An overview of mechanism of target detection by odontocetes biosonar

Song Zhong-Chang; Zhang Jin-Hu; Feng Wen; Yang Wu-Yi; Zhang Yu

doi:10.7498/aps.70.20210284

Abstract

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.

Keywords:

Authors and contacts

1.
State Key Laboratory of Marine Environmental Science, College of the Environment and Ecology, Xiamen University, Xiamen 361005, China
2.
Key Laboratory of Underwater Acoustic Communication and Marine Information Technology of the Ministry of Education, College of Ocean and Earth Sciences, Xiamen University, Xiamen 361005, China

Corresponding author: Zhang Yu, yuzhang@xmu.edu.cn

Funds: Project supported by the National Key R&D Program of China (Grant Nos. 2018YFC1407504, 2018YFC1407505), the National Natural Science Foundation of China (Grant No. 12074323), the Special Fund for Marine and Fishery Development of Xiamen, China (Grant No. 20CZB015HJ01), the Water Conservancy Science and Technology Innovation Project of Guangdong Province, China (Grant No. 2020-16), the China Postdoctoral Science Foundation (Grant No. 2020M682086), and the China National Postdoctoral Program for Innovative Talents (Grant No. BX2021168)

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References

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[8]	Delong C M, Au W W L, Stamper S A 2007 J. Acoust. Soc. Am. 121 605 Google Scholar
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[13]	Au W W L, Pawloski D A 1992 J. Comp. Physiol. A 170 41
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Cited By

图 1 宽吻海豚目标探测准确率随距离的变化趋势^[58]

Figure 1. Dolphin’s performance as a function of range^[58]. Reprinted with permission (RightsLink:https://s100.copyright.com/CustomerAdmin/PLF.jsp?ref=a66368f0-df92-40d7-b308-5da5b8b92324).

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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]

Figure 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).

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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]

Figure 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].

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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]

Figure 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).

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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

Figure 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).

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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]

Figure 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 ).

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图 7 鳕鱼(Cod)、鲻鱼(Mullet)、明太鱼(Pollack)和鲈鱼(Sea bass)回波的时频特征^[46]

Figure 7. Time-frequency representation of the echoes using the dolphin-like biosonar signal^[46]. Reprinted with permission (RightsLink: https://s100.copyright.com/CustomerAdmin/PLF.jsp?ref=f7614cb8-8672-41a7-9f83-6f729a0ec2ff).

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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

Figure 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].

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图 9 江豚目标探测模型构建过程图解及激励波形和功率谱图^[67]

Figure 9. A systematic diagram of a biosonar model of an echolocating finless porpoise, where waveform and power spectrum of the excitation click are also presented. The finite element model was constructed based on the CT scan data^[67].

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图 10 钢柱与亚克力柱回波的时域与频域特征^[67]

Figure 10. Simulated waveforms and frequency spectra of the echoes from steel and acrylic cylinders using finless porpoise’s model^[67].

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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]

Figure 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].

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map

[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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Vol. 70, Issue 15 - 2021-08-05

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