Underwater Acoustics
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Monograph Series in UNDERWATER ACOUSTICS Sponsored by Office of Naval Research Editorial Board: Ralph R. Goodman, Ph.D., Chair Homer P. Bucker, Ph.D. Ira Dyer, Ph.D. Jeffrey A. Simmen, Ph.D. Monograph Series in UNDERWATER ACOUSTICS In 2001 the Office of Naval Research began a program to publish a selected mono- graph series in the field of underwater acoustics. The series publishes in-depth reviews and analysis on the state of understanding of the physics of sound in se- lected areas of research. The monograph series covers the most important topics in underwater sound in an in-depth, critical, scholarly, and comprehensive fashion. It is intended to provide researchers with an understanding of the physics of underwater sound, based on both theory and experiment. The discussion of important unanswered questions is encouraged. Topics of particular importance in the field are low-frequency sound in the deep ocean, shallow-water acoustics, and ambient noise. Sponsored by: Office of Naval Research One Liberty Center 875 North Randolph Street, Suite 1425 Arlington, VA 22203-1995 E-mail: [email protected] Series Editors: Ralph R. Goodman, Ph.D. Homer P. Bucker, Ph.D. Research Professor 808 Moana Drive USM Department of Marine Science San Diego, CA 92106 1020 Balch Blvd E-mail: [email protected] Stennis Space Center, MS 39529 E-mail: [email protected] Ira Dyer, Ph.D. Jeffrey A. Simmen, Ph.D. Weber Shaughness Professor Applied Physics Laboratory of Ocean Engineering, Emeritus University of Washington Massachusetts Institute of Technology 1013 NE 40th Street Cambridge, MA 02139 Seattle, WA 98105-6698 E-mail: [email protected] Charles H. Sherman John L. Butler Transducers and Arrays for Underwater Sound With 388 Illustrations ABC Charles H. Sherman John L. Butler Principal Scientist Chief Scientist Image Acoustics, Inc. Image Acoustics, Inc. 97 Elm Street 97 Elm Street Cohasset, MA 02025 Cohasset, MA 02025 Library of Congress Control Number: 2006921991 ISBN-10: 0-387-32940-4 e-ISBN 0-387-33139-5 ISBN-13: 978-0387-32940-6 Printed on acid-free paper. c 2007 Springer Science+Business Media, LLC All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+Business Media, LLC, 233 Springer Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. 987654321 springer.com To Elizabeth and Nancy Series Preface The efficacy of sound to penetrate the seas made acoustic systems in the past cen- tury the leading tools for sensing objects in and measuring properties of the seas. For over sixty years The United States Office of Naval Research (ONR) has been a major sponsor of undersea research and development at universities, national laboratories, and industrial organizations. Appropriately ONR is the sponsor of this monograph series. 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 and depth of understanding. It has also, quite naturally, become more specialized. The goal of this series is to present monographs that critically review both past and recent accomplishments in order to address the shortcomings in present under- standing. In this way, these works will bridge the gaps in understanding among the specialists and favorably color the direction of new research and development. Each monograph is intended to be a stand-alone advanced contribution to the field. We trust that the reader will also find that each is a critical introduction to related specialized topics of interest as well. ONR has sponsored the series through grants to the authors. Authors are selected 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, provided independent views to ONR in this process. Its sole official role, however, is to judge the manuscripts before publication and to assist each author at his request through the process with suggestions and broad encouragement. Ralph R. Goodman, Ph.D. Ira Dyer, Ph.D. Homer P. Bucker, Ph.D. Jeffrey A. Simmen, Ph.D. vii Preface We have written this book as part of the underwater acoustics monograph series initiated by the Office of Naval Research (ONR), Department of the Navy of the United States. The ONR objective for this series is publication of in-depth reviews and analyses of the state of understanding of the physics of sound in selected areas of undersea research. This monograph presents the theory and practice of underwater electroacoustic transducers and arrays as developed during the last half of the twentieth century and into the initial part of the twenty-first century. We have attempted to present a comprehensive coverage of the subject of trans- ducers and arrays for underwater sound starting with a brief historical review and a survey of some of the many modern applications. Descriptions of the six major types of electroacoustic transducers are presented in a unified way that facilitates their comparison and explains why some types are better suited than others for producing and receiving sound in the water. The characteristics of transducers used as both projectors and hydrophones, and the methods available for predict- ing and measuring transducer performance, are presented in detail. The reasons for combining large numbers of transducers in arrays are explained, and the spe- cial problems that must be considered in such arrays are analyzed. The nonlinear mechanisms that exist in all transducers are described, and analyses of some of their most important effects are given. Many different acoustical quantities play essential roles in the design and performance of electroacoustic transducers and arrays, and the methods for determining these quantities are presented. Analyt- ical modeling and understanding is emphasized throughout the book, but it is also made clear that numerical modeling is now an essential part of transducer and array design. Non-electroacoustic types of transducers that are used in certain underwater applications, such as explosive sources, spark sources, hydroacoustic sources, and optical hydrophones, are not included in this book. The monograph is organized in a manner that brings the reader quickly to the main body of results on current transducers and arrays in the first six chapters with a minimum of background material. The most important basic concepts of electroacoustic transduction are introduced in Chapter 1, after a brief historical review and a survey of some of the many applications of transducers and ar- rays. Chapter 2 describes and compares the six major types of electroacoustic ix x Preface transducers, presents additional transducer concepts and characteristics, and intro- duces the equivalent circuit method of transducer analysis. Chapters 3 through 6 contain the main body of results on modern transducers and arrays. Chapters 3 and 4 cover transducers as projectors, which produce sound, and as hydrophones, which receive sound, including many details of specific transducer designs as they are used in current applications. Chapters 5 and 6 explain the benefits of combin- ing large numbers of transducers in arrays that often contain more than a thousand individual transducers. These large arrays are necessary in many sonar applica- tions, but they introduce other problems that are also discussed and analyzed. The remaining six chapters, 7 through 12, support the earlier chapters and carry the discussion of concepts and methods into much more detail for those who seek a deeper understanding of transducer operation. Chapter 7 describes all the princi- pal methods of transducer modeling, analysis, and design, including an introduc- tion to the finite element method. Chapter 8 gives further discussion of the most important transducer characteristics. Chapter 9 describes the principal nonlinear mechanisms that occur in all the transducer types and presents methods of analyz- ing important nonlinear effects such as harmonic distortion. Chapter 10 presents the basic acoustics necessary for determining those acoustical quantities, such as directivity patterns and radiation impedance, that are essential to transducer and array analysis and design. It also includes useful results for such quantities in several typical cases. Chapter 11 extends the discussion of acoustical quantities by introducing more advanced methods of analysis that can be applied to more complicated cases including a brief introduction to numerical methods. Chapter 12 is a summary of the major methods of measurement used for the evaluation of transducer and array performance. The book ends with an extensive Appen- dix containing several types of specific information that can be used in transducer analysis and design and with a Glossary of Terms. We have attempted to make this monograph suitable for beginners to learn from— and for practitioners in the transducer field to learn more from. In addition, those concerned in any way with undersea research may find useful guidance re- garding applications of transducers and arrays. Although some parts of this book may be useful to undergraduates, it is written on a graduate level for engineers and scientists in the fields of electrical engineering, mechanical engineering, physics, ocean engineering, and acoustical engineering. The book uses SI (MKS) units in general, but English units are also occasionally used to clarify the relationship to practical devices.