A Review

of Recent in
A Review of Recent
Developments
Developments
in Underwater
Underwater
Acoustic
Modeling
Acoustic Modeling

Acoustical
AcousticalSociety
SocietyofofAmerica
America
Seattle
Seattle,
WA WA
23-27
23 27 May 2011
Seattle,
26 May 2011
Paul C.
C Etter
Paper: 4pUW6

INTRODUCTION

Objectives
Review developments in underwater acoustic modeling over the past eight years
Characterize evolution of the modeling inventory over 32
32-year
year period 1979 - 2011
Surveys conducted at eight-year intervals: 1979, 1987, 1995, 2003, 2011
2003 survey published in book provides baseline for 2011 survey

Review modeling applications

Domains of applicability
Emerging trends

Identifyy Modeling
g Capabilities
p
and Existing
g Inventories
Basic Acoustic Models
Propagation Models
Noise Models
Reverberation Models
Sonar Performance Models
Active Sonar Models
Model Operating Systems
Tactical Decision Aids

Provide model-selection guidance

MODELING APPLICATIONS
Domains of Applicability

Domains of Applicability
Arise from assumptions imposed while generating tractable mathematical
solutions from governing physics or empirical data
Restrict applicability of models to specific frequency ranges or problem
geometries
May trade accuracy and computational complexity
Influenced by research versus operational applications
Research
Conducted
C d t d in
i laboratory
l b t
environments
i
t
Computer time is not a critical factor
Accuracy is important
Operational
Conducted in the field
Require rapid execution, often under demanding conditions
Modeling accuracy may be subordinate to processing speed

MODELING APPLICATIONS
Emerging Trends

Inverse Methods

Signal Processing

channel models
advances in localization methods (range-based
(range based versus range-free
range free schemes)
developments in rapid environmental assessments and new applications for gliders

Marine-Mammal Endangerment

adjoint methods
stochastic resonance
pulse propagation
clutter environments
vectors and clusters
prediction uncertainty in complex environments
high-frequency
high
frequency acoustics
chaotic and stochastic nonlinear ray dynamics

Underwater Acoustic Networks

geoacoustic and seismo-acoustic inversion

time-reversal acoustics
through the sensor parameter estimation
through-the-sensor
acoustic rain gauges

regulatory initiatives and environmental impacts

rising
g levels of underwater noise
role of acidification: H2CO3 (carbonic acid) lowers pH, which lowers acoustic attenuation
seismic operations and protection of whales

MODELING CAPABILITIES
Model Hierarchy

Underwater acoustics

Development and employment of

acoustical methods to
Image
I
underwater
d
t ffeatures
t
Communicate information via
the oceanic waveguide
Measure oceanic properties

Modeling

Method for organizing knowledge

accumulated through observation or
deduced from underlying principles

Physical (physics-based) models

Conceptual representation of
the physical processes
occurring in the ocean
Same as analytical models

Mathematical models
Empirical models
Based on observations
Numerical models
Based on mathematical
representations of the
governing physics

MODELING CAPABILITIES
Propagation Theory

1 2
= 2
c t 2
2

Frequency-Domain Solutions

Ray theory

Normal mode

Multipath expansion

Fast field / wavenumber integration

P b li equation
Parabolic
i

k=/c

2 + k 2 = 0

= F ( x, y, z ) e iG ( x , y , z )

= F ( z ) G (r )

= F (r , , z ) G (r )

Environmental Range Dependence

Range independent (1D)

f(z)

Range dependent (2D, 3D)

f(z,r), f(z,r,)

0
Water Depth (m)

= e i t

Acoustically
Shallow

-50

Acoustically
Deep

-100
-150

Hypsometrically Shallow

-200

Hypsometrically
yp
y Deep
p

-250
10

100

1000
Frequency (Hz)

10000

100000

MODELING CAPABILITIES
Propagation Models

Range Independent

Technique

R Th
Ray
Theory

Range Dependent

CAPARAY

PLRAY

ACCURAY

GRAB

LYBIN

MPP

RAYWAVE

FACT

RANGER

BELLHOP

GRASS

LYCH

Pedersen

RP-70

FLIRT

C h
Coherent
t DELTA

HARORAY

MEDUSA

Pl
PlaneRay
R

SHALFACT

GAMARAY

FACTEX

HARPO

MIMIC

PWRC

TRIMAIN

FeyRay

HARVEST

MPC

RAYSON

XRAY

ADIAB

CPMS

NAUTILUS

WEDGE

ICERAY

Normal Mode

Multipath
Expansion

AP-2/5

MODELAB

BDRM

NEMESIS

POPP

ASERT

FELMODE

PROLOS

WKBZ

COMODE

NLNM

PROTEUS

ASTRAL

Kanabis

PROSIM

WRAP
3D Ocean

DODGE

NORMOD3

SHEAR2

CENTRO

KRAKEN

SHAZAM

FNMSS

NORM2L

Stickler

CMM3D

MOATL

SNAP / C-SNAP

COUPLE

MOCTESUMA

SWAMP

FAME

NEPBR

MULE

RAYMODE
SAFRAN

FFP

Fast Field or
Wavenumber Kutschale FFP
Integration
MSPFFP

Parabolic
Equation

Integrated Mode

OASES

SAFARI

CORE

RD-OASES

Pulse FFP

SCOOTER

OASES-3D

RDOASP

RPRESS

SPARC

RDFFP

RDOAST

AMPE / CMPE

HAPE

Use Single Environmental Specification

New since 2003 baseline

ORCA

OS2IFD

RMPE

3DTDPA

CCUB / SPLN / CNP1 HYPER

OWWE

SNUPE

3DWAPE

Corrected PE

IFD Wide Angle

PAREQ

Spectral PE

DREP

IMP3D

PDPE

TDPE

FDHB3D

LOGPE

PECan

Two-Way PE

FEPE

MaCh1

PE-FFRAME
PE
FFRAME

ULETA

FEPE-CM

MONM3D

PESOGEN

UNIMOD

FEPES

MOREPE

PE-SSF (UMPE / MMPE) 3DPE (NRL-1)

FOR3D

NSPE

RAM / RAMS / RAMGEO 3DPE (NRL-2)

Baseline Reference: P.C. Etter, Underwater Acoustic

Modeling and Simulation (Taylor & Francis, 2003, 3rd
edition).

MODELING CAPABILITIES

Selection Guidance for Propagation Models

Applications
Model type

Shallow water
Low frequency
RI

RD

Deep water

High frequency
RI

RD

Low frequency
RI

RD

High frequency
RI

RD

Ray theory
Normal mode
Multipath expansion
Fast field
Parabolic equation
[Originally adapted from Jensen (1982)]

Low frequency (< 500 Hz)

RI: Range-independent environment

High frequency (> 500 Hz)

RD: Range-dependent environment

Modeling approach is both applicable (physically) and practical (computationally)

Limitations in accuracy or in speed of execution
Neither applicable or practical

. . . Updated Domains of Applicability

8

MODELING CAPABILITIES
Noise Theory

Ambient Noise
Level

dB

Deterministic
Directionality
Shipping noise
Weather noise

110
100
90
80
70
60
50
40
30
20
10
0

Sea State: 3
Shipping Level: 5

10

100

1000

10000

100000

Frequency (Hz)

Beam
Beam-Noise
Noise Statistics
Stochastic
Analytic
Simulation
Sim lation

Large-aperture beam noise

Shipping noise

Aij

i =1

j =1

k =1

Sijk Z ijk Bijk

[Adapted from Moll et al. (1979)]

m = number of routes in the basin

n = number of ship types
Aij = number of ships of type j on route i
Sijk = source intensity of the kth ship of type j on route i
Zijk = intensity transmission ratio from ship ijk to receiving point
Bijk = gain for a plane wave arriving at the array from ship ijk

MODELING CAPABILITIES
Noise Models

Ambient Noise
ANDES

Beam-Noise Statistics
Analytic

AMBENT

BBN Shipping Noise

ARAMIS

BTL

CANARY

USI Array Noise

CNOISE

Sonobuoy Noise

DANES

Simulation

DANM
DINAMO

BEAMPL

DUNES
S

DSBN
S

FANM

NABTAM

ISAAC

SIAM - I / II

Normal Mode Ambient Noise

RANDI - I / II / III

New since 2003 baseline

10

Baseline Reference: P.C. Etter, Underwater Acoustic

Modeling and Simulation (Taylor & Francis, 2003, 3rd
edition).

MODELING CAPABILITIES
Reverberation Theory

Formulations

Cell scattering
Ocean divided into cells
Uniformly distributed scatterers
Sum contributions of all cells

Point scattering
g
Statistical distribution of scatterers
Sum echoes from each scatterer

Source-Receiver
Source
Receiver Geometry

Monostatic - collocated

Bistatic - separated in range / depth

Multistatic multiple
p sources / receivers

[Originally adapted from Hodgkiss (1984)]

Bistatic
Source

Receiver

11

Target

MODELING CAPABILITIES
Reverberation Models

Cell Scattering
Monostatic
Bistatic
C-SNAP-REV
DOP

ARTEMIS
BAM

EIGEN / REVERB

BiKR

HYREV

BiRASP

MAM

BISAPP

PAREQ-REV

BISSM

PEREV

BISTAR

PERM-2D

OGOPOGO

REVMOD

RASP

REVPA

RUMBLE

REVSIM

S-SCARAB

Point Scattering
Monostatic
Bistatic
REVGEN

BORIS-SSA

RITSHPA

Under-Ice Reverberation
Simulation

R-SNAP
TENAR

New since 2003 baseline

12

Baseline Reference: P.C. Etter, Underwater Acoustic

Modeling and Simulation (Taylor & Francis, 2003, 3rd
edition).

MODELING CAPABILITIES
Sonar Performance Theory

Active Sonar Performance

Stand
Stand-alone
alone models
Solve active sonar equations

SL 2TL + TS = NL DI + RDN

SL = Source Level (of sonar)

TL = Transmission Loss (one way)
TS = Target Strength
NL = Noise Level
DI = Directivity Index
RL = Reverberation Level
RDN = Recognition Differential (noise-limited)
RDR = Recognition Differential (reverberation-limited)

SL 2TL + TS = RL + RDR

Model Operating Systems

System architectures (executive/bundled)
Multiple component models
Data-management software

Tactical Decision Aids

Operational guidance and training
Visualization techniques
13

MODELING CAPABILITIES
Sonar Performance Models

Active Sonar Models

Active RAYMODE

MOCASSIN

ALMOST

MOC3D

ASPM

MODRAY

CASTAR

MSASM

CONGRATS

NISSM - II

ESPRESSO

SEARAY

GASS

SONAR

HODGSON

SST

INSIGHT

SUPREMO

INSTANT

SWAMI / DMOS

LIRA

SWAT

LORA

UAIM

MINERAY

Model Operating Systems

Tactical Decision Aids

CAAM

HydroCAM

ASPECT

CALYPSO

PRISM

IMAT

CASS

SPPS

NECTA

GSM - Bistatic

New since 2003 baseline

14

Baseline Reference: P.C. Etter, Underwater Acoustic

Modeling and Simulation (Taylor & Francis, 2003, 3rd
edition).

SUMMARY

Characterized modeling applications in terms of:

Identified available models

15

Domains of applicability
Emerging trends

Current inventory comprises:

128 propagation models
21 noise models
28 reverberation models
35 sonar-performance models
Inventory updated at 8
8-year
year intervals:
1979, 1987, 1995, 2003, 2011
Approximately 5 models have been
added to the inventory each year

zero-intercept ~ 1967

Provided model selection guidance for research and operational applications

Ob
Observation
ti Models
M d l appear to
t be
b proxy indicators
i di t
off R&D investments.
i
t
t