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A Combined Broadband Single-Beam and Narrowband Split-Beam SONAR System

Jae-Byung Jung, Member, IEEE, Alexander B. Kulinchenko, Member, IEEE, Patrick K. Simpson, Senior Member, IEEE and James W. Tilley, Member, IEEE

Abstract In this paper, we present a recent development in which the capabilities of a broadband single-beam and narrowband split-beam sonar system are integrated into a single system. This development not only provides an efcient tool to accommodate the benets of both split-beam processing for target tracking (e.g. sh counting) and broadband processing for target identication (e.g. species identication), but also takes advantages of the synergism of both. Specically, split-beam processing provides accurate angular information for targets within the ensonied coverage. The targets angular information is used in broadband processing to compensate for the irregularity of broadband spectrum caused by inherent uneven sensitivity of transducer across the effective beam angle. Simultaneously, exceptional range resolution derived by broadband pulse compression provides improvement over narrowband target resolution. Signal processing also allows a broadband sonar to emulate multiple narrowband sonar systems by applying an instantaneous time-frequency representation. A series of tests under both controlled conditions at a lakeside acoustic test facility and in operational environments on rivers have been conducted. Index Terms Broadband, narrowband, single-beam, split-beam, sheries, sonar, neural network, classication, time-frequency representation.

I. I NTRODUCTION S the number of sh in rivers and streams diminishes and become threatened, endangered, or extinct, we see a growing concern from the local communities that is being met with increased funding and political attention. There is a need for better sh monitoring tools for the riverine environment. The primary tools for monitoring sh passage in an area where there are man-made impediments to travel are tags and sonars. There are many tagging solutions [48], ranging from sonar tags for actively following a sh [29], to clipping of a n for later identication [2]. Sonar systems are used predominantly for assessing the quantity and behavior at key points along a shs path [25][26]. Split-beam sonar has a transducer that is typically divided into four quadrants. The target detection is determined by comparing the echoes received from all quadrants. Using the phase difference between the signals received by appropriate sections allows the target to be located within the beam [21]. In the shallow water riverine environments, the sonars ping rate is set very high to provide multiple reections from a single target and facilitate tracking. Each target detection is passed to a sh tracking routine that aggregates successive pings in the same or adjoining range cells into a track of the shs path through the sonar beam [3][4][5]. Tracking sh is also the primary method of sh counting in riverine environments such as those found in Alaska and Canada. This information is the primary tool used for determining the amount of the sh runs [8][46][70][71]. Although the narrowband split-beam systems can monitor the movement of sh tracks and estimate the size of targets by calculating target strength, target identication and spatial range resolution can be very limited with these systems.

Jae-Byung Jung, Alexander B. Kulinchenko, and Patrick K. Simpson are with Scientic Fishery Systems, Inc., Anchorage AK 99516 (email: jae-byung@scish.com; pat@scish.com; alex@scish.com). James W. Tilley is with Alaska Native Technologies, LLC., Anchorage AK 99516 (email: jamest@alaskanativetech.com

The primary advantages of broadband sonar over the existing narrowband systems includes: (1) the broad spectral information for species identication, (2) the improved target detection, (3) more stable estimate of signal, and (4) improved spatial resolution. As a well-established theorem in information theory that holds that the information-carrying capacity of a communications channel depends on its bandwidth, the broadband acoustic data processing is expected to be a productive approach for species identication with the additional assistance of the appropriate analytical tools such as neural networks, expert systems, and new methods of discriminant analysis [42][43]. Broadband systems also exploit time-bandwidth product of pulse compression to produce excellent spatial resolution as well as superior signal to noise ratio for improved target detection and stable signal estimate over conventional narrowband systems. Through the application of instantaneous time-frequency representation (ITFR) algorithms, it is possible to emuluate multi-channel narrowband spectral responses at every discrete sample from a broadband signal. Various kernels have been investigated to acquire better temporal and spectral resolution with less interference [9][10][28][44][72]. Neural networks have been used to achieve over 80 % correct discrimination among frequency spectra for echoes from different species of sh [52] and zooplankton [68]. The results of several independent eld tests have shown that broadband sonar provides a promising approach for discriminating various sh species using either (or both) spatial and spectral features [22] [31][32][33][34][35][51][56][60]. In addition to the individual benets of narrowband split-beam and broadband single-beam systems, the combination of these two capabilities in a single system supplies mutually advantageous cooperative functions. The accurate target location realtive to the Maximum Response Axis (MRA) provided by the split-beam portion of the system provides the information needed to compensate for the uneven broadband beam patterns. Conversely, the improved range resolution from broadband pulse compression helps splitbeam tracks be distinguished clearly. Technical details of thsee synergistic combinations are discussed in the sections V and VI. From a practical point of view, especially for riverine sh migration monitoring, sonar systems are often deployed in very remote and secluded locations, often with great distances between the wet-end of the sonar where the transducer is housed, and the dry-end of the system where data is stored, power is provided, and communications with the system are established. Under such conditions, the wet-end (sonar head) and the dry-end (monitoring station) can be isolated by natural barriers and be required to cover a long distance. Therefore, analog sensor signal conditioning, such as band-pass lter and amplication, and analog-to-digital conversion as an initial step of data acquisition should be processed as early as possible in the wet-end sensor unit to prevent signal contamination from various noise sources during the transmission. Furthermore, the up front digitization and full digital signal processing in the wet-end unit allows digital data transfer in wired or wireless TCP/IP, providing additional exibility in remote environments. The following sections discuss the overall architectural design of the system, details of system development, newly proposed data processing methods utilizing both narrowband and broadband processings, and various eld tests for system evaluation. II. F UNCTIONAL R EQUIREMENTS A novel sonar system combining broadband single-beam and narrowband split-beam is designed to identify, count, and track migratory sh stocks for use in shallow water environments. The key requirements that were incorporated when combining the capabilities of each sonar system include the following: Switch between broadband and narrowband, Switch between single-beam and split-beam, Interleaving broadband single-beam and narrowband split-beam,

Programmable transmit power, Programmable receive gain, Programmable waveform, Wet-end signal conditioning and data acquisition, Network connectivity through TCP/IP, and Compatibility with existing softwares. When the sonar is operated as a single beam system, it can transmit broadband pulses or multi-frequency narrowband pulses. This mode of operation is primarily used for determining species or size of the targets, such as sh, bubbles, and debris. When the sonar is operated as a split-beam system, the transmit frequency is xed at the optimal frequency for transducer performance. This mode of operation provides split-beam processing for tracking targets as they move through the beam.

Fig. 1. Interleaving ping patterns: 6 examples of exible ping scheduling schemes are shown; narrowband pings only, 3 narrowband pings and 1 broadband ping, 2 narrowband pings and 2 broadband pings, 1 narrowband ping and 3 broadband pings, 1 narrowband ping and 1 broadband ping, and broadband pings only, respectively.

Furthermore, the system can change sonar parameters on a ping-by-ping basis allowing several shorter narrowband pulses in the split-beam mode to be interleaved with a smaller number of the longer broadband (or multi-frequency) pulses. Each sequence of interleaving pulses can be dened so that it provides adequate narrowband coverage for target tracking and provides additional broadband target identication. Fig. 1 includes six examples of ping scheduling schemes, including (1) narrowband pings only, (2) three narrowband pings and one broadband ping, (3) two narrowband pings followed by two broadband pings, (4) one narrowband ping followed by three broadband pings, (5) one narrowband ping followed by one broadband ping, and (6) broadband pings only, respectively. III. H ARDWARE A RCHITECTURE The combined split-beam/broadband sonar system consists of three primary units: wet-end system; dryend system; and underwater cable. The wet-end system is deployed in the water and is the main sonar unit with the computational resources and sensor module enclosed in an underwater housing. The dry-end system remains shore side. Its primary functions include power supply to wet-end system, communication with wet-end system, and wired or wireless TCP/IP with external computers or data storage. An underwater cable connects both wet-end and dry-end units together over a distance of as much as 100 m. Although all three units are needed and must function seamlessly together, we would like to focus our discussion on wet-end system in this section. The wet-end consists of three primary system segments: client PC, controller, and transducer as is illustrated in Fig. 2. A. Client PC Segment This is the main processing unit performing data acquisition, signal processing, and communication with the dry-end.

A low power single board computer (SBC) with capability of oating point computation executes signal processing tasks in coordination with an optional digital signal processing (DSP) board. One of the available serial ports (RS-232) in SBC transmits control commands to the Controller Segment to all changes to the transmit power and receive gain. An integrated ethernet (TCP/IP) also allows communication with dry-end system. Data acquisition board passes on the waveform to Controller Segment so that it can be amplied according to the transmit power setup by SBC. At the same time, analog-digital conversions are executed in 4 separate channels simultaneously according to the receive gain setup by SBC. Once all the data processing tasks were completed, the data sets are either saved in the internal data storage or transferred to the dry-end system through TCP/IP in real-time.

Fig. 2. The wet-end hardware architecture: component modules consist of client PC segment, control segment, and transducer segment. DC power lines and category-5 lines are fed from dry-end via underwater cable.

B. Controller Segment This segment consists of custom electronics boards that have been developed exclusively for digital control, power distribution, transmit waveform amplication, and receive signal amplication. A eld programmable gate array (FPGA) communicates with the SBC to control 16 programmable transmit power levels and to adjust 16 programmable receive gain levels to remain exible for each deployment environment. Based upon the software conguration, the embedded analog power management module distributes the appropriate DC power levels to each of the functional modules across the entire wet-end system. Analog transmit (TX) module sends an amplied analog waveform to the transducer for signal projection in the water column. The analog receive (RX) module receives the raw signals in four separate hardware channels from each of the transducers quadrants and then executes the initial signal conditioning in hardware including preamplication, band pass ltering, and the application of signal gain.

C. Transducer Segment The transducer has four equally split quadrants that provide the ability to perform split-beam processing. Although each of the channels are recorded independently at reception, all quadrants simultaneously transmit the same waveform at the same power level for a composite conical beam projection. IV. S IGNAL P ROCESSING The data processing paths vary depending on the mode of operation for that ping: broadband singlebeam or narrowband split-beam. Each of these data processing paths has its own processing ow as well as assistance from its counter part. Fig. 3 shows the block diagram of the overall data processing chain for the received signal.

Fig. 3. Overall data processing chain: First 4 blocks in each quadrant represent hardware implemented functions for initial common processing and the remainder of the blocks are software processed functions.

The processing can be partitioned into ve functional divisions: (1) the common hardware processing upon the signal reception, (2) channel mixer, (3) narrowband split-beam processing, (4) broadband singlebeam processing, and (5) classiers. A. Common Hardware Processing Each of four transducer quadrants are independently processed for signal conditioning, signal gain, and analog-digital conversion. Each of the four hardware channels have identical congurations for the initial common signal processing. 1) Signal Conditioning: A xed level of preamplication is applied to the incoming raw analog signal from each quadrant. A band pass lter passes only frequencies within the broadband range and attenuates frequencies outside that range. 2) Signal Gain: A programmable gain amplier further amplies the analog signal with 16 discrete levels is controlled by an FPGA that receives commands from the SBC through RS-232. 3) Analog-Digital Conversion: 4-channel simultaneous data acquisition is attained at high speed (500 kHz) and high sampling resolution (16 bits/sample). B. Channel Mixer Four individual discrete time series are fed into the channel mixer to produce one composite signal and four split-beam signals.

For the broadband processing, the composite signal is formed by the sum of the four discrete time series from each of the four quadrants. This composite signal is used mostly for broadband signal processing chain, although it can be also used for target strength calculations to help more accurate split-beam detection module. For narrowband processing, the sum of quadrants 1 and 2 are combined to represent upper half of the transducer, the sum of quadrants 2 and 3 are combined to represent left half of the transducer, the sum of quadrants 3 and 4 are combined to represent lower half of the transducer, and the sum of quadrants 4 and 1 are combined to represent right half of the transducer, respectively. C. Narrowband Split-Beam Processing Narrowband split-beam data processing begins with phase comparison between upper and lower halves for vertical offset and between left and right halves for horizontal offset. Once the phase differentials are attained, a decimated version of the split-beam data and broadband target strength data are used for split-beam detection to provide target tracks for tracking and track classication. 1) Phase Computation: Four discrete time series representing each half of the transducer conguration go through carrier removal, and then relative phase differences of the two opposite halves are calculated to provide horizontal phase offset and the vertical phase offset. Also, this data will be decimated from the original sample rate to a lower, more manageable, data rate before it is exported. 2) Phase-Angle Conversion: Two phase differentials are converted into Cartesian angles using the physical conguration of the transducer. 3) Split-Beam Detection: Broadband target strength calculations and narrowband phase/angle calculations are used to build a robust target detector. A threshold value of the target strength and variance of the phase/angle differentials are the primary parameters used target detection. Also, a list of locations of individual targets are provided for tracking. 4) Tracking: An - tracking system is used to track detected targets [3]. Track tuning to determine the appropriate number of missed detections, association windows, and track initiation and termination criteria will be conducted during data analysis. Also, more complicated tracking algorithms such as joint probability data association (JPDA) and multi-hypothesis tracker (MHT) can be applied when the complexity of the tracking increases [4]. D. Broadband Single-Beam Processing Broadband single-beam processing starts with the composite signal from all four quadrants. Transmission loss over the data collection range is compensated by time-varying gain, pulse compression provides excellent range resolution, and the spectral estimation offers broad spectral features for classication. 1) Target Strength: The composite broadband signal is used to calculate target strength. Unlike the narrowband target strength with frequency dependency, broadband target strength can provide more reliable estimation by aggregating broadband response. Accurate target strength helps split-beam detection module in split-beam processing chain. 2) Time-Varying Gain: The transmission loss is computed from a combination of spherical spreading loss (20 log R) and absorption (R), where R is the range [m] and is the attenuation coefcient [dB/m]. The application of the transmission loss results in a range-compensated discrete time series that is propagated through the remainder of the system. 3) Pulse Compression: A matched lter is used to produce the compressed pulse, which provides improved spatial resolution for signals when a sufciently large bandwidth is available. Mathematically, the matched lter is computed by taking the inverse Fourier transform of the product of the Fourier transform of the transmit signal with the complex conjugate of Fourier transform of the received signal as described below. xM F = F 1 {F (xT X ) F (xRX )} (1)

where xM F is a compressed pulse time series, xT X is a transmit time series, xRX is a received time series, F () is Fourier transform. The effective pulse width of the compressed pulse, TM F , becomes reduced by a factor of the time(T )bandwidth(B ) product. For example, a pulse duration of 667 s is compressed to 16.7 s for the a sonar with 60 kHz of bandwidth. 1 1 = (2) TM F = T TB B A few detection criteria including peak threshold, peak window size, and peak separation are applied to the pulse-compressed data series, producing a list of locations (in range) of the start of each detected target. A peak detector is used on the detection signal to locate echoes in the return time series. The peak detector is the technique which rst make an estimate about the background signal level in that neighborhood (e.g., by taking an average around the point) and then comparing the sample in the center of the neighborhood with the background signal estimate. When a peak is located, it signies that a portion of the return has matched up with the lter and therefore represents a likely reector in the water. If there is signicant separation between last detected echo and current detection, then a detection is declared and echo extraction occurs. These three sonar conguration echo detection settings, as well as target strength, are used as coefcients for matched lter detection process. 4) Spectral Estimation: Spectral estimation is performed using the Fast Fourier Transform (FFT). For an FFT of size N , the number of frequency bins is N /2. Frequency bin width is the bandwidth of each of the contiguous bins across the usable bandwidth. Frequency bin width is determined by the size of the FFT and the sample rate. For the classication purposes, the derived echo spectrum must undergo normalization to accommodate differences in frequency response between different transducers. This normalization process allows the classier to be transducer independent 5) Beam Compensation: Uneven broadband beam patterns and sensitivity can be adjusted by compensating for differences in the beam at various frequencies depending on the targets location relative to the maximum response axis. Details of this beam compensation process are discussed in section V. E. Classiers Three individual classiers (track, size, spectral) make independent decisions based on features derived from track, size, and spectrum. Neural networks are trained using known signals to build each classier, and then tested with unseen patterns to evaluate the performance of each classier. Afterward, the nal decision is made from the fusion classier for target identication. Alternatively, in place of the fusion classier, decision level inference using fuzzy logic or other articial/computational intelligence algorithms can be implemented. 1) Track Classier: The kinematic features such as location, velocity, and movement are extracted from the - tracker and used to identify the class of underwater target. Also, statistical acoustic features such as target strength and spectral/temporal information from individual detections along each track are added in the pool of features for target identication. 2) Size Classier: The samples associated with a detected target will be used to estimate the size of a target. Targets that have elongated detection envelopes represent larger targets. As an example, large aggregations of closely spaced detections are indicative of a marine mammal and sparse detections of only a few detections within a range window are indicative of sh or other small targets. 3) Spectral Classier: The spectra produced from the spectral estimation process are used as features for classication. The classier is iteratively improved using data from a variety of target assemblages. The classier that is utilized is similar to the P arzen estimator that produces probability density functions for each class. Classes will depend on the quality of the ground-truth data. The more diverse and varied the data set, the better the performance.

4) Fusion Classier/Identication: The classication decisions produced by the track classier, size classier, and spectral classier are merged to form the fusion classier for the nal target identication. V. B EAM C OMPENSATION One of the synergistic effects of interleaving narrowband and broadband pings is that is allows for the compensation of the broadband spectrum using the information from the split-beam processing of previous ping. In this section, we describe this compensation process and explain how the narrowband split-beam can help broadband spectrum adjustment to fully utilize the dynamic range of the directivity and sensitivity of the transducer. Unlike a narrowband-only system with xed directivity pattern and sensitivity in a xed frequency, a broadband transducers directivity pattern and sensitivity are a function of frequency. Fig. 4 shows the directivity patterns of the broadband transducer that was installed in this system. These directivity patterns were calibrated for eight separate narrowband waveforms in a controlled environment. Note that the higher the frequency, the narrower the effective beam angle. Also, when a Liner Frequency Modulated (LFM) waveform is transmitted, the target response with higher frequency component tends to return lower energy if the target is slightly off MRA.

Fig. 4.

Transducer directivity patterns for 8 different narrowband frequencies from 150 kHz to 200 kHz at 10 kHz intervals.

Split-beam processing provides an accurate bearing angle of a target off MRA. Lets assume the z -axis is the MRA, the x-axis is the horizontal reference, and the y -axis is the vertical reference. Note that the axes x and y are not in polar domain but in Cartesian coordinate. When a target is detected along the target vector, T , and the split-beam processing provides the horizontal and vertical angular offsets, and , relative to the transducer as illustrated in Fig. 5, we can calculate the bearing angle of T relative to MRA as described below in (3). = arctan1 tan2 + tan2 (3)

Although the measured directivity patterns are not perfectly symmetrical, especially after rst side lobes outside 8 13 depending on frequencies, we can focus on the main lobes of the directivity patterns

Fig. 5.

Split beam target detection and relationship with transducer geometry. See text for a description of the variables.

on each frequency to construct the directivity pattern compensation factor as a function of frequency and bearing angle off MRA as illustrated in Fig. 6. As split-beam processing provides accurate bearing angle of the target off MRA, and the broadband pulse compression and instantaneous time-frequency representation (ITFR), which is discussed in the following section, provides precise frequency component of target return, we can estimate how much deviation of sensitivity we lose by interpolation from calibration points.

Fig. 6. Transducer directivity patterns (3D regression). Using this data and knowing the position of the target relative to MRA, it is then possible to provide a uniform target response across the entire bandwidth.

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Another nonlinear impact on the broadband spectrum is the transducer sensitivities from transmit voltage response (TVR) and open circuit voltage response (OCVR). The Figure of Merit (FOM) is the sum of TVR and OCVR, and is useful in providing a relative gauge of the performance of piezoceramic transducers. Therefore, the normalized total sensitivity can be calculated by combining TVR and OCVR, and then take out its maximum value as described in (4), which represents the relative deviation of sensitivity when the frequency component deviates from the resonance frequency of the transducer. Fig.7 shows the normalized total transducer sensitivity that was also measured in a controlled environment as a function of frequency. SN = F OM F OMmax . (4)

Fig. 7. Normalized transducer sensitivity of high frequency version of SciFish2100-D system. Overall sensitivity (FOM) is normalized at the center (main resonance) frequency at 165 kHz.

Therefore, we can combine both directivity-related adjustment factor and the sensitivity-related factor together and build the total beam compensation as a function of frequency and target angle off MRA as shown in Fig.8. In other words, if we can compensate for the transducer-inherent sensitivities using beam compensation, we will have more target-subjective frequency distribution instead of sensor-subjective version. VI. E XTENSION TO M ULTI -F REQUENCY S ONAR As a broadband signal provides various perspectives within the specic spectral range, it is sometimes very useful to convert it into a nite number of narrrowband time series in various frequencies. The biggest advantage in this processing is to emulate multiple narrowband sonars using a single broadband sonar, although the increased processing burden for real-time implementation must be considered. This section explains the process of extending a broadband sonar to its equivalent multiple narrowband sonars.

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Fig. 8. Total beam compensation (3D regression) considering target bearing angle and frequency response. Transducer-inherent non-linearity is cancelled out by taking out the total beam compensation and the generalized target response can be achieved.

A. Time-Frequency Representation In general, Fourier Transform converts a temporal signal, x(t), to spectral information as described in (5). This is a very useful tool when analyzing a time series from the spectral perspective, but the temporal information is lost after the conversion. Fx (f ) =

x(t)ej 2f t dt

(5)

One of the possible methods to retain the temporal information after the transformation is a Short Time Fourier Transformation (STFT). As described in (6), the STFS uses a sliding time window, w(t), to retain temporal information while applying the Fourier Transformation. One of the big drawbacks of the STFT is that it has a xed overall resolution, because the window function determines whether there is good frequency resolution or good time resolution. A wider time window provides better frequency resolution but poorer time resolution whereas a narrower window gives better time resolution but poorer frequency resolution. Sx (t, f ) =

x( )w(t )ej 2f d

(6)

When a precise frequency response needs to be achieved instantaneously or at very localized instant in time, a Time-Frequency Representation (TFR) can be applied. The analytically appealing Cohens Generalized Time Frequency Representation (GTFR) of a temporal signal, x(t), is shown in (7) when seeking a performance improvement of the spectrogram and making instantaneous representation of both temporal and spectral information available. Cx (t, f ) =

(, )x t

j 2 x t+ e d d 2 2

(7)

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It is now straightforward to state some of the commonly used constraints imposed on the GTFR and their corresponding interpretation as kernel constraints using the kernels listed in (8).
1, (2 )2 / e , j , e

(, ) =

W igner V ille Choi W illiams Kirkwood Rihaczek ej 2| | , P age cos( ), M argenau Hill sinc( ), Born Jordon g ( )| |sinc(2a ), Zhao Atlas M arks

(8)

where , a, and g ( ) are kernel parameters selected to best suit the application. B. Real-Time Implementation of Instantaneous Time Frequency Representation (ITFR) for Multi-Frequency Sonar Performance of the GTFR depends on the choice of kernel in different applications. Those kernels listed above are well known to reduce interference (cross-term) during the conversion. However, complex kernels reduce also the feasibility of implementing the algorithm performing in real-time, especially when a high ping rate is required to monitor migratory sh schools in riverine environment. After reviewing each of those algorithms, the Wigner-Ville Distribution (WVD) was best determined to be the most practical choice for instantaneous time-frequency representation. The WVD, shown in (9) can be seen as a special case of GTFR, Cx (t, f ), when the kernel, (, ), is 1. Although there is the potential not to be able to remove the interference without a more effective kernel, computational complexity of Wigner-Ville distribution is much lower than those of the listed kernels with temporal or/and spectral constraints. When considering these trade-offs, the benet for real-time implementation with reasonable computational burden overshadows the aforementioned drawbacks. j 2 f x t+ e d (9) 2 2 An example of eld data collected in Ship Creek, Anchorage, AK, on August 12, 2004 illustrates the ITFR process with WVD. Fig. 9 shows a snapshot of a ping recorded in a single composite broadband channel at sampling frequency of 500 kHz. Because of the protection circuit in hardware electronics, all signals were clipped at 1 V. Thus, the actual LFM transmit waveform from 135 kHz to 195 kHz with amplitude of 100 Vpp appears at 0667 sec, followed by a relatively low transducer ringing until 840 sec, but they appear clipped in the collected time series. Meanwhile, a clear target return of a Chinook Salmon (Oncorhynchus tshawytscha) shows up between 3.72 msec and 4.40 msec. When we focus on the target return of the time series in Fig. 9, a power spectrum of the target can be calculated using the discrete version of (5) with FFT size of 512. In this calculation, all discrete samples between 3.72 msec and 4.40 msec were included to produce the target power spectrum shown in Fig. 10, which coincides with the frequency range of the transmit waveform. The shape of the distribution within the broadband frequency range between 135 kHz and 195 kHz can be used as features for target identication in spectral classier. One of the properties of a spectrogram produced from a STFT in (6) is the ability to retain the temporal information while providing spectral features. Fig. 11 shows the spectrogram of a whole time series using an FFT size of 128 and time window size of 125 samples (=250 msec). The spectral features show up along the time axis except both edges of the time series caused by time window, but smearing features dilute the resolution in both time and frequency axes. To retain ner frequency resolution at every time interval with realistic computational expense, the WVD ITFR is used as shown in Fig. 12. The spectral features show up along the time axis at every W Vx (t, f ) =

x t

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Received Time Series (Composite Broadband Signal) 1.5

0.5 Signal Level [V]

0.5

1.5

0.5

1.5

2.5 Time [second]

3.5

4.5 x 10

5
3

Fig. 9. An example of eld data collected in Ship Creek, Anchorage, AK, on August 12, 2004. LFM from 135 kHz to 195 kHz for 667 sec pulse length was transmitted and is seen at the beginning of the time series. A clipped version of transmit waveform that appears between 0 and 667 sec was recorded, although the actual transmit signal level was approximately 100 Vpp. Transducer ringing followed from 667 sec and faded away at about 840 sec. The target return from a King Salmon shows up clearly between 3.72 msec and 4.40 msec.

instance without black-out sections on both edges, and much sharper resolution was achieved in both time and frequency axes. A spectrum is available at every time interval and extracting an horizontal strip at a certain frequency from Fig. 12 represents a narrowband-equivalent time series. Besides, to attain spectral energy at a xed frequency, an envelope of each time series needs to be calculated by shifting the spectrum by the constant frequency offset, fo . The relationship between time domain and frequency domain in frequency shift is denoted in the equation below. e2f0 t x(t) Fx (ej 2(f f0 ) ) (10)

Thus, multi-channel time series from a single broadband signal can be derived to produce multifrequency narrowband signals. Fig. 13 focuses on the time segment between 3.72 msec and 4.40 msec to show 16 narrowband time series extracted from a single broadband signal. In this example, narrowbandequivalent target returns are in frequencies 135.0 kHz, 138.2 kHz, 144.7 kHz, 147.9 kHz, 151.1 kHz, 154.4 kHz, 160.8 kHz, 164.0 kHz, 167.3 kHz, 173.7 kHz, 176.9 kHz, 180.2 kHz, 183.4 kHz, 189.8 kHz, 193.1 kHz, and 196.3 kHz. Although some artifacts with negative energy are present after computation (a well-known side-effect of the WVD), which is not physically possible, some simple methods such as taking the absolute values or discarding negative values can easily cure these processing anomalies. VII. E XPERIMENTAL R ESULTS There have been several eld tests of the combined broadband/split-beam sonar system, including controlled experiments in pools and a lake and deployments along a river for the duration of a large

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Target Power Spectrum 30

20

10

Power [dB]

10

20

30

40

50

100 150 Frequency [kHz]

200

250

Fig. 10. Power spectrum from target detection. All samples in the time window from 3.72 msec to 4.40 msec were extracted and the power spectrum was calculated to provide the distribution of energy in frequency domain. Most of the energy is concentrate within 135 kHz195 kHz according to the transmit waveform of LFM.

Fig. 11. Spectrogram with FFT size of 128 and time window size of 125 samples (=250 msec). The spectral features along the time axis are available, but the resolutions in time and frequency depend on the FFT size and time window size. Also, spectral features on both ends of time series are not available due to the use of time window.

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Fig. 12. Wigner-Ville distribution for instantaneous time frequency representation. Improvement of resolution is noticeable in both time and frequency domains compared with STFT.

Fig. 13. Sixteen individual time series are extracted from a broadband signal using ITFR with Wigner-Ville distribution. Each of the signals is equivalent to its narrowband time series at each of those 16 constant frequencies. Because the frequency of transmit time series (LFM) is linearly increasing in time, the lower frequency components arrive earlier than those of higher frequency components in the returned target echo.

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salmon run. All of the experiments were conducted in Alaska, with pool tests being performed during the winter and lake and river testing during the summer. These experiments were conducted to verify that the combined sonar operates correctly in their individual split-beam and broadband modalities. In a later paper, we will present results of the beam compensated broadband performance in a series of controlled classication studies [36]. Three tests are described in the sections that follow. The rst of these tests focused on the ability of the split-beam sonar system to track and enumerate sh during high passage rates. The remaining two tests focused on the ability of the broadband sonar system to perform target identication. The rst of these broadband tests was conducted in a lake focused on the ability to discriminate a swimmer from similar targets [35]. The second broadband test was conducted with Pacic Northwest National Lab for discriminating smolt-size Chinook salmon from aquatic macrophytes [34]. A. Splitbeam Experiment The primary purpose of the eld test in Wood River, Alaska, was to evaluate narrowband split-beam sonar processing. Wood River is known to have a large Sockeye Salmon (Oncorhynchus Nerka) return between late June and early July. The Alaska Department of Fish and Games (ADF&G) monitors this migration from several counting towers along the rivers shore. The tower crews visually count individual sh passing underneath the tower for 10 minutes every hour during the period of sh run when the majority of the sh are migrating upriver and then estimates the hourly sh passage rate from the subsample. A combined broadband/split-beam sonar system was deployed in the Wood River near Aleknagik, Alaska, fully operating with minimum interruption for power and data backup from 6/26/06 to 7/4/06. Fig. 14 shows the combined sonar system deployed next to an ADF&G counting tower.

Fig. 14.

ADF&G counting tower and combined sonar system deployed to monitor Sockeye salmon migration in Wood river, AK.

Throughout the test period, the sonar system was continuously transmitting 200 sec narrowband pulses at 15 pings per second. Periodically, a tower count was made when the visibility in the river was adequate. The tower counts and the sonar counts were performed independently and the results were provided to a third party (Dr. Tim Mulligan). The comparative results were not reported until after the summer season was completed and Dr. Mulligan had sufcient time to perform his comparative evaluation.

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The comparative evaluation was conducted using all visual tower counts. Each of the corresponding sections of recorded narrowband signals were extracted. Utilizing the EchoView application from SonarData (now Myriax, www.echoview.com), the split-beam data was processed ofine to count sh. The number of sh tracks in each ten-minute tower count session were logged and compared with that of visual tower count. Table I enlists date, start time, end time, visual sh count from counting tower, and sh track count from off-line sonar data analysis of each of the 20 sessions where tower counts were taken.
TABLE I S PLIT- BEAM S ONAR F ISH C OUNT C OMPARISON BETWEEN V ISUAL T OWER C OUNT AND S ONAR S YSTEM T RACK C OUNT Date 6/29/06 6/29/06 6/29/06 6/29/06 6/29/06 6/29/06 6/30/06 6/30/06 6/30/06 6/30/06 6/30/06 6/30/06 6/30/06 7/1/06 7/1/06 7/2/06 7/2/06 7/3/06 7/3/06 7/3/06 Start Time 09:21 10:00 11:11 11:55 14:03 14:57 00:02 06:30 15:24 15:41 18:40 18:50 19:00 06:23 23:57 23:11 06:56 06:51 11:23 14:59 End Time 09:31 10:10 11:21 12:05 14:13 15:07 00:12 06:40 15:34 15:51 18:50 19:00 19:10 06:33 00:07 23:21 07:06 07:01 11:33 15:09 Tower Count 441 165 868 467 373 770 0 918 505 217 430 590 651 1284 1074 1023 1210 953 330 1710 Sonar Count 430 156 654 426 348 584 6 647 491 215 397 499 478 902 839 744 923 771 304 939

For the analytical comparison of each sh counting technique, each sh count was converted into an hourly passage rate and directly compared as shown in Fig. 15. The horizontal axis represent the visual sh count from counting tower, the vertical axis represents the number of sh tracks extracted from sonar data recorded at the same time, and the dotted diagonal line represents a virtual 1:1 mapping as a reference, respectively. Also, the 2nd order polynomial curve tting, p(x), that is described in (11) can be derived from the 20 data points and depicted in a solid curve in Fig. 15. p(x) = 0 + 1 x + 2 x2 + 3 x3 (11)

where 0 =-2.5267x109 , 1 =-4.0365x106 , 2 =0.8510, 3 =160.8368, and x is a vector including 20 sonar counts. Of the nine sessions where the hourly sh passage rate was under 3000 sh per hour, the sonar counts and tower counts closely agreed with a very small margin. Deviations are seen in the remaining sessions as the sh passage rate increased. There are two possible reasons for the sonar under-counting when the population increased drastically. One possible cause is the sh swimming out of sonar beam angle so that the system could not sufciently ensonify those sh. The other cause could be that many sh would have traveled too close to each other to make multiple tracks appear to be a single track in the recorded data although they swam inside the beam angle. Considering the majority of the Salmon migrations were reported with less than 3000 hourly sh passage rate, the split-beam performance evaluation in Wood Rover was considered successful.

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Fig. 15. Fish count comparison for hourly passage rate. The square data points represent the relationship between the visual sh count from counting tower (horizontal axis) and the number of sh tracks extracted from sonar data (vertical axis) along the dotted diagonal line for 1:1 mapping as a reference. The 3rd order polynomial tting curve shows the trend of the performance (solid line).

B. Broadband Experiment - Swimmer Identication A eld test has been conducted to demonstrate the capability of the broadband sonar system to identify swimmers from other underwater objects. Classiers were built and tested from data collected from an swimmer donned with mask, ns, and a scuba tank in Marion Lake, Alaska in 2005. The test results using low frequency version of the combined sonar system (60 kHz120 kHz) are described in the following subsections. Two known targets (air lled 2-liter plastic bottles) were placed in the middle of water column as reference targets emulating the approximate size and shape of human lungs. One bottle was placed at 30 m and the other was placed at 71 m range. A swimmer swam in approximately a straight line along the MRA from a location 22 m from the transducer toward the rst bottle at 30 m. After passing the rst bottle, the swimmer came to the surface to adjust his swimming direction, and then swam in approximately a straight line toward the second bottle. The swimmer again surfaced to re-adjust the swimming direction at 65 m, and swam past the 2nd bottle up to 95 m range where he turned around and attempted to retrace the same route back. The swimmer surfaced several times to re-adjust his direction as he was coming back. Throughout the swimming sequence there is a signicant number of air bubbles produced from the scuba gear and the swimming motion, especially when the swimmer was at close range and at the surface. The presence of these bubble clouds had the effect of diminishing the separation between the swimmer and the air-lled bottles for the classier, as the air bubbles were necessarily included with the swimmer and

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represented a signicant portion of the backscatter from the swimmer. Only a small portion of the collected data were extracted for spectral comparison using principal component analysis (PCA). Approximately 200 echoes from the second bottle at 71 m were compared with those of the swimmer at 6370 m range outward bound (ippers toward the sonar, generating bubbles). The extracted spectra within the frequency of interest (60 kHz120 kHz) were converted into principal components. Fig. 16 shows the two largest principal components that provide the greatest separation between two target types (swimmer and bottle). The use of PCA is very useful as an intial analysis tool as it provides a preliminary indication of separability among different targets in high dimensional feature space. The PCA test was very promising, with only two principal components out of 63 distinct spectral energy bins indicating the possibility of separation among different target classes.

Fig. 16. Principal component analysis: 2-dimensional presentation of 2 different targets. Two largest principal components that provide the greatest separation between two target types (swimmer and bottle) were plotted as a preliminary observation of separability. There are several points that appear to be overlapped, although two noticeable clusters can be distinguished.

Since some degree of separation was observed between the swimmer and the bottle data, we anticipate that the articial neural network would improve the discrimination between the two types, because (1) the articial neural network utilizes the full degree of freedom of feature sets without data loss, and (2) the articial neural network provides exible non-linear separation. Having used PCA to demonstrate that separability can be achieved, an articial neural network was trained to build a classier. In this example, a multi-layered perceptrons was trained using 10% of the randomly extracted spectra from two different data sets: swimmer target and non-swimmer target,

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respectively. The swimmer data set was collected when the swimmer was on the surface of the water for adjusting the swimming direction and the bottle data set was collected when the swimmer was not present.

Fig. 17. Classication result for swimmer vs. bottles at Marion lake, AK. The swimmer track stands out with air bubbles that were caused by the swimming (kicking) motion. Two tracks of bottles at about 30 m and 70 m were classied differently from that of swimmer.

The trained neural network was used to colorize target detections by class. Fig. 17 shows the nal classication result. The black detections represent the swimmer and the gray detections represent the bottle. Although there are several intermittent misclassications, the overall track of the swimmer appears obvious as well as that of the bottle. In fact, this plot does not simply show the testing of the classication, but includes both training and testing. However, using only a small fraction of the entire data set provided very good generalization capability. C. Broadband Experiment - Smolt Fish Identication The Pacic Northwest National Laboratory conducted a study of the broadband sheries sonar systems ability to discriminate between Chinook Salmon smolt and aquatic macrophytes [34]. Like the counting study that was performed with the split-beam evaluation, a blind study was conducted in which a trusted third party (R. Johnson) held back the identity of the test subjects until after the system reported its results. Data collection was conducted at one of the rectangular ponds in 100K-basin area at the Hanford Site near Richland, WA, from August 31 through September 2, 2004. All data collection work was conducted with a horizontal acoustic projection across the narrow axis of the pond with the anticipation of discriminating Chinook salmon smolt, in dorsal or ventral aspect from various assemblages of aquatic macrophytes. The targets were located at 16.7 m from the transducer, and the back-wall was 1.7m beyond the target (18.4 m from the transducer). The water depth of the pond was approximately 5.1m, and the transducer and the acoustic targets were deployed in the middle of the water column approximately at 2.55 m from the bottom of the pond as illustrated in Fig 18.

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Fig. 18. Geometry of the pond that eld test was conducted in the Hanford Site near Richland, WA. Dimensions of the pond and the relative distance between target and transducer are illustrated.

Juvenile fall Chinook salmon 130-150 mm in length were transported to the site live in a large aerated cooler. Just prior to being tested sh were anesthetized using MS 222. All sh were tested in good to excellent condition (i.e. minimal scale and n loss). Macrophytes were collected at a marina in North Richland and consisted of water milfoil and elodea. A special tool was devised to control the aspect of targets. A long bar was tied across the top of the hand railings on either side of a walkway and another bar attached at one end of the long bar was rotated by a rope to change the aspect angle of the target. The sh and macrophytes were positioned in the center portion of the sonar beam along the MRA. To suspend the sh, clear monolament line was fastened to the bar and the sh was fastened to the line by threading line down one side of the mid portion of the sh. A lead weight was added approximately 4 ft below the sh to keep the line tight. To achieve the proper sh orientation a separate section of monolament was attached the pivoting arm 4 ft from the sh line. The line was attached to mouth region and weighted at the lower end. By moving the pivoting arm the sh aspect could be changed. For all tests on either a dorsal or ventral aspect was used. Macrophytes were deployed by using a separate weighted line and attached using a small section of monoliament to a loop in the line. The transducer was mounted at the end of a metal tube, which was attached to a wood block tied to

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the bottom rails of the path to keep the transducer in the middle of the water column rmly pointing straight to the target under the changing weather condition. The dry end side of the combined sonar system, incuding a PC, monitor, and terminal box, were set up in a rented moving truck, which was about 50 m away from the wet-end deployment. 100 m-long SciFish2100 transducer cable connected between the transducer and the terminal box. The rst 1.5 days were used for the data collection and the creation of the neural network classier. The remainder of the time was used to collect blind test sets. In total, 8 different sh and 7 different macrophytes were used to collect training data. Also, 86 unknown targets were used to collect blind test datasets, whose identication would be released after the test results were provided. All 4,257 pings of the collected data were fed to train a neural network. Of the classier samples, 2419 samples are actual sh and the remaining 1838 samples are actual macrophytes. The classier made probabilistic decision in terms of the degree of similarity between 0 and 1.0. If the value is close to 0, the sample is sh, and if it is close to 1.0, it is macrophyte. However a hard (deterministic) decision can also be made by applying a threshold value. A total of 86 blind test sets were collected during the 2nd and 3rd day, but the identications of 5 blind test sets (ID 20911, 20919, 21110, 21125, 21134) were released later and used for training the neural network classier. Thus, those ve data sets were not considered as true blind test data sets and they were not counted for testing. Since all blind test data sets were collected under in a more controlled environment and under slightly different weather conditions than the training data sets, adding those sets would make training data sets more representative of a varying realistic environment. A total of 81 unknown and 5 known data sets were tested to evaluate the performance of the classier built by the known data sets. Table II shows the summary of the blind test results. The columns under Classied as were outputs from the neural network classier. Each decision with higher probability above 50% was declared as corresponding class. The columns under Reality (Ground Truth) were actual truth table released after we had provided the outputs of classier to Pacic Northwest National Lab. The column Result tells if the classier made correct decision or not.
TABLE II. CLASSIFICATION RESULT FROM BLIND TESTS BASED ON THE CLASSIFIER BUILT USING THE KNOWN SAMPLES. Target ID 11451 11456 11513 11522 11531 11541 11548 11554 11604 11609 11616 11630 11642 11648 11705 11715 11723 11735 11741 11746 20829 Pings 251 161 260 260 211 257 248 137 238 257 141 277 233 262 175 260 279 277 279 219 223 Fish Count % 239 95.21 81 50.31 184 70.76 16 5.38 14 6.63 189 73.54 19 7.66 125 91.24 90 37.81 113 43.96 132 93.61 78 28.15 211 90.55 213 81.29 170 97.14 223 85.76 249 89.24 172 62.09 263 94.26 2 0.91 107 47.98 Classied as Macrophyte Count % 12 4.78 80 49.68 76 29.23 281 94.61 197 93.36 68 26.45 229 92.33 12 8.75 148 62.19 144 56.03 9 6.38 199 71.84 22 9.44 49 18.70 5 2.85 37 14.23 30 10.75 105 37.90 16 5.73 217 99.08 116 52.01 Reality (Ground Truth) Result Decision Fish Fish Fish Macrophyte Macrophyte Fish Macrophyte Fish Macrophyte Macrophyte Fish Macrophyte Fish Fish Fish Fish Fish Fish Fish Macrophyte Macrophyte Actual Fish Fish Fish Macrophyte Macrophyte Fish Macrophyte Fish Macrophyte Fish Fish Macrophyte Fish Fish Fish Fish Fish Fish Fish Macrophyte Fish Aspect dorsal dorsal ventral small/short large/short dorsal long/skinny dorsal no entry dorsal ventral very small dorsal ventral ventral dorsal dorsal dorsal ventral small millfoil dorsal TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE FALSE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE FALSE

Order 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

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Order 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 Target ID 20835 20851 20857 20906 20911 20919 20933 20939 20945 20949 20953 20958 21005 21009 21014 21020 21026 21033 21039 21046 21050 21055 21059 21103 21110 21116 21120 21125 21129 21134 21141 21147 2115 21158 21202 21209 21214 21257 21302 21309 21314 21319 21324 21328 21333 21338 21344 21351 21355 21359 21404 21410 21413 21417 21422 21427 21431 21436 Pings 268 262 276 292 136 121 251 159 268 265 218 147 259 207 198 186 187 230 154 165 232 219 218 210 123 233 242 239 228 206 223 143 200 186 220 205 210 235 191 207 157 196 233 246 228 209 239 254 215 211 247 258 249 241 192 130 213 182 Fish Count % 1 257 111 0 136 121 243 22 158 177 214 146 223 179 57 4 41 22 140 55 226 90 195 184 0 203 98 0 221 0 26 3 169 17 8 69 157 39 178 43 41 126 30 200 15 94 88 208 206 91 221 122 234 94 114 103 118 157 0.37 98.09 40.21 0 100 100 96.81 13.83 58.95 66.79 98.16 99.31 86.10 86.47 28.78 2.15 21.92 9.56 90.90 33.33 97.41 41.09 89.44 87.61 0 87.12 40.49 0 96.92 0 11.65 2.09 84.50 9.13 3.63 33.65 74.76 16.59 93.19 20.77 26.11 64.28 12.87 81.30 6.57 44.97 36.82 81.88 95.8 43.12 89.47 47.28 93.97 39.00 59.37 79.23 55.39 86.26 Classied as Macrophyte Count % 267 5 165 292 0 0 8 137 110 88 4 1 36 28 141 182 146 208 14 110 6 129 23 26 123 30 144 239 7 206 197 140 31 169 212 136 53 196 13 164 116 70 203 46 213 115 151 46 9 120 26 136 15 147 78 27 95 25 99.62 1.90 59.78 100 0 0 3.18 86.16 41.04 33.20 1.83 0.68 13.89 13.52 71.21 97.84 78.07 90.43 9.09 66.66 2.58 58.90 10.55 12.38 100 12.87 59.50 100 3.07 100 88.34 97.90 15.50 90.86 96.36 66.34 25.23 83.40 6.80 79.22 73.88 35.71 87.12 18.69 93.42 55.02 63.17 18.11 4.18 56.87 10.52 52.71 6.02 60.99 40.62 20.76 44.60 13.73 Reality (Ground Truth) Result Decision Macrophyte Fish Macrophyte Macrophyte Fish Fish Fish Macrophyte Fish Fish Fish Fish Fish Fish Macrophyte Macrophyte Macrophyte Macrophyte Fish Macrophyte Fish Macrophyte Fish Fish Macrophyte Fish Macrophyte Macrophyte Fish Macrophyte Macrophyte Macrophyte Fish Macrophyte Macrophyte Macrophyte Fish Macrophyte Fish Macrophyte Macrophyte Fish Macrophyte Fish Macrophyte Macrophyte Macrophyte Fish Fish Macrophyte Fish Macrophyte Fish Macrophyte Fish Fish Fish Fish Actual Macrophyte Fish Macrophyte Macrophyte Fish Fish Fish Macrophyte Macrophyte Fish Fish Fish Fish Fish Macrophyte Macrophyte Macrophyte Macrophyte Macrophyte Macrophyte Fish Macrophyte Fish Macrophyte Macrophyte Fish Fish Macrophyte Fish Macrophyte Macrophyte Macrophyte Macrophyte Macrophyte Macrophyte Macrophyte Fish Macrophyte Fish Macrophyte Macrophyte Macrophyte Macrophyte Fish Macrophyte Macrophyte Macrophyte Fish Fish Macrophyte Fish Fish Fish Macrophyte Macrophyte Fish Fish Macrophyte Aspect small poto dorsal long strand short millfoil dorsal ventral dorsal no entry no entry dorsal dorsal dorsal ventral dorsal small small small/longer small millfoil very small poto small dorsal no entry ventral small poto med. Millfoil dorsal ventral large poto dorsal small poto small poto small millfoil small millfoil small millfoil & poto bigger bundle poto poto ventral small millfoil dorsal med poto med poto smaller millfoil long poto dorsal long poto small milllfoil small millfoil ventral dorsal small millfoil ventral dorsal ventral small millfoil small poto ventral dorsal small poto TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE FALSE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE FALSE TRUE TRUE TRUE TRUE FALSE TRUE TRUE FALSE TRUE TRUE TRUE TRUE TRUE FALSE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE FALSE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE FALSE TRUE TRUE FALSE TRUE TRUE FALSE

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Order 80 81 82 83 84 85 86 Target ID 21443 21451 21501 21511 21522 21528 21532 Pings 230 264 210 243 170 253 210 Fish Count % 59 234 103 209 54 102 236 25.65 88.63 49.04 86.00 31.76 40.31 97.92 Classied as Macrophyte Count % 171 30 107 34 116 151 5 74.34 11.36 50.95 13.99 68.23 59.68 2.07 Reality (Ground Truth) Result Decision Macrophyte Fish Macrophyte Fish Macrophyte Macrophyte Fish Actual Macrophyte Fish Macrophyte Fish Macrophyte Macrophyte Fish Aspect long strand poto ventral med. poto ventral med. poto long strand poto dorsal TRUE TRUE TRUE TRUE TRUE TRUE TRUE

Excluding the ve known blind test sets, the results showed that 70 true decisions and 11 false decisions, resulting in (86.42% correct decision) The system had the most difculty distinguishing sh from macrophytes when smaller portions of macrophytes were used. The condence levels were near 50% in the majority of the cases. During 3-day data collection period, we had rough weather condition, especially, on 2nd and 3rd day due to strong wind. One of the possible reasons of the incorrect classication could be that the relative target-transducer geometry change often pushed the target out of the beam angle causing weak signal return and intermittent detections. In such a case the returned signals usually dont represent the whole target. Overall performance of broadband sh identication was satisfactory in discriminating smolt-size Columbia river Chinook salmon against aquatic macrophytes. VIII. C ONCLUSION This paper has presented a recently developed sonar system that combines a broadband single-beam and narrowband split-beam into a single sonar system. By combining these two sonar modalities, it provides a research tool that can provide target tracking and target identication a capability that is not available in either system independently. Furthermore, synergistic impacts from both modalities provides exceptional performance. We discussed details of broadband spectrum adjustment using beam compensation from split beam bearing angle and sensitivity of transducer. Also we used instantaneous time frequency representation to create various pseudo-narrowband signals for multi-frequency data streams. Field evaluations have been conducted in Alaskan lake and rivers to verify that each portion of the system narrowband and broadband provided the ability to track and identify targets. Efforts are currently underway to validate and automate the beam-compensation capability provided by the split-beam processing and improve the real-time performance of the multi-frequency portion of the sonar. A PPENDIX A T ECHNICAL S PECIFICATION OF C OMBINED S PLIT-B EAM / B ROADBAND S ONAR S YSTEM Technical specication of high frequency version (135 kHz to 195 kHz) of the combined split-beam narrowband / single-beam broadband sonar system is described below. the low-frequency version shares most of the technical specication except the frequency range (60 kHz to 120 kHz). Fig. 19 provides a picture of the sonar system. ACKNOWLEDGMENT The authors would like to thank Alaska Department of Fish and Games (ADF&G) and Alaska Sustainable Salmon Fund (AKSSF) for their supports and thoughtful reviews during several rounds of development. They would also like to thank Donald Degan and Anna-Maria Mueller from Aquacoustics, Inc. and Timothy Mulligan for their valuable comments and reviews. Further, they thank the reviewers of this paper for very insightful comments and suggestions, which they believe have led to a remarkable improvement in quality and presentation of this paper.

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TABLE III T ECHNICAL S PECIFICATION OF H IGH F REQUENCY V ERSION OF THE C OMBINED S PLIT-B EAM /B ROADBAND S YSTEM Transmit Specication 6 degrees conical at 165 kHz 135 kHz to 195 kHz 16510 kHz Any non-overlapping 5 kHz bands between 135 kHz and 195 kHz Continuous Wave (CW) 214 dB at 165 kHz 12 to 200 m at 165 kHz 1.2 Cm 16, from 0 (listen only) to 15 (max) 15.40 sec (compressed) 200 sec (adjustable) 1 ping / 2 secs to 30 pings / sec Receive Specication 60 kHz 10 kHz 16 settings (programmable between 20 dB and 60 dB 500 K samples/sec per channel simultaneously 0.1 degrees Processor Specication 1.1 GHz Pentium M 4 channels, 500 K samples/sec TCP/IP Ethernet (10/100/1000 Mbps) Software Specication 4 channels, raw data Echoview (multi-freq, split-beam) Sonar Grams, Split-Beam Dimensions Specication 22.8 Cm Diam, 53.8 Cm Length 30 m Length, OD 1.45 Cm

Beam Shape/Width Frequency, Broadband Frequency, Split-Beam Frequency, Multi-Freq. Waveform, Split-Beam & Multi-Freq. Source Level Detection Range (min/max) Range Resolution, Broadband Power Settings Pulse Length, Broadband & Multi-Freq. Pulse Length, Split-Beam Ping Rate (min/max) Bandwidth, Broadband Bandwidth, Split-Beam Gain A/D Conversion Split-Beam Angular Resolution Single Board Computer A/D & D/A Converter Network Data Storage Export Formats Displays Sonar Cable

Fig. 19.

Combined split-beam narrowband / single-beam broadband sonar system with terminal box and underwater cable.

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Jae-Byung Jung (S01-M02) received the B.S. and M.S. degrees in electronics engineering from Hanyang University, Korea, in 1993 and 1995 respectively. He was an Assistant Research Engineer at LG Industrial Systems, Co., Ltd., Korea, from 1995 to 1996. He earned the Ph.D. in electrical engineering from the University of Washington, Seattle, WA, in 2001. From 2001 to 2002, he was a Post-Doctoral Research Associate at the Department of Electrical Engineering, the University of Washington. In 2002, he joined Scientic Fishery Systems, Inc., where he is currently a Senior Engineer responsible for research and development of underwater acoustic instruments. His areas of interest include neural networks, fuzzy systems, evolutionary algorithms, signal processing, computer vision, robotics, and software engineering.

Alexander B. Kulinchenko was born in Lviv, Ukraine in 1971. In 1993, Mr. Kulinchenko received Electro-Mechanical Engineering Degree in State University Lvivska Polytechnika, Lviv, Ukraine. Continuing education Mr. Kulinchenko received Master of Science Degree in Electro-Mechanical Engineering in State University Lvivska Polytechnika, Lviv, Ukraine, in 1994. In 1995 Mr. Kulinchenko moved to Detroit, MI where he worked as draft assistant at Lear Seating Corporation, Plymouth, MI. In 1997, Mr. Kulinchenko moved to Anchorage, AK. In December 2001, Mr. Kulinchenko graduated from University of Alaska in Anchorage with Bachelor of Science Degree in Computer Science. Since August 2001, Mr. Kulinchenko has been working as software engineer at Scientic Fishery Systems, Inc. Mr. Kulinchenko has experience in software applications development, modications and testing. Good knowledge of Java, Enterprise Java Beans (EJB), Extensible Markup Language (XML), C++, Intel Image Processing Library (IPL), Open Source Computer Vision Library (Open CV), Visual Basic (VB), MatLab and Neural Networks. Knowledge of Microsoft Visual Developer Studio (C++, VisualBasic, SourceSafe), Borland JBuilder (Java). Mr. Kulinchenko has also experience in electro-mechanical engineering including knowledge of AutoCAD.

Patrick K. Simpson received his Bachelor of Arts degree in Computer Science in 1986 from the University of California at San Diego. Soon after graduating, Mr. Simpson has distinguished himself in the application of neural networks, fuzzy systems, and articial intelligence to difcult defense related problems in areas such as electronic intelligence, radar surveillance, sonar signal identication, and various aspects of automated diagnostics. Early in his career, Mr. Simpson wrote several archival papers, taught several short courses, wrote a text book that has been used in college courses around the United States, and lectured on the theory and application of neural networks and fuzzy systems world wide. Mr. Simpson served as President of the IEEE Neural Networks Council in 1994 and was the General Chairman of the 1998 IEEE World Congress on Computational Intelligence. In 1992, Mr. Simpson founded Scientic Fishery Systems, Inc. (SciFish) to develop technologies for more efcient sheries. Through initial funding from the Small Business Innovative Research (SBIR) program, and subsequent funding from commercial sales, government sales, and continued research and development, SciFish has developed several technologies that have been applied to various aspects of the shing industry.

James W. Tilley received the B.S. degree in electrical engineering from the University of Nevada, Las Vegas in 1998. Upon graduation, Mr. Tilley moved to the Seattle area and began work in the eld of electromagnetic compatibility testing. In January of 2005, Mr. Tilley began working for Scientic Fishery Systems on their split-beam sonar system. Later that year, he transferred to sister company Alaska Native Technologies, LLC. where he is currently working on unmanned underwater systems.