Near-real-time acoustic monitoring of beaked whales and other cetaceans using a Seaglider™

In most areas, estimating the presence and distribution of cryptic marine mammal species, such as beaked whales, is extremely difficult using traditional observational techniques such as ship-based visual line transect surveys. Because acoustic methods permit detection of animals underwater, at night, and in poor weather conditions, passive acoustic observation has been used increasingly often over the last decade to study marine mammal distribution, abundance, and movements, as well as for mitigation of potentially harmful anthropogenic effects. However, there is demand for new, cost-effective tools that allow scientists to monitor areas of interest autonomously with high temporal and spatial resolution in near-real time. Here we describe an autonomous underwater vehicle--a glider--equipped with an acoustic sensor and onboard data processing capabilities to passively scan an area for marine mammals in near-real time. The glider was tested extensively off the west coast of the Island of Hawai'i, USA. The instrument covered approximately 390 km during three weeks at sea and collected a total of 194 h of acoustic data. Detections of beaked whales were successfully reported to shore in near-real time. Manual analysis of the recorded data revealed a high number of vocalizations of delphinids and sperm whales. Furthermore, the glider collected vocalizations of unknown origin very similar to those made by known species of beaked whales. The instrument developed here can be used to cost-effectively screen areas of interest for marine mammals for several months at a time. The near-real-time detection and reporting capabilities of the glider can help to protect marine mammals during potentially harmful anthropogenic activities such as seismic exploration for sub-sea fossil fuels or naval sonar exercises. Furthermore, the glider is capable of under-ice operation, allowing investigation of otherwise inaccessible polar environments that are critical habitats for many endangered marine mammal species.     

Repeated decrease in vocal repertoire size in Streptopelia doves

Most bird species produce different acoustic signals in different behavioural contexts. This intraspecific variation in signal types is thought to be the result of selection for optimal communication in each context. Doves in the genus Streptopelia have three distinct behavioural contexts in which they produce coo vocalizations. Some Streptopelia species have three acoustically similar coo vocalizations associated with the three contexts, but in others the coo vocalizations differ in acoustic structure. Using a well-resolved phylogeny, we examined whether acoustic differentiation between coo types was the ancestral state. Unexpectedly, the results showed that the common ancestor of Streptopelia had differentiated coos rather than a single coo type. This result implies that context-specific acoustic signals disappeared from the vocal repertoire independently at least two times. We further tested whether different context-dependent signal types follow different evolutionary pathways and whether they differ in rate of evolutionary change. We found that the long-range signal (perch-coo) evolves at a higher rate than the short-range signal (bow-coo). These results are discussed in relation to selection for species recognition and transmission requirements.     

Fish Sound Production in the Presence of Harmful Algal Blooms in the Eastern Gulf of Mexico

This paper presents the first known research to examine sound production by fishes during harmful algal blooms (HABs). Most fish sound production is species-specific and repetitive, enabling passive acoustic monitoring to identify the distribution and behavior of soniferous species. Autonomous gliders that collect passive acoustic data and environmental data concurrently can be used to establish the oceanographic conditions surrounding sound-producing organisms. Three passive acoustic glider missions were conducted off west-central Florida in October 2011, and September and October 2012. The deployment period for two missions was dictated by the presence of red tide events with the glider path specifically set to encounter toxic Karenia brevis blooms (a.k.a red tides). Oceanographic conditions measured by the glider were significantly correlated to the variation in sounds from six known or suspected species of fish across the three missions with depth consistently being the most significant factor. At the time and space scales of this study, there was no detectable effect of red tide on sound production. Sounds were still recorded within red tide-affected waters from species with overlapping depth ranges. These results suggest that the fishes studied here did not alter their sound production nor migrate out of red tide-affected areas. Although these results are preliminary because of the limited measurements, the data and methods presented here provide a proof of principle and could serve as protocol for future studies on the effects of algal blooms on the behavior of soniferous fishes. To fully capture the effects of episodic events, we suggest that stationary or vertically profiling acoustic recorders and environmental sampling be used as a complement to glider measurements.     

Ecological inferences about marine mammals from passive acoustic data

Monitoring on the basis of sound recordings, or passive acoustic monitoring, can complement or serve as an alternative to real-time visual or aural monitoring of marine mammals and other animals by human observers. Passive acoustic data can support the estimation of common, individual-level ecological metrics, such as presence, detection-weighted occupancy, abundance and density, population viability and structure, and behaviour. Passive acoustic data also can support estimation of some community-level metrics, such as species richness and composition. The feasibility of estimation and certainty of estimates is highly context dependent, and understanding the factors that affect the reliability of measurements is useful for those considering whether to use passive acoustic data. Here, we review basic concepts and methods of passive acoustic sampling in marine systems that often are applicable to marine mammal research and conservation. Our ultimate aim is to facilitate collaboration among ecologists, bioacousticians, and data analysts. Ecological applications of passive acoustics require one to make decisions about sampling design, which in turn requires consideration of sound propagation, sampling of signals, and data storage. One also must make decisions about signal detection and classification and evaluation of the performance of algorithms for these tasks. Investment in the research and development of systems that automate detection and classification, including machine learning, are increasing. Passive acoustic monitoring is more reliable for detection of species presence than for estimation of other species-level metrics. Use of passive acoustic monitoring to distinguish among individual animals remains difficult. However, information about detection probability, vocalisation or cue rate, and relations between vocalisations and the number and behaviour of animals increases the feasibility of estimating abundance or density. Most sensor deployments are fixed in space or are sporadic, making temporal turnover in species composition more tractable to estimate than spatial turnover. Collaborations between acousticians and ecologists are most likely to be successful and rewarding when all partners critically examine and share a fundamental understanding of the target variables, sampling process, and analytical methods.     

Does vocal learning accelerate acoustic diversification? Evolution of contact calls in Neotropical parrots

Learning has been traditionally thought to accelerate the evolutionary change of behavioural traits. We evaluated the evolutionary rate of learned vocalizations and the interplay of morphology and ecology in the evolution of these signals. We examined contact calls of 51 species of Neotropical parrots from the tribe Arini. Parrots are ideal subjects due to their wide range of body sizes and habitats, and their open‐ended vocal learning that allows them to modify their calls throughout life. We estimated the evolutionary rate of acoustic parameters of parrot contact calls and compared them to those of morphological traits and habitat. We also evaluated the effect of body mass, bill length, vegetation density and species interactions on acoustic parameters of contact calls while controlling for phylogeny. Evolutionary rates of acoustic parameters did not differ from those of our predictor variables except for spectral entropy, which had a significantly slower rate of evolution. We found support for correlated evolution of call duration, and fundamental and peak frequencies with body mass, and of fundamental frequency with bill length. The degree of sympatry between species did not have a significant effect on acoustic parameters. Our results suggest that parrot contact calls, which are learned acoustic signals, show evolutionary rates similar to those of morphological traits. This is the first study to our knowledge to provide evidence that change through cultural evolution does not necessarily accelerate the evolutionary rate of traits acquired through life‐long vocal learning.     

Individual right whales call louder in increased environmental noise

The ability to modify vocalizations to compensate for environmental noise is critical for successful communication in a dynamic acoustic environment. Many marine species rely on sound for vital life functions including communication, navigation and feeding. The impacts of significant increases in ocean noise levels from human activities are a current area of concern for the conservation of marine mammals. Here, we document changes in calling behaviour by individual endangered North Atlantic right whales (Eubalaena glacialis) in increased background noise. Right whales, like several bird and primate species, respond to periods of increased noise by increasing the amplitude of their calls. This behaviour may help maintain the communication range with conspecifics during periods of increased noise. These call modifications have implications for conservation efforts for right whales, affecting both the way whales use sound to communicate and our ability to detect them with passive acoustic monitoring systems.     

Assessing marine ecosystem acoustic diversity across ocean basins

Concurrent with the elevation of the concern over the state of sound in the ocean, advances in terrestrial acoustic monitoring techniques have produced concepts and tools that may be applicable to the underwater world. Several index values that convey information related to acoustic diversity with a single numeric measurement made from acoustic recordings have been proposed for rapidly assessing community biodiversity. Here we apply the acoustic biodiversity index method to low frequency recordings made from three different ocean basins to assess its appropriateness for characterizing species richness in the marine environment. Initial results indicated that raw acoustic entropy (H) values did not correspond to biological patterns identified from individual signal detections and classification. Noise from seismic airgun activity masked the weaker biological signals and confounded the entropy calculation. A simple background removal technique that subtracted an average complex spectrum characteristic of seismic exploration signals from the average spectra of each analysis period that contained seismic signals was applied to compensate for salient seismic airgun signals present in all locations. The noise compensated (H_N) entropy index was more reflective of biological patterns and holds promise for the use of rapid acoustic biodiversity in the marine environment as an indicator of habitat biodiversity and health.     

The Acoustic Properties of Low Intensity Vocalizations Match Hearing Sensitivity in the Webbed-Toed Gecko,Gekko subpalmatus

The design of acoustic signals and hearing sensitivity in socially communicating species would normally be expected to closely match in order to minimize signal degradation and attenuation during signal propagation. Nevertheless, other factors such as sensory biases as well as morphological and physiological constraints may affect strict correspondence between signal features and hearing sensitivity. Thus study of the relationships between sender and receiver characteristics in species utilizing acoustic communication can provide information about how acoustic communication systems evolve. The genus Gekko includes species emitting high-amplitude vocalizations for long-range communication (loud callers) as well as species producing only low-amplitude vocalizations when in close contact with conspecifics (quiet callers) which have rarely been investigated. In order to investigate relationships between auditory physiology and the frequency characteristics of acoustic signals in a quiet caller, Gekko subpalmatus we measured the subjects’ vocal signal characteristics as well as auditory brainstem responses (ABRs) to assess auditory sensitivity. The results show that G. subpalmatus males emit low amplitude calls when encountering females, ranging in dominant frequency from 2.47 to 4.17 kHz with an average at 3.35 kHz. The auditory range with highest sensitivity closely matches the dominant frequency of the vocalizations. This correspondence is consistent with the notion that quiet and loud calling species are under similar selection pressures for matching auditory sensitivity with spectral characteristics of vocalizations.     

Seasonal and diel patterns in Pacific white-sided dolphin (Lagenorhynchus obliquidens) pulsed calls near Barkley Canyon

Evaluation of temporal patterns in offshore marine mammal activity through visual data collection can be impaired by light and weather conditions and the cost of ship time. The conditions-independence and cost-efficacy of acoustic data collection make it popular for researching the temporal patterns of wild dolphins. However, Pacific white-sided dolphins (PWSDs) north of Southern California remain under-researched. This study evaluates diel and seasonal patterns in PWSD communication signals detected in 480 days of near-continuous passive acoustic data collected over 20 months from the Barkley Canyon node of Ocean Networks Canada's NEPTUNE observatory, offshore Vancouver Island, British Columbia, Canada. In this study, a random forest classifier is used to identify PWSD pulsed calls and false positives are manually removed. The resulting acoustic presence-absence data set is evaluated for seasonal and diel patterns using generalized additive mixed models, considering masking effects from ambient noise. PWSDs are found to be vocally active during all diel periods year-round, with high summer and low spring activity. Seasonally dependent diel patterns are identified, with PWSD pulsed calls exhibiting no diel pattern in spring, a slight increase in vocal activity during dusk and night in fall and winter, and a notable increase during night and dawn in summer.     

Perceptual salience of acoustic differences between conspecific and allospecific vocalizations in African collared-doves

In speciation events, species-distinct vocal signals can diverge acoustically in many ways. Signal receivers have to be able to distinguish conspecific from allospecific vocalizations, and the perceptual salience of acoustic features is therefore expected to be an important factor in the evolution of such vocalizations. We tested how dissimilar the species-identifying perch-coos of 12 closely related turtle-dove species (genus Streptopelia) are, as perceived by one of its members, S. roseogrisea. With operant, psychoacoustic methods we trained six doves to respond only to their conspecific coo. Responses to the perch-coos of the 12 other dove species were used as a measure of their perceptual similarity to conspecific perch-coos. Turtle-doves differentiated between the allospecific coos: some were perceived as more similar to their own species' coo than others. With multiple regression analysis we identified three acoustic features that correlated with these differences in perceptual similarity: coo duration, minimum frequency and Wiener entropy. In contrast to findings in other bird species, duration was by far the most important feature in the discrimination between conspecific and allospecific vocalizations for S. roseogrisea. The results suggest that this is due not only to the coos of the various species differing in duration but also to a comparatively high perceptibility of the differences in duration. Copyright 2003 Published by Elsevier Science Ltd on behalf of The Association for the Study of Animal Behaviour.      

Mobile receivers: releasing the mooring to ‘see’ where fish go

Much has been learned from the large scale deployment of acoustic tags on aquatic species and associated networks of riverine and marine receivers. While effective in the linear environment of river systems, marine systems limit the ability to provide spatial information on fish movements and distributions due to a combination of costs, logistics, and lack of off-shore technology. At the same time, each year millions of dollars worth of tags are being released into the aquatic environment with extended battery/transmission life, yet detections are limited to coastal arrays. Here we explore new methods of tracking acoustically tagged species in the marine environment. A new miniaturized acoustic receiver, the Vemco Mobile Transceiver (VMT) can be carried by large marine organisms. In combination with satellite and archival tag technology, VMTs were deployed on northern elephant seals to monitor acoustic tags encountered during their migrations across the Northeast Pacific. Early results include acoustic detections of tagged great white sharks, salmon sharks, Chinook salmon, steelhead, lingcod, green sturgeon and other elephant seals. We also propose several alternative directions for future effort: 1) analyzing the growing number of passive acoustic survey recordings made from hydrophone arrays for acoustic tag detections, 2) working with acoustic technology providers to develop hull-mounted receiver systems for the thousands of ocean going vessels around the world and 3) integrating acoustic receiver technology into the thousands of moored and drifting oceanographic buoy arrays.     

The communicative life of a social carnivore: acoustic repertoire of the ring-tailed coati (Nasua nasua)

The coati is a highly social mammal that features sophisticated cognitive and social abilities. We hypothesized that the ring-tailed coati, Nasua nasua, uses an extensive acoustic repertoire that correlates to their diverse range of social interactions. We tested this hypothesis by observing and recording a free-ranging managed population of N. nasua in Tietê Ecological Park (PET), in the municipality of São Paulo, State of São Paulo, Brazil. Of 404 h of sampling, 47 h of coati vocalizations were recorded over 3 years. Additional records were obtained opportunistically on other free-living populations at PET by using passive acoustic monitoring. We describe here an acoustic repertoire composed of 15 calls (12 basic calls, 2 rhythmic calls and the non-random complex calls composed of three or four different units). This diverse repertoire of signals was used in contact/cohesion regulation, foraging activities, alert or potential threat situations, playing and fighting interactions and during social isolation and acute distress. The contact call (chirp) is produced through biphonation, and other non-linear phenomena are present. Our study found a complex vocal repertoire that encourages further studies to describe the evolution of the cognitive characteristics and social abilities of ring-tailed coatis.     

Social vocalizations of big brown bats vary with behavioral context

Bats are among the most gregarious and vocal mammals, with some species demonstrating a diverse repertoire of syllables under a variety of behavioral contexts. Despite extensive characterization of big brown bat (Eptesicus fuscus) biosonar signals, there have been no detailed studies of adult social vocalizations. We recorded and analyzed social vocalizations and associated behaviors of captive big brown bats under four behavioral contexts: low aggression, medium aggression, high aggression, and appeasement. Even limited to these contexts, big brown bats possess a rich repertoire of social vocalizations, with 18 distinct syllable types automatically classified using a spectrogram cross-correlation procedure. For each behavioral context, we describe vocalizations in terms of syllable acoustics, temporal emission patterns, and typical syllable sequences. Emotion-related acoustic cues are evident within the call structure by context-specific syllable types or variations in the temporal emission pattern. We designed a paradigm that could evoke aggressive vocalizations while monitoring heart rate as an objective measure of internal physiological state. Changes in the magnitude and duration of elevated heart rate scaled to the level of evoked aggression, confirming the behavioral state classifications assessed by vocalizations and behavioral displays. These results reveal a complex acoustic communication system among big brown bats in which acoustic cues and call structure signal the emotional state of a caller.     

Vocal cues to male androgen levels in giant pandas

Little is known about the potential of non-human mammal vocalizations to signal information on the hormonal status of the caller. In the current study, we used endocrine data and acoustic analyses to determine whether male giant panda bleats provide reliable information about the caller''s current androgen levels. Our results revealed significant relationships between acoustic features of male giant panda bleats and the caller''s faecal androgen metabolite concentrations. To our knowledge, this constitutes the first demonstration that the acoustic structure of a non-human mammal call has the potential to yield information about the caller''s current androgen levels. We go on to discuss the anatomical basis for our findings and the potential functional relevance of signalling information on male androgen levels in giant panda sexual communication.     

Hearing in the sea otter (Enhydra lutris): auditory profiles for an amphibious marine carnivore

In this study we examine the auditory capabilities of the sea otter (Enhydra lutris), an amphibious marine mammal that remains virtually unstudied with respect to its sensory biology. We trained an adult male sea otter to perform a psychophysical task in an acoustic chamber and at an underwater apparatus. Aerial and underwater audiograms were constructed from detection thresholds for narrowband signals measured in quiet conditions at frequencies from 0.125–40 kHz. Aerial hearing thresholds were also measured in the presence of octave-band masking noise centered at eight signal frequencies (0.25–22.6 kHz) so that critical ratios could be determined. The aerial audiogram of the sea otter resembled that of sea lions and showed a reduction in low-frequency sensitivity relative to terrestrial mustelids. Best sensitivity was ?1 dB re 20 µPa at 8 kHz. Under water, hearing sensitivity was significantly reduced when compared to sea lions and other pinniped species, demonstrating that sea otter hearing is primarily adapted to receive airborne sounds. Critical ratios were more than 10 dB higher than those measured for pinnipeds, suggesting that sea otters are less efficient than other marine carnivores at extracting acoustic signals from background noise, especially at frequencies below 2 kHz.     

Soft-output signal detection for cetacean vocalizations using spectral entropy,k-means clustering and the continuous wavelet transform

Underwater passive acoustic monitoring systems record many hours of audio data for marine research, making fast and reliable non-causal signal detection paramount. Such detectors assist in reducing the amount of labor required for signal annotations, which often contain large portions devoid of signals.Cetacean vocalization detection based on spectral entropy is investigated as a means of vocalization discovery. Previous techniques using spectral entropy mostly consider time–frequency enhancement of the entropy measure, and utilize the short time Fourier transform (STFT) as its time–frequency (TF) decomposition. Spectral entropy methods also requires the user to set a detection threshold manually, which call for knowledge of the produced entropy measures.This paper considers median filtering as a simple, effective way to provide temporal stabilization to the entropy measure, and considers the continuous wavelet transform (CWT) as an alternative TF decomposition. K-means clustering is used to determine the threshold required to accurately separate the signal/no-signal entropy measures, resulting in a one-dimensional, two-class classification problem. The class means are used to perform pseudo-probabilistic soft class assignment, which is a useful metric in algorithmic development. The effect of median filtering, signal-to-noise ratio and the chosen TF decomposition are investigated.The accuracy and specificity measures of the proposed detection technique are simulated using a pulsed frequency modulated sweep, corrupted by a sample of ocean noise. The results show that median filtering is particularly effective for low signal-to-noise ratios. Both the STFT and CWT prove to be effective TF analyses for signal detection purposes, each presenting with different advantages and drawbacks. The simulated results provide insight into configuring the proposed detector, which is compared to a conventional STFT-based spectral entropy detector using manually annotated humpback whale (Megaptera novaeangliae) songs recorded in False Bay, South Africa, July2021.The proposed method shows a significant improvement in detection accuracy and specificity, while also providing a more interpretable detection threshold setting via soft class assignment, providing a detector for use in development of adaptive algorithms.     

Temporal patterns in the acoustic signals of beaked whales at Cross Seamount

Seamounts may influence the distribution of marine mammals through a combination of increased ocean mixing, enhanced local productivity and greater prey availability. To study the effects of seamounts on the presence and acoustic behaviour of cetaceans, we deployed a high-frequency acoustic recording package on the summit of Cross Seamount during April through October 2005. The most frequently detected cetacean vocalizations were echolocation sounds similar to those produced by ziphiid and mesoplodont beaked whales together with buzz-type signals consistent with prey-capture attempts. Beaked whale signals occurred almost entirely at night throughout the six-month deployment. Measurements of prey presence with a Simrad EK-60 fisheries acoustics echo sounder indicate that Cross Seamount may enhance local productivity in near-surface waters. Concentrations of micronekton were aggregated over the seamount in near-surface waters at night, and dense concentrations of nekton were detected across the surface of the summit. Our results suggest that seamounts may provide enhanced foraging opportunities for beaked whales during the night through a combination of increased productivity, vertical migrations by micronekton and local retention of prey. Furthermore, the summit of the seamount may act as a barrier against which whales concentrate prey.     

Acoustic signal dominance in the multimodal communication of a nocturnal mammal

Multimodal communication in animals is common, and is particularly well studied in signals that include both visual and auditory components. Multimodal signals that combine acoustic and olfactory components are less well known. Multimodal communication plays a crucial role in agonistic interactions in many mammals, but relatively little is known about this type of communication in nocturnal mammals. Here, we used male Great Himalayan leaf-nosed bats Hipposideros armiger to investigate multimodal signal function in acoustic and olfactory aggressive displays. We monitored the physiological responses (heart rate [HR]) when H. armiger was presented with 1 of 3 stimuli: territorial calls, forehead gland odors, and bimodal signals (calls + odors). Results showed that H. armiger rapidly increased their HR when exposed to any of the 3 stimuli. However, the duration of elevated HR and magnitude of change in HR increased significantly more when acoustic stimuli were presented alone compared with the presentation of olfactory stimuli alone. In contrast, the duration of elevated HR and magnitude of change in HR were significantly higher with bimodal stimuli than with olfactory stimuli alone, but no significant differences were found between the HR response to acoustic and bimodal stimuli. Our previous work showed that acoustic and chemical signals provided different types of information; here we describe experiments investigating the responses to those signals. These results suggest that olfactory and acoustic signals are non-redundant signal components, and that the acoustic component is the dominant modality in male H. armiger, at least as it related to HR. This study provides the first evidence that acoustic signals dominate over olfactory signals during agonistic interactions in a nocturnal mammal.     

Analysis of the vocal repertoire of adult pikas: ecological and evolutionary perspectives

Analyses of vocalizations and behaviour of field and captive populations of pikas (Ochotona princeps) indicate that adults use at least nine structurally distinct acoustic signals in a variety of contexts. The pika acoustic repertoire more closely resembles in size and form the repertoires of many rodent species rather than those of other lagomorphs. The evolution of an elaborate acoustic repertoire has been influenced both by the pikas' atypical social organization and the visually disruptive environment in which they live.     

Acoustic characteristics and variations in grunt vocalizations in the oyster toadfish <Emphasis Type="Italic">Opsanus tau</Emphasis>

Acoustic communication is critical for reproductive success in the oyster toadfish Opsanus tau. While previous studies have examined the acoustic characteristics, behavioral context, geographical variation, and seasonality of advertisement boatwhistle sound production, there is limited information on the grunt or other non-advertisement vocalizations in this species. This study continuously monitored sound production in toadfish maintained in an outdoor habitat for four months to identify and characterize grunt vocalizations, compare them with boatwhistles, and test for relationships between the incidence of grunt vocalizations, sound characteristics and environmental parameters. Oyster toadfish produced grunts in response to handling, and spontaneous single (70% of all grunts), doublet (10%), and trains of grunts (20%) throughout the May to September study period. Grunt types varied in pulse structure, duration, and frequency components, and were shorter and of lower fundamental frequency than the pulse repetition rate of boatwhistles. Higher water temperatures were correlated with a greater number of grunt emissions, higher fundamental frequencies, and shorter sound durations. The number of grunts per day was also positively correlated with daylength and maximum tidal amplitude differences (previously entrained) associated with full and new moons, thus providing the first demonstration of semilunar vocalization rhythms in the oyster toadfish. These data provide new information on the acoustic repertoire and the environmental factors correlated with sound production in the toadfish, and have important implications for seasonal acoustic communication in this model vocal fish.