966 J. Exp. Anal. Behav. 9 535
Google Scholar
[40] Au W W L 2014 J. Acoust. Soc. Am. 136 9
Google Scholar
[41] Belkovich V M, Dubrovskiy N A 1976 Sensory Bases of Cetacean Orientation (Leningrad: Nauka) pp137−148
[42] Diercks K J, Goldsberry T G and Horton C W 1963 J. Acoust. Soc. Am. 35 59
Google Scholar
[43] Bel’kovich V M, Borisov V I 1971 Tru. Akust. Inst. 17 19
[44] Maze G 1991 J. Acoust. Soc. Am. 89 2559
Google Scholar
[45] Leighton T G, Chua G H, White P 2013 Proceedings of Meetings on Acoustics ICA 2013 Montreal, Canada, June 2, 2013 p19
[46] Au W W L, Branstetter B K, Benoit-Bird K J, Kastelein R A 2009 J. Acoust. Soc. Am. 126 460
Google Scholar
[47] Dubrovskiy N A, Krasnov P S, Titov A A 1971 Proceedings of the 7th International Congress on Acoustics Budapest, Hungary, August 24, 1971 p533
[48] Thompson R K R, Herman L M 1975 J. Acoust. Soc. Am. 57 943
Google Scholar
[49] Au W W L, Pawloski J L 1989 J. Acoust. Soc. Am. 86 591
Google Scholar
[50] Dubrovskiy N A 1990 Sensory Abilities of Cetaceans (New York: Plenum Press) pp233−254
[51] Muller M W, Au W W L, Nachtigall P E, Allen III J S, Breese M 2007 J. Acoust. Soc. Am. 122 2255
Google Scholar
[52] Au W W L, Ou H 2014 J. Acoust. Soc. Am. 136 EL67
Google Scholar
[53] Zaslavskiy G L, Titov A A, Lekomtsev V M 1969 Tru. Akust. Inst. 8 134
[54] Babkin V P, Dubrovskiy N A 1971 Tru. Akust. Inst. 17 29
[55] Dubrovskiy N A, Titov A A 1975 Akusticheskij Zhurnal 21 469
[56] Murchison A E 1980 Animal Sonar Systems (New York: Plenum Press) pp43−70
[57] Murchison A E 1976 J. Acoust. Soc. Am. 60 S5
[58] Au W W L, Snyder K J 1980 J. Acoust. Soc. Am. 68 1077
Google Scholar
[59] Au W W L, Carder D A, Penner R H, Scronce B L 1985 J. Acoust. Soc. Am. 77 726
Google Scholar
[60] Au W W L, Moore P W B 1984 J. Acoust. Soc. Am. 75 255
Google Scholar
[61] Au W W L, Benoit-Bird K J, Kastelein R 2006 J. Acoust. Soc. Am. 119 3316
[62] Brill R L, Pawloski J L, Helweg D A, Au W W L, Moore P W B 1992 J. Acoust. Soc. Am. 92 1324
Google Scholar
[63] Au W W L 1988 Animal Sonar (New York: Plenum Press) pp753−768
[64] Moore P W B, Pawloski D A 1993 J. Acoust. Soc. Am. 94 1829
[65] Au W W L, Andersen L N, Rasmussen A R, Roitblat H L, Nachtigall P E 1995 J. Acoust. Soc. Am. 98 43
Google Scholar
[66] Qiao G, Qing X, Feng W, Liu S Z, Nie D H, Zhang Y 2017 J. Acoust. Soc. Am. 142 3787
Google Scholar
[67] Feng W, Zhang Y, Wei C 2019 J. Acoust. Soc. Am. 146 1362
Google Scholar
[68] Doolittle R D, Überall H 1966 J. Acoust. Soc. Am. 39 272
Google Scholar
[69] Gaunaurd, G C, Überall H 1983 J. Acoust. Soc. Am. 73 1
Google Scholar
[70] Feng W, Zhang Y, Wei C 2018 J. Acoust. Soc. Am. 144 1018
Google Scholar
[71] Wei C, Au W W L, Song Z C, Zhang Y 2016 J. Acoust. Soc. Am. 139 875
Google Scholar
[72] Au W W L, Kastelein R A, Rippe T, Schooneman N M 1999 J. Acoust. Soc. Am. 106 3699
Google Scholar
[73] Dong E Q, Zhang Y, Song Z C, Zhang T Y, Cai C, Fang N X 2019 Natl. Sci. Rev. 6 921
Google Scholar
[74] Torrent D, Sánchez-Dehesa J 2006 Phys. Rev. B 74 224305
Google Scholar
[75] Torrent D, Sánchez-Dehesa J 2007 New J. Phys. 9 323
Google Scholar
[76] Torrent D, Håkansson A, Cervera F Sánchez-Dehesa J 2006 Phys. Rev. Lett. 96 204302
Google Scholar
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