Walter Munk, a Prescient Signal Processor
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1 Walter Munk, a Prescient Signal Processor Walter Munk Centennial Symposium Scripps Institution of Oceanography August 29-30, 2017 Arthur B. Baggeroer Massachusetts Institute of Technology Cambridge, MA 02139
2 Prescient Prescient having prescience, or knowledge of things or events before the exist or happen, having foresight, middle English Observation: Walter was using signal processing methods well before they were current in the signal processing literature Relevance: Signal processing and ocean acoustics are the essence of passive and active sonars, critical technologies for national maritime security. 2
3 Background Environment Conversations with Walter during a sabbitcal Postprandial discussions enjoying his, Judy s and Mary s hospitality as a guest at Seiche Theme Walter has pursued weak geophysical signals amidst noise and clutter ABB has done the same for sonar ASW and some of the above Objectives Examples where Walter was ahead or contemporary, or prescient, with the signal processing literature Identify relevance to sonar and national security 3
4 Several illustrative papers suggesting Walter s prescient signal processing Time series analysis and spectral estimation Tidal spectroscopy and prediction, Munk and Cartwright, Royal Society- A, 19 May 1966 Array processing Directional recording of swell from distant storms, Munk, Miller, Snodgrass & Barber, Royal Society-A, 255, 18 April 1963 Propagation of ocean swell across the Pacific, Snodgrass, et al, Royal Society-A, 259, 5 May 1966 Long waves on the continental shelf: an experiment to separate trapped and leaky modes, Munk, Snodgrass & Gilbert, J. Fluid Mechanics, 20, 1964 Scattering functions Sound propagation though a fluctuating stratified ocean: Theory and observation, Munk & Zacharison, JASA 59, April 1976 Sound Transmission through a Fluctuating Ocean, Flatte, et al, Cambridge Univ. Press 4
5 Time Series and Spectral Analysis Spectral Analysis Methods Indirect (aka Blackman-Tukey) Ù form lagged covariance RÙ( t : T) windowed transform for S( f : T) Direct (oft termed FFT based) windowed transform of data segmented data for Xw( fi : DTn) average over segments, or Ù 2 S( fi : T) = å Xw( fi : DTn) n Cooley-Tukey FFT (1965) Adaptive, parametric, covert (Tukey) often used lagged covariance Exs: Maximum Entropy, AR, MVDR, MUSIC, ESPRIT 5
6 Spectral Estimation (Honolulu Tide Spectra): Example of analysis Gravity equilibrium tide, computed potential Total observed spectrum w/ filled the coherent component Total observed spectrum w/ unfilled the incoherent (residual) plotted Real and imaginary parts of admittance functions Polar (amplitude and phase of admittance functions Cycles/day,
7 Methods of WHM for Time Series and Spectral Analysis Used indirect method w/ small number of lags Combined with geophysical constraints of tides (a detailed walk through the quantum mechanics of the hydrogen atom) Prescient methods Convolutional approach to system identification Spectral constraints of discrete time series Subband processing for tide species (Legendre #) Super resolution of each species Coherence criterion for tidal components Approximate PDF for coherence metric Nonlinear expansion up to 3 rd order Most before their use in the then contemporary signal processing literature! Important caveat: Data analysis was offline, so no real time constraints 7
8 Relevance to Sonar Signal Processing Spectral analysis for sonar driven by real time constraint Analog method < 1965 (General Radio) Hetrodyne to center frequency Bandpass filter (exquisite design a la windows) Square law detection Low pass filter (average) Sweep across center frequency Similar parameter selection compared to digital methods Once FFT appeared for real time application, WHM method (and others) became paradigms for spectral analysis Of note, WHM papers > 1966 no reference to FFT use 8
9 Array Processing (1) for Pacific Swell Use of dispersion and iterative beamforming Triangular array of moorings Swell period versus month day (September 1959) 88 0 September 1959, days
10 Array Processing (2) for Edge Waves Synthetic apertures, dispersion & k-ω Analysis Edge waves propagating along the California shelf Frequency: c/hour, 0-12 Cycles per hour Trapped mode dispersions Cutoff from trapped to leaky modes Separation: Peterson miles (1.46 km), 0-21 Spectral covariance contours using synthetic aperture Cycles per km Frequency-wavenumber (k-ω) 10
11 Relevance to Sonar and Acoustics Formulation of array processing for homogeneous fields as in contemporary textbooks Use of successive iteration for beampattern on a 300 m small array ~ CLEAN algorithm in radio astronomy and adaptive beamforing methods Dispersion and frequency wave number functions extensively used in ocean and structural acoustics Use of dispersion for range estimation Application of horizontal refraction used for shelf and global acoustics 11
12 Scattering functions (I) Scattering function: 2 nd order model for the time and frequency spreading (& vertical angle) introduced by a random propagation channel or target WHM and others synthesized of several concepts relevant to sonar signal processing e.g. long range surveillance deep ocean, long range propagation Munk profile fluctuations via internal waves Garrett-Munk IW spectrum numerical propagation modeling Parabolic equation methods (split step, Fourier, Pade) Modal and mode coupling WHM et al Papers also address probability distribution fctns 12
13 Scattering Functions (II) Intuitive Interpretation for the Ʌ - Φ parameterization Φ (strength parameter) Partially Saturated Unsaturated Full saturated Fluctuation Models for Characterization Amplitudes and Phases of Complex Envelopes Ʌ (diffraction parameter) Courtesy John Colosi, Fig 4-11, Sound Propagation through the Stochstic Ocean 13
14 Scattering Functions (III): Characterizing Multipath scattering on VLA from AETC, 1999 Models for travel time, doppler and angle spreads for each path Sensor vertical position: m 1 km Range 3250 km Impulse Response on 40 sensor VLA Vertical Angle: deg Travel time: secs VLA beamformer response Courtesy M. Dzieciuch Worcester, P.F., et al, A test of basin-scale acoustic therrometry using a large-aperture, vertical array at a 3250 range in the eastern North Pacific Ocean, JASA, December
15 Relevance to Sonars Channel characterization for travel time and doppler spread for deep ocean fixed/fixed propagation Macro and micro multipath time spreads range resolution for targets equalizer lengths for acoustic communications signal coherence versus frequency Doppler spreads frequency resolution for targets update rate for acoustic communications limit on coherence versus time and how long to integrate for target detection 15
16 Global Acoustics WHM introduced Global Acoustics to the acoustics. Heard Island Feasibility Test (HIFT) acoustics Signal (time/doppler) coherence at megameter ranges Horizontal refraction limits Bathymetric blockage Large aperture VLA s Marine mammal acoustics! AETC, ATOC, NPAL and PhilSea evolution Many, many topics on long range acoustic propagation inspired by WHM Very long range passive ASW sonar, circa s, no longer feasible due to submarine quieting 16
17 WHM Acoustics, JASON and National Security ABB often met and spent time as a consultant with the JASONs from Some topics classified & not public, others details are classified ABB interaction topics with WHM w/o details Arctic acoustics Matched field processing, large aperture HVLA s and VLA s Acoustic observatory Large aperture planar, mid frequency submarine arrays Adaptive array processing APB/ARCI sonar signal processing suite for submarines Several special programs WHM engaged and stimulated concepts 17
18 Summary WHM impact on acoustics and national security has prescient and profound!! Synthesis of fields physical oceanography acoustics signal processing Enabling models G/M internal wave theory Munk sound speed profile Munk medal from ONR SECNAV/CNO Chairs 18
19 Thank you, Walter! It is difficult to understate the important impact on the Navy and the fleet both under, on and above the water! We come from different fields, but our conversations have had a profound influence me! Thank you, Mary and Judy for your hospitality at Seiche! 19
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