Search Results (226)

In this paper, the results of several geophysical surveys developed with a Sub-Bottom Profiler in different regions of Spain are presented. This research forms part of a broader project aimed at developing innovative non-invasive methodologies for documenting Underwater Cultural Heritage (UCH). The 2001 UNESCO Convention on the Protection of the Underwater Heritage recommends the use of non-destructive techniques, in situ conservation, and prioritising exploration over recovery. Geophysical techniques allow the non-invasive documentation of UCH without altering archaeological remains. The Sub-Bottom Profiler was tested in several underwater archaeological surveys under different objectives, depths, and environmental conditions. The research questions addressed the amount of information obtainable without intrusion and the optimal use of the equipment for methodological innovation. Based on the results, methodological conclusions are drawn regarding the influence of seabed composition on acoustic performance, the importance of controlling navigation speed and vessel stability, and the strong impact of sea state on data quality. The need for frequency and motion-correction optimisation to balance resolution and penetration is also highlighted, as well as the usefulness of SBP for anomaly detection, site monitoring, and palaeolandscape reconstruction. These findings contribute to establishing a transferable methodological framework applicable to other case studies. Full article

Underwater communication devices typically suffer from large size and high power consumption, which pose significant challenges for real-time monitoring of swimmers’ heart rate and distance. To tackle these challenges, this study successfully developed a wearable acoustic-Bluetooth dual model communication-based real-time heart rate monitoring and ranging system (WARM) for swimmers by implementing an integrated miniaturized acoustic transducer design, narrow-pulse OOK modulation, and acoustic multipath interference suppression techniques. The final self-developed system measures 47 mm × 36 mm × 18 mm and weighs 54 g. Six swimming volunteers were recruited to conduct underwater real-time heart rate monitoring and distance measurement experiments for performance evaluation of this self-developed system. Experimental results demonstrate that within an effective communication range of 2500 cm, the system achieved an average transmission power consumption of 52–58 mW, a frame loss rate of only 1.1%, and a mode-switching time of 1–2 s between the underwater acoustic and Bluetooth transmissions. In addition, the system enabled real-time heart rate monitoring and underwater ranging, with an average ranging error below 50 cm. These results verify the reliability and stability of the proposed system and provide a useful reference for the design and application of wearable underwater communication systems. Full article

Underwater wireless sensor networks (UWSNs) support critical applications such as environmental monitoring, offshore exploration, and surveillance; however, their performance is constrained by high propagation delay, limited energy resources, and node mobility caused by ocean dynamics. Many clustering approaches assume static nodes and use fixed-weight objective aggregation, which may reduce adaptability and lead to premature convergence. This paper proposes a cluster-head selection and cluster formation method for UWSNs based on a binary multi-objective Dragonfly Algorithm (BMDA-UWSN). The method considers energy consumption, acoustic latency, and load balance within a Pareto-based optimization framework, thereby reducing dependence on fixed-weight aggregation during the search stage. In addition, the Dragonfly-based optimization process uses dynamically adjusted coefficients to regulate the balance between exploration and exploitation while preserving solution diversity. To represent underwater node displacement, a semicircular mobility model with angular variation of ±45° is incorporated into the simulation scenario. Results obtained for a 100-node network show that BMDA-UWSN achieved better performance than Direct Transmission, LEACH, LEACH-C, SS-GSO, and CDFO-UWSN in terms of network lifetime, packet delivery, latency, and residual energy under the evaluated conditions. In particular, the first node dies at iteration 126 with BMDA-UWSN, compared with iteration 95 for CDFO-UWSN, while packet delivery increases by approximately 20% and latency decreases by about 5%. These findings suggest that BMDA-UWSN is a competitive clustering approach for underwater monitoring scenarios when evaluated under controlled node mobility conditions. Full article

Underwater acoustic monitoring is a critical technology for marine resource development and modern aquaculture. The performance of acoustic sensors directly determines the effectiveness of biological behavior tracking in complex marine environments. This paper presents the design, fabrication, and characterization of a custom hydrophone utilizing a polyvinylidene fluoride (PVDF) piezoelectric film configured in a biomimetic tympanic cavity structure. Operating on the direct piezoelectric effect, the device employs a pre-tensioned PVDF diaphragm integrated with a dedicated charge amplifier circuit to condition high-impedance signals. Laboratory calibrations demonstrate a stable frequency response (with a sensitivity variation within ±1 dB) in the low-frequency range (1–200 Hz) with an average acoustic pressure sensitivity of approximately −206 dB (re 1 V/μPa), providing a higher relative voltage gain compared to a commercial reference hydrophone with a nominal sensitivity of −210 dB (re 1 V/μPa). Furthermore, extensive field evaluations were conducted in a marine net pen to analyze acoustic data across multiple fish feeding scenarios (baseline, pre-feeding, active feeding, and post-feeding). The proposed custom hydrophone exhibited a superior dynamic range and successfully locked onto a 24.4 Hz Golden Pompano (Trachinotus blochii) bioacoustic signature, maintaining remarkable feature stability even after active feeding ceased. This study validates the efficacy of the biomimetic PVDF hydrophone for low-frequency acoustic detection, providing a robust hardware foundation for automated behavioral recognition systems in aquaculture. Full article

Underwater dynamic target detection, classification, localization, and tracking (DCLT) is central to maritime surveillance and monitoring and increasingly relies on distributed AUV-based robotic sonar networks operating in passive listening and, when required, cooperative multistatic modes. Achieving a robust performance in realistic oceans remains challenging, because sensor placement must adapt to time-varying acoustic conditions and target priors while preserving acoustic communication connectivity, and because frequent reconfiguration under dynamic currents makes classical large-scale planning computationally expensive. This paper presents an integrated deep reinforcement learning (DRL)-based framework for passive-stage sonar placement and dynamic reconfiguration in distributed AUV networks. First, we cast placement as a constructive finite-horizon Markov decision process (MDP) and train a Proximal Policy Optimization (PPO) agent to sequentially build a collision-free layout on a discretized surveillance grid. The terminal reward is formulated to jointly optimize the environment-aware detection performance, computed from BELLHOP-based transmission loss models, and global network connectivity, quantified using algebraic connectivity. Second, to enable time-critical reconfiguration, we estimate flow-aware motion costs for all AUV–destination pairs using a PPO with a Long Short-Term Memory (LSTM) trajectory policy trained for partial observability. The learned policy can be deployed onboard, allowing each AUV to refine its path online using locally sensed currents, improving robustness to ocean-model uncertainty. The resulting cost matrix is solved via an efficient zero-element assignment method to obtain the optimal one-to-one reassignment. In the reported simulation studies, the proposed Sequential PPO placement method achieves a final reward 16–21% higher than Particle Swarm Optimization (PSO) and 2–3.7% higher than the Genetic Algorithm (GA), while the proposed PPO + LSTM planner reduces average travel time by 30.44% compared with A*. The proposed closed-loop architecture supports frequent re-optimization, scalable fleet operation, and a seamless transition to communication-supported cooperative multistatic tracking after detection, enabling efficient, adaptive DCLT in dynamic marine environments. Full article

Reliable underwater acoustic (UWA) communication is fundamental to marine sensing applications, including environmental monitoring, underwater sensor networks, and autonomous platforms, yet remains severely challenged by multipath propagation, Doppler effects, and limited bandwidth. This paper investigates a memory-based multicarrier modulation framework in which controlled phase continuity is introduced at the symbol-mapping stage to enhance robustness against channel-induced distortions. Unlike conventional memoryless multicarrier schemes, the proposed approach embeds intentional phase memory at the transmitter and exploits it at the receiver, improving reliability in highly dispersive underwater environments. A comprehensive bit-error-rate (BER) evaluation is conducted using extensive simulations over realistic shallow-water acoustic channel models. The analysis examines rational modulation indices, pulse-shaping filters, roll-off factors, transmitter–receiver separation distances, and receiver structures. Both matched-filter and zero-forcing receivers are considered to assess trade-offs between interference mitigation and noise amplification. Results demonstrate consistent and significant BER improvements compared with conventional memoryless multicarrier systems. A modulation index of 7/16 achieves the minimum BER with matched-filter detection, while 3/10 yields optimal performance with zero-forcing detection. The Dirichlet pulse provides the most robust performance across operating conditions. These findings establish phase-memory-aware multicarrier design as a practical strategy for reliable underwater sensing and communication systems. Full article

Wind-driven surface processes are a major source of underwater ambient sound and are therefore an important component of coastal soundscapes. Yet their frequency-dependent expression in shallow nearshore reef environments remains insufficiently characterized from field observations. This study investigates low-to-mid-frequency (20–1000 Hz) ambient acoustic variability at Faro’s natural reef (southern Portugal) using short-term passive acoustic monitoring combined with concurrent sea state measurements. The results show evidence of a relationship between frequency-dependent acoustic response and wind-driven surface processes. At frequencies of 20–100 Hz, ambient sound levels exhibit a weak relationship with wind-driven surface conditions, with elevated variability under low agitation. This is attributed to persistent background anthropogenic noise, particularly vessel traffic. In contrast, above 100 Hz, the ambient sound level increases consistently with wind-driven agitation, indicating that wind-driven surface processes dominate ambient sound in the 100–1000 Hz frequency range. Transient high-energy peaks increase in frequency and intensity with surface agitation, consistent with breaking-wave events, even though elevated background sound levels persist after peak removal. These findings demonstrate that wind-related ambient sound variability at Faro’s natural reef is robustly expressed above approximately 100 Hz. This highlights the importance of frequency-dependent interpretation in passive acoustic monitoring as a necessary baseline for assessing the nearshore reef environment’s influence on ambient sound levels and acoustic propagation under variable sea state conditions. Full article

The growing demand for offshore oil and gas production in deep waters has motivated the development of technologies to enable the continuous, reliable, and cost-effective monitoring of subsea equipment. Traditional inspection techniques rely on ROVs and AUVs, leading to delays between data acquisition and recovery and high operational costs. Underwater acoustic communication systems represent an attractive alternative for transmitting monitoring data to the surface in real time. This work evaluates the feasibility of implementing an underwater acoustic communication link for data transmission in deep-water environments, considering environmental conditions and acoustic channel characteristics. Using the BELLHOP ray-tracing model, simulations were performed to predict transmission loss, multipath effects, ambient noise, and the resulting signal-to-noise ratio (SNR) for different modem configurations and operating frequencies. The results demonstrate that the performance of the underwater link is strongly dependent on frequency, distance, and environmental variability. The study identifies optimal frequency–range relationships, quantifies the limitations imposed by transmission loss and ambient noise, and provides guidance for selecting acoustic modem parameters for real subsea monitoring applications. The SNR for three modem models operating at different frequencies illustrates the signal detection capability in the marine environment. The differences between modems A, B, and C are defined by their technical specifications and how they perform within the underwater acoustic channel of the Campos Basin. The data transmission capacity is supported by the data rates provided by the analyzed modems. The low frequencies of modem A (9.75 kHz) achieve the highest SNR, enabling long-range monitoring. At higher frequencies, modem C (78 kHz) allows short-distance communication. Modem B (35 kHz) offers a good balance between the data rate and power consumption, consuming only 1 W, making it highly viable for monitoring systems that rely on batteries and require long-term operation. The findings support the feasibility of integrating underwater acoustic communication into subsea monitoring architectures, enabling a more efficient oversight of deep-water production systems. The analysis concludes that project viability depends on selecting a system where the SNR and range meet the specific monitoring requirements. Full article

Underwater acoustic sensor networks (UASNs) have emerged as a pivotal technology for ocean exploration, tactical surveillance, and environmental monitoring. However, the underwater acoustic channel poses severe challenges, including high propagation delay, limited bandwidth, and rapid time-varying multipath fading, which significantly degrade communication reliability. Cooperative communication, which exploits spatial diversity via relay nodes, offers a promising solution to these impairments. In this paper, we investigate the joint optimization of relay selection and power allocation in UASNs to maximize the long-term system energy efficiency and throughput. This problem is inherently complex due to the hybrid action space, which couples the discrete selection of relay nodes with the continuous allocation of transmission power, and the absence of real-time, perfect channel state information (CSI). To address these challenges, we propose a novel deep hybrid reinforcement learning (DHRL) framework utilizing a parameterized deep Q-Network (P-DQN) architecture. Unlike traditional approaches that discretize power levels or relax discrete constraints, our approach seamlessly integrates a deterministic policy network for continuous power control and a value-based network for discrete relay evaluation. Furthermore, we incorporate a prioritized experience replay (PER) mechanism to improve sample efficiency by focusing on rare but significant channel transition events. We provide a comprehensive theoretical analysis of the algorithm’s complexity and convergence properties. Extensive simulation results demonstrate that the proposed DHRL algorithm outperforms state-of-the-art combinatorial bandit algorithms and conventional deep reinforcement learning baselines in terms of system energy efficiency, and also exhibits superior robustness against channel estimation errors. Full article

Underwater Acoustic Sensor Networks (UASNs) are pivotal for environmental monitoring, surveillance, and marine data collection. However, their open and largely unattended operational settings, constrained communication capabilities, limited energy resources, and susceptibility to insider attacks make it difficult to achieve safe, secure, and efficient collaborative learning. Federated learning (FL) offers a privacy-preserving method for decentralized model training but is inherently vulnerable to Byzantine threats and malicious participants. This paper proposes trust-aware FL for underwater sensor networks (TAFL-UWSN), a trust-aware FL framework designed to improve security, reliability, and energy efficiency in UASNs by incorporating trust evaluation directly into the FL process. The goal is to mitigate the impact of adversarial nodes while maintaining model performance in low-resource underwater environments. TAFL-UWSN integrates continuous trust scoring based on packet forwarding reliability, sensing consistency, and model deviation. Trust scores are used to weight or filter model updates both at the node level and the edge layer, where Autonomous Underwater Vehicles (AUVs) act as mobile aggregators. A trust-aware federated averaging algorithm is implemented, and extensive simulations are conducted in a custom Python-based environment, comparing TAFL-UWSN to standard FedAvg and Byzantine-resilient FL approaches under various attack conditions. TAFL-UWSN achieved a model accuracy exceeding 92% with up to 30% malicious nodes while maintaining a false positive rate below 5.5%. Communication overhead was reduced by 28%, and energy usage per node dropped by 33% compared to baseline methods. The TAFL-UWSN framework demonstrates that integrating trust into FL enables secure, efficient, and resilient underwater intelligence, validating its potential for broader application in distributed, resource-constrained environments. Full article

We present PIRATE (Precision Imaging Real-time Autonomous Tracker and Explorer), a fully autonomous unmanned surface vehicle designed to enable self-operating data collection and persistent tracking of mobile underwater targets through the tight integration of acoustic localization, onboard visual perception, and closed-loop navigation. PIRATE employs a single mobile acoustic receiver to estimate target position using time-difference-of-arrival (TDoA) measurements acquired at different times and locations through planned autonomous motion and uses these estimates to drive adaptive vehicle behavior and activate fine-grained visual sensing in real time. This architecture enables sustained target-driven operation, in which navigation, acoustic monitoring, and visual processing are dynamically coordinated based on mission context and localization uncertainty. The system integrates real-time AI-based visual detection and tracking with automatic mission control, allowing visual perception to operate opportunistically within an acoustically guided tracking loop rather than as a standalone sensing modality. Field experiments in a shallow-water environment demonstrate reliable autonomous navigation, single-receiver acoustic localization with meter-scale accuracy, and stable onboard visual inference under sustained operation. By enabling coupled acoustic tracking and onboard visual perception in a fully autonomous surface platform free of external infrastructure, PIRATE provides a practical foundation for fine-scale behavioral observation, adaptive marine monitoring, and long-duration studies of mobile underwater organisms. We demonstrate this advantage with two possible applications. Full article

Low-frequency hydrophones are used to detect underwater low-frequency acoustic signals and are widely applied in marine science, resource exploration, environmental monitoring, and military operations. Their primary advantage lies in the fact that low-frequency acoustic waves experience less attenuation in water, enabling long-distance detection. This characteristic makes them indispensable for long-range and wide-area sensing. In this study, a piston-structured hydrophone using a stack of lead zirconate titanate (PZT) piezoelectric ceramic sheets is designed. Finite element simulation analysis is used to derive the output voltage variation in the piezoelectric ceramic stack as a function of its thickness and end-face diameter. The piston-structured hydrophone is then designed accordingly. Results show that the piston structure, combined with the longitudinal stacking of PZT piezoelectric ceramic sheets, enhances the sensitivity of the piezoelectric hydrophone. The prepared hydrophone has a directivity of 360° in the operating frequency range of 1 Hz to 1 kHz, as well as a flat frequency response and high sensitivity of −161 dB. These research results indicate that the proposed sonar design provides valuable reference for the development of low-frequency sonar with higher sensitivity, which is of great significance to the development of marine science. Full article

Measuring water motion is essential for oceanography, coastal engineering, and marine environmental monitoring. A wide range of sensing technologies is used to quantify water velocity, wave motion, and flow dynamics, each suited to specific spatial and temporal scales. This paper presents a comprehensive review of modern sensor technologies for marine flow measurement, covering mechanical, electromagnetic, pressure-based, acoustic, optical, MEMS-based, inertial, Lagrangian, and remote-sensing approaches. The operating principles, strengths, and limitations of each technology are examined alongside their suitability for different environments and deployment platforms, including moorings, buoys, vessels, autonomous underwater vehicles, and drifters. Special attention is given to rapidly advancing fields such as MEMS flow sensors, multi-sensor fusion, and hybrid systems that combine inertial, acoustic, and optical data. Applications range from high-resolution turbulence measurements to large-scale current mapping and wave characterization. Remaining challenges include biofouling, performance degradation in energetic shallow waters, uncertainties in indirect velocity estimation, and long-term calibration stability. By synthesizing the state of the art across sensing modalities, this review provides a unified perspective on current technological capabilities and identifies key trends shaping the future of marine flow measurement. Full article

This paper explores the feasibility of using acoustic wave propagation, particularly in the ultrasonic range, as a solution for data transmission in environments where traditional radio frequency (RF) communication is ineffective due to signal attenuation—such as in liquids or dense media like metal or stone. Leveraging GNU Radio and commercially available audio hardware, a low-cost, SDR (Software Defined Radio) system was developed to transmit data blocks (e.g., images, text, and audio) through various substances. The system employs BFSK (Binary Frequency Shift Keying) and BPSK (Binary Phase Shift Keying), operates at ultrasonic frequencies (typically 40 kHz), and has performance validated under real-world conditions, including water, viscous substances, and flammable liquids such as hydrocarbon fuels. Experimental results demonstrate reliable, continuous communication at Nyquist–Shannon sampling rates, with effective demodulation and file reconstruction. The methodology builds on concepts originally developed for Ad Hoc Sensor Networks in shipping containers, extending their applicability to submerged and RF-hostile environments. The modularity and flexibility of the GNU Radio platform allow for rapid adaptation across different media and deployment contexts. This work provides a reproducible and scalable communication solution for scenarios where RF transmission is impractical, offering potential applications in underwater sensing, industrial monitoring, railways, and enclosed infrastructure diagnostics. Across controlled laboratory experiments, the system achieved 100% successful reconstruction of transmitted image files up to 100 kB and sustained packet delivery success exceeding 98% under stable coupling conditions. Full article

Autonomous Underwater Vehicles (AUVs) play a central role in marine observation, inspection, and monitoring missions, where effective trajectory planning is essential for ensuring safe operation, reliable sensing, and efficient data transfer. In realistic underwater environments, uneven seafloor geometry, limited acoustic communication, navigation uncertainty, and sensing visibility constraints significantly influence mission performance and challenge classical planar planning formulations. This survey reviews trajectory planning methods for AUVs operating in uneven environments, with a focus on two major classes of underwater sensing missions: underwater area coverage using onboard sensors and underwater sensor data collection within underwater acoustic sensor networks (UASNs) supporting the Internet of Underwater Things (IoUT). For area coverage, the survey examines the progression from classical planar coverage strategies to terrain-aware, occlusion-aware, multi-AUV, and online planning frameworks designed to address uneven terrain and sensing visibility. For underwater sensor data collection, it reviews mobile sink-based trajectory planning strategies, including energy-aware, channel-aware, and information-based formulations based on metrics such as Age of Information (AoI) and Value of Information (VoI), as well as cooperative architectures involving unmanned surface vehicles (USVs). By synthesizing these two bodies of literature, the survey clarifies current capabilities and limitations of trajectory planning methods for AUVs operating in uneven underwater environments. Full article