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1 This is a eposioy copy of isguised Bionic Sona Signal Wavefom esign wih Is Poible amouflage Applicaion Saegy fo Undewae Senso Plafoms. Whie Rose Reseach Online URL fo his pape: hp://epins.whieose.ac.uk/3547/ Vesion: Acceped Vesion Aicle: Jiang, J., Sun, Z., uan, F. e al. (7 moe auhos) (208) isguised Bionic Sona Signal Wavefom esign wih Is Poible amouflage Applicaion Saegy fo Undewae Senso Plafoms. IEEE Sensos Jounal. ISSN X hps://doi.og/0.09/jsen Reuse Iems deposied in Whie Rose Reseach Online ae poeced by copyigh, wih all ighs eseved unle indicaed ohewise. They may be downloaded and/o pined fo pivae sudy, o ohe acs as pemied by naional copyigh laws. The publishe o ohe ighs holdes may allow fuhe epoducion and e-use of he full ex vesion. This is indicaed by he licence infomaion on he Whie Rose Reseach Online ecod fo he iem. Takedown If you conside conen in Whie Rose Reseach Online o be in beach of UK law, please noify us by ing epins@whieose.ac.uk including he URL of he ecod and he eason fo he wihdawal eques. epins@whieose.ac.uk hps://epins.whieose.ac.uk/

2 isguised Bionic Sona Signal Wavefom esign wih Is Poible amouflage Applicaion Saegy fo Undewae Senso Plafoms Jiajia Jiang, IEEE Membe, Zhongbo Sun, Fajie uan, Wei Liu, IEEE Senio Membe, Xianquan Wang, hunyue Li, Lingan Bu, Xiao Fu, Tinging Huang and Ling Ma Absac The covene of an acive sona is a vey impoan iue and he sona signal wavefom design poblem is sudied o impove covene of he sysem. Many maine mammals poduce call pulses fo communicaion and echolocaion, and exising inecepion sysems nomally claify hese biological signals as ocean noise and file hem ou. Based on his, a disguised sona signal wavefom design appoach wih is camouflage applicaion saegy fo undewae senso plafoms is poposed by uilizing bio-inspied seganogaphy. We fis consuc bionic sona signal wavefoms which ae vey close o he ue whale whisle, and hen embed hese consuced bionic sona signal wavefoms ino he ue whale call ains o hide he eal sona signal wavefoms. Accoding o he ime-fequency (TF) sucue of he ue whale whisle, a bionic sona signal model is esablished o geneae he poposed sona signal wavefoms. A single sona signal is used o measue he ange of he age and a combinaion of wo sona signals is uilized fo measuing is speed. A high-pefomance ange and speed measuemen algoihm is deduced in deail. Based on he consuced signal wavefoms and he chaaceisics of false kille whale call ains, a camouflage applicaion saegy is designed o impove he camouflage abiliy of he sona signal sequence. Finally, simulaion esuls ae povided o veify he pefomance of he poposed mehod. Index Tems ove sona; sona wavefom design; bionic sona; disguised sona wavefom design. B I. INTROUTION y sending ou signals fo age deecion, an acive sona sysem unavoidably isks being deeced and idenified by he ohes, oo. In he las few decades, many mehods have been poposed o impove he sealh capabiliy of acive sona sysems hough signal wavefom design [-2]. Some mehods y o consanly change he paamees of he ansmied signals o incease of he idenificaion difficuly, Manuscip eceived xx xx, 20xx. This wok was suppoed in pa by he TianJin Naual Science Foundaions of hina unde Gan No. 7JQNJ000, Naional Naual Science Foundaions of hina unde Gan No , , Naional key eseach and developmen plan (207YFF ), Young Elie Scieniss Sponsoship Pogam By as of hina unde Gan No. 206QNR00. Jiajia Jiang, Zhongbo Sun, Fajie uan, Xianquan Wang, Lingan Bu, hunyue Li, Xiao Fu, Tinging Huang and Ling Ma ae wih he Sae Key Lab of Pecision Measuing Technology and Insumens, Tianjin, , hina. (oesponding auho: Zhongbo Sun (zbsun@ju.edu.cn)). Wei Liu is wih he epamen of Eleconic and Elecical Engineeing, Univesiy of Sheffield, UK. such as peiod-hopping [2], fequency-hopping [3-4], ime-hopping [5] and so on. Alhough hey can impove he covene of signals, hee is sill much fuhe wok o be done since hose changed-paamees signals have some disinc feaues. Fo example, fo fequency-hopping signals, each pulse could be coninuous-wave (W) o linea fequency modulaed (LFM); howeve, he W pulses have he feaue of being of ecangle in he ime domain and single fequency in he fequency domain, while LFM pulses ae of boh ecangle in he ime domain and linealy changed fequency in he fequency domain [6]. As a esul, hese signals can be idenified and claified easily in pacice [-2]. Some ohe mehods use low signal noise aio (SNR) signals wih LFM [6], FM-W [7-8], o ohe sealh signals, such as pseudoandom [9-0] o chaoic codes [0] o incease he difficuly of being deeced. Achieving a high degee of covene, hese signals can sill be deeced by some mehods, such as envelope deecion, enegy deecion and enegy specal densiy analysis mehods, ec. [3-4]. Besides, a sona sysem using he low SNR signals equies a long-ime enegy accumulaion poce fo age deecion, which seveely affecs he deecion efficiency. ue o he similaiy of consideed poblems, many ideas in ada signal wavefom design [5-7] can also be employed hee, and fo he specific cove signal wavefom design poblem, hose ideas in ada also fall ino he above wo caegoies [4, 9]. Anohe diecion fo sona wavefom design is he naue-inspied appoach. Given naue s abiliy o adde complex, lage-scale poblems wih obus, adapable, and efficien soluions esuling fom many yeas of evoluion, eseaches look o naual sysems fo inspiaion and mehods o solve poblems in human-ceaed aificial envionmens. Based on he bio-sona sysems in naue, Rolf Mulle e al. pesened a deailed eview and discuion abou bio-inspied engineeing, and poined ou ha bioinspied engineeing could capialize on some of is senghs o seve as a model sysem fo basic auomaion mehodologies fo he bioinspied engineeing poce in fuue eseach [8]. In [9], his apus e al. designed a novel and ineesing bio-inspied wideband sona signal wavefom based on he double down-chip sucue of clicks of bolenose dolphin, evaluaed is pefomance and obained excellen esuls. In [20], inspied by he vocalizaion of humpback whales and dolphins, Timohy Leighon and Paul Whie poposed a poible sona scheme fo ages deecion in bubble clouds, and a poible ada scheme

3 2 fo he deecion of buied explosives and caasophe vicims. And he elevan expeimenal esuls showed he validiy of hei schemes. In [2], by using he idea of camouflage simila o his pape, a bio-inspied seganogaphy fo secue undewae acousic communicaions was poposed by us based on he spem whale calls and abou 37.5bi/s communicaion ae is compleed hough lake expeimens. In [22], inspied by wha lile is known abou dolphin echolocaion eceiving mechanisms, Pee obbins poposed a vey ineesing and new concep fo a sona eceive based on a pai of endfie aay model fom dolphin eeh, and showed ha endfie aay beam paens had minimal nea-field degadaion and a pai of endfie aays could be used in a monopulse mode fo angula localizaion. These esuls ae vey enlighening o us. In [23], Rolf Mülle e al. compaed beamwidh in biosona and engineeed sona wih each ohe and o he heoeical beamwidh limi fo he especive aio of sona apeue size and wave-lengh and obaind some vey ineesing and insucive esuls. In [24], Michele Vespe e al. inoduced a ange of saegies employed by bas and consideed how hese migh be exploiable in fuue ada sysems. These bio-inspied ideas and in-deph analysis ae vey ineesing and inspiaional. Howeve, o ou bes knowledge, he covene iue has no been consideed ye in his conex. As can be seen in [25-27], pesen inecepion sysems almos always claify biological signals as ocean noise and y o file hem ou. Based on his, we popose a cove sona signal wavefom design appoach wih is poible camouflage applicaion saegy by uilizing bio-inspied seganogaphy. By analyzing he ime-fequency (TF) sucues of whisles emied by false kille whales, i is found ha he TF sucues of hypebolic fequency modulaed (HFM) signals ae vey simila o hose of false kille whales. Theefoe, based on he HFM signal model, a bionic sona signal model is pesened, which is hen uilized o consuc disguised and bionic sona signal wavefoms o accomplish disguised and cove acive sona deecion asks. The main conibuions of his pape can be summaized as follows: () iffeen fom convenional paamee-changing o low SNR sona signal wavefoms, a new ype of disguised, and bionic sona signal wavefom design is poposed; (2) Accoding o he TF chaaceisics of false kille whale calls, an imiaion sona signal mode is pesened, wih a vey good mach o he ue whisle of false kille whales. (3) A compuaionally efficien age ange and speed measuemen algoihm employing he chaaceisics of ime esoluion and opple oleance of he consuced bionic sona signal wavefoms is developed. (4) The poposed appoach ovecomes he ade-off beween long-ange deecion and covene. I can obain covene camouflage even if he SNR of he ansmied signals is vey high. On he ohe hand, i can impove he covene by educing he SNR fo a sho ange age deecion ask. II. ANALYSIS AN PREPROESSING OF FALSE KILLER WHALE ALLS A. haaceisics of false kille whale calls When navigaing, communicaing, huning, and avoiding pedaos in dak o limied vision waes, false kille whales poduce clicks and whisles [28-30], as shown in Fig.. Fig.. licks and whisles poduced by he false kille whale. The clicks ae poduced in seies, quie vaiable in sucue and have fequency peaks fom 20 khz o 20 khz [28-29]. Whisles ae chaaceized by a coninuous wavefom, which appeas on a TF specogam as a single one wih lile o no hamonic o side-band sucue. The fequency of whisles anges fom abou 4 khz o 0 khz [30]. Whisles, wih elaive long-ime duaion, ae believed o seve as some so of communicaion o social cohesion oles. The fequency disibuion of whisles is close o he fequency disibuion of mid-fequency sona signals, which is beneficial fo emoe age deecion. B. Pepoceing and saisical analysis of false kille whale calls The oiginal high qualiy call of 7 minues and 25 seconds, poduced by a false kille whale, was ecoded wih a 44.ksps sampling ae. Unavoidably, he signal was pollued by he Gauian ocean ambien noise [3], and as can be seen fom he TF specogams in Figs. and 2, he whisles of false kille whales ae sho-ime saionay. In such a case, a Wiene file [32] can be uilized o emove he backgound noise of he ecoded signal. The Wiene file is based on a pioi SNR esimaion; he fis 0.25 seconds of he oiginal call ain is uilized o model he noise, and hen he oiginal call ain is ansfomed ino he sho-ime Fouie ansfom (STFT) domain by using a 60% ovelapping Hamming window wih a N=02 samples lengh (25 ms). The ime-domain wavefoms of paial oiginal and denoised false kille whale call ains ae shown in Fig. 2(a), and hei TF specogams ae shown in Fig. 2(b) and 2(c), especively. ompaing Fig. 2(a), 2(b) and 2(c), i can be seen ha he ocean ambien noise has been fileed ou effecively.

4 3 Fig. 2. (a) Pa of he oiginal and denoised false kille whale call ains wih nomalized ampliude (NA); (b) TF specogam of he oiginal false kille whale call ain; (c) TF specogam of he denoised false kille whale call ain. Table. Six ypes of whisles Type escipion Numbe Type- Hypebolic-like up-sweep 80 Type-2 Hypebolic-like double up-sweep 5 Type-3 Paabolic-like up-sweep 6 Type-4 Paabolic-like down-sweep 4 Type-5 Sine-like 5 Type-6 Hamonic-like down-sweep 4 Fig. 3. Six ypes of TF specogam and wavefom epesenaions. To analyze he TF chaaceisics of evey whisle of false kille whales, he endpoin deecion echnique in [33] based on he sho-ime enegy is used o collec all whisles fom he denoised call ain, and 4 whisles ae obained in oal. Then, by compaing he shapes of he TF specogams of whisles, he TF specogams of 4 whisles ae claified ino six disinc ypes aificially, as shown in Table and Fig. 3. As can be seen in Table, he Type- whisles consiue abou 70% of all whisles. This indicaes ha i is moe epesenaive o consuc he bionic and disguised sona signal wavefoms by imiaing he Type- whisles. In addiion, as seen fom Fig. 3, he TF shape of Type- whisles is vey simila o ha of he HFM signal wavefoms. Theefoe, in he nex secion, we popose a bionic sona signal model based on he HFM model. III. BIONI SONAR SIGNAL MOEL A HFM signal wih a duaion T can be wien as [34] A exp j2 ln bfl 0 T b whee b ( f f ) / ( f f T ) defines a unique sweep faco and A( ) L H L H () denoes he signal envelope. The insananeous fequency is defined as f In L fs bfl b bf Obviously, L (2) fs is a hypebolic funcion of ime. The f 0 and he end fequency f sa fequency s fs T ae L and, especively. lealy, he cuvaue of he HFM signal f H wavefom only depends on is fequency ange and duaion. Howeve, when ying o fi he TF shape of he Type- whisle using he HFM signal wavefom, we find ha hee exiss a clea mismach beween hem, as shown in Fig. 4. This mismach is caused by he diffeen cuvaues beween he Type- whisle and he HFM signal wavefom. Howeve, once he fequency ange and he duaion of an HFM signal wavefom ae fixed, is cuvaue canno be changed any moe. Fig. 4. TF specogams of Type- whisle and HFM.

5 4 To have a close mach o he ue whisle, based on he HFM signal model, a novel bionic sona signal model is poposed as follows A exp j2 ln bfl fc 0 T b (3) whee fc plays he pa of he caie fequency. The insananeous fequency is defined as f In L fs bfl fc fc b (4) bf L which coninuously and monoonically goes fom he sa fequency f 0 f f o he end fequency s H c s L c f T f f wihin a pulse duaion in a hypebolic way. The poposed bionic sona signal model is equivalen o he HFM signal model when fc 0 and heefoe moe geneal. Mos impoanly, due o he inoducion of fc in (3), he cuvaue of he TF specogam of fequency ange, duaion and he paamee fequency ange and he duaion of cuvaue can be adjused by changing now depends on is f c. When he ae fixed, is f c, which is vey impoan fo us o imiae he TF shape of he ue whisle as closely as poible. Fig. 5. TF specogams of. Fo example, he insananeous fequency cuves of wih hee diffeen fc paamees, he fequency ange fom 7000 o 9000 Hz and he duaion T 500ms, ae shown in Fig. 5. I can be seen ha wih he change of f c, he cuvaue of he TF specogam of changes consanly. Theefoe, one can imiae and mach he TF shape of he ue whisle as closely as poible by adjusing on he condiion ha he fequency f c ange and he duaion ae fixed. So fa he signal envelope A has no been consideed ye. I can be seen fom Figs. 2 and 3 ha diffeen fom he convenional sona signal wavefoms (e.g. W, LFM, HFM), he whisle envelopes ae no ecangula, and vaied wih diffeen iegulaiy fo diffeen whisles. In ode o fi he envelopes of he whale whisles, an envelope exacion mehod based on STFT is pesened nex. Fisly, he STFT of he denoised whisles is calculaed. The discee-ime signal x( n) of he denoised whisle can be defined as x n a ncos n (5) whee The STFT of whee a n and n ae he envelope and phase of x n is defined as wn n x n. X, x n w n exp jn (6) is a Hamming window wih a N-sample lengh. This definiion can be undesood and visualized by cuing x n ino small segmens wih he window funcion in he ime domain, and x n is expeced o be elaively consan in ampliude and fequency ove N samples. These segmens ae indexed wih m, and x( n) is aumed o have M such segmens. X ( ) is he discee Fouie ansfom (FT) fo he m-h m segmen, and he exaced envelope obained fom X m. a n of x n Secondly, he sa ime poin of he m-h segmen is indexed by m, he ampliude of x n a m is a A, and he peak value of X m is Amp max X m Amp m m is. Since is modulaed by he Hamming window and FT, an ampliude ecovey faco K is equied o esoe he ampliude of he segmen. The Hamming window is defined as [35] w n cos 2 n / N n 0,,..., N (7). The FT of wn is wih W 2 N N (8) whee exp j / 2 sin N / 2 sin / 2 (9) The ampliude specum of he Hamming window is Wa W N N N sin sin sin (0) 2 sin sin sin 2 2 N 2 N Using he LHospial ule, he ampliude of he Hamming window a 0 is given by N () Wa 0 Since he ampliude specum obained fom FT will be scaled by he faco N, i is neceay o muliply he esul wih / N o eliminae he coefficien N in equaion (). Then, he ampliude coecion faco of he Hamming window is KH / (2)

6 5 The ampliude coecion faco of he FT is K 2 / N (3) Then one can obain he ampliude ecovey faco K K K K 2 / N (4) H Finally, le a K A and he ampliude of a m mp is esoed o he same level as he whale whisle envelope. Using he piecewise cubic Hemi inepolaion o add he emaining poins of x n is obained. as a n, he exaced envelope of Fig. 6. TF diagam of he Type- whale whisle. Fig. 7. Wavefom of he Type- whale whisle and he coesponding exaced envelope. m Fig. 8. (a) The false kille whisle A, (b) he TF specogam of he false kille whisle A, (c) he consuced bionic sona signal wavefom, (d) he TF specogam of he consuced bionic sona signal wavefom, (e) he false kille whisle B, (f) he TF specogam of he false kille whisle B, (g) he consuced bionic sona signal wavefom, (h) he TF specogam of he consuced bionic sona signal wavefom. The ype- false kille whisle (see Fig. 2(a)) was seleced o veify he effecivene of he envelope exacion mehod descibed above. As shown in Fig. 6, he idge of he a hee-dimensional (3-) ime-fequency diagam of m basically coincides wih he poins of a m, and he poins of a m ae spase. Afe inepolaion, he exaced envelope a n and he wavefom of he whale whisle ae shown in Fig. 7, whee i can be seen ha a n maches he envelope of he whale whisle well. Based on he bionic sona signal model poposed above, he consucion of 80 bionic sona signal wavefoms coesponding o 80 Type- whale whisles lised in Table is achieved. Fo visualizaion, we choose wo epesenaive false kille whisles A and B (please see he wo whisles in Fig. 2 (a)) o seve as he efeence wavefoms o be mached and imiaed. The ue whisles and hei TF specogams and he consuced bionic sona signal wavefoms and and hei TF specogams ae shown in Fig. 8. I can be seen ha he consuced bionic sona signal wavefoms can highly mach he ue whale whisles in ems of no only envelopes bu also TF specogams. IV. TIME RESOLUTION, OPPLER TOLERANE AN ROSS-ORRELATION OF THE ONSTRUTE BIONI SONAR SIGNAL WAVEFORMS Time esoluion (coesponding o ange esoluion) and opple oleance (elaed o opple esoluion) ae wo key indicaos fo ada and sona signal wavefom design [24]. Fo sona applicaions, when B 0.f0, he signal is consideed o be naowband [36], whee B is he bandwidh and f 0 is he cene fequency of he signal. Based on his cieion, i can be veified ha all of he 80 consuced bionic sona signal wavefoms ae wideband. Theefoe, he wideband ambiguiy funcion (WAF) is used o examine he ime esoluion and opple oleance [37]. * WAFs, s s d (5) whee ( c v) / ( c v) 2 v / c is he opple scale faco, 2 R / c is he popagaion ime delay, R is he age ange (o disance), * is he complex conjugae opeao, v is he elaive speed beween he sona sysem and he age, and

7 6 c is he sound speed in wae. Fig. 9. Range esoluion and opple oleance of he 80 consuced bionic sona signal wavefoms. The ange esoluion (coesponding o he ime esoluion) and speed oleance (coesponding o he opple oleance) of he 80 consuced bionic sona signal wavefoms ae compued and he esuls ae shown in Fig. 9. I can be seen ha all he consuced bionic sona signal wavefoms have excellen ange esoluion and speed oleance; howeve, hei WAF has ceain coupling in he ime-opple plane. Fo visualizaion, he WAF of he consuced bionic sona signal wavefom coesponding o whisle A in Fig. 8(a) is povided in Fig. 0. Fig. 0. WAF diagam of he sona signal. I is well-known ha a good ime esoluion means ha a sona signal wavefom can be used fo high-accuacy ange measuemen of ages, while a good opple esoluion allows high-accuacy speed measuemen of ages. On he conay, a good opple oleance means ha he sona signal wavefom is insensiive o he elaive movemen beween he sona sysem and he age, and heefoe a low speed esoluion. Based on he above analysis and esuls, one can know ha a single consuced bionic sona signal wavefom can be used fo achieving high ange esoluion and esolving muliple closely locaed ages, bu canno be used fo high speed esoluion. In ode o solve his speed measuemen iue, a speed esimaion mehod hough a combinaion of wo consuced bionic sona signal wavefoms wih low co-coelaion beween hem is poposed nex. The 80 consuced bionic sona signal wavefoms can be used o fom combinaions. Then, he co-coelaion beween wo consuced bionic sona signal wavefoms in each combinaion is calculaed. Wih a heshold value of 0.4 fo he co-coelaion, 326 combinaions ae obained, and heefoe can be used o measue he speed of ages using he following mehod. V.SPEE AN RANGE ESTIMATION A. Effec of opple on sona signal wavefoms Befoe pesening he ange and speed esimaion mehods, we fis eview he effec of opple on sona signal wavefoms. When a ansmied sona signal aives a a moving age wih a consan speed, i is efleced back by he age, and he eun echo signal will be opple-disoed, which means he duaion of he eun echo signal will be compeed o seched, and is fequency ange will be shifed [24, 38]. Suppose ha he elaive speed beween he sona sysem and he age is v (whee v fo moving away fom he age and v 0 fo moving owads he age), and he iniial ange of he age is R, he eun echo signal fom he age can be expeed as s s s (6) Aexp j2 ln bfl fc 0 T / b Ignoing noise and popagaion lo, he insananeous fequency of s is wien as fl f ( ) ln bf f f b bf L c c L We define wo new paamees f and 2 / c c as (7) f f vf c v (8) ( ) / ( bf ) 2 vf T / ( c v)( f f ) (9) L H H L ombining (4) and (7)-(9), he following elaionship can be obained f f f (20) ( ) s Equaion (20) indicaes ha he insananeous fequency of he eun echo signal s can be obained hough shifs in ime and fequency axis of he ansmied sona signal as shown in Fig.. Fig.. Time delay and fequency shif of he sona signal wavefom., Howeve, since he duaion of signal is changed by he compeion o seching caused by he opple effec, hee is a paial ovelap beween he TF specogam of s and ha of he shifed in ime and fequency. In Fig., afe is shifed by f and specogam (fom poin a o poin b) of coinciden wih pa (fom poin c o poin d) of, a segmen of he TF becomes s, and fo

8 7 his case, hee appeas a maximum co-coelaion peak beween s. and In addiion, f specogam of s fs does no change he shape of he TF, and only causes a shif of he specogam along he ime axis. In ohe wods, he opple mismach of s is only caused by f accoding o (20). Theefoe, o solve he mismach iue beween and s, and hen and obain a maximum co-coelaion peak beween s, we only need o accuaely compensae f shif of caie fequency f c. B. Speed and ange esimaion hough he In he poposed mehod, we use a single signal wavefom o measue he ange of he age and a combinaion of wo signal wavefoms wih low co-coelaion beween hem o esimae he speed of he age, as shown in Fig. 2. Fig. 2. opple speed measuemen pinciple when he sona sysem and he age move in opposie diecions. Based on he opple speed measuemen pinciple, he following elaionship can be obained: c v T T T ( 2 v/ c) T (2) c v whee T is he ime diffeence beween he ansmied wavefom, ( ) and wavefom, ( ), T is he ime diffeence beween he eun echo s, ( ) e he eun echo s, ( ) of wavefom. e of wavefom and Fuhe, based on (2), he speed of he age can be esimaed hough v ( T T ) c / 2T (22) In ode o obain an accuae esimae v of he speed v, a good esimae T fo T needs o be obained. In he following, a hee-sep esimaion poce of T is pesened. Fis Sep: Aume ha a ime, he end of he eun echo of wavefom aives a he sona eceive; a ime 2, he end of he eun echo of wavefom aives a he sona eceive; he ime diffeence beween he end of wavefom and he end of wavefom is T ; he ime diffeence beween he end of he eun echo of wavefom and he end of he eun echo of wavefom is T. Then, T (23) 2 can be esimaed hough he co-coelaion peak beween wavefom and is eun echo signal, and he esimaion is denoed by ( f ), which is a funcion of f. Likewise, can be esimaed hough he co-coelaion 2 peak beween wavefom and is eun echo signal, and he esimaion is denoed by ( f ). The accuacy of ( f ) depends on he degee of mismach beween wavefom and is eun echo signal; when he degee of mismach is lage, he accuacy of ( f ) will be low; on he conay, he bee he mismach is compensaed, he moe accuacy of ( f ) will become. The same is ue fo ( f ). Meanwhile, he following elaionships can be obained T ( f ) [ ( ) ] f (24) ( f ) ( f ) ( ) whee T is a coase esimaion of T wihou compensaion of he opple effec; and ae he ime shifs coesponding o wavefoms and, especively; f ae he coesponding fequency shifs. And f and and and ae obained by (25) and (26) based on (), 2 v/ c b ( f f ) / ( f f T ). L H L H ( ) / b f f T / ( f f ) (25) L H L H ( ) / b f f T ( ) / ( f f ) (26) L2 H L H whee b ( f f ) / ( f f T ), b ( f f ) / ( f f T ), fl and fh L H L H wavefom, especively, L H L H ae he sa fequency and he end fequency of fl and fh ae hose of wavefom, T is he duaion of wavefom and T is he duaion of wavefom. f and f ae obained by (27) and (28) based on (0). whee f and f c,, f f c ( ) f (27) c, ( ) f (28) c, ae he pa of caie fequencies coesponding o wavefoms and, especively. Since f and f ae funcions abou, and ae also funcions abou, (24) can be ewien as and T [ f ( )] [ f ( )] [ ( ) ( )] (29) whee denoes he ue opple scale faco caused by he elaive speed v. Since is unknown, he values of ( ) and ( ) canno be obained ye. onsideing ha boh wavefoms and

9 8 have excellen opple oleance, ough esimaions T2 ( ) and ( ). T [ f ( )] [ f ( )] (30) T can be obained by ignoing 2 [ f ( )] can be esimaed by compuing he co-coelaion beween wavefom and is eun, and [ f ( )] can be esimaed in he same way. Mos impoanly, he esimaed [ f ( )] is coase due o a lage mismach beween wavefom and is eun. The same is ue fo [ f ( )]. Subsiuing (30) ino (2), a coase esimae 2 fo can be obained. 2 T 2 / of T (3) Second Sep: Subsiuing 2 ino (25), (26), (27) and (28), we can obain coase esimaions ( ) 2, ( ) 2, f ( ) 2 and f ( ) 2 fo ( ), ( ), f ( ) and f ( ), especively. Given (20) and elevan esuls in Secion V-A, afe wavefom s s, ( ) is shifed by f ( ), s 2 s, ( ) becomes s, 2 ( ) s, ( ) A ( )exp[ j2 ( ln( b f ) f f ( ) )] (32) L c,, 2 b c and he maching beween s ( ) s, 2 and se, ( ) will be bee han ha beween s ( ) s, and se, ( ), because pa of he caie fequency is compensaed peliminaily. In ohe wods, he co-coelaion peak beween s ( ) s, 2 and se, ( ) will be lage and moe accuae han he co-coelaion peak beween s ( ) s, and s, ( ). Likewise, he co-coelaion e peak beween s ( ) s, 2 and s ( ) e, will be lage han ha beween, ( ) and se, ( ). Fuhe, aume ha he esimaed ime coesponding o he co-coelaion peak beween he wavefom, 2 ( ) and he eun echo se, ( ) of wavefom is [ f ( 2 )], and he esimaed ime coesponding o he co-coelaion peak beween he wavefom, 2 ( ) and he eun echo se, ( ) of wavefom is [ f ( 2)]. Accoding o (29), one can obain T 3 [ f ( 2)] [ f ( 2)] [ ( 2) ( 2)] (33) Because [ f ( 2)] and [ f ( 2)] ae moe accuae han [ f ( )] and [ f ( )], especively, and he coase esimaions ( ) 2 and ( ) 2 of ( ) and ( ) can be compued by he esimaed 2 (see (3)), one can obain a moe accuae esimaion T of T han T based 3 2 on (33). Then, simila o (3), a moe accuae esimaion value 3 han 2 can be obained T (34) 3 T 3 / Thid Sep: Simila o he poceing pocedue above he Second Sep, a moe accuae esimaion T han T 4 3 can be obained T 4 [ f ( 3)] [ f ( 3)] [ ( 3) ( 3)] (35) And a moe accuae esimaion 4 han 3 is given by 4 T 4 / T (36) Repeaing he above poce muliple imes, one can obain T [ f ( )] [ f ( )] [ ( ) ( )] (37) N ( N) ( N) ( N) ( N) T / T (38) N N The lage N is, he close T T N and N ae o T and, especively, and N can be decided accoding o he esimaion eo equiemen. This is an ieaive poce and he esimaion accuacy impoves as he numbe of ieaions inceases. Finally, based on (22), he speed of he age can be esimaed v ( T T ) c / 2T (39) N The esimaion value R fo ange R can be obained by R { f ( )] } c / 2 (40) [ ( N ) 0 whee 0 denoes he ime insan ha he end of wavefom is sen ou fom he sona sysem. VI. POSSIBLE AMOUFLAGE APPLIATION STRATEGY In a eal wold, false kille whales can poduce vaious clicks and whisles fom ime o ime [28-30]. If he sona sysem only ansmis he same combinaion composed of wo bionic sona signal wavefoms fom ime o ime, he lack of divesiy will geneae an obvious epeiive feaue disincive fom ha of a ue false kille whale. This is because ha he bionic sona signal wavefoms ae only consuced accoding he whisles of false kille whales insead of clicks. In ode o solve he above iues and impove he camouflage abiliy of age deecion poce, a poible camouflage applicaion saegy is designed as shown in Fig. 3. Fig. 3. Poible camouflage applicaion saegy.

10 9 In Fig. 3, W, W 2, W9 and W0 ae he bionic sona signal wavefoms. W and W2 fom a combinaion, W9 and W0 fom anohe one, and hese combinaions ae used o esimae he ange and speed of ages based on he measuemen pinciple in Secion V-B. W 0, W 3, W 4, W 6, W8 and W ae he ue false kille whale clicks, and W 5, W7 and W N ae he ue false kille whale whisles seleced andomly fom Type-2, Type-3, Type-4, Type-5 o Type-6. These clicks and whisles ae used o disguise he consuced bionic sona signal wavefoms, and called camouflage cloak. No click is pesen beween wo consuced bionic sona signal wavefoms which fom a combinaion, such as beween W and W 2. Bu one o moe clicks can be added beween one bionic sona signal wavefom and anohe ue whisle (such as W2 and W 5 ), o beween wo ue whisles (such as W5 and W 7 ). Accoding o he above camouflage applicaion saegy, one can know ha all consuced bionic sona signal wavefoms, all ue whisles and all clicks ae diffeen fom each ohe. Tha is o say, hee is no obvious epeiive feaue in he signal pulse sequence in Fig. 3, which can impove he camouflage abiliy of he sona signal sequence. In addiion, ohe ypes of whisles (namely Tpye-2, Tpye-3, Tpye-4, Tpye-5 and Tpye-6) and diffeen ue clicks ae used in he sona signal sequence in Fig.3, which can incease he divesiy of whisles and clicks, and fuhe impove he camouflage abiliy of he sona signal sequence. I can be see fom Fig.4 ha he sona signal sequence is vey close o he ue call ain of false kille whales. Since hee ae no clicks beween he wo consuced bionic sona signal wavefoms, while hee ae one o muliple clicks beween he bionic sona signal wavefom and anohe ue whisle, o beween wo ue whisles, he wo consuced bionic sona signal wavefoms can be idenified and decoded when hee ae no clicks beween wo long-duaion call pulses (namely bionic whisle o ue whisle). Fo visualizaion, a segmen of a consuced bionic sona signal sequence is shown in Fig. 4. Fig. 4. (a) The TF specogam of he ue call ain, (b) he TF specogam of he consuced bionic sona signal sequence. On he one hand, he consuced bionic sona signal wavefoms ae vey close o he ue false kille whale whisles in ems of ime domain wavefom, fequency disibuion and TF disibuion; on he ohe hand, complying wih he chaaceisic of he ine-pulse ineval of he false kille whale ue call ain, he consuced bionic sona signal wavefoms and he camouflage cloak ae fomed ino a new sona signal sequence, which ensues ha he ine-pulse ineval of he consuced sona signal sequence is consisen wih he false kille whale ue call ain. The convenional mehods achieve he cove opeaion fo acive sona deecion by educing he SNR of he ansmied sona signals. This is because ha i is vey difficul fo he enemy s inecepion sysems o deec he low SNR signals. Howeve, he poposed mehod achieves he cove opeaion hough camouflage saegy. Tha is o say, based on he fac ha he pesen inecepion sysems almos always claify biological signals as ocean noise and y o file hem ou [25-27], he poposed mehod uses he consuced bionic sona signal wavefoms (hey ae vey like he ue whale call) o seve as he sona signals, and hus achieves he cove opeaion hough camouflage saegy. Fuhe, by employing he poposed bionic sona signal wavefoms, alhough high SNR sona signals have o be used fo long ange deecion, he covene of he sysem will no be affeced significanly. On he ohe hand, when facing a sho ange age deecion ask, he sysem can achieve fuhe impoved covene by educing he SNR of he ansmied bionic sona signals simila o he pinciple of convenional mehods which use low SNR signals fo cove opeaion. I is noewohy ha alhough no click is placed beween wo consuced bionic sona signal wavefoms, his does no affec he camouflage pefomance of he consuced bionic sona signal wavefom; his is because ha in he ue false kille whale call ains, hee exi simila whisle wavefoms beween which hee is no click; meanwhile, hee ae also many whisle wavefoms beween which hee is one o muliple clicks. VII. REMARKS Wha is noewohy is ha he poposed camouflage echnology should be used in some sea aea whee he false kille whales exis o people do no sue if he false kille whales exis. In fac, he fake kille whales live widely in he wold's majo oceans excep he Acic Ocean, and hus he scope and sea aea of applicaion of he poposed camouflage saegy is exensive.

11 0 In addiion, he poposed disguised bionic sona signal wavefom design mehod may no be pefec, bu i is an ineesing aemp and can enlighen ohe eseaches o fuhe eseach and impove his kind of disguised bionic sona signal wavefom design mehod, and exploe he elevan echnology by using ohe whale species. VIII.SIMULATIONS AN EXPERIMENTS A. Speed and ange esimaion In his secion, we examine he pefomance of he poposed mehod hough compue simulaions. Please noe ha he exising convenional mehods ae o design cove sona signal wavefoms by changing he paamees o suppeing he SNR of sona signal wavefoms, howeve, in his pape, he poposed mehod is an eniely diffeen and new mehod, and is o design cove sona signal wavefoms by using he ue whale calls (disguised bionic sona signal wavefom). In ohe wods, unde he same condiions, i is vey difficul o even impoible o compae he cove pefomance of designed sona signal wavefoms beween he exising convenional mehods based on paamee-changing o low SNR signals and he poposed mehod based on he disguised bionic sona signal wavefom. Theefoe, in he following simulaions and expeimens, we only evaluae he pefomance of he poposed mehod fom muliple aspecs insead of compaison wih ohe exising convenional mehods. The undewae acousic channel (WATTH) model in [39] is used o simulae he pacical oceanic envionmen. The modeling sas wih calculaing he fas Fouie ansfom (FFT) of he sona wavefom, which yields he fequency-dependen ampliude and phase epesenaion of he wavefom. A se of eigen-ays is hen geneaed hough BELLHOP [40-4], and hey epesen all of he significan conibuing acousic pahs beween he souce and he eceive [42]. Seawae densiy, seafloo densiy and wind speed ae se o be.024 g/cm 3,.469 g/cm 3 and 5m/s, especively. The age moves a a elaive speed of v 5m/s away fom he sona sysem souce. Ohe key paamees ae shown in Fig. 5, wih he sound speed pofile fo he simulaed shallow-wae model given in Fig. 6. Fig. 5. Simulaion seup Fig. 6. Sound speed pofile Fig. 7. (a) A combinaion wavefom composed of wo consuced bionic sona signal wavefoms and, (b) he TF specogam of he consuced combinaion, (c) he wo eceived eun echoes, (d) hei TF specogam, (e) he esimaed ime diffeence beween he wo eceived eun echoes afe hee ieaions. In he fis simulaion, he consuced bionic sona signal wavefoms and (Fig. 7(a)) ae used o fom a combinaion o measue he ange and speed of he age. Thei TF specogams ae shown in Fig. 7(b). The combinaion is ansmied a an SNR of 0dB. Aume ha he eflecion coefficien of he age is one. Afe he wavefoms pa hough he undewae acousic channel, hey ae efleced by he age, hough he undewae acousic channel again, and hen hei eun echoes aive a he sona eceiving sysem. Fig. 7(c) shows he eceived eun echoes, which have a diffeen ime domain envelope fom he ansmied wavefoms and owing o he impac of he undewae acousic channel. Fig. 7(d) shows he TF specogam of he eceived eun echoes. Using he ange and speed esimaion mehods pesened in Secion V, he ime lengh of sona wavefoms aiving a he age and hen coming back o he sona eceiving sysem and he ime diffeence beween he eceived wo eun echoes ae obained, especively, and hen he esimaed ange and speed of he age ae obained.

12 eceived eun echoes afe hee ieaions. I can be seen ha even a a low SNR value, a high esimaion pefomance can sill be achieved by he poposed mehod. Fig.8. The RMSE of he esimaed ange and speed wih SNR=0dB fo he ansmied sona signal wavefoms. Nex, fixing he SNR of he ansmied sona signal wavefoms a 0dB, he effec of he numbe of ieaions (please see (37)-(40)) on he esimaion accuacy fo ange and speed is examined. The oo-mean-squae eo (RMSE) esuls [43] of he esimaed ange and speed wih 00 independen Mone alo uns [43-44] ae shown in Fig. 8. I can be seen ha wih he incease of he numbe of ieaions, he esimaion accuacy impoves coninuously. Howeve, he fis hee ieaions have he mos impac on he esul, while he impovemen becomes le beyond ha. This indicaes ha in pacice, fo a low-complexiy implemenaion, hee ieaions could be employed wih a saisfacoy pefomance. Fig. 9. (a) Wavefoms of he wo eceived eun echoes, (b) hei TF specogam, (c) he esimaed ime diffeence beween he wo eceived eun echoes afe hee ieaions. In he second simulaion, he low SNR case is evaluaed and he SNR of he ansmied sona signal wavefoms is se o -0dB. All ohe paamees ae he same as in he fis simulaion. The combinaion of wo consuced bionic sona signal wavefoms and is ansmied. Fig. 9 shows he wavefoms of he wo eceived eun echoes, hei TF specogam and he esimaed ime diffeence beween he wo Fig. 20. Esimaion pefomance of he ange and speed a diffeen SNRs and diffeen speeds of he age. In he hid simulaion, he esimaion pefomance is evaluaed as he SNR vaies fom -20dB o 30dB on he condiion ha he speed of he age is 5m/s and 0m/s, especively. Ohe simulaion paamees ae he same as in he fis simulaion. The RMSE esuls wih 00 independen Mone alo uns ae shown in Fig. 20, whee i can be seen ha as he SNR inceases, he RMSE of he esimaed ange and speed deceases coninuously. The esimaion pefomance unde he age s speed of 5m/s is supeio o ha of 0m/s, which is because ha he eun echoes unde a speed of 0m/s have lage defomaion caused by he opple effec, and hus esuls in ha he co-coelaion esuls have lage eos. B. amouflage abiliy evaluaion In he fouh expeimen, he camouflage abiliy of he consuced wavefoms is examined. Suppo Veco Machine (SVM), which is widely used in small sample ecogniion poblems and undewae acousic signal ecogniion [45], was used as claifie o claify he consuced bionic sona signal wavefoms and he fis ype of ue whisles in Table. We uilized he five ode polynomials o fi he idge of he TFs of boh he consuced sona signal wavefoms and he fis ype of ue whisles, and hen five coefficiens and esidual eo of he five ode polynomials wee used as feaue paamees o ain he claifie. K-fold co-validaion is a adiional and effecive mehod o evaluae he pefomance of a claifie ove a daase [46-47]. In his pape, 4-fold co-validaion was used fo claificaion evaluaion, 80 false kille whale whisles wee andomly paiioned ino fou equal sized daases WS, WS2, WS3 and WS4, and each of he fou daases conains 20 whale whisles. Likewise, 80 consuced bionic sona signal wavefoms wee also andomly divided ino fou equal sized daases SS, SS2, SS3 and SS4. In each co-validaion poce, a subsample, which included hee ses of he whale whisles and hee ses of he sona signal wavefoms, was used as aining daa fo he SVM claifie, and hen he emaining whale whisles and sona signal wavefoms wee claified and ecognized by he SVM claifie. The co-validaion poce is hen epeaed hee imes, and each goup of he whale whisles (namely W S, W S2, W S3 and W S4) and sona signal

13 2 wavefoms (namely SS, SS2, SS3 and SS4) wee used once as he claified daa. laifie seial numbe Table 2.onfusion maices esuls of he fou-fold co-validaion of SVM claifies Taining daa laified daa Sona signals (%) Whale whisles (%) W S, W S2, W S3, S S, S S2, S S3 W S4, S S4 Sona signals Whale whisles W S, W S2, W S4, S S, S S2, S S4 W S3, S S3 Sona signals Whale whisles W S, W S3, W S4, S S, S S3, S S4 W S2, S S2 Sona signals Whale whisles W S2, W S3, W S4, S S2, S S3, S S4 W S, S S Sona signals Whale whisles Table 2 shows he expeimenal condiions and confusion maices esuls of he fou-fold co-validaion of SVM claifies. Fo he fis SVM claifie, 50% of S S4 wee claified as he bionic sona signal wavefoms and 45% of WS4 wee claified as he whale whisles. Theefoe, he claificaion ae of he fis SVM claifie is (50%*20+45%*20)/(20+20)=47.5%. Similaly, he claificaion aes of he emaining hee SVM claifies ae 55.0%, 45.0% and 52.5%, especively. Based on above esuls, one can see ha he bionic sona signal wavefoms have an abou 50% pobabiliy of being claified as he ue whale whisles, and he ue whisles of false kille whales also have an abou 50% pobabiliy of being claified as he bionic sona signal wavefoms, which indicaes ha he SVM claifie canno disinguish he bionic sona signal wavefoms fom he ue whisles of false kille whales, ha is o say, he consuced bionic sona signal wavefoms ae vey close o he ue whisle of false kille whales. IX. ONLUSION iffeen fom convenional paamee-changing o low SNR sona signal wavefoms fo cove opeaions, a new ype of bionic sona signal wavefom design wih is poible camouflage applicaion saegy has been poposed by highly imiaing he false kille whale whisles o consuc he bionic and disguised sona signal wavefoms. Accoding o he ime esoluion and opple oleance of he poposed bionic sona signal wavefoms, a compuaionally efficien age ange and speed esimaion algoihm was developed and evaluaed. The covene of he consuced sona signal wavefoms and hei camouflage applicaion saegy wee designed and impoved fom muliple aspecs (ime domain wavefom, fequency disibuion, TF disibuion, ine-pulse ineval and divesiy of he signal wavefoms). Mos impoan of all, he poposed appoach can solve he ade-off poblem beween long-ange deecion and covene. I can keep a saisfacoy level of covene by means of camouflage even if he SNR of he ansmied signals is vey high. On he ohe hand, i can impove he covene fuhe by educing he SNR fo a sho ange age deecion ask. The poposed bionic sona signal wavefom design echnology can be used widely in he undewae senso plafoms. In his pape, only 80 Type- whisles ae imiaed. In he fuue eseach wok, ohe ypes of whisles will be imiaed hough in-deph sudies. X.AKNOWLEGMENTS This wok was suppoed in pa by he TianJin Naual Science Foundaions of hina unde Gan No. 7JQNJ000, Naional Naual Science Foundaions of hina unde Gan No , , , Naional key eseach and developmen plan (207YFF ), Young Elie Scieniss Sponsoship Pogam By as of hina unde Gan No. 206QNR00, Open Pojec (MOMST205-7) of Key Laboaoy of Mico Opo-eleco Mechanical Sysem Technology, Tianjin Univesiy, Minisy of Educaion, Phooelecic Infomaion and Insumen-Engineeing Reseach ene of Beijing Open Pojec No.G REFERENE [] Folle, R. F., and J. P. onohoe. "A wideband, high-esoluion, low-pobabiliy-of-deecion FFT beamfome." IEEE Jounal of Oceanic Engineeing, vol.9, no.2, pp.75-82, 994. [2] Nicholson, avid L. "Spead specum signal design: LPE and AJ sysems." (988). [3] Louey, Simon J. "Fequency hopping wavefoms fo coninuous acive sona." IEEE Inenaional onfeence on Acousics, Speech and Signal Poceing, pp , 205. [4] Keehi, Y. and T Bha. LPI ada signal geneaion and deecion, 205. [5] Sanciu, Mihai Ionu, S. Azou, and A. Sebanescu. "On he blind esimaion of chip ime of ime-hopping signals hough minimizaion of a mulimodal cos funcion." IEEE Tansacions on Signal Poceing, vol.59, no.2, pp, , 20. [6] Maszal J, Salamon R. "eecion ange of inecep sona fo WFM signals." Achives of Acousics, vol.39, no.2, pp , 204. [7] Maszal J, Salamon R, Kilian L. "Applicaion of maximum lengh sequence in silen sona." Hydoacousics, vlo.5, pp.43-52, 202. [8] Maszal J, Salamon R, Zachaiasz K, e al. "opple effec in he cw fm sona." Hydoacousics, vol.4, pp , 20. [9] Kulpa K, Lukin K, Miceli W, e al. "Signal poceing in noise ada echnology [Edioial]." IET Rada, Sona & Navigaion, vol.2, no.4, pp , 2008.

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15 4 [47] Sunny, Kuma V, Misha V N, e al. laificaion and quanificaion of binay mixues of gases/odos using hick-film gas senso aay esponses. IEEE Sensos Jounal, 204, 5(2): hunyue Li was bon in HeBei, hina, in 993. She eceived he B.S. degee fom Noheasen Univesiy, Shenyang, hina in 206. She is cuenly woking owad he Ph.. degee in TianJin Univesiy (Sae Key Lab of Pecision Measuing TechnologyInsumens), TianJin, hina. He eseach inees focuses on he undewae acousic deecion and communicaion. Jiajia Jiang was bon in HuBei, hina, in 986. He eceived he B.S. degees fom HeBei Nomal Univesiy and he M.S. degee and Ph.. degee fom TianJin Univesiy (Sae Key Lab of Pecision Measuing TechnologyInsumens), TianJin, hina, in 20 and 204, especively. He is cuenly an aociae pofeo in TianJin Univesiy (Sae Key Lab of Pecision Measuing TechnologyInsumens). His eseach inees focuses on undewae acousic deecion, undewae acousic communicaion, aay signal poceing. Zhongbo Sun was bon in HuBei, hina, in 993. He eceived he B.S. degee fom Liaoning Univesiy, Shenyang, hina in 206. He is cuenly woking owad a M.S. degee in Sae Key Lab of Pecision Measuing Technology and Insumens a TianJin Univesiy. His eseach inees focuses on he undewae acousic deecion and communicaion. Lingan Bu was bon in Shanong, hina, in He eceived his B.S. degees fom TianJin Univesiy (Sae Key Lab of Pecision Measuing Technology and Insumens) in 206. He is cuenly woking owad a M.S. degee in Sae Key Lab of Pecision Measuing Technology and Insumens a TianJin Univesiy. His eseach inees focuses on he undewae acousic signal deecion, idenificaion and claificaion. Xiao Fu was bon in Shanong, hina, in 990. He eceived he B.Eng degees fom TianJin Univesiy, TianJin, hina, in 203. He is now a Ph.. suden a TianJin Univesiy (Sae Key Lab of Pecision Measuing TechnologyInsumens) since 203. His eseach inees focuses on he undewae communicaion and deecion. Fajie uan was bon in HuNan, hina, in 968. He eceived he M.S. degees fom TianJin Univesiy and he Ph.. degee fom TianJin Univesiy (Sae Key Lab of Pecision Measuing TechnologyInsumens), TianJin, hina, in 99 and 994, especively.he woked as a pofeo a TianJin Univesiy (Sae Key Lab of Pecision Measuing TechnologyInsumens) since His eseach inees focuses on he design of he aay sysem, aay signal poceing, acousic deecion of maine. He was named he Naional New enuy Excellen Talens of Minisy of Educaion in He is he auho o coauho of ove 20 papes and holds seven paens. Wei Liu eceived he B.Sc. and L.L.B. degees fom Peking Univesiy, hina, in 996 and 997, especively, he M.Phil. degee fom The Univesiy of Hong Kong in 200, and he Ph.. degee fom he School of Eleconics and ompue Science, Univesiy of Souhampon, U.K., in He held a pos-docoal posiion a he Impeial ollege London. Since 2005, he has been wih he epamen of Eleconic and Elecical Engineeing, Univesiy of Sheffield, U.K., as a Lecue and hen as a Senio Lecue. He has auhoed ove 230 jounal and confeence papes, hee book chapes, and a eseach monogaph abou wideband beamfoming (Wideband Beamfoming: onceps and Techniques, Wiley, 200). His eseach ineess ae in senso aay signal poceing, blind signal poceing, mulivaiae signal poceing and hei vaious applicaions in wiele communicaions, ada, sona, saellie navigaion, human compue ineface, and enewable enegy exploiaion. Tinging Huang was bon in Hunan, hina, in 992. She eceived he Bachelo's degee fom Tianjin Univesiy, Tianjin, hina, in 204. She is cuenly a doco candidae in Tianjin Univesiy (Sae Key Lab of Pecision Measuing Technology & Insumens). He eseach inees focuses on he undewae communicaion and deecion. Ling Ma was bon in Shandong, hina, in 992. She eceived he B.E. degee fom Tianjin Univesiy, and she is now pusuing he Ph.. degee in he Sae Key Lab of Pecision Measuing TechnologyInsumens, Tianjin Univesiy, Tianjin, hina. He eseach inees focuses on he undewae communicaion and deecion. Xianquan Wang eceived his B.S. degees fom TianJin Univesiy (Sae Key Lab of Pecision Measuing Technology and Insumens) in 205. He is cuenly woking owad a Ph.. degee in Sae Key Lab of Pecision Measuing Technology and Insumens a TianJin Univesiy. His eseach inees focuses on he undewae communicaion and deecion.

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