Underwater Noise Monitoring with Real-Time and Low-Cost Systems, (The CORMA Experience)

Variable Structure Controller for Energy Savings in an Underwater Sensor Platform

This paper introduces a new variable structure controller designed for depth control of an autonomous underwater sensor platform equipped with a variable buoyancy module. To that end, the prototype linear model is presented, and a finite element-based method is used to estimate one of its parameters, the hull deformation due to pressure. To manage potential internal disturbances like hull deformation or external disturbances like weight changes, a disturbance observer is developed. An analysis of the observer steady-state estimation error in relation to input disturbances and system parameter uncertainties is developed. The locations of the observer poles according to its parameters are also identified. The variable structure controller is developed, keeping energy savings in mind. The proposed controller engages when system dynamics are unfavorable, causing the vehicle to deviate from the desired reference, and disengages when dynamics are favorable, guiding the vehicle toward the target reference. A detailed analysis determines the necessary switching control actions to ensure the system reaches the desired reference. Finally, simulations are run to compare the proposed controller's performance with that of PID-based controllers recently developed in the literature, assessing dynamic response and energy consumption under various operating conditions. Both the VBM- and propeller-actuated vehicles were evaluated. The results demonstrate that the proposed controller achieves an average energy consumption reduction of 22% compared to the next most efficient PID-based controller for the VBM-actuated vehicle, though with some impact on control performance.

First basin scale spatial-temporal characterization of underwater sound in the Mediterranean Sea

Anthropogenic underwater noise is an emergent pollutant. Despite several worldwide monitoring programs, only few data are available for the Mediterranean Sea, one of the global biodiversity hotspots. The results of the first continuous acoustic programme run at a transnational basin scale in the Mediterranean Sea are here presented. Recordings were done from March 2020 to June 2021, including the COVID-19 lockdown, at nine stations in the Northern Adriatic Sea. Spatial-temporal variations of the underwater sound are described, having one third octave band sound pressure levels (SPLs) from 10 Hz to 20 kHz as metrics. Higher and more variable SPLs, mainly related to vessel traffic, were found close to harbours, whereas Natura 2000 stations experienced lower SPLs. Lower values were recorded during the lockdown in five stations. Median yearly SPLs ranged between 64 and 95 as well as 70 and 100 dB re 1 µPa for 63 and 125 Hz bands, respectively. These values are comparable with those previously found in busy shallow EU basins but higher levels are expected during a business-as-usual period. This is a baseline assessment for a highly impacted and environmental valuable area, that needs to be managed in a new sustainable blue growth strategy.

A Compact Monopole Antenna for Underwater Acoustic Monitoring Beacons

Protected wetlands such as deltas, lakes or rivers provide a sanctuary for many endangered species. In order to protect these areas from illegal human interventions, it is necessary to monitor the unauthorized entrance of motor boats. In order to mitigate such an impact, we have developed a network of floating beacons for underwater acoustic monitoring, using LoRa communication modules operating at 433 MHz. Such beacons should be equipped with compact antennas. In this paper, we use a genetic algorithm approach to design the compact, monopole antennas required for the beacons; size constraints would apply not only to the radiating element but also to the ground plane. Although the antenna input is unbalanced, such a small ground plane may yield common mode currents on the antenna feeder, which distort the radiation pattern of the antenna. In order to investigate the effect of the common mode currents, we developed a distance averaging method, while, for characterizing the antenna, we used a single-antenna method. For the experimental validation of the system in real conditions, a continuous monitoring of the lake was carried out. During the monitoring, multiple events generated by incursions of motor boats were successfully detected and recorded.

Passive Acoustics to Study Marine and Freshwater Ecosystems

Passive acoustic monitoring is becoming an important tool to study the ecosystem thanks to technological improvements, high temporal resolution, relatively low cost and time effort, and the zero impact on environment and animal behavior [...]

MASE: An Instrument Designed to Record Underwater Soundscape

The study of sound in the natural environment provides interesting information for researchers and policy makers driving conservation policies in our society. The soundscape characterises the biophony, anthrophony and geophony of a particular area. The characterisation of these different sources can lead to changes in ecosystems and we need to identify these parameters in order to make the right decision in relation to the natural environment. These values could be extrapolated and potentially help different areas of ecoacoustic research. Technological advances have enabled the passive acoustic monitoring (PAM) of animal populations in their natural environment. Recordings can be made with little interference, avoiding anthropogenic effects, making it a very effective method for some species such as cetaceans and other marine species in addition to underwater noise studies. Passive acoustic monitoring can be used for population census, but also to understand the effect of human activities on animals. However, recording data over long periods of time requires large storage and processing capacity to handle all the acoustic events generated. In the case of marine environments, the installation of sensors and instruments can be costly in terms of money and maintenance effort. In addition, if they are placed offshore, a data communication problem arises with coverage and bandwidth. In this paper, we propose a low-cost instrument to monitor the soundscape of a marine area using ecoacoustic indices. The instrument is called MASE and provides three echo-acoustic indices at 10 min intervals that are available in real time, which drastically reduces the volume of data generated. It has been operating uninterruptedly for a year and a half since its deployment, except during maintenance periods. MASE has been able to operate uninterruptedly, and maintain an adequate temperature inside while preserving its structural integrity for long periods of time. This has allowed the monitoring and characterisation of the soundscape of the test area in Gando Bay, Gran Canaria Island (Spain) without the need for human intervention to access the data on the instrument itself. Thanks to its integration with an external server, this allows the long-term monitoring of the soundscape, and it is possible to observe changes in the soundscape. In addition, the instrument has made it possible to compare the period of acoustic inactivity during confinement and the return of anthropogenic acoustic activity at sea.