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Applied Underwater
Acoustics
Leif Bjørnø
UltraTech Holding, Taastrup, Denmark
Edited by
David Bradley
Elsevier
Radarweg 29, PO Box 211, 1000 AE Amsterdam, Netherlands
The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, United Kingdom
50 Hampshire Street, 5th Floor, Cambridge, MA 02139, United States
Copyright © 2017 Elsevier Inc. All rights reserved.
No part of this publication may be reproduced or transmitted in any form or by any means,
electronic or mechanical, including photocopying, recording, or any information storage
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Copyright Licensing Agency, can be found at our website: www.elsevier.com/permissions.
This book and the individual contributions contained in it are protected under copyright by
the Publisher (other than as may be noted herein).
Cover image: HISAS 1030eproduced image of a sunken WWII oil tanker copyright
©Kongsberg Maritime AS and Norwegian Defence Research Establishment (FFI).
Reprinted with permission.
Notices
Knowledge and best practice in this field are constantly changing. As new research and
experience broaden our understanding, changes in research methods, professional
practices, or medical treatment may become necessary.
Practitioners and researchers must always rely on their own experience and knowledge in
evaluating and using any information, methods, compounds, or experiments described
herein. In using such information or methods they should be mindful of their own safety
and the safety of others, including parties for whom they have a professional responsibility.
To the fullest extent of the law, neither the Publisher nor the authors, contributors, or
editors, assume any liability for any injury and/or damage to persons or property as a
matter of products liability, negligence or otherwise, or from any use or operation of any
methods, products, instructions, or ideas contained in the material herein.
D.A. Abraham
Ellicott City, MD, United States
L. Bjørnø
UltraTech Holding, Taastrup, Denmark
Ph. Blondel
Department of Physics, University of Bath, Bath, United Kingdom
M.J. Buckingham
Scripps Institution of Oceanography, University of California, San Diego,
La Jolla, CA, United States
A. Caiti
University of Pisa, Pisa, Italy
N.R. Chapman
University of Victoria, Victoria, BC, Canada
B. Dushaw
University of Washington, Seattle, WA, United States
D. Fattaccioli
LMA-CNRS, Marseille and DGA Naval Systems, Toulon, France
P. Gambogi
University of Pisa, Pisa, Italy
A. Gavrilov
Curtin University, Perth, WA, Australia
G. Grelowska
Gdansk University of Technology, Gdansk, Poland
P. Grenard
CTBTO, Vienna International Centre, Vienna, Austria
G. Haralabus
CTBTO, Vienna International Centre, Vienna, Austria
R.A. Hazelwood
R&V Hazelwood Associates LLP, Guildford, United Kingdom
S. Ivansson
Swedish Defence Research Agency, Stockholm, Sweden
D.R. Jackson
Applied Physics Laboratory, University of Washington, Seattle, WA,
United States
xiii
xiv List of Contributors
E. Kozaczka
Gdansk University of Technology, Gdansk, Poland
P.A. Lepper
Loughborough University, Loughborough, Leicestershire, United Kingdom
J.F. Lynch
Woods Hole Oceanographic Institution, Woods Hole, MA, United States
P. Mikhalevsky
Leidos Inc., Arlington, VA, United States
J.L. Miksis-Olds
University of New Hampshire, Durham, NH, United States
T.H. Neighbors III
Leidos Corporation (Retired), Bellevue, WA, United States
A.E. Newhall
Woods Hole Oceanographic Institution, Woods Hole, MA, United States
L. Pautet
CTBTO, Vienna International Centre, Vienna, Austria
M. Prior
CTBTO, Vienna International Centre, Vienna, Austria
M.D. Richardson
Marine Geosciences Division, Naval Research Laboratory,
Stennis Space Center, MS, United States
S.P. Robinson
National Physical Laboratory, Teddington, United Kingdom
D. Scaradozzi
University of Pisa, Pisa, Italy
J.-P. Sessarego
LMA-CNRS, Marseille and DGA Naval Systems, Toulon, France
C.C. Tsimenidis
Newcastle University, Newcastle upon Tyne, United Kingdom
M. Zampolli
CTBTO, Vienna International Centre, Vienna, Austria
Preface
The preface is a personal introduction to the book, with some comments about the
contents as seen by the author, the intent of the work, and recognition of those who
have contributed. The last is easy: the team of authors who contributed chapters or
sections of chapters are, without qualification, an outstanding group of experts who
have given their time and knowledge to make this book a valuable and useful text for
those working in the world of undersea science and technology. They have been a
joy to work with and are complemented and thanked for their efforts. From conver-
sations with Leif, we know his intent was to provide the undersea community with a
science-based text, yet an easily understood and practical reference to the details of
Underwater Acoustics. From these same conversations, it was clear his concept was
to draw on multiple expertises, vice singular authorship, as he felt strongly that the
readership would benefit from the depth that a group of experts would provide.
The introduction is “short and sweet”: Consider the following to be a practical
compendium of the knowledge of Underwater Acoustics; it is meant to be a working
document that readers can draw on to accomplish their specific task and a reference
base for further study, if required.
Leif wished to dedicate this book to Walter G. Mayer, late Professor of Physics at
Georgetown University, Washington, D.C., USA, a close personal friend and
colleague for many years.
I thank Irina, my wife, for her support, encouragement, and patience; her presence
at my side is critical in endeavors like this.
For Leif Bjørnø,
Tom Neighbors and Dave Bradley
xv
CHAPTER
General Characteristics
of the Underwater
Environment 1
L. Bjørnø1,y, M.J. Buckingham2
1
UltraTech Holding, Taastrup, Denmark ; Scripps Institution of Oceanography,
University of California, San Diego, La Jolla, CA, United States2
1.1 INTRODUCTION
Over the past about 100 years the exploitation of the seas and their resources has
continuously increased. Acoustic waves have turned out to be a very useful tool
for detecting resources and objects in the water column and on the seafloor. Other
methods have been used with varying degrees of success depending on the objects
to be detected or investigated. These methods include magnetics, magnetic anomaly
detection, where minor changes in the earth’s magnetic field due to presence of an
object can be measured; optical methods; electric field changes; hydrodynamics
such as pressure changes; thermal methods; and electromagnetic waves. While
radar is very useful for detection of objects above water, electromagnetic radar
waves are strongly absorbed in seawater. While electromagnetic waves in the visible
frequency band from 4 to 8$1014 Hz are much less absorbed, with a minimum ab-
sorption coefficient of 3$103 cm1 in the green-blue light near 455 nm wavelength
(i.e., 6.59$1014 Hz), electromagnetic wave absorption in the normally used radar
bands is several orders of magnitude higher than in the visible band. Seawater salt
contains magnesium that makes the water conduct electricity since the Mg2 þ cation
constitutes 3.7% of seawater salt. A 1 GHz radar wave in the ultra-high frequency
(UHF) band with a 0.3 m wavelength has a 1400 dB/m absorption coefficient while
the same wavelength in the 5 kHz sound wave has a 3$104 dB/m absorption coef-
ficient. Therefore, radar systems are not useful for detecting objects under water.
Underwater sound is used in many applications, such as hydrography, off-shore ac-
tivities, dredging, defense and security, marine research, and fishery.
Hydrography includes harbor and river surveys, bathymetric surveys, flood damage
assessment, engineering inspection, pipeline and cable route surveys, exclusive eco-
nomic zone (EEZ) mapping, breakwater mapping, and so on. Off-shore activities
include pipeline and cable installation and inspection, leakage detection, route and
site surveys, subsea structure installation support, renewables, remotely operated
vehicle (ROV) intervention guidance, decommissioning, reconnaissance surveys,
y
30 March 1937e24 October 2015.
Applied Underwater Acoustics. http://dx.doi.org/10.1016/B978-0-12-811240-3.00001-1 1
Copyright © 2017 Elsevier Inc. All rights reserved.
2 CHAPTER 1 General Characteristics of the Underwater Environment
search and recovery, oil and gas prospecting, and prospecting for minerals and re-
sources on and in the seafloor. Dredging includes sonars used by rock and stone
dump vessels, excavator and trailing suction hopper dredgers, cutter suction and
bucket dredgers, clamshell grab cranes and underwater plow vessels, and
placement support. Defense and security includes mine counter measures,
submarine and torpedo detection, obstacle avoidance, search and recovery, underwa-
ter communication, vessel and fleet protection, waterside security, diver detection, and
so on. Marine research includes environmental monitoring, ambient noise measure-
ments, marine archeology, marine mammal research, and fishery research.
Fishery includes fishery operations, fish school detection, catch monitoring and
control, trawl position control, phytoplankton and zooplankton investigations,
communication between monitoring sensors on fishing gear and the fishing vessel,
seabed mapping, bottom discrimination, and so on.
The counterpart to radar above water is sonar under water. SONAR is the
acronym for sound navigation and ranging. It was originally used during World
War II as an analog to the name “radar” and as a replacement for the name “asdics”
for underwater detection systems using sound, which were used by the British Royal
Navy during World War I. The two most common sonar types are passive and active.
In a passive sonar system, the acoustic signal originates at a target and propagates to
a receiver, where the acoustic signal is converted to an electrical signal for process-
ing. In an active sonar system, an electrical signal is converted to an acoustical signal
by a transmitter and the sound waves propagate from the transmitter to a target and
back to a receiver, where conversion from acoustical to electrical signal takes place
followed by electronic signal processing. Signal processing is aimed at enhancing
the return signal from the target or reducing the noise in which the return signal
may be embedded, as discussed in Chapter 11. The transmitter is normally called
the projector and the receiver is called the hydrophone, as discussed in Chapter
10. If the return signaldthe echodfrom a target is detected, the position and the
potential target movement are determined by the time delay of the echo from the
target and the direction of the echo, respectively. The speed of a moving target
can be estimated from the frequency shiftdthe Doppler shiftdin the echo from
the target, as discussed in Chapter 2.
When a sound wave is produced in water it propagates from the site where it is
produced. Sound sources can be natural, such as breaking waves, rain falling on the
water surface, seismic activities in the seafloor, and so on, or man-made such as
sonar signals, underwater explosions, ship noise, and so on, as discussed in Chap-
ter 6. During propagation the sound signal is exposed to a number of processes
which may change the sound signal and its propagation, such as sound signal
amplitude attenuation due to absorption, divergence, and scattering, as discussed
in Chapter 4. Scattering takes place during the sound wave’s interaction with
the sea surface, seafloor, and inhomogeneities in the water column, as discussed
in Chapter 5. These inhomogeneities can be natural, such as plankton, fish and
sea mammals, and variations in the sea temperature and salinity. Scattering and
reflection of sound signals may cause sound waves to follow different paths, pro-
ducing multi-path sound propagation, which can make detection of objects in the
1.1 Introduction 3
water column and on the seafloor difficult. The scattering of underwater sound may
lead to reverberation which limits detection. Use of advanced signal processing on
the transmitted and received signal opens up the possibility to avoid or reduce the
degradation of the propagated sound signal, as discussed in Chapter 11. Ambient
noise in the sea can also become a limiting factor for signal detection. The sound
signal received by a hydrophone carries information about the signal source and
what the signal has encountered while propagating from the source to the hydro-
phone. The signal received by the hydrophone is processed to extract information
of value to the user. This complicated “underwater world,” where sound propaga-
tion is influenced by many individual sources with effect on the sound signal’s
amplitude, phase, and spectral composition, is the basis for this book, “Applied
Underwater Acoustics.”
Each chapter is introduced with a section giving the necessary definitions and
describing the physical background for the subsequent sections of the chapter. The
man-made sources of sound from sonar systems of various types are described in Chap-
ter 10. This chapter also describes the different transducer types, their charge forming
elements, and their geometries. Chapter 10 illuminates the sonar types available today,
characteristic features, as well as their design, calculation, and calibration. Hydro-
phones, including array types, and their characteristics are also a part of Chapter 10.
The sound wave propagation through the water and the different factors which
influence the propagation path are discussed in several chapters. The oceanographic
features with influence on sound propagation are illuminated in Chapter 2. Chapter 2
also includes definitions and describes important acoustic wave concepts, such as
wave geometries, divergence, convergence, reflection and transmission at interfaces,
refraction and diffraction, and propagation through inhomogeneous media.
Chapter 3 discusses the capability to calculate sound propagation in the sea using
available models.
Absorption of sound in fresh and in seawater is caused by the several mecha-
nisms described in Chapter 4. The interplay of these mechanisms and their depen-
dence on frequency are discussed in detail, and the best formulations for
calculating sound absorption are provided.
When a sound wave in the sea hits a boundary, such as the seafloor, sea surface,
or an object in the water column, the sound wave is reflected and scattered. Chapter 5
describes the scattering dependence on the geometry of the scattering object and its
surface qualities. Useful expressions for scattering calculations including
perturbation approximations and the HelmholtzeKirchhoff method are provided.
Also scattering from one and two scales of surface roughness are presented. Chapter
5 provides an in-depth discussion of scattering which can lead to reverberation,
which in turn can limit sound signal reception in the sea.
Chapter 6 discusses ambient noise in the sea produced by natural sources, such as
seismic activities, breaking waves, bubbles formed near the sea surface, precipitation,
biological activities, ice, and man-made sources, such as shipping, prospecting for oil
and gas, and so on. The spectra, directivity, and ambient noise coherence are pre-
sented, and self-noise produced by the ship making, the noise measurements, and
4 CHAPTER 1 General Characteristics of the Underwater Environment
procedures for noise reduction are an integral part of Chapter 6. The temporal and
spatial variability of noise and statistical methods for characterizing noise are
emphasized.
Sound propagation in shallow water is strongly influenced by the physical prop-
erties and geometries of the sea surface and seafloor. These boundaries form a sound
channel through which the underwater sound is guided. It is possible by using
information about the boundaries to produce models for calculating sound
propagation through the channel. Many experiments have given valuable informa-
tion about sound propagation in shallow water, the continental shelf, and ice-
covered water. Chapter 7 provides up-to-date results and procedures for measuring
and calculating sound propagation in shallow water.
The seafloor has frequently the strongest influence on sound propagation in
seawater, in particular in shallow waters. This influence is produced by the nature
of the seafloor sediments, their elastic qualities and porosity, and the seafloor surface
geometry. Also, rocks and boulders on and in the seafloor influence reflection and
scattering from the seafloor. Practical models for calculating scattering from the sea-
floor at high and at low sound frequencies are provided in Chapter 8. The chapter
also includes an in-depth discussion of the physical properties important for seafloor
sound propagation, reflection, and scattering. Methods for measuring sediment geo-
acoustic properties, seafloor roughness spectra, and statistics for seafloor heteroge-
neity including methods for seafloor identification and characterization by using
sonar are presented in Chapter 8.
Underwater sound is used to investigate oceanographic and environmental sea
qualities. Sound velocity profiles are created by variations with water depth in tem-
perature, salinity, and pressure, which form sound ducts in the sea that can be used
for sound propagation over great distances. This sound propagation is used to detect
and describe oceanographic phenomena such as gyres and eddies, fronts, influx of
warmer into colder water, and water flow with different salinity, by measuring
acoustic signal arrival time to known positions around an acoustic source. This
process, which is named tomography, is used for studies at basin scale down to
shorter distances in shallow water. Acoustic tomography is described in Chapter
9. The acoustic thermometry of the ocean, where long-time variations in the ocean
temperature are detected by measurements of the arrival time of coded acoustic sig-
nals propagated over thousands of kilometers, is also an aspect of tomography. In
general acoustic signals gather information about the qualities of the materials in
which they have propagated. This information can be unveiled through inversion
procedures, where return signal processing can inform us about seafloor qualities
and characteristics of the water column and help perform rapid environmental
assessment. Inversion procedures are discussed in Chapter 9.
When underwater signals have been picked up by a hydrophone or a hydrophone
array these signals are processed. Frequently the desired signal is embedded in noise
such as ambient noise or reverberation. To detect the signal it is necessary to filter the
received signal from noise and to amplify the desired signal before the detection and
estimation process is performed. As of 2016, several signal processing “tools” are
1.2 A Brief Exposition of the History of Underwater Acoustics 5
available to the underwater acoustician. These tools and their applications are
described in-depth in Chapter 11.
Underwater acoustic methods are used extensively to detect the type and magni-
tude of biomass in the sea. Studies range from very smallescale phyto- and
zooplankton, over various species of fish to sea mammals. Systems for catch
monitoring and control and habitat mapping are described in Chapter 12, which
also includes target strengths of single fish and fish shoals and the acoustic models
used for studies. Sound produced by certain fish types, and the sensitivity of marine
fish and mammals to underwater sound are also discussed in Chapter 12.
In general, sound propagation is considered a linear process. However, higher
sound signal amplitudes may produce nonlinear processes such as harmonic distor-
tion and acoustic saturation. Nonlinear processes are also found in focused sound
fields and in cavitation, a local bubble formation process formed by pressures below
the hydrostatic pressure. Nonlinear underwater acoustics includes the use of para-
metric acoustic arrays for sound generation and reception and underwater explosions
used for prospecting for oil, gas, and minerals. Finite-amplitude underwater sound is
discussed in Chapter 13.
Chapter 14 describes a series of underwater sound applications for marine
renewables, underwater surveillance networks, investigations of soundscapes,
characterization of noise from ships and production platforms, nuclear-test-ban
treaty monitoring, underwater communication and networks, unmanned vehicles
for surveillance and monitoring, underwater archeology, investigations in polar
environments, warning against seismic activities and against tsunamis, model exper-
iments in water tanks, and seafloor application of ocean observatories.
Section 1.2 of this chapter provides a brief history of underwater acoustics.
Section 1.3 presents the international system of units used in the book, followed
in Section 1.4 with a discussion on the use of the decibel scale. Section 1.5 covers
the features of oceanography including sound speed profiles, thermoclines, arctic
regions, deep isothermal layers, expressions for the speed of sound, surface waves,
internal waves, bubbles from wave breaking, ocean acidification, deep-ocean hy-
drothermal flows, eddies, fronts and large-scale turbulence, and diurnal and
seasonal changes. Section 1.6 discusses the sonar equation which is fundamental
to underwater acoustics. Section 1.7 contains a list of the acronyms. The chapter
concludes with the list of references.
communication, shipping, defense, and security are becoming closer. The compre-
hensive activity in underwater acoustics is based on research and development
over more than two millennia, spawned by human curiosity about the sea and its
ability to support sound wave propagation.
scientists in the 18th and 19th centuries. Sound sources included bells, gunpowder,
hunting horns, and human voices. The scientists’ ears usually served as receivers. In
1743, J.A. Nollet (1700e1770) conducted a series of experiments to prove that wa-
ter is compressible. With his head underwater, he heard a pistol shot, bell, whistle,
and loud shouts. He noted that the intensity of the sound decreased only a little with
depth, thus indicating that the loss mostly occurred at the water surface. In 1780,
Alexander Monro (1733e1817) tested his ability to hear sounds underwater. He
used a large and a small bell, which he sounded both in air and in water. The bells
could be heard in water. However, he found that the pitch sounded lower in water
than in air. He also attempted to compare the speed of sound in air and in water,
and he concluded that the two sound speeds seemed to be the same.
The breakthrough in sound speed measurement came in September 1826, when
the Swiss physicist J.D. Colladon (1802e1893) and the French mathematician
J.K.F. Sturm (1803e1855) made the first widely known measurement of the sound
speed in water on Lake Geneva at a water temperature of 8 C. A bell hanging down
from a boat was used as transmitter, and when striking the bell a flash of light was
made by igniting gunpowder. This flash could be seen by Colladon in a boat about
10 miles from the transmitter. He started his watch when he saw the flash and
stopped it, when he heard the sound signal in the water about 10 s later. His receiver
was a trumpet designed with one end in the water and the other in his ear. By using
this rather primitive setup they were able to measure the sound speed in water at 8 C
as 1435 m/s, which is only about 3 m/s less than today’s accepted value [2]. From the
sound speed and water density they could determine the bulk modulus of the water.
During the years 1830e1860 scientists started thinking about applications of un-
derwater sound. Questions such as “Can the echo of a sound pulse in water be used
for determination of the water depth or the distance between ships?” or “Can the
communication between ships be improved by underwater transmission of sound?”
were posed. The frustration in relation to the use of underwater sound for depth mea-
surements is obvious from M.F. Maury’s (1806e1873) words in Chapter 12 of his book
Physical Geography of the Sea, 6th ed. 1859, where he says, “Attempts to fathom the
ocean, by both sound and pressure, had been made, but out in blue water every trial
was only a failure repeated. The most ingenious and beautiful contrivances for deep-
sea sounding were resorted to. By exploding petards, or ringing bells in the deep sea,
when the winds were hushed and all was still, the echo or reverberation from the bot-
tom might, it be held, be heard, and the depth determined from the rate at which
sound travels through water. But though the concussion took place many feet below
the surface, echo was silent, and no answer was received from the bottom.”
During the latter half of the 19th century, when the maritime world changed from
sail to engine driven ships and wood was replaced by steel in ship construction,
concern was expressed about safe navigation in fog and the danger of collision
with other ships or icebergs. John Tyndall (1820e1893) in England and
Joseph Henry (1797e1878) in the USA in separate investigations found sound prop-
agation in air to be unreliable and in 1876 recommended to the lighthouse authorities
in both countries that they adopt high-power siren warning installations at all major
8 CHAPTER 1 General Characteristics of the Underwater Environment
lighthouses. From 1873 joint experiments took place and a large-scale steam-driven
siren was built at the South Foreland lighthouse in England driven by a steam pres-
sure of 5$105 Pa and 100 to 400 Hz frequencies were investigated [3]. Sound trans-
mission conditions, however, caused problems. Wind speed and temperature
gradients over the sound propagation path caused strong variations in the sound
detection distance. The possible advantages of signaling by sound in water were
taken up again in the late 1880s by Lucien Blake and Thomas Alva Edison
(1847e1931) in the USA. Edison invented an underwater device for communication
between ships; however, for some unknown reason the US government lost interest
in his invention.
Submerged bells on lightships were introduced to a large extent during the last
years of the 19th century. The sound from these bells could be detected at a great
distance through a stethoscope or by using simple microphones mounted on a ship’s
hull. When the ship was outfitted with two detecting devices, one on each side of the
hull, it became possible to determine the possible bearing of the lightship by trans-
mitting the sounds separately to the right and the left ears of the observer. Elisha
Gray, who was working with Edison on improving the telephone, recognized that
the carbon button microphone in a suitable waterproof container could be used as
a hydrophone to receive underwater bell signals. In 1899, Gray and A.J. Mundy
were granted a patent on an electrically operated bell for underwater signaling.
FIGURE 1.1
Langevin’s piezoelectric quartz-based transmitter/receiver. (1) connected to a.c. oscillator
and amplifier and to the receiver. (2) The steel inner electrode. (3) The watertight
container. (4) The steel outer electrode. (5) The layer of 0.004 m thick slices of quartz.
Reproduced from Lasky, M., Review of undersea acoustics to 1950. J. Acoust. Soc. Amer., 61, (2), pp. 283e297
(1977), with the permission of the Acoustical Society of America.
Chilowsky left the project after filing the patent, Paul Langevin, who had
moved to Toulon, in 1917, turned his interest to the piezoelectric effectdoriginally
discovered by the Curie brothers in 1880dto develop transmitters and receivers for
underwater use. The newly developed vacuum tube amplifier, the Audion valve, was
used by Langevin for his quartz receiver, and in 1918 he completed the development
of his sandwich-type, steelequartzesteel transmitter, shown in Fig. 1.1. This trans-
mitter had a resonance frequency of 40 kHz produced by the sandwich consisting of
a layer of quartz in the form of a square mosaic 0.004 m thick and 0.2 m in square
between two square steel plates each of thickness 0.03 m. This transmitter increased
the range for one-way transmission to more than 8 km, and clear submarine echoes
were heard in February 1918.
In England Lord Rutherford had assembled a strong group of physicists at Uni-
versity of Manchester. In particular, two persons, who joined this group in 1915
and in 1916, respectively, Albert Beaumont Wood (1890e1964) and the Canadian
physicist Robert William Boyle (1883e1955) contributed substantially to sonar
development and to underwater acoustics. In 1917 several members of Lord
Rutherford’s group were moved to Parkeston Quay in the England, where they, under
leadership of professor W.H. Bragg, carried out research and development related to
underwater echolocation and passive listening under the top secret “ASDIC” project.
ASDIC is an acronym for “Allied Submarine Detection Investigation Committee” [4].
Boyle started out using the Fessenden oscillator, but found early on that its low
frequency, around 1 kHz, would not produce the necessary resolution for detecting
submarines. After contact was established between Boyle and Langevan in 1917,
10 CHAPTER 1 General Characteristics of the Underwater Environment
Boyle visited France and the scientists shared information. A slab of quartz was sent
to Boyle in England, and was tested by Boyle, who in March 1918 achieved an echo
from a submarine at nearly 500 m. The first practically working active sonar, or AS-
DICS as the British preferred to name it, was built by Boyle in November 1918. It
was successfully tested out fitted to a trawler a few days after the armistice on
November 11, 1918.
In the USA, Dr. Harvey C. Hayes (1880e1969) had gathered a group of special-
ists at Naval Experimental Station, New London, with the terms of reference “to
devise as quickly as possible the best of available technology to defeat a U-boat.”
Hayes and his group developed the towed hydrophone assembly called “the Eel,”
and a passive sonar installation using 48 hydrophonesdhull mounted and towedd
was tested on a US destroyer. This installation was the most advanced passive sonar
system produced during World War I [3].
In 1911 in Kiel, Germany, Karl Heinrich Hecht (1880e1961) developed a hydro-
dynamic siren source for producing underwater sound. Also, he developed an elec-
tromagnetic membrane transmitter, which during World War I was built into several
hundred surface ships and submarines.
The German scientist Alexander Behm (1880e1953) successfully tested the first
echosounder on the seafloor of the Fjord of Kiel in February 1916. Also, the German
engineer Hugo Lichte (1891e1963) performed extensive underwater acoustic
studies in which he correctly deduced the effects of temperature, salinity, and pres-
sure on the speed of sound. He predicted in 1919 that upward refraction produced by
pressure in deep water should produce extraordinarily long sound listening ranges.
This fact was verified many years later.
West Africa. The sound propagation took place in a ubiquitous permanent sound
channel of the deep ocean. Ewing called the channel the SOFAR (SOund Fixing
And Ranging) channel. The first application of this discovery was aimed at
providing a rescue system for downed-at-sea airmen. From his inflated rubber
boat, the airman should drop small cartridges over the side set to explode on the
axis of the SOFAR channel situated at about 1200 m depth in the North Atlantic,
as shown in Fig. 1.2. Sound from the explosion would be refracted back to the chan-
nel axis and the propagation would only be influenced by cylindrical spreading. The
signals would then be picked up by hydrophones positioned on the channel axis at
various positions off the continental shelves, making it possible by comparing signal
arrival times to find the position of the source. Maurice Ewing in the USA and acade-
mician L.M. Brekhovskikh in the USSR were studying the undersea sound channel.
In the years just after the war Brekhovskikh discovered the existence of the sound
channel in the Pacific Ocean by analyzing signals received from underwater explo-
sions in the Sea of Japan.
FIGURE 1.2
A characteristic sound velocity profile in the North Atlantic Ocean. The minimum sound
speed forming the SOFAR channel is at a depth of about 1200 m. Below the minimum
sound velocity, the sound speed increase is caused by increasing pressure. The
temperature is nearly constant at about 2 C.
14 CHAPTER 1 General Characteristics of the Underwater Environment
Ewing, together with J.L. Worzel and several other colleagues at Woods Hole
Oceanographic Institute studied long-range sound propagation in shallow and
deep water by using underwater explosions [6,7]. Based on their data, Chaim Pekeris
improved his normal mode propagation theory [5,8] and was able to interpret the
shape of the mean dispersion curves measured by Ewing and Worzel. Geometrical
dispersion was also described by Tolstoy [9] in a fluidesolid layer. The concept of
elastic wave propagation has allowed underwater acousticians to model and under-
stand complex shallow water acoustics. Ewing and Worzel’s research also formed
the basis for a series of seabed geological structure studies performed mostly in
shallow water off the East Coast of the USA. The cooperation established between
Ewing’s group at Columbia University and the scientists at Woods Hole Oceano-
graphic Institute turned out to be most fruitful for underwater seismology investiga-
tions. The “refraction method” and the “continuous seismic profiler” were results of
this cooperation.
A group around C.F. Eyring in San Diego, USA, had observed that diffuse echoes
were received from the volume of a water column. These echoes were arranged
roughly in horizontal layers whose depths were of the order of 400 m at noon, but
they migrated to the surface during the twilight and the early evening. At dawn,
they migrated downward to complete a daily cycle. Based on help from marine
biologists it was possible to show that the responsible scatterers were small plank-
tonic fish that have a swim bladder and live in the deep ocean water regions. The
research into the “deep scattering layers” peaked during the 1949e1957 period.
Important contributions to marine bioacoustics were made during the subsequent
years.
These years also brought important research results related to sound absorption
mechanisms in the sea and sources and spectra of ambient noise. The anomalous
absorption in seawater below 1 MHz, where the viscous absorption predicted by
Stokes in 1845 [10] gave values too low compared with measurements was
explained. Liebermann [11] explained the deviation from the Stokes-based viscous
absorption dependence on the square of the frequency by the presence of a dilata-
tional viscosity and the influence of relaxational effects, as discussed in Chapter
4. In the 1950s it was shown that the relaxational effects were caused by the presence
of magnesium sulfate (MgSO4) [12,13] with a relaxation time below 1 ms, and even
lower frequency, <10 kHz, relaxation-caused absorption was discovered in the
1970s to be due to boric acid (B(OH)3) [14,15].
The comprehensive research and development efforts in underwater acoustics
after World War II and the development in computer technology after 1960 formed
the basis for the nearly explosive development in underwater acoustics from 1960.
Among the main trends in underwater acoustics research and development
are underwater sound propagation modeling involving mode theory, parabolic
equations [16], and finite element methods to include realistic range dependence
and surface and bottom effects, reverberation studies, and ambient noise source
and directivity studies [17], as also underwater acoustical tomography including
1.3 International Standard Units 15
the international acoustic thermometry of the ocean climate (ATOC) studies [18],
and the coupling between acoustics, oceanography, and meteorology to lead to
long term reliable weather forecasts, acoustical studies of biomass in the sea
including detection of sea mammals [19], and extensive bottom and subbottom
studies for exploitation of minerals, oil, and gas, as well as for cable and tube
laying. Also the “Cold War” gave inspiration to a substantial research effort in un-
derwater acoustics and to a considerable development effort in relation to equip-
ment for acoustic studies of “the underwater world.” Advanced fixed-positioned
warning and surveillance networks such as SOSUS (SOund SUrveillance System)
in the Atlantic and Pacific Oceans and ship-towed passive arrays such as SUR-
TASS (Surveillance Towed Array Sensor System), as discussed in Chapter 10,
were results of Cold War developments.
The developments in underwater acoustics over the last 20 years are, for
instance, reflected in the increasing number of R&D results published in the pro-
ceedings of international conferences like the European Conference on Underwater
Acoustics (ECUA) from 1991 through 2012 and the Underwater Acoustic Measure-
ments: Technologies and Results (UAM) from 2005 through 2011. From 2013, these
conferences are merged into the International Conference and Exhibition on Under-
water Acoustics (UA) [20,21].