齿鲸生物声呐发射特性与波束调控研究

宋忠长; 张宇; 魏翀; 杨武夷; 徐晓辉

doi:10.7498/aps.69.20200406

摘要

齿鲸生物经过长期自然选择, 进化出小巧、灵敏、高效的声呐系统. 齿鲸生物声呐研究涉及海洋物理、声学、生物学、仿生学和信息学等学科, 对于生物仿生、水声声呐、信号处理、水下探测与通信等领域具有参考价值. 本文从声呐系统解剖结构、声呐信号与声呐波束调控三方面出发介绍齿鲸声呐发射系统. 首先, 介绍如何利用计算机断层扫描成像与超声测量技术重建齿鲸声呐发射系统的高精度三维结构, 获取其声速、密度分布, 为声呐系统的功能研究建立基础. 随后, 探究声呐系统发出的声信号的特性, 研究声信号与生物行为之间的联系. 最后, 参考齿鲸生物声呐解剖结构与声呐信号特性建立数值模型研究声发射系统的气质结构、软组织结构和骨质结构组成的声学多相介质对声波传播的控制作用. 齿鲸生物能利用其声呐信号的多样性与声呐发射系统结构的复杂特性动态调整声波传播与波束形成. 探究齿鲸生物声呐工作原理能加深对生物多相介质中的声传播过程的理解, 有望为水下仿生声探测与感知技术的发展提供新思路.

关键词:

Abstract

Odontocetes have evolved for millions of years to own a unique echolocation system. The exceptional performance of odontocetes echolocation system can provide reference to artificial sonar systems, acoustic metamaterials and sound control designs. Research on odontocetes biosonar requires interdisciplinary effort, including acoustics, biology, biomimetics, anatomy, physiology and signal analysis. In this paper, we review odontoctes’ biosonar emission process from aspects of anatomy, biosonar signal and beam formation. To begin, computed tomography scanning and untrasound measurements are combined to reconstruct the sound speed and density distributions. To follow, efforts are thrown to probe into the biosonar signal and its corresponding acoustic behavior. Numerical simulations are used to investigate the odontocetes’ biosonar beam formation. The secret of exceptional performance of odontocetes’ echolocation system lies in their unique anatomy. Odontocete integrates acoustic structures with different acoustic impedances, namely solid bony structures, air space and soft tissues as a whole emission system to efficiently modulate sound propagation and sound beam formation. These acoustic structures are well organized in the forehead, forming a natural acoustic metamaterial to perform a good control of sounds. These results can enlighten artificial sonar designs.

Keywords:

作者及机构信息

1.
厦门大学海洋与地球学院, 水声通信与海洋信息技术教育部重点实验室, 厦门　361005

2.
Centre for Marine Science and Technology, Curtin University, GPO Box U1987, Perth WA 6845, Australia

通信作者: 张宇, yuzhang@xmu.edu.cn

基金项目: 国家重点研发计划 (批准号: 2018YFC1407504) 和国家自然科学基金(批准号: 41676023, 41276040)资助的课题

Authors and contacts

1.
Key Laboratory of Underwater Acoustic Communication and Marine Information Technology of the Ministry of Education, College of Ocean and Earth Sciences, Xiamen University, Xiamen 361005, China

2.
Centre for Marine Science and Technology, Curtin University, GPO Box U1987, Perth WA 6845, Australia

Corresponding author: Zhang Yu, yuzhang@xmu.edu.cn

Funds: Project supported by the National Key Research and Development Program of China (Grant No. 2018YFC1407504) and the National Natural Science Foundation of China (Grant Nos. 41676023, 41276040)

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施引文献

图 1 (a) 东亚江豚头部的三维重建; (b) 小抹香鲸头部的三维重建; (c) 中华白海豚头部的三维重建

Fig. 1. (a) Three-dimensional reconstruction of a finless porpoise head; (b) three-dimensional reconstruction of a pygmy sperm whale head; (c) three-dimensional reconstruction of an Indo-Pacific humpback dolphin.

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图 2 (a) 东亚江豚头部声学结构的三维重建; (b)小抹香鲸头部声学结构的三维重建; (c) 中华白海豚头部声学结构的三维重建结果; 青色、棕色、红色、黄色和灰色分别表示结缔组织、额隆、声源、气囊与上颌骨

Fig. 2. (a) Three-dimensional acoustic structure reconstructions of a finless porpoise; (b) three-dimensional acoustic structure reconstructions of a pygmy sperm whale; (c) three-dimensional acoustic structure reconstructions of an Indo-Pacific humpback dolphin. Upper jaw, sound source, air components (including the air sacs and nasal passage) are represented in different colors.

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图 3 (a)东亚江豚头部声发射系统的水平截面声速重建; (b)东亚江豚头部声发射系统的垂直截面声速重建^[34]; (c)小抹香鲸头部声发射系统的水平截面声速重建; (d)小抹香鲸头部声发射系统的垂直截面声速重建^[36]; (e)中华白海豚头部声发射系统的水平截面声速重建; (f)中华白海豚头部声发射系统的垂直截面声速重建^[38]

Fig. 3. (a) Sound speed reconstructions of finless porpoise for sound emission system in horizontal section; (b) sound speed reconstructions of finless porpoise for sound emission system in vertical section^[34]; (c) sound speed reconstructions of pygmy sperm whale for sound emission system in horizontal section; (d) sound speed reconstructions of pygmy sperm whale for sound emission system in vertical section^[36]; (e) sound speed reconstructions of the Indo-Pacific humpback dolphin for sound emission system in horizontal section; (f) sound speed reconstructions of the Indo-Pacific humpback dolphin for sound emission system in vertical section^[38].

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图 4 沿着图3(d)垂直截面中的截线的声速分布(Mu为肌肉组织的缩写, Me为额隆组织的缩写而T则为结缔组织罩的缩写)^[36]

Fig. 4. Sound velocity distribution along the y axis corresponds to the line in the right part of Fig. 3(d). Mu, muscle; Me, melon; T, theca^[36].

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图 5 (a)中华白海豚不同能量回声定位脉冲的频谱分布; (b) 东亚江豚不同能量回声定位脉冲信号的频谱分布; 图中的–3 dB, –6 dB, –10 dB以及–20 dB分别表示能量处于最高能量声信号–3 dB到0 dB范围, –6 dB到–3 dB范围, –10 dB到–6 dB范围以及–20 dB到–10 dB范围的回声定位信号

Fig. 5. (a) Mean spectrum of the clicks from –3 dB, –6 dB, and –10 dB groups for the Indo-Pacific humpback dolphin; (b) the mean spectrum of the clicks from –3 dB, –6 dB, –10 dB and –20 dB groups for the finless porpoise.

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图 6 (a)宽吻海豚固定频率型通信声信号时频图; (b)宽吻海豚正弦型通信声信号时频图; (c)宽吻海豚凸型通信声信号时频图; (d)宽吻海豚凹型通信声信号时频图; (e) 宽吻海豚上扫频型通信声信号时频图; (f) 宽吻海豚下扫频型通信声信号时频图^[58,59]; 其中颜色深浅表示声信号强度大小

Fig. 6. (a) Spectrogram of constant frequency whistles of the bottlenose dolphins; (b) the spectrogram sinusoidal whistles of the bottlenose dolphins; (c) the spectrogram of convex or hill whistles of the bottlenose dolphins; (d) the spectrogram of concave or valley whistles of the bottlenose dolphins; (e) the spectrogram of upsweep whistles of the bottlenose dolphins; (f) the spectrogram of down sweep frequency whistles of the bottlenose dolphins^[58,59].

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图 7 (a) 厦门五缘湾圈养两只宽吻海豚处在自由游动状态; (b) 宽吻海豚处于训练状态; (c)宽吻海豚处于自由游动时发出的通信声信号类别及其占比; (d) 宽吻海豚处于训练状态下发出的通信信号的类别及其占比^[58,59]

Fig. 7. (a) Two captive free swimming bottlenose dolphins in Xiamen; (b) bottlenose dolphins under training; (c) pie chart of the classified whistles of two bottlenose dolphins under free swimming; (d) pie chart of the classified whistles of two bottlenose dolphins under training conditions^[58,59].

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图 8 (a) 中心频率为130 kHz的声脉冲经过鼠海豚无头骨模型调控形成的声波波束; (b) 中心频率为130 kHz的声脉冲经过鼠海豚完整模型调控形成的声波波束^[31]

Fig. 8. (a) Beam directivity of a sound pulse with a centroid frequency of 130 kHz for No-Skull model of harbor porpoise; (b) the beam directivity of a sound pulse with a centroid frequency of 130 kHz for a complete model of harbor porpoise^[31].

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图 9 (a) 声波在白鱀豚垂直截面第一传播时刻的声场分布; (b) 声波在白鱀豚垂直截面第二传播时刻的声场分布, 其中RW与IW分别表示传播过程中的反射波与表面波; (c) 声波在白鱀豚垂直截面第三传播时刻的声场分布; (d)第一传播时刻声场分布放大; (e)第二传播时刻声场分布放大; (f)第三传播时刻声场分布放大^[74]

Fig. 9. (a) Propagation plot of a short-duration impulse source for Baiji in vertical section at time 1; (b) propagation plot of a short-duration impulse source for Baiji in vertical section at time 2; (c) propagation plot of a short-duration impulse source for Baiji in vertical section at time 3; (d) enlarged details of (a); (e) enlarged details of (b); (f) enlarged details of (c)^[74].

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图 10 白鱀豚上颌骨表面20个点的固体位移分布情况^[74]

Fig. 10. Solid displacements of the 20 maxilla points of baiji^[74].

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图 11 (a) 声波在小抹香鲸完整头部模型第一传播时刻的声场分布; (b) 声波在小抹香鲸完整头部模型第二传播时刻的声场分布; (c) 声波在小抹香鲸完整头部模型第三传播时刻的声场分布; (d)声波在小抹香鲸头部无气体结构模型第一传播时刻的声场分布; (e) 声波在小抹香鲸头部无气体结构模型第二传播时刻的声场分布; (f) 声波在小抹香鲸头部无气体结构模型第三传播时刻的声场分布; (g) 峰值频率为125 kHz的声脉冲经过小抹香鲸头部完整模型调控形成的声波波束; (h) 峰值频率为125 kHz的声脉冲经过小抹香鲸头部无气体结构模型调控形成的声波波束^[35]

Fig. 11. (a) Propagation plot of the transient sound waves at time 1 under a full model case of pygmy sperm whale; (b) propagation plot of the transient sound waves at time 2 under a full model case of pygmy sperm whale; (c) propagation plot of the transient sound waves at time 3 under a full model case of pygmy sperm whale; (d) propagation plot of the transient sound waves at time 1 under a model case without air components; (e) propagation plot of the transient sound waves at time 2 under a model case without air components; (f) propagation plot of the transient sound waves at time 3 under a model case without air components; (g) the beam directivity of a sound pulse with a peak frequency of 125 kHz for the full model case of the pygmy sperm whale; (h) the beam directivity of a sound pulse with a peak frequency of 125 kHz for the model case of pygmy sperm whale without air components^[35].

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图 12 (a)鼠海豚无额隆模型和完整模型在第一传播时刻的传播声场分布; (b)鼠海豚无额隆模型和完整模型在第二传播时刻的声场分布; (c) 鼠海豚无额隆模型和完整模型在第三传播时刻的声场分布; (d) 鼠海豚无额隆模型和完整模型在第四传播时刻的声场分布; (e) 中心频率为130 kHz的声脉冲经过鼠海豚无额隆模型调控形成的声波波束; (f) 中心频率为130 kHz的声脉冲经过鼠海豚完整模型调控形成的声波波束^[31]

Fig. 12. (a) Acoustic field of no-melon and full head cases at time 1; (b) acoustic field of no-melon and full head cases at time 2; (c) acoustic field of no-melon and full head cases at time 3; (d) acoustic field of no-melon and full head cases at time 4; (e) the beam directivity of a sound pulse with a centroid frequency of 130 kHz for no-melon case of harbor porpoise; (f) the beam directivity of a sound pulse with a centroid frequency of 130 kHz for the full head case^[31].

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图 13 (a) 头部压缩对峰值频率为125 kHz的声脉冲传播形成的声场的影响, 其中θ表示的是前庭囊的倾斜角, NA代表的是相对于原始模型的归一化面积; (b) 五种模型相应的波束分布特性; (c) 五种模型形成的声波波束的–3 dB带宽与主瓣角分布^[34]

Fig. 13. (a) Compressing effect of models I, II, III, IV, and V on acoustic field of the sound pulse with a peak frequency of 125 kHz inside the head, where θ represents the orientation angle of the vestibular sac and NA represents the normalized area of the forehead tissues with respect to those of the original model I; (b) beam directivities of the five cases; (c) sound beams’ –3 dB beam widths and main beam angle distribution of the five cases^[34].

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齿鲸生物声呐发射特性与波束调控研究