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

glotin@univ-tln.frSéminaire 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, …