Compact multifunctional passive acoustic sensor systems transducers and signal processing ...

246 Pages·2016·8.95 MB·English

D6.2 – Compact multifunctional passive acoustic sensor systems
transducers and signal processing description

Lead organisation for this deliverable
Centro Tecnológico Naval y del Mar (CTN) and SMID Technology (SMID)
Lead authors: Pablo Ruiz Molina (CTN) and Diego Pinzani (SMID)
Contributors: Luigi Corradino (SMID), Pablo Cervantes Fructuoso (CTN), Alberto Figoli
(SMID), Dan Toma (UPC), Joaquín del Rio (UPC), Eric Delory (PLOCAN)

NeXOS - Next generation Low-Cost Multifunctional Web
Enabled Ocean Sensor Systems Empowering Marine,
Maritime and Fisheries Management, is funded by the
European Commission’s 7th Framework Programme - Grant
Agreement Nº 614102
Deliverable 6.2

Compact multifunctional passive acoustic sensor systems
transducers and signal processing description.

Deliverable 6.2 Compact multifunctional passive acoustic sensor systems transducers and
signal processing description
Project Acronym: NeXOS
Project Title: Next generation Low-Cost Multifunctional Web Enabled Ocean Sensor Systems Empowering
Marine, Maritime and Fisheries Management.
Programme: The Ocean of Tomorrow 2013 – 7th Framework Programme
Project Coordinator: Eric Delory
Theme 2: Food, Agriculture and Fisheries, and Biotechnology
Theme 4: Nanosciences, Nanotechnologies, Materials and new Production Technologies
Theme 5: Energy
Theme 6: Environment (including climate change)
Theme 7: Transport (including aeronautics)
Topic: OCEAN.2013-2 Innovative multifunctional sensors for in-situ monitoring of marine environment and
related maritime activities
Instrument: Collaborative Project
Deliverable Code: 160330-NXS-WP6_D.6.2-v.1.1_final
Due date: 2016/03/30

The NeXOS Project owns the copyright of this document (in accordance with the terms described in the
Consortium Agreement), which is supplied confidentially and must not be used for any purpose other
than that for which it is supplied. It must not be reproduced either wholly or partially, copied or
transmitted to any person without the authorization of PLOCAN. NeXOS is a Cooperation Research
Project funded by the Research DG of the European Commission within the Ocean of Tomorrow 2013
Joint Call of the 7th Framework Programme (FP7). This document reflects only the authors’ views. The
Community is not liable for any use that may be made of the information contained therein.

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Doc.Nº: 131230-NXS-WPX_NXS-D.6.2-v.1.1_final
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Deliverable 6.2

Compact multifunctional passive acoustic sensor systems
transducers and signal processing description.

DISSEMINATION LEVEL
Public X
Restricted to other programme participants (including the Commission Services)
Restricted to a group specified by the consortium (including the Commission Services)
Confidential, only for members of the consortium (including the Commission Services)

DOCUMENT HISTORY
Edit./Rev. Date Name
Prepared 2016/03/18 Pablo Cervantes
Checked 2016/03/18 Pablo Ruiz
Checked 2016/03/29 Lars Golmen
Checked 2016/04/01 Pablo Cervantes and Pablo Ruiz
Approved 2016/06/09 Eric Delory

DOCUMENT CHANGES RECORD
Edit./Rev. Date Chapters Reason for change
0.1 2016/03/29 All Chapters Editing
1.0 2016/06/09 All Chapters WP lead and CTN – Editing, proofreading, and
additions to the text (whistle detector and
impulsive noise indicator)
1.1 2016/06/15 All Document Format adjustment before uploading to EC
(Simone Memè)

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Compact multifunctional passive acoustic sensor systems
transducers and signal processing description.

DISTRIBUTION LIST
Company / Organization
Copy no. Name and surname
(country)
1 PLOCAN (ES) Eric Delory, Ayoze Castro, Simone Memè
2 IFREMER (FR) Jean-Francois Rolin, Jerome Blandin, Laurent Delauney, Patrice
Woerther
3 UNI-HB (DE) Christoph Waldmann, Eberhard Kopiske
4 52-N (DE) Simon Jirka, Matthes Rieke
5 AMU (FR) Madeleine Goutx, Marc Tedetti,
6 UPC (ES) Joaquín del Río, Daniel Mihai Toma
7 ACSA (FR) Yann Le Page, Frédéric Fiquet, François-Xavier Demotes-Mainard,
Dorothée Coulomb
8 UNOL (DE) Oliver Zielinski, Rohan Henkel, Daniela Voß
9 NKE (FR) Patrice Brault, Damien Malardé, Arnaud David
10 TRIOS (DE) Rüdiger Heuermann
11 CMR (NO) David Peddie
12 CTN (ES) Noelia Ortega, Pablo Ruiz, Daniel Alonso
13 HZG (DE) Wilhelm Petersen, Steffen Assmann, Rüdiger Roettgers, Frank
Carsten
14 REC (NO) Nils Roar Hareide, Karsten Kvalsund
15 NIVA (NO) Lars Golmen, Kai Sørensen, Emanuele Reggiani
16 SMID (IT) Luigi Corradino
17 FRANATECH (DE) Michel Masson, Joaquim Schwerdtfeger
18 UNIRESEARCH (NO) Svein Østerhus
19 CNR-ISMAR (IT) Marco Faimali, Stefania Sparnocchia, Giovanni Pavanello, Michela
Martinelli
20 IEEE (FR) Jay Pearlman, Francoise Pearlman, René Garello
21 ECORYS (NL) Johan Gille, Dick Mans

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Compact multifunctional passive acoustic sensor systems
transducers and signal processing description.

Acknowledgements

Funding for the NeXOS project (Grant Agreement No. 614102) was received from the EU Commission as part of
the 7th Framework Programme, “The Ocean of Tomorrow”.
The help and support, in preparing the proposal and executing the project, of the partner institutions is also
acknowledged: Plataforma Oceánica de Canarias (ES), Institut Français de Recherche pour l’Exploitation de la
Mer (FR), Universität Bremen (DE), 52°North Initiative for Geospatial Open Source Software GmbH (DE), Aix
Marseille University (FR), Universitat Politècnica de Catalunya (ES), Architecture et Conception de Systèmes
Avancés (FR), Carl von Ossietzky Universität Oldenburg (DE), NKE Instrumentation (FR), TriOS MEss- und
Datentechnik GmbH (DE), Christian Michelsen Research AS (NO), Centro Tecnológico Naval y del Mar (ES),
Helmholtz-Zentrum Geesthacht Zentrum fur Material-und Kustenforschung GmbH (DE), Runde Miljøsenter AS
(NO), Norsk Institutt for Vannforskning (NO), SMID Technology s.r.l. (IT), Franatech AS (NO), Uni Research AS
(NO), Consiglio Nazionale delle Ricerche (IT), IEEE France Section (FR) and ECORYS Nederland BV (NL).

Abstract

The present document summarizes the work carried out in EU FP7 project NeXOS (www.NeXOSproject.eu) for
task 6.2 “Integrated passive acoustics transducer development”, led by SMID, and task 6.3 “Algorithms
development” led by CTN.
The purpose of task 6.2 is to develop the transducer stage required for an integrated multifunctional digital
passive acoustic sensor system. This sensor system will be capable of measuring and processing underwater
noise and bioacoustics activity. Two prototypes are developed, the first (A1), a small, low consumption,
transducer stage for mobile platforms, and a second (A2), a transducer stage for fixed platforms with
enhanced capability, including array-based source localization and acoustic propagation modelling. Three
replicas of A1 and one A2, based on A1s but with Ethernet capability, will be manufactured and tested in a
troncoconical tank in CTN facilities.
Second, signal processing algorithms for mobile (A1) and fixed platforms (A2) developed by CTN are depicted.
These algorithms address the Marine Strategy Framework Directive (MSFD) requirements in terms of
underwater noise and bioacoustics monitoring, more specifically MSFD Descriptor 1 and 11. These will be
explained in detail, including computational load measurements, capabilities and limitations, and good
practice for the user.
Codes developed under this task are summarized in the annexes and they will be available under request in
the proper format.

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Compact multifunctional passive acoustic sensor systems
transducers and signal processing description.

TABLE OF CONTENTS
1 Introduction .................................................................................................................................................. 14
2 Acronyms ...................................................................................................................................................... 14
3 Reference Documents .................................................................................................................................. 14
4 Task 6.2 Integrated passive acoustics transducer development. ................................................................. 15
4.1 Introduction .......................................................................................................................................... 15
4.2 Acoustic sensor A1 & A2 ....................................................................................................................... 16
4.2.1 General description .................................................................................................................... 16
4.2.2 Hardware description ................................................................................................................. 16
4.2.2.1 Hydrophone ........................................................................................................................... 17
4.2.2.2 Neptune D/70 ........................................................................................................................ 17
4.2.2.3 JS-B100-C4DP ......................................................................................................................... 18
4.2.2.4 SQ26-01 .................................................................................................................................. 19
4.2.3 Signal conditioning unit .............................................................................................................. 21
4.2.3.1 Preamplifier input stage AD8655 ........................................................................................... 22
4.2.3.2 Gain selection ......................................................................................................................... 22
4.2.3.3 Equalizer ................................................................................................................................. 22
4.2.3.4 Gain and equalizer configuration ........................................................................................... 23
4.2.3.5 Anti-aliasing filters LTC 1569-6 ............................................................................................... 24
4.2.3.6 Differential Driver .................................................................................................................. 25
4.2.3.7 SCU power supply circuit ....................................................................................................... 25
4.2.4 Micro power SAR ADC ................................................................................................................ 26
4.2.4.1 Sampling frequency configuration ......................................................................................... 26
4.2.5 Main power supply ..................................................................................................................... 26
4.2.6 PCB design .................................................................................................................................. 27
4.2.7 Laboratory Test .......................................................................................................................... 29
4.2.7.1 Passive Components value and tolerance consideration ...................................................... 29
4.2.7.2 Frequency Range .................................................................................................................... 29
4.2.7.2.1 Upper limit ....................................................................................................................... 29
4.2.7.2.2 Frequency lower limit ...................................................................................................... 29
4.2.7.3 Equalizer ................................................................................................................................. 30
4.2.7.4 Equivalent input noise ........................................................................................................... 31
4.2.7.5 Maximum input voltage level and dynamic ........................................................................... 31
4.2.8 Acoustic resolution ..................................................................................................................... 32
5 Task 6.3. Algorithms Development ............................................................................................................... 33
5.1 Introduction .......................................................................................................................................... 33
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Compact multifunctional passive acoustic sensor systems
transducers and signal processing description.

5.2 Methodology ........................................................................................................................................ 34
5.2.1 Fixed Point Arithmetic VS Floating Point Arithmetic .................................................................. 36
5.3 Algorithms ............................................................................................................................................ 37
5.3.1 Acoustic Sensors A1 & A2 ........................................................................................................... 37
5.3.1.1 MSFD Indicator 11.2.1. ........................................................................................................... 37
5.3.1.1.1 Introduction ..................................................................................................................... 37
5.3.1.1.2 Methodology ................................................................................................................... 38
5.3.1.1.3 Sampling Rate: 1000 Hz .................................................................................................. 58
5.3.1.1.4 Sample of: 32 bits (float) ................................................................................................. 58
5.3.1.1.5 Size of block: 2048 samples ............................................................................................ 58
5.3.1.1.6 Microprocessor: 204 MHz ............................................................................................... 58
5.3.1.1.7 Good Practice for the user .............................................................................................. 58
5.3.1.2 MSFD Indicator 11.2.1. Extended........................................................................................... 59
5.3.1.2.1 Introduction ..................................................................................................................... 59
5.3.1.2.2 Methodology ................................................................................................................... 59
5.3.1.2.3 Good Practices for the user ............................................................................................. 65
5.3.1.3 Noise Band Monitoring .......................................................................................................... 65
5.3.1.3.1 Introduction ..................................................................................................................... 65
5.3.1.3.2 Methodology ................................................................................................................... 65
5.3.1.3.3 Good Practices for the user ............................................................................................. 67
5.3.1.4 MSFD Indicator 11.1.1. ........................................................................................................... 67
5.3.1.4.1 Introduction ..................................................................................................................... 67
5.3.1.4.2 Methodology ................................................................................................................... 68
5.3.1.4.3 Sampling Rate: 48000 Hz ................................................................................................ 71
5.3.1.4.4 Sample of 32 bits: (float) ................................................................................................ 71
5.3.1.4.5 Size of block: 2048 samples ............................................................................................ 71
5.3.1.4.6 Microprocessor: 204 MHz ............................................................................................... 71
5.3.1.4.7 71
5.3.1.4.8 Duty cycle ........................................................................................................................ 71
5.3.1.4.9 Nº Blocks ......................................................................................................................... 71
5.3.1.4.10 Time of processing........................................................................................................... 71
5.3.1.4.11 ~42,7 msec....................................................................................................................... 71
5.3.1.4.12 1 block ............................................................................................................................. 71
5.3.1.4.13 860 µsec .......................................................................................................................... 71
5.3.1.4.14 ~213 msec........................................................................................................................ 71
5.3.1.4.15 5 blocks ............................................................................................................................ 71
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Compact multifunctional passive acoustic sensor systems
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5.3.1.4.16 4.1 msec........................................................................................................................... 71
5.3.1.4.17 ~1 sec ............................................................................................................................... 71
5.3.1.4.18 23 blocks .......................................................................................................................... 71
5.3.1.4.19 17,8 msec......................................................................................................................... 71
5.3.1.4.20 ~10.66 sec ........................................................................................................................ 71
5.3.1.4.21 250 blocks ........................................................................................................................ 71
5.3.1.4.22 194,1 msec....................................................................................................................... 71
5.3.1.4.23 ~30.72 sec ........................................................................................................................ 71
5.3.1.4.24 720 blocks ........................................................................................................................ 71
5.3.1.4.25 554,1 msec....................................................................................................................... 71
5.3.1.4.26 Good Practices for the user. ............................................................................................ 71
5.3.1.5 Click Detector ......................................................................................................................... 72
5.3.1.5.1 Introduction ..................................................................................................................... 72
5.3.1.5.2 Methodology ................................................................................................................... 72
5.3.1.5.3 Good Practices for the user ............................................................................................. 85
5.3.1.6 Whistle Detector .................................................................................................................... 86
5.3.1.6.1 Introduction ..................................................................................................................... 86
5.3.1.6.2 Methodology ................................................................................................................... 86
5.3.1.6.3 Good Practices for the user ............................................................................................. 98
5.4 Support systems (GUIS for user interface). .......................................................................................... 98
5.4.1 Noise Band Monitoring GUI ........................................................................................................ 98
5.4.2 MFSD Indicator 11.2.1, indicator 11.2.1 extended and noise band monitoring GUI .............. 101
5.4.3 Click Detector GUI .................................................................................................................... 101
6 Annex I – Indicator 11.2.1 Code .................................................................................................................. 106
6.1 Structure ............................................................................................................................................. 106
6.2 Code .................................................................................................................................................... 106
6.2.1 Indicator 11.2.1 ........................................................................................................................ 106
6.2.2 LookUpTable_UD_SPLrms ........................................................................................................ 109
7 Annex II – Indicator 11.2.1 Code ................................................................................................................. 126
7.1 Introduction ........................................................................................................................................ 126
7.2 Validation of Filters ............................................................................................................................. 127
7.2.1 Validation in Matlab ................................................................................................................. 127
7.2.2 Validation in ARM Cortex M4 ................................................................................................... 136
7.3 Structure Code .................................................................................................................................... 140
7.3.1 Code ......................................................................................................................................... 140
7.3.1.1 Filters ................................................................................................................................... 140
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7.3.2 INC Folder ................................................................................................................................. 154
7.3.3 SRC Folder................................................................................................................................. 157
8 Annex III – Noise Band Monitoring ............................................................................................................. 179
8.1 Structure ............................................................................................................................................. 179
8.2 Code .................................................................................................................................................... 179
8.2.1 Noise Band Monitoring ............................................................................................................ 179
8.2.2 LookUpTable_UD_SPLrms ........................................................................................................ 182
8.2.3 Percentile_level ........................................................................................................................ 193
8.2.4 Filters (63 and 125 Hz) .............................................................................................................. 195
8.2.5 Main (simulation of CTN).......................................................................................................... 195
9 Annex IV – Click Detector Code .................................................................................................................. 198
9.1 Structure ............................................................................................................................................. 198
9.2 Code .................................................................................................................................................... 198
9.2.1 click_detector_f.h ..................................................................................................................... 198
9.2.2 click_parameters_f.h ................................................................................................................ 198
9.2.3 click_parameters_f.h ................................................................................................................ 201
9.2.4 get_click_f.h ............................................................................................................................. 201
9.2.5 look_for_clicks.h ....................................................................................................................... 202
9.2.6 lookUpTable_UD_SPL.h ............................................................................................................ 203
9.2.7 click_detector.c ........................................................................................................................ 205
9.2.8 get_click.c ................................................................................................................................. 208
9.2.9 look_for_clicks.c ....................................................................................................................... 210
10 Annex V – Whistle Detector Code .............................................................................................................. 215
10.1 Structure ............................................................................................................................................. 215
10.2 Matlab Code ....................................................................................................................................... 215
10.2.1 Generate_wave ........................................................................................................................ 215
10.2.2 Spectrogram_block.m .............................................................................................................. 217
10.2.3 MedianFilter.m ......................................................................................................................... 218
10.2.3.1 A.2.1 Bubble.m ................................................................................................................ 221
10.2.3.2 A.2.2 Swap.m ................................................................................................................... 221
10.2.4 AverageSubtraction.m .............................................................................................................. 221
10.2.5 Thresholding.m ......................................................................................................................... 222
10.2.6 ConnectingRegions.m ............................................................................................................... 223
10.2.6.1 A.5.1 Pixel.m .................................................................................................................... 228
10.2.6.2 A.5.2 Region.m ................................................................................................................. 229
10.3 WhistleDetector.m ............................................................................................................................. 232
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Compact multifunctional passive acoustic sensor systems
transducers and signal processing description.

10.3.1 MainWhistleDetector.m ........................................................................................................... 234
10.4 Platform Code ..................................................................................................................................... 238
10.4.1 Spectrogram.h .......................................................................................................................... 238
10.4.2 Spectrogram.c .......................................................................................................................... 238
10.4.3 FFT.h ......................................................................................................................................... 239
10.4.4 FFT.c.......................................................................................................................................... 240
10.4.5 Thresholding.h .......................................................................................................................... 241
10.4.6 Thresholding.c .......................................................................................................................... 241
10.4.7 ConnectingRegions.h ................................................................................................................ 242
10.4.8 Globals.h ................................................................................................................................... 243
10.4.9 WhistleDetector_f.h ................................................................................................................. 243
10.4.10 WhistleDetector_f.c ............................................................................................................. 244
10.4.11 Development notes .............................................................................................................. 245

LIST OF FIGURES
Figure 1 Logic block diagram of the transducer stage. ......................................................................................... 17
Figure 2 Hydrophone D/70 ................................................................................................................................... 17
Figure 3. D/70 Receive graph ............................................................................................................................... 18
Figure 4. D/70 beam pattern. ............................................................................................................................... 18
Figure 5 JS-B100 Receive graph ............................................................................................................................ 19
Figure 6 JS-B100 hydrophone ............................................................................................................................... 19
Figure 7 SQ26 hydrophone ................................................................................................................................... 19
Figure 8 SCU block diagram. ................................................................................................................................. 21
Figure 9. Schematic diagram example .................................................................................................................. 27
Figure 10 component PCB footprint ..................................................................................................................... 27
Figure 11 PCB Routing .......................................................................................................................................... 28
Figure 12 Resulting final PCB ................................................................................................................................ 28
Figure 13. SCU analog output - Low Gain fc= 3.2MHz ......................................................................................... 28
Figure 14. SCU analog output - Hi Gain fc = 3.2MHz ........................................................................................... 28
Figure 15. SCU analog output - Low Gain fc = 1.6MHz ........................................................................................ 29
Figure 16 Equivalent circuit schematic of the hydrophone and input stage ........................................................ 30
Figure 17 Equalizer frequency response .............................................................................................................. 30
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