Computational Ocean Acoustics

813 Pages·2011·13.18 MB·English

by  Finn B. Jensen

ModernAcousticsand SignalProcessing
Editor-in-Chief
WILLIAMM. HARTMANN
MichiganStateUniversity,EastLansing,Michigan
EditorialBoard
YOICHI ANDO,KobeUniversity,Kobe,Japan
WHITLOWW. L. AU,HawaiiInstituteofMarineBiology,Kane’ohe,Hawaii
ARTHURB. BAGGEROER,MassachusettsInstituteofTechnology,Cambridge,
Massachusetts
NEVILLEH.FLETCHER,AustralianNationalUniversity,Canberra,Australia
CHRISTOPHER R. FULLER,VirginiaPolytechnicInstituteandStateUniversity,
Blacksburg,Virginia
WILLIAMA.KUPERMAN,UniversityofCaliforniaSanDiego,LaJolla,California
JOANNE L.MILLER,NortheasternUniversity,Boston,Massachusetts
MANFRED R. SCHROEDER,UniversityofGo¨ttingen,Go¨ttingen,Germany
ALEXANDRA I.TOLSTOY,A.TolstoySciences,McLean,Virginia
Forfurthervolumes:
http://www.springer.com/series/3754

Finn B. Jensen William A. Kuperman
(cid:2)
Michael B. Porter Henrik Schmidt
(cid:2)
Computational Ocean
Acoustics
Second Edition
ABC
FinnB.Jensen MichaelB.Porter
NATOUnderseaResearchCentre Heat,Light,andSoundResearch,Inc.
VialeSanBartolomeo400 3366NorthTorreyPinesCourt,Suite310
LaSpezia,19126,Italy LaJolla,CA92037,USA
[email protected]
HenrikSchmidt
WilliamA.Kuperman MassachusettsInstituteofTechnology(MIT)
MarinePhysicalLab.,MailCode0205 MassachusettsAvenue77
ScrippsInstitutionofOceanography Cambridge,MA02139,USA
GilmanDr.9500
LaJolla,CA92093-0238,USA
[email protected]
ISBN978-1-4419-8677-1 e-ISBN978-1-4419-8678-8
DOI10.1007/978-1-4419-8678-8
SpringerNewYorkDordrechtHeidelbergLondon
LibraryofCongressControlNumber:2011927154
(cid:2)c SpringerScience+BusinessMedia,LLC2011
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Series Preface
“...Sounisnoghtbutairy-broke”
–GeoffreyChauser
endofthe14thcentury
Traditionally,acousticshasformedoneofthefundamentalbranchesofphysics.In
the twentieth century, the field has broadened considerably and become increas-
inglyinterdisciplinary.Atthe presenttime, specialists in modernacousticscan be
encounterednotonlyinPhysicsDepartments,butalsoinElectricalandMechanical
EngineeringDepartments,as well as in Departmentsof Mathematics,Oceanogra-
phy,andevenPsychology.Theyworkinareasspanningfrommusicalinstruments
to architectureto problemsrelated to speechperception.Today,six hundredyears
after Chauser made his brilliant remark, we recognize that sound and acoustics is
adisciplineextremelybroadinscope,literallycoveringwavesandvibrationsinall
mediaatallfrequenciesandatallintensities.
Theseriesofscientificliterature,entitledModernAcousticsandSignalProcess-
ing (MASP), covers all areas of today’s acoustics as an interdisciplinary field. It
offers scientific monographs, graduate level textbooks, and reference materials in
suchareasasarchitecturalacoustics,structuralsoundandvibration,musicalacous-
tics, noise, bioacoustics,physiologicalandpsychologicalacoustics, speech,ocean
acoustics;underwatersound;andacousticalsignalprocessing.
Acousticsisprimarilyamatterofcommunication.Whetheritbespeechormu-
sic, listening spaces or hearing, signaling in sonar or in ultrasonography,we seek
to maximizeour ability to conveyinformation,and at the same time, to minimize
the effects of noise. Signaling has itself given birth to the field of signal process-
ing,the analysisof allreceivedacousticinformationor,indeed,all informationin
anyelectronicform.Withtheextremeimportanceofacousticsforbothmodernsci-
enceandindustryinmind,AIPPressisinitiatingthisseriesasanewandpromising
publishingventure.Wehopethatthisventurewillbebeneficialtotheentireinterna-
tionalacousticalcommunity,asrepresentedbytheAcousticalSocietyofAmerica,a
foundingmemberofthe AmericanInstitute ofPhysics,andotherrelatedsocieties
andprofessionalinterestgroups.
v
vi SeriesPreface
It is our hope that scientists and graduate students will find the books in this
seriesusefulintheirresearch,teaching,andstudies.
JamesRussell Lowelloncewrote:“Increating,theonlyhardthing’sto begin.”
Thisissuchabeginning.
RobertT.Beyer
SeriesEditor-in-Chief
Preface to the Second Edition
This is the second edition of our book Computational Ocean Acoustics, revised
andsupplemented,includingmuchnewmaterialreflectingtheprogressincompu-
tationalacousticsand related signalprocessingissues overthe past17years. New
material appears throughoutthe book, but we should like to draw attention to the
following topics: the basic theory of waveguideinvariantsin Chap.2, with a gen-
eralizationoftheconcepttorealistic,range-dependentwaveguidesinChap.5.The
presentationofraymethodsinChap.3hasbeensignificantlymodifiedtoprovidea
moreintuitivedevelopmentofthefundamentalrayconcepts.Someintricateissues
(aliasing,etc.)relatedtodiscretewavenumberintegrationinChap.4havebeenex-
plainedindetail,includingseveralillustrativeexamples.Also,theextensionofthe
wavenumber-integrationtechniqueto3-Dscatteringandreverberationscenariosin
horizontally-stratifiedwaveguideshasbeenincludedinChap.4,togetherwithsev-
eralillustrativenumericalexamples.Withintheframeworkofnormal-modetheory
(Chap.5),thereisnewmaterialonmodeidentification,aswellasonnormalmodes
in elastic media. In addition, a section on scattering from objects in a waveguide
hasbeenadded,togetherwitha3-Dexampleofmodecouplingaroundseamounts.
Chap.6hasbeenupdatedwithrecentdevelopmentsinparabolic-equationmodeling,
notablyimprovementsindealingwithelasticmedia,and4-Dcodeimplementations
for pulse propagation in general 3-D environments. In Chap.7, we have added a
description of the virtual-sourceconcept (VSC) for target scattering, and also ex-
panded on the finite-element (FE) section to address the use of this technique for
targetscatteringinoceanwaveguides.Severalnumericalexamplesillustratecurrent
capabilitiesinFE=VSCmodeling.Chapter8containsnewmaterialonDopplershift
in a waveguide, based both on wavenumber-integrationand normal-mode theory.
Chapter 9 has a new section dedicated to the extraction of time-domain Green’s
functions from noise correlation functions. Finally, recent developments in sig-
nalprocessingforsonarapplicationshave beenaddedto Chap.10,specifically on
time-domain processing, vector-sensor beamforming, synthetic signal and sensor
stimulation,andphaseconjugationandtimereversal.Finally,extensiveuseofcolor
illustrationsthroughouthasimprovedtheappearanceofthisbooksignificantly.
The authors wish to thank the many colleagues who provided material for
the book or reviewed parts of the manuscript. These include Michael Ainslie,
Michael Collins, Kevin Cockrell, Lee Culver, Gerald D’Spain, Stephanie Fried,
vii
viii PrefacetotheSecondEdition
PeterGerstoft,OlegGodin,PaulHursky,KevinLePage,WenyuLuo,EdMcDonald,
PeterNielsen,PhilippeRoux,Hee-ChunSong,Fre´de´ricSturm,andShaneWalker.
Special thanks go to Mario Zampolli for helping out with the section on finite-
element applications. Three of the authors’ research reported here has been sup-
portedbytheU.S.OfficeofNavalResearch,OceanAcousticsProgram,whileone
author (FBJ) has been supported for 35years by the NATO Undersea Research
Centre.Thissupportisgratefullyacknowledged.
Since this book represents a major milestone in the authors’ research careers,
we wish to acknowledge the unwavering support from our wives, Patrizia, Gaby,
Laurel,andSatu,towhomthisneweditionisdedicated.
FinnB.Jensen
WilliamA.Kuperman
MichaelB.Porter
HenrikSchmidt
Preface to the First Edition
Theimportanceofcomputersinscientificresearchtodayisuniversallyrecognized.
Several new journals dedicated to the fields of Computer Science and Computa-
tionalPhysicshaveappearedoverthepastdecade,anditisevidentthatcomputers
have already changed our approach to doing science, both experimentally and
theoretically.
A statement by Prof. Norman Zabusky in the October 1987 issue of Physics
Today clearly points to the crux of the matter: “We are in the midst of a com-
putational revolution that will change science and society as dramatically as the
agriculturalandindustrialrevolutionsdid.Thedisciplineofcomputationalscience
is already significantly affecting the way we do hard and soft science. Comput-
ers with fast, interactivevisualization peripheralshave come of age andprovidea
modeofworkingthatiscoequalwithlaboratoryexperimentsandobservationsand
withtheoryandanalysis.Wecannowgrapplewithnonlinearandcomplexlyinter-
coupled phenomena in a relatively short time and provide insight for quantitative
understandingandbetterprediction.”
Theabovecommentsontheimpactofcomputersonresearchinvirtuallyalldis-
ciplines of science certainly also apply to the field of ocean acoustics, where we
haveobservedanexplosivegrowthinthedevelopmentanduseofnumericalmod-
elssincethemid-1970s.Numericalmodelshavebecomestandardresearchtoolsin
acousticlaboratories,andcomputationalacousticsisbecominganevermoreimpor-
tant branch of the ocean acoustic science. Only the numericalapproachallows us
toincludethefullcomplexityoftheacousticproblem,andmoreover,anumerical
experimentisbothfasterandcheaperthananactualoceanexperiment.
Sinceoceanacousticmodelinghasnowreachedamaturestateofdevelopment,
we feel that the timing is right for a textbook on computational acoustics. The
bookis intendedto presentthe state-of-the-artof numericaltechniquesas applied
to solving the wave equation in heterogeneousfluid–solid media. Emphasis is on
developingthetheoreticalfoundationwhichdirectlyleadstonumericalimplemen-
tationsforrealoceanenvironments.Variouscomputationalschemesarediscussed
in detail, and, in contrastto standardtextbookswhereacoustic effectsare demon-
strated through analytical expressions, fundamental propagation features are here
illustratedgraphically,oftenincolor.
ix