Fundamentals of shallow water acoustics

548 Pages·2012·8.54 MB·English

by  B G Kat︠s︡nelʹson

MonographSeriesin
UNDERWATER ACOUSTICS
Sponsored by Office of Naval Research
Editorial Board: Jeffrey A. Simmen, Ph.D., Chair
Homer P. Bucker, Ph.D.
Ira Dyer, Ph.D.
Finn B. Jensen, Ph.D.
Ellen S. Livingston, Ph.D.
Forfurther volumes:
http://www.springer.com/series/5535
Monograph Series in
UNDERWATER ACOUSTICS
In 2001 the Office of Naval Research began a program to publish a selected monograph
series in the field of underwater acoustics. The series publishes in-depth reviews and
analysisonthestateofunderstandingofthephysicsofsoundinselectedareasofresearch.
Themonographseriescoversthemostimportanttopicsinunderwatersoundinanin-depth,
critical, scholarly,and comprehensive fashion. Itisintendedtoprovideresearchers withan
understandingofthephysicsofunderwatersound,basedonboththeoryandexperiment.The
discussionofimportantunansweredquestionsisencouraged.Topicsofparticularimportancein
thefieldarelow-frequencysoundinthedeepocean,shallow-wateracoustics,andambientnoise.
Sponsored by:
Office ofNaval Research
OneLiberty Center
875North RandolphStreet, Suite 1425
Arlington,VA22203-1995
E-mail:[email protected]
Series Editors:
JeffreyA.Simmen,Ph.D. HomerP. Bucker, Ph.D.
AppliedPhysics Laboratory Space andNaval Warfare Systems
Universityof Washington Center, retired
1013NE 40thStreet 808MoanaDrive
Seattle,WA 98105-6698 San Diego,CA 92106
E-mail:[email protected] E-mail:[email protected]
Ira Dyer,Ph.D. Finn B.Jensen, Ph.D.
Weber Shaughness Professor Emeritus Scientist
of Ocean Engineering, Emeritus NATO UnderseaResearch Centre
Massachusetts Instituteof Technology 19126La Spezia,Italy
Cambridge,MA 02139 E-mail:[email protected]
Ellen S.Livingston,Ph.D.
Associate Director
Ocean and UnderseaScience
U.S. Office ofNaval Research Global
86BlenheimCrescent
West Ruislip,MiddlesexHA4 7HB
UnitedKingdom
E-mail:[email protected]
Boris Katsnelson Valery Petnikov
l
James Lynch
Fundamentals of Shallow
Water Acoustics
BorisKatsnelson ValeryPetnikov
VoronezhStateUniversity A.M.ProkhorovGeneralPhysicsInstitute
UniversitetskayaSquare1 RussianAcademyofSciences
Voronezh349006,Russia Moscow119991,Russia
[email protected] [email protected]
JamesLynch
WoodsHoleOceanographicInstitution
WoodsHole02543,MA,USA
[email protected]
ISBN978-1-4419-9776-0 e-ISBN978-1-4419-9777-7
DOI10.1007/978-1-4419-9777-7
SpringerNewYorkDordrechtHeidelbergLondon
LibraryofCongressControlNumber:2011944833
#SpringerScience+BusinessMedia,LLC2012
Allrightsreserved.Thisworkmaynotbetranslatedorcopiedinwholeorinpartwithoutthewritten
permissionof the publisher (SpringerScience+Business Media, LLC, 233 SpringStreet, New York,
NY10013,USA),exceptforbriefexcerptsinconnectionwithreviewsorscholarlyanalysis.Usein
connectionwithanyformofinformationstorageandretrieval,electronicadaptation,computersoftware,
orbysimilarordissimilarmethodologynowknownorhereafterdevelopedisforbidden.
The use in this publication of trade names, trademarks, service marks, and similar terms, even if
theyarenotidentifiedassuch,isnottobetakenasanexpressionofopinionastowhetherornotthey
aresubjecttoproprietaryrights.
Printedonacid-freepaper
SpringerispartofSpringerScience+BusinessMedia(www.springer.com)
Series Preface
Theefficacyofsoundtopenetratetheseasmadeacousticsystemsinthepastcentury
theleadingtoolsforsensingobjectsinandmeasuringpropertiesoftheseas.Forover
60 years, the US Office of Naval Research (ONR) has been a major sponsor of
undersearesearchanddevelopmentatuniversities,nationallaboratories,andindus-
trialorganizations.AppropriatelyONRisthesponsorofthismonographseries.
The intent of the series is to summarize recent accomplishments in, and
to outline perspectives for, underwater acoustics in specific fields of research.
The general field has escalated in importance and spread broadly with richness
anddepthofunderstanding.Ithasalso,quitenaturally,becomemorespecialized.
Thegoalofthisseriesistopresentmonographsthatcriticallyreviewbothpastand
recent accomplishments in order to address the shortcomings in present under-
standing. In this way, these works will bridge the gaps in understanding among
thespecialistsandfavorablycolorthedirectionofnewresearchanddevelopment.
Eachmonographisintendedtobeastand-aloneadvancedcontributiontothefield.
Wetrustthatthereaderwillalsofindthateachisacriticalintroduction torelated
specializedtopicsofinterestaswell.
ONRhassponsoredtheseriesthroughgrantstotheauthors.Authorsareselected
by ONR based on the quality and relevance of each proposal and the author’s
experience in the field. The editorial board, selected by ONR, has, at times,
providedindependentviewstoONRinthisprocess.Itssoleofficialrole,however,
istojudgethemanuscriptsbeforepublicationandtoassisteachauthorathisrequest
throughtheprocesswithsuggestionsandbroadencouragement.
JeffreyA.Simmen,Ph.D.
HomerP.Bucker,Ph.D.
IraDyer,Ph.D.
FinnB.Jensen,Ph.D.
EllenS.Livingston,Ph.D.
v

Preface and Acknowledgments
Shallow water acoustics is a very active area of underwater acoustics research, as
thecontinentalshelvesandslopeshavegreateconomic,social,andmilitaryimpor-
tance to humans, and all these areas interact with ocean sound. However, books
dedicated to this specific topic are in short supply, and indeed the book “Shallow
Water Acoustics” published over two decades ago in Russian by the two Russian
authors of this present book was the first volume specifically dedicated to this
branch of underwater acoustics. The authors then had this book translated into
English, and it represented the state of the art up toabout 1995. However,a huge
amountofresearchhasbeendoneinthisareainthelast15years,andsowethought
thatitwouldbeagoodthingforthethreeofustocollaborateonabookthatwould
update the coverage of the field, as well as point out more strongly where we
thoughtthefuturemightlie.AstheOfficeofNavalResearch(ONR)waspublishing
abookseriesonunderwatersound,andwasamenabletotheidea,wesignedonwith
themandproducedthisbook,guidedbyatechnicalEditorialBoardthatreviewed
andcritiquedourwork.
Itmayseemstrangetosomethatabookonunderwatersoundwaswrittenjointly
by an American and two Russians, but in fact it is a rather natural development
giventhehistoryofthelast50years.DuringtheColdWarera,boththeUSAand
Russiadevelopedconsiderableexpertiseinunderwatersound,andhadlargecom-
munities working in the area. And though (obviously) any transfer of classified
workwasandisstrictlyprohibitedbybothcountries,thetransferofbasicresearch
knowledge was and still is fairly open. Indeed, American researchers studied the
works of the famous Russian acoustician Leonid Brekovskikh, while Russian
researchers were just as familiar with the textbooks by Bob Urick and Clarence
Clay.WhentheColdWarsubsidedinaround1990,actualmeetingsofRussianand
Americaninvestigatorsbecamecommon,andindeedthatiswhenthethreeauthors
ofthisbookfirstmet,ataportcalloftheRussianresearchvesselAkademikSergey
VavilovinBoston,MA.Whatstruckusallwasjusthowmuchwehadincommon
scientifically–wespokeonecommonlanguagewell,eveniftheRussians’English
waspoorandtheAmerican’sRussiannonexistent.Wewereexcitedaboutthebasic
vii
viii PrefaceandAcknowledgments
acousticsscience,andastheinternationaldoorshadopenedsufficiently,westarted
tocollaborate.
In the post-Cold War era, Russian support for experimental ocean acoustics
droppedprecipitously,andseagoingeffortsbecamefewandfarbetween.However,
a strong community with a good understanding of experiments and a sterling
knowledge of theory existed, and started to look outwards for collaboration and
funding.USfundingalsodroppedsome,butONRstillmaintainedavibrantocean
acousticsprogram,includingastrongexperimentalandtechnologicalcomponent.
GiventhedatacomingoutoftheUSprogram,andtheanalysiscapabilitiesofthe
Russianresearchers,anaturalpartnershipwaspossible,andindeedcametofruition
inmanycases,notjustforthisbook.Thisbitoftechnologicalsymbiosishasbeen
goodforallconcerned,andweferventlyhopeitwillcontinue.
Regardingthebookitself,wehavewrittenabookthatisintendedforgraduate
students, postdocs, and more advanced researchers, that is also a cross between a
researchmonographandatextbook.Astherearefewtextbooksinthisarea(seethe
above remarks), we thought that covering the elements of the field, but at an
advanced level, would be useful On the other hand, we also wanted to provide a
monograph that showed the state of the art in research, and also tried to point the
wayforfutureefforts.Thismadethebookabitofabalancingact,andwehopethat
ithassucceeded.
We also have couched much of the physics of this book in terms of the modal
picture,whichwethinkisthemostnaturaloneforshallowwater.Thatisnottosay
thatwehaveavoidedraytheoryorWKB,butthatouremphasishasbeenonlower
frequencymodalwork.Wealsonotethatsomeofthephysicscanbeexplainedin
theraypictureaswellasthemode,andindeedoneofourEditorialBoardmembers,
Dr.IraDyer,isastrongadvocateoflookingatthingsthatway.Ourfeelingisthat,
once you have understood the physics in one picture or the other, you can under-
standitbothways–thepicturetranslationisnotsohard.
One might also notice a bias in the experimental data discussed to the Barents
Sea and the East Coast of the USA. This is because these are the places that
were most frequented experimentally by the authors and their home Institutions
(Voronezh State University, the General Physics Institute and the Woods Hole
Oceanographic Institution). We are most familiar with the data from these areas,
andsonaturallyusedthemfirstforexamples.
Next,youwillnoteinreadingthisbookthatitspeakswithbothaRussianandan
American (New Jersey) accent, depending on the section. We have tried hard to
makethingsgrammaticallycorrect,andclearaswell,butthe“linguisticlilt”ofthe
various sectionswe left intact.As all ofus are fans ofthe great physicist Richard
Feynman, we think that speaking in your own voice is no crime, and has a noble
precedent.Feynmanwouldhavecontended,aswedo,itiswhatyousayaboutthe
science,andnottheregionalaccentthatcounts.
Aswithanylargerpieceofwork,manypeoplewereinvolvedandcontributedto
its completion. From the Russian side, the authors would like to acknowledge
Fyodor V. Bunkin, Yuri A. Kravtsov, and the many other colleagues from the
A.M. Phokhorov General Physics Institute and the Voronezh State University
PrefaceandAcknowledgments ix
whoseworkintheexecutionoflarge-scaleexperimentsontheshelfoftheBarents
Sea and the interpretation of the results was invaluable. From the American side,
theauthoralsowarmlyacknowledgesthenumerouscolleagueswithwhomhehas
gone to sea, analyzed data, and argued over what it all means at meetings, work-
shops, seminars, and other venues. Regarding funding, all the authors give their
heartfeltthankstotheUSOfficeofNavalResearchandtheRobertW.MorseSenior
ScientistChairatWHOI,bothofwhichpaidforthemajorityofthiswork.Fromthe
Editorial side, the efforts of the Editorial Review Board (Drs. Ralph Goodman
(deceased), Ira Dyer, Jeffrey Simmen, and Finn Jensen have been enormously
helpful. The enthusiasm and project management of Dr. Ellen Livingston is also
warmly appreciated. Also, our great thanks to Ms. Sheila Hurst for her editorial
workandskills,andMs.GretchenMcManaminforheradministrativeassistance.
Finally,ourthankstoourwivesandfamilies,whoputupwithouroftenerratic
andtravelheavyoceanographerlifestyles,whichareprerequisitestowritingsucha
book.Theonlyreallyhardthingaboutbeinganoceanographerisbeingawayfrom
suchwonderfulfamiliesforlongperiodsoftime.
Voronezh,Russia BorisKatsnelson
Moscow,Russia ValeryPetnikov
WoodsHole,MA,USA JamesLynch