Real time multiple whaletracking and behavior monitoring
using short or long hydrophone bases
Pr. H. Glotin, Dr. F. Bénard
Equipe DYNamiques de I’InformationLSIS-USTV, UMR CNRS & Univ. Sud-Toulon Var
http://www.lsis.org/dyni
More available at http://glotin.univ-tln.fr/PIMC/DEMO
[email protected]éminaire CPPM nov 2010
Summer 2010 - Toulon
• Why acoustic monitoring ?– Data collection of unknown species
– Biopopulation modelling
– Estimation of anthropic impacts
– Behavior analysis (hunting, social interactions,…)
• Scientific Challenges– Robust detections– Highly defined trajectographies – Multiple simultaneous multiple tracking
– Real time processing
Blind Source Separation
Behavior data
Semiotics analysis
Dialect & Group Id.
Age & Sex Id.
Population & Migration dynamic
Species identification
Counting
Voicing pattern and transient
analysis
4D tracking
Hydrophone array records
Labelling
The LSIS PIMC FrameworkPlateform Integrating Multimodal information for Cetology
BOUSSOLE in PELAGOS : a Continuous robust acoustic detection (18 months In Liguria sea)
2008 - 2010 at 60 km from Nice
Rorqual, PC, dolphins,…
PROGRAMME DE RECHERCHE 2007/2009 de PELAGOS France
Oct. Nov. Dec. Jan. Fev. Mars Avril Mai Juin
LSIS – NOA - MARINELAND
Population density andBehavior analyses
ingestion
Ref: Bénard, Giraudet, Glotin 2007 - AUTEC Bahamas [réf 2] andLARAN SOPHIE. - CASTELLOTE MANUEL. - Hervé GLOTIN - Frédéric BÉNARD - LAMMERS MARC. "PROGRAMMES DE MONITORING DES CETACES DANS LE SANCTUAIRE PELAGOS: suivi acoustique des populations de cétacés en Mer Ligure" , 10ème Séminaire du Réseau National Echouages, Stratégies de suivi de l'état des populations de mammifères marins, 2008
6
credits:AUTEC
Atlantic undersea Test & Evaluation Center (AUTEC) / Tongue of The Ocean (TOTO)
Bathymetry of AUTEC RangeBathymetry of AUTEC Range
credits:AUTEC
The first tracking Challenge : workshop DLMMPAC MONACO 2005
Challenge : tracking into the 20 minutes of 4*48 Khz records
RESULTS LSIS PIMC (MONACO2005, dataset 1 whale)
PIMCLSIS PIMC TRACK
REF [4] 2006
Results on multiple whale tracking LSIS PIMC compared to SOEST Hawaï (2007)
( US Navy did not continue )
PIMC :
Results LSIS (blacks) compared to SOEST (Hawaï) (blue) with V > 100km/h
Coherent SpeedsV ~= 10 km/h. REF in [2]
New LSIS PIMC 2009 [ref. 3]
in 3D :LSIS PIMC :
PIMC-DYNI (red) versus SOEST Hawaï (blue)Including false détections
Glotin et al. International Pattent USA, JAPAN,AUSTRALIA, CANADA, …
on line demonstration :
http://glotin.univ-tln.fr/PIMC/DEMO
2010 Challengetracking on short base (2m)
System LSIS PIMC-multitrack-SB
Challenge on NEutrino Mediterranean Observatory (NEMO)
• Tetraedre (4 hydrophones), depth 2000m
• 25km offshore Sicilia
• H3 at the top (1.2 m )
• Fs=96 kHz, 24 bits
• 30 Hz–50 kHz
Data : Challlenge PAVI 2010 NEMO [1] - CIBRA - G. Pavan - Italie
Results LSIS PIMC on NEMO(challenge workshop de Pavi 2010 – candidat final)
1. Fichier dati_fondo_20050817_160000_4CH_1X_3200 (probablement une baleine)
ElevationAzimut
N=1
Top view and Diving profil
2. Fichier dati_fondo_20050818_180000_4CH_1X_3200 (certainly 2 or 3 whales)
Azimut Elevation
N=3
Top view
• Direction South-Est
V1=7km/h
V2=9km/h
V3=11km/h
Diving profils
3. Fichier dati_fondo_20050818_220000_4CH_1X_3200 (certainly 1 whale)
Azimut Elevation
N=1
Diving profil
-1000m
Top view
Towards Online Automatic Database Structuration Automatic classification and Mpeg indexing [3]
Conclusion
• PIMC TRACK is ready for RT pluging on ANTARES data
• PIMC TRACK deals from 1 to 5 hydrophones
• And with very short or long array
• We already had collaborations with Erlangen team …
Selected Bibliography[1] Frédéric Bénard – Hervé Glotin - GIRAUDET P. "Whale 3D monitoring using astrophysic NEMO
ONDE two meters wide platform with state optimal filtering by Rao-Blackwell Monte Carlo data association" , in : Journal of Applied Acoustics, Vol. 71 (2010), pp. 994-999, nov 2010
[2] Frédéric Bénard – Hervé Glotin, "Automatic indexing and content analysis of whale recordings and XML representation" , in : EURASIP Special Issue, Advances in Signal Processing for Maritime Applications, Vol. 2010 (2010), pp. 8, 2010
[3] Frédéric Bénard – Hervé Glotin, "WHALES LOCALIZATION USING a LARGE HYDROPHONE ARRAY: PERFORMANCE RELATIVE to CRAMER-RAO BOUNDS and CONFIDENCE REGIONS" , in : Springer-Verlag, e-Business and Telecommunications, sep 2009
[4] Giraudet.Pascale - Hervé Glotin "Real-time 3D tracking of whales by precise and echo-robust TDOAs of clicks extracted from 5 bottom-mounted hydrophones records of the AUTEC" , in : Applied Acoustics, Vol. 6711-12, pp. 1106-1117, 2006
[5] LARAN S. - CASTELLOTE M. – H. GLOTIN – F. BÉNARD - LAMMERS M. "PROGRAMMES DE MONITORING DES CETACES DANS LE SANCTUAIRE PELAGOS: suivi acoustique des populations de cétacés en Mer Ligure" , 10e sem. Réseau National Echouages, Stratégies de suivi de l'état des populations 2008
[6] Hervé GLOTIN - Frédéric BÉNARD - GIRAUDET P. "Whales cocktail party: a real-time tracking of multiple whales" , in : International Journal Canadian Acoustics, Vol. 361, pp. 139-145, mar 2008 ISSN 0711-6659
Annexe – DYNI Integration DYNamiques de l’information
DYNI LSIS - UMR CNRS Univ Toulonhttp://www.lsis.org/dyni
• Axe scientifique de l’équipe DYNI = Interfacer / Coupler– Traitement du signal – Détection – Classification automatique – Trajectographie multi-cible robuste
• Applications en détection / indexation de «cibles»– Sur signaux Bio-acoustique, Parole, Vidéo, Image, Texte, …
• Modélisation et Validation– Participation à des challenges internationaux,– Dépôt de brevets (PCT USA, Canada, Japon, NVZ,…)– Publications internationales– Boîtes à outils, …
