Passive Acoustic Monitoring of Cetaceans.pdf
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1、 This page intentionally left blank Passive Acoustic Monitoring of Cetaceans Passive acoustic monitoring (PAM) is used increasingly by the scientifi c community to study, survey and census marine mammals, especially cetaceans, many of which are easier to hear than to see. PAM is also used to support
2、 efforts to mitigate potential negative effects of human activities such as ship traffi c, military and civilian sonar and offshore exploration. Walter Zimmer provides an integrated approach to PAM, combining physical princi- ples, discussion of technical tools and application-oriented concepts of o
3、perations. In addition, relevant information and tools necessary to assess existing and future PAM systems are presented, with MATLAB code used to generate fi gures and results so that readers can reproduce data and modify code to analyse the impact of changes. This allows the principles to be studi
4、ed while discovering potential diffi culties and side effects. Aimed at graduate students and researchers, the book provides all information and tools necessary to gain a comprehensive understanding of this interdisciplinary subject. Walter M.X. Zimmer holds a Ph.D. in theoretical physics from the U
5、niversity of Regensburg, Germany. He is currently a Scientist in the Applied Research Department of the NATO Undersea Research Centre (NURC) in La Spezia, Italy, and a Guest Investigator at the Biology Department of the Woods Hole Oceanographic Institution (WHOI), Woods Hole, MA, USA. Passive Acoust
6、ic Monitoring of Cetaceans WALTER M. X. ZIMMER NATO Undersea Research Centre cambridge university press Cambridge, New York, Melbourne, Madrid, Cape Town, Singapore, So Paulo, Delhi, Tokyo, Mexico City Cambridge University Press The Edinburgh Building, Cambridge CB2 8RU, UK Published in the United S
7、tates of America by Cambridge University Press, New York www.cambridge.org Information on this title: www.cambridge.org/9780521193429 Walter M.X. Zimmer 2011 This publication is in copyright. Subject to statutory exception and to the provisions of relevant collective licensing agreements, no reprodu
8、ction of any part may take place without the written permission of Cambridge University Press. First published 2011 Printed in the United Kingdom at the University Press, Cambridge A catalogue record for this publication is available from the British Library Library of Congress Cataloguing in Public
9、ation data Zimmer, Walter M. X., 1949 Passive Acoustic Monitoring of Cetaceans / Walter MX Zimmer. p.cm Includes bibliographical references and index. ISBN 978-0-521-19342-9 1. Cetacea Monitoring.2. Cetacea Effect of noise on.3. Dolphin sounds. 4. Whale sounds.I. Title. QL737.C4Z532011 599.507203dc2
10、2 2010052636 ISBN 978-0-521-19342-9 Hardback Additional resources for this publication at www.cambridge.org/9780521193429 Cambridge University Press has no responsibility for the persistence or accuracy of URLs for external or third-party internet websites referred to in this publication, and does n
11、ot guarantee that any content on such websites is, or will remain, accurate or appropriate. Fr Giannina Contents Acknowledgementspagex Introduction1 Part IUnderwater acoustics (the basics)5 1Principles of underwater sound7 1.1Sound as a pressure wave7 1.2Measuring underwater sound (the decibel scale
12、)21 1.3Sound velocity23 1.4Sound propagation29 1.5Signals, noise and interference36 2Cetacean sounds39 2.1 Classifi cation of cetaceans39 2.2 Classifi cation of cetacean sounds40 2.3Cetacean sound presentation in the time domain42 2.4Cetacean sounds in the frequency domain53 2.5Cetacean sounds in th
13、e timefrequency domain61 2.6Sound source directionality86 2.7Cetacean source levels88 2.8Order Cetacea89 3Sonar equations96 3.1Passive sonar equations96 3.2Apparent source level97 3.3Sound propagation100 3.4Noise level108 3.5Array gain113 3.6Processing gain115 3.7Detection threshold115 vii Part IISi
14、gnal processing (designing the tools)117 4Detection methods119 4.1Detection of echolocation clicks119 4.2 Data fi lter138 4.3 Detection of FM signals with pulse compression (matched fi lter)144 4.4Detection of dolphin whistles150 5 Classifi cation methods164 5.1 Classifi cation basics164 5.2 Optimal
15、 classifi cation165 5.3 Cetacean classifi cation180 6Localization and tracking198 6.1Multi-hydrophone ranging198 6.2Triangulation203 6.3Multi-path ranging205 6.4Ranging by acoustic modelling210 6.5Measurement of arrival time difference211 6.6 Direction fi nding212 6.7 Three-dimensional direction fi
16、nding213 6.8 Two-dimensional constrained direction fi nding216 6.9Beam-forming218 6.10Beam patterns219 6.11Tracking226 Part IIIPassive acoustic monitoring (putting it all together)237 7Applications of passive acoustic monitoring239 7.1Abundance estimation239 7.2Mitigation: absence estimation250 7.3H
17、abitat and behaviour analysis253 7.4Monitoring rare and elusive species256 7.5Logging acoustic information257 8Detection functions259 8.1Empirical detection function259 8.2LMS parameter estimation260 8.3Sonar equation-based modelling of the detection function260 8.4Modelling animal behaviour269 8.5
18、Modelling the infl uence of animal motion272 viiiContents 9Simulating sampling strategies274 9.1Modelling a point survey detection probability275 9.2Simulating a point survey278 9.3Point survey abundance estimation280 9.4Distance distribution of echolocation clicks of randomly moving animals284 9.5S
19、tochastic simulation of detection function289 10PAM systems299 10.1Hardware299 10.2Software315 10.3PAM implementations321 10.4The future of PAM325 References and further reading326 Index354 Contentsix Acknowledgements The data used within this book were in part made available by Gianni Pavan (CIBRA,
20、 Universit degli Studi di Pavia, Italy, http:/www.unipv.it/cibra), Carmen Bazua-Duran (Universidad Nacional Autonoma de Mexico, Mexico), Denise Risch (Northeast Fisheries Science Center, NOAA, USA), Robert Dziak, Sharon Nieukirk and Dave Mellinger (Oregon State University and NOAA, USA), Douglas Gil
21、lespie (University of St Andrews, UK), Chris Clark (Cornell University, USA), Anna Moscop (International Fund for Animal Welfare, www.ifaw.org/sotw) and Peter L. Tyack (Woods Hole Oceanographic Institution, WHOI, USA). In 1998, when I became interested in cetacean research, I had worked for some tim
22、e in underwater research, but knew little about whales and dolphins. Without Gianni Pavan (CIBRA, Universit degli Studi di Pavia, IT) and the whole CIBRA team, Peter L. Tyack and Mark Johnson, both of Woods Hole Oceanographic Institution (WHOI, USA), and Peter T. Madsen (University of Aarhus, DK) wh
23、o shared with me their knowledge about whales and dolphins and who engaged in a continuing and extremely fruitful collabo- ration, I would have never learned so much about these fantastic and extraordinary creatures. I would also like to thank Arnold B-Nagy (NURC), John Harwood, Len Tomas and Tiago
24、Marques (CREEM, UK) for discussions on population estimation, general eco- logical modelling and distance sampling. Piero Guerrini, Vittorio Grandi and Luigi Troiano (NURC) were always available for discussions about hydrophones, electronics and system implementation. Special thanks to David Hughes
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