gary final project ppt 1
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Development of Robust Signal Processing
Techniques for Detection of UnderwaterImpact and Burst Noise
A. R. Mohanty (PI)
C. S. Kumar (Co-PI)
Department of Mechanical Engineering
Indian Institute of Technology, Kharagpur
22nd November, 2011
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Outline of presentation
Objectives of the project
Introduction
Experimental setups usedResults
Future scope of work
References
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Aim
To find the characteristics of individual drops and artificially generated
bubbles. The research work focuses on time and frequency domain analysis of
impact of falling drops and underwater bubbles bursting to enhance the
understanding of characteristics of rainfall measurements on water bodies.
[Source: Acoustics and Condition Monitoring Lab Mech. Dept, IIT Kharagpur]
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Objectives
Passive underwater noise measurements
Development of artificial rain gauge
(1) Experimental generation and analysis of rain drop impact.
(2) Experimental generation and analysis of underwaterbubble noise.
(3) Comparative analysis of natural and artificial rain
measurements.
(4) Calculation of Total Rainfall Rate (TRR).
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Objectives (contd.)
Active underwater noise measurements
(1) Generation of Square pings and study effects of
reflections from tank bottom and side walls.
(2) Applicability of Maximum Length Sequence signals(MLS) for underwater acoustics.
(3) Comparison of various Time Delay Estimation (TDE)
methods using MLS signals .
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
PASSIVE UNDERWATER
MEASUREMENTS
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Introduction
Underwater rain noise consists of two components viz., noise
due to impact and entrained bubble oscillation noise.
Generation of underwater bubbles
- Natural (Natural rain, Benthic zone, breaking of waves)
- Artificial (Cavitation, artificial rain generation, air hose
underwater)
Mechanism of bubble formation and underwater noise
- Impact of rain drop on water surface- Collapses creating noise (splat)
- Subsequent formation of a bubble underwater
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Underwater Noise from a single drop
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(a) Rain signal (b) Impact noise (c) Bubble generated noise
[Source: Acoustics and Condition Monitoring Lab Mech. Dept, IIT Kharagpur]
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Underwater Noise
Introduction (contd.)
When a bubble is created, the pressure is not in equilibrium with its
surroundings.
Water pushes against the bubble thereby compressing it.
As the bubble shrinks, the air inside expands rapidly altering the equilibrium
again.
The bubble thus oscillates between high and low pressure at high frequency
creating a distinctive sound.
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Underwater Noise
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Underwater bubble entrainment is a random process.
Rain drops can be classified as small (0.8-1.2 mm), medium (1.2-2.0 mm) and
large (>2 mm) drops.
Rain drops larger than 6 mm rarely exist in nature.
Small raindrops are remarkably loud because they generate bubbles with
every splash. Medium raindrops do not generate bubbles and are therefore
surprisingly quiet. Large raindrops trap larger bubbles, which produce sound
frequencies as low as 1 kHz.
Introduction (contd.)
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Underwater Noise
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1. Experimental setup and procedurefor measuring drop impact
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Underwater Noise
Set up for drop generation
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Underwater Noise
Drop size measurement
[Source: Acoustics and Condition Monitoring Lab Mech. Dept, IIT Kharagpur]
2mm drop 4mm drop 6mm drop
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Underwater Noise
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Measurement Setup of Underwater noise
[Source: Acoustics and Condition Monitoring Lab Mech. Dept, IIT Kharagpur]
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Underwater Noise
Experimental Procedure
A total of nine experiments (three for each drop size) were
conducted with 2mm, 4mm and 6mm drops.
For each experiment, time history signal data was recordedfor 0.250 sec.
The data was then analyzed in both time domain as well as
in the frequency domain.
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Time domain analysis of water drops
Drop size vs
RMS
Drop size vs
KurtosisDrop size vs RMS*
Kurtosis
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Frequency analysis of water drops
0 2000 4000 6000 8000 10000 12000 14000 16000 180000
500
1000
1500
2000
2500
3000
3500
Frequency of 6 mm drop (Hz)
Pressure
(pa)
5898
Hz
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Spectrograms of water drops
6mm drop
Time s
Frequency(H
z)
0 0.05 0.1 0.15 0.20
2000
4000
6000
8000
10000
12000
14000
16000
18000
-60
-40
-20
0
20
40
60
80
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Results (Experiment 1)
Generation of drop of 2 mm, 4 mm and 6 mm sizes isconsistent and having very good repeatability with thepresent experimental setup.
The pressure variation range has been observed highestin a drop impact if the bubbles formation takes place.
As the drop size increases, the range of pressurevariation, kurtosis and RMS, RMS*Kurtosis valueswere found to increase linearly.
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Underwater Noise
Results (contd.)
The frequency of drop impact decreases as the drop sizeincreases.
The frequencies of bubble bursting are observed fromspectrum and spectrogram analysis to vary from 4000Hz to 14000 Hz.
The frequencies of bubble bursting also depends onbubble size, turbulence of bubbles underwater and thedepth at which it is generated.
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
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2. Experimental setup and procedure
for measuring underwater bubble
oscillations
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Underwater Noise
Experimental setup for artificial generation
of bubbles
[Source: Acoustics and Condition Monitoring Lab Mech. Dept, IIT Kharagpur]
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Results (contd.)
The frequency of underwater bubble oscillation is givenby Minnaret [10]:
Where,
f is the resonance frequency of bubble
a is the drop size,
= 1.4 is the ratio of specific heat for airP is the atmospheric pressure
is the density of water
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P
af3
2
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Frequency analysis of bubble oscillations
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Bubble of sizes 0.5 to 2 mm Bubble of size 2 mm Bubble of size 3 mm
Bubble of size 4 mmBubble of size 6 mm
Bubble of size 5 mm
[Source: Acoustics and Condition Monitoring Lab Mech. Dept, IIT Kharagpur]
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Underwater Noise
Resonating Frequencies of
Underwater Bubbles
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Underwater Noise
Comparison between Theoretical and
Experimental Resonating Frequencies of Bubbles
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Underwater Noise
Spectrograms of underwater bubbles bursting
Time (s)
Frequency(H
z)
0 0.05 0.1 0.15 0.20
2000
4000
6000
8000
10000
12000
14000
16000
18000
-20
0
20
40
60
80
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Underwater Noise
Spectrum of underwater bubbles bursting
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Underwater Noise
Results (Experiment 2)
Generation of underwater bubbles of various sizes is consistent andhaving very good repeatability with the present experimental setup.
Resonating frequencies of bubble analysis are similar to thetheoretically calculated results, with a slight deviation for smallerbubbles (< 2mm).
This deviation is due to the shorter life span and limitation ofmeasurement technique for bubbles less than 1mm in diameter.
Underwater Bubbles of 2mm size are mostly formed in all types ofrain.
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Underwater Noise
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3. Experimental setup and procedure
for measuring natural and artificialRain Drop
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Underwater Noise
Experimental Setup for Natural and
Artificial Rain
Artificial Rain by hose ( 1- 5 mm)
Natural rain Artificial rain by shower head ( 1- 2 mm)
Artificial rain by tray of uniform drops
( approx. 5 mm)
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[Source: Acoustics and Condition Monitoring Lab Mech. Dept, IIT Kharagpur]
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Underwater Noise
Time History Graph
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Underwater Noise
Spectra of Natural and Artificial Rains
0 1000 2000 3000 4000 5000120
140
160
180
200
220
240
260
280
300
Spectra of natural rain (Hz)
dB
/ref.1u
pa
0 1000 2000 3000 4000 5000120
140
160
180
200
220
240
260
280
Spectra of artificial rain by Hose(Hz)
dB/
ref.1u
pa
0 1000 2000 3000 4000 5000140
160
180
200
220
240
260
280
Spectra of artificial rain by tray of uniform drop(5 mm) (Hz)
dB/
ref.1u
pa
0 1000 2000 3000 4000 5000120
140
160
180
200
220
240
260
280
Spectra of artificial rain by Shower head (Hz)
dB/
ref.1u
pa
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Results of Time Domain Analysis of
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Results of Time Domain Analysis of
Natural and Artificial Rains
Rain types maximum minimum Range Mean RMS Variance Std Skew Kurtosis rk=rms*kurt
1. Natural rain 291.96 -290.64 582.6 0.03 180.07 32426.74 180.07 -0.002 1.36 244.78
2. Artificial rain by
hose361.08 458.13 819.21 -0.002 35.1 1232.04 35.1 0.07 3.53 124.23
3, Artificial rain byshower head
322.98 -317.21 640.19 -0.01 38.13 1454.26 38.13 0.02 4.08 155.88
4. Artificial Rain
drops ( 5 mm)
1608.68 -945.56 2554.25 -0.04 51.19 2620.19 51.19 0.58 16.86 863.03
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R lt f Ti D i A l i f
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Results of Time Domain Analysis of
Natural and Artificial Rains
Legend
NR- Natural Rain,
AR Hose- artificial Rain by hose (1-5 mm)
AR Sh- Artificial rain by Showerhead drop size (1-2 mm)
AR Ud5- Artificial Rain of uniform drops (5 mm )
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Results (Experiment 3)
Large bubbles, above 10 mm in diameter, are not much useful
for underwater rain noise measurement as they have low
resonating frequencies (< 500Hz).
Underwater bubbles of 2mm diameter are mostly formed,
resulting in a corresponding 4 kHz peak in the spectra of all
types of rain.
During heavy rainfall, lower frequency peaks (less than 4
KHz) are always formed due to generation of large underwater
bubbles. 37
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Results (Experiment 3)
During light rainfall, higher frequency peaks (up to 20 kHz)
are usually formed.
Strong signals of Frequencies 3500-4500 Hz can be observedin Natural and Artificial rains from FFT Spectra.
As the size of drop decreases, the frequencies of entrainment
increases; it can be seen in FFT spectrum and Spectrogram of
artificial rain by showerhead where drops size was 1-2 mm
diameter only.
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Underwater Noise
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4. Calculation of Total Rainfall Rate
(TRR)
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Underwater Noise
Total Rainfall Rate (TRR)
TRR in mm/hr can be calculated by[2]
TRR= 6.10-4D D3VT(D)N(D)dDwhere
D is rain drop size (mm),
VT is terminal velocity (m/s),
N(D) is the rain drop size distribution
N(D) can be found by a Disdrometer or by acousticinversion methods.
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Underwater Noise
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5. Conclusions
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Conclusions
Sources of underwater sound of rainfall are impact sound and
pulsations of entrained bubble.
Impact sound depends upon drop size, impact speed and drop
shape.
Small bubbles (0.8-1.2mm) produce sound both due to impact
and bubble oscillations in the range of 13-20 KHz.
Tiny bubbles (< 0.8mm) and medium bubbles (1.2-2mm)
produce relatively weak sound which is mainly due to impact.
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Conclusions (contd.)
Large bubbles (> 2mm) produce sound both due to impact and
bubble oscillations in the range of 1-30 KHz.
Maximum rain drop sizes found in atmosphere are till 5mm.
Rain drops of 2 mm size are commonly found in all types of
rainfall resulting in prominent peak at 14 KHz.
The frequency of drop impact decreases as the drop size
increases.
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
Conclusions
Underwater bubbles of 2mm diameter are mostly formed, resulting
in a corresponding 4 kHz peak in the spectra of all types of rain.
Large bubbles, above 10 mm in diameter, are not much useful for
underwater rain noise measurement as they have low resonating
frequencies (< 500Hz).
As the size of drop decreases, the frequencies of entrainment
increases; it can be seen in FFT spectrum and Spectrogram of artificial
rain by showerhead where drops size was 1-2 mm diameter only.
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
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ACTIVE UNDERWATER
MEASUREMENTS
E i t l S t f U d t
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
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Experimental Setup for Underwater
Time Delay Estimation
[Source: Acoustics and Condition Monitoring Lab Mech. Dept, IIT Kharagpur]
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Underwater Noise
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Experimental Procedure for Square Ping
Two square waves of 20 kHz and 100 kHz were generated for
conducting this experiment
20 kHz and 100 kHz square ping of 4ms with a spacing
.0000125 sec was generated
The generated signals were then passed through the
experimental set up.
The time histories of the input and output signals were then
recorded using data recorder
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Underwater Noise
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Calculate the time taken for the input signal to reach the
receiver hydrophone.
S = C * (del t/2)Del t= 2S/C=0.44/1500= 0.29 ms
where
C= speed of sound in water
Mathematical calculation of time delay in
under water transmitting and receiving signal
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Underwater Noise
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0 1 2 3 4 5
[s]
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8Cursor values
X: 4.994 s
Y: -13.157m
Signal2 (Real)
0 1 2 3 4 5
[s]
-24m-16m
-8m
0
8m
16m
24mCursor values
X: 4.983 s
Y: -1.033m
Signal1 (Real)
Time domain analysis of Square Ping
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Underwater Noise
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Time domain analysis of Square Ping
0.24 0.244 0.248 0.252 0.256 0.26 0.264 0.268
[s]
-24m
-20m
-16m
-12m
-8m
-4m
0
4m
8m
12m
16m
20m
24m
Cursor values
X: 0 s
Y: -0.989m V
Signal 6 (Real)
0.24 0.244 0.248 0.252 0.256 0.26 0.264 0.268[s]
-0.4
-0.35
-0.3
-0.25
-0.2
-0.15
-0.1
-50m
0
50m
0.10.15
0.2
0.25
0.3
0.35
0.4
0.45Cursor values
X: 0 sY: 36.342m V
Signal 7 (Real)
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Underwater Noise
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Maximum length sequence (MLS) is a type of pseudorandom binary sequence.
MLS are bit sequences generated using maximal linear feedback shift registers
because they are periodic and reproduce every binary sequence that can be
reproduced by the shift registers.
For length-m registers MLS signal produce a sequence of length
(2m 1) registers.
MLS is also sometimes called a n-sequence or a m-sequence.
MLS signals MLS measurements have a very high Signal/Noise ratio. The
cross-correlation used to compute the impulse response reduces all background
noise (uncorrelated with MLS), so that measurements can be performed also in
noisy environments.
Maximum Length Sequence Signal
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Underwater Noise
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MLS Signal Properties
0 0.5 1 1.5 2 2.5 3 3.5
x 104
0
0.5
1Original MLS signal(m=15)
0 0.5 1 1.5 2 2.5 3 3.5
x 104
-5
0
5MLS signal with random signal
0 1 2 3 4 5 6 7
x 104
-1
0
1
cross correlation
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Underwater Noise
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Experimental Procedure for MLS Signal
The generation and recording of Maximum length sequence (MLS) signal
of same length at different sampling frequencies.
The generated signals were then passed through the experimental set up.
The time histories of the input and output signals were then recordedusing data recorder.
MLS signals of length 32767 (m=15) and sampling frequency of 44100 Hz
was used for the finding the time delay.
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Underwater Noise
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MLS Measurement Flow chart
[Source: MLS Impulse Response Measurement for Underwater Bottom Profiling [18]]
Underwater Time Delay Estimation
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Underwater Noise
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Underwater Time Delay Estimation
using MLS signals
30 cm
55 cm
95 cm
25 cm
Direct Measurement.
S = C * (del t);
Del t= S/C=0.30/1500= 0.2 ms
= 200 us
Bottom reflected Measurement.
S = C * (del t/2);
Del t= 2S/C=0.44/1500= 0.733 ms
= 734 us
Direct Measurement.
S = C * (Del t);
Del t= S/C=0.95/1500= 0.633 ms
=634 us
Bottom reflected Measurement.
S = C * (Del t/2);
Del t= 2S/C=0.44/1500= 0.333 ms=
334 us
Case 1 Case 2
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Underwater Noise
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Case 1
Direct
measurement
at 200us
Bottom
Reflections
at 750us
Side wall
Reflections
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Underwater Noise
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Case 2
Bottom
Reflections
at 350us
Direct
measurement
at 670us
Side wall
Reflections
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Underwater Noise
Cross Correlation -Matlab
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8-400
-200
0
200
400
Time (s)
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Generalized Cross Correlation (GCC) -Matlab
Rr1r2() = p(f) Gr1r2(f) ej2ft df
where,
Gr1r2(f) is cross spectrum
p(f) is PhaseTransform(PHAT) weighting
function
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Various Weighting Functions
Roth auto correlation
SCOT filter
CPS-m
Where n= 0.5 to 0.75
))((*)(
1)(
fSjconjfSif
n fSjconjfSjfSiconjfSif
))((*)(*))((*)(
1)(
))((*)(*))((*)(
1)(
fSjconjfSjfSiconjfSif
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Underwater Noise
TDE with Weighting Functions -Matlab
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Future Scope of work
W Ah d
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Underwater Noise
Way Ahead
Passive underwater noise measurements
- Acoustic Inversion method for estimation of drop size
distribution.
Active Underwater noise measurements
- Underwater imaging of objects using MLS signals.
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References
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Underwater Noise
References
[1] D. K. Woolf, Bubbles, Academic press, Southampton Oceanography Center, UK Academic press2001.
[2] L. Bjerne,Underwater rain noise: sources, spectra and interpretations, Journal de Physique IVColloque C5, supplement au Journal de Physique III, vol. 4-mai 1994.
[3] J. A. Scrimger, D. J. Evens, G. A. Mcbean, D. M. Farmer, and B. R. Kerman, Numericalcalculations of underwater noise of rain, Journal of Acoustical society of America vol. 81, pp.79 -86-1987.
[4] H. Medwin, J. A. Nystuen, P.W Jacobu, D. E. Snyder, and L. H. Ostwald, The anatomy ofunderwater rain noise, Journal of Acoustical society of America 92, 13 - 23, 1992.[5] H. Medwin and L. Bjerne, Underwater sound produced by individual drop impacts and rainfall,Industrial Acoustics Laboratory, Technical University of Denmark, Building 425, DK-2800 Lyngby,
Denmark, Journal of Acoustical Society of America, vol. 85(4) pp.1518-1526-April 1989.
[6] C.W. Hirt, Bubble bursting at a water surface, Flow Science, Inc. FST-91TN26-1991.
[7] A. Prosperetti and H. N. Oguz, The impact of drops on liquid surfaces and the underwater noise ofrain, Annual Review Fluid Mechanics vol.25, pp. 577-602-1993.[8]. L. K.Lawrence ,R.F. Austin, A. B. Coppens, Fundamentals of Acoustics, fourth edition, JohnWiley.
[9]. Hugh C. Pumphrey and L.A. Crum, Journal of Acoustical Society of America, Vol.85,
No. 4, April 1989, PP. 1518-1526.
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References
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Underwater Noise
References
[10]. M. Minnaert, philos. Mag., Vol. 16, 1933, PP. 235-248.[11].G.J.Franz, Journal of Acoustical Society of America, Vol. 85, PP. 1080-1096.
[12]. T.E. Heindsman, R.H. Smith, and A.D. Arneson, Journal of Acoustical Society of America, Vol.
27, 1955, PP. 378-379.
[13]. D.K.Woolf, Academic Press, Vol. 62, 2001, PP. 352 - 357.
[14]. S. S. Murugan, Dr.V.Natarajan and Lenin Joseph, International Journal of Advanced
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Department of Mechanical Engineering, IIT Kharagpur
Underwater Noise
References
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Underwater Noise
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Best Research paper Award
Srinivas Garimella , M. L. Chandravanshi, and A. R. Mohanty,
Characteristics of Underwater Bubble Noise, Proceedings ofNational Symposium on Acoustics,2011, Jhansi, Nov 17 to 19, 2011.
Papers pending for Publication
(1) Srinivas Garimella , M. L. Chandravanshi, and A. R. Mohanty,
Underwater Noise Spectra of Rainfall-An Analysis .
(communicated to JASA)
(2) Srinivas Garimella , S. Fatima, and A. R. Mohanty,UnderwaterTime Delay Estimation Techniques with Maximum Length
Sequence Signals . (under preparation)
Conference Publication
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Underwater Noise
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THANK YOU
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