Committee on Acoustics of the Polish Academy of Sciences Section of Underwater and Medical Acoustics Polish Acoustical Society Gdansk Division

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2 Committee on Acoustics of the Polish Academy of Sciences Section of Underwater and Medical Acoustics Polish Acoustical Society Gdansk Division ISSN (print) ISSN X (online) HYDROACOUSTICS Annual Journal Volume 20 Gdańsk 2017

3 Hydroacoustics is the annual journal in which original papers, both theoretical and experimental, concerning problems in hydroacoustics and its application are published. EDITORIAL BOARD Grażyna Grelowska - Editor in Chief Eugeniusz Kozaczka Jacek Marszal Roman Salamon Andrzej Stepnowski SECRETARY Alicja Salomon ADVISORY EDITORIAL BOARD prof. David Bradley prof. Grażyna Grelowska prof. Halvor Hobaek prof. Zygmunt Klusek prof. Eugeniusz Kozaczka prof. Tim Leighton prof. Andrzej Nowicki prof. John Papadakis prof. Roman Salamon prof. Andrey Serebryany prof. Jean-Pierre Sessarego prof. Andrzej Stepnowski prof. Michael Taurodakis prof. Peter Wille Published under the auspices of: International Commission for Acoustics European Acoustics Association Technical Committee on Hydroacoustics Gdansk University of Technology Faculty of Electronics, Telecommunications and Informatics Gdansk University of Technology Faculty of Ocean Engineering and Ship Technology Polish Naval Academy Faculty of Navigation and Naval Weapons PUBLISHER Polish Acoustical Society Gdansk Division Narutowicza 11/12, Gdansk, Poland Phone: (+48 58) , Fax: (+48 58) grazyna.grelowska@pg.edu.pl

4 HYDROACOUSTICS Annual Journal Volume 20

5 CONTENTS Karol ABRATKIEWICZ Sonar Pulse Detection Using Chirp Rate Estimation and CFAR Algorithms. 7 Krzysztof BIKONIS, Jerzy DEMKOWICZ Inertial Sensors Applications in Underwater Measurements.. 13 Krzysztof BIKONIS, Jakub KRAWCZYK, Andrzej STEPNOWSKI Integrated acoustical-optical system for inventory of hydrotechnical objects 19 Krystian BUSZMAN, Wojciech SZYMCZAK, Waldemar MIRONIUK Acoustic analysis of remote-controlled surface and underwater vehicles Jerzy DEMKOWICZ MEMS Technology Evaluation for Submerged Vehicle Navigation.. 35 Krzysztof DRYPCZEWSKI, Łukasz MARKIEWICZ, Andrzej STEPNOWSKI Multidimensional GIS for satellite imagery analysis.. 41 Piotr GRALL The accuracy of a new approach to order determination for the Modified Prony method in swath mapping application. 51 Piotr GRALL, Jacek MARSZAL Theoretical analysis of a new approach to order determination for a modified Prony method in swath mapping application.. 63 Andrzej JEDEL, Jacek MARSZAL, Roman SALAMON Analysis of distance measurement errors in CW FM sonar with MLS code modulation Rafał JÓZWIAK, Ivor NISSEN, Karol LISTEWNIK Data Compression and Clustering of One-Third-Octave Spectra by Acoustical Colors. 85 Tamara KUJAWSKA, Wojciech DERA, Cezary DZIEKOŃSKI Automated bimodal ultrasound device for preclinical testing of HIFU technique in treatment of solid tumors implanted into small animals. 93 Szymon KULA, Rafał JÓZWIAK Influence of protective hydrophone housing on its receiving sensitivity. 99 Marek KULAWIAK, Zbigniew ŁUBNIEWSKI Multibeam data processing for 3D object shape reconstruction. 105 Zbigniew ŁUBNIEWSKI, Dariusz SĘK On Algorithm Details in Multibeam Seafloor Classification.. 113

6 Jan MAJCHER, Miłosz GRABOWSKI, Jacek BEŁDOWSKI Determining hotspots of sonar targets related to chemical munitions dumped in Bornholm Deep and Gotland Deep using GIS 121 Andrzej NOWICKI, Katarzyna DOBRUCH-SOBCZAK Introduction to tissue shear wave elastography Patryk Damian PEZACKI, Natalia GORSKA, Vladimir SOLOVIEV An acoustic study of zooplankton diel vertical migration in the Black Sea 139 Jan SCHMIDT, Iwona KOCHAŃSKA, Aleksander SCHMIDT Measurement of Impulse Response of Shallow Water Communication Channel by Correlation Method 149 Wojciech SECOMSKI, Janusz WÓJCIK, Ziemowit KLIMONDA, Robert OLSZEWSKI, Andrzej NOWICKI Influence of absorption and scattering on the velocity of acoustic streaming Justyna SZUSZKIEWICZ, Zygmunt KLUSEK, Natalia GORSKA Impact of salinity on the underwater noise generated by small scale air entrainment events Wojciech SZYMCZAK, Krystian BUSZMAN Passive hydroacoustic method of detection and tracking object moving on the sea surface and floating in the depth. 173 Katarzyna KAMIŃSKA, Karol LISTEWNIK Historical Torpedo Proving Ground on the Puck Bay and Polish Navy Control and Measurement Unit 179

7 INDEX OF AUTHORS A Abratkiewicz K.. 7 B Bełdowski J Bikonis K...13, 19 Buszman K..29, 173 D Demkowicz J....13, 35 Dera W..93 Dobruch-Sobczak K. 129 Drypczewski K. 41 Dziekoński C G Gorska N , 167 Grabowski M. 121 Grall P...51, 63 P Pezacki P.D S Salamon R Sęk D Schmidt A Schmidt J Secomski W Soloviev V..139 Stepnowski A....19, 41 Szuszkiewicz J Szymczak W , 173 W Wojcik J J Jedel A Józwiak R....85, 99 K Kamińska K Klimonda Z Klusek Z Kochańska I Krawczyk J...19 Kujawska T Kula S...99 Kulawiak M L, Ł Listewnik K. 85, 179 Łubniewski Z , 113 M Majcher J Markiewicz Ł Marszal J...63, 75 Mironiuk W..29 N Nissen I. 85 Nowicki A...129, 159 O Olszewski R...159

8 REVIEWERS OF HYDROACOUSTICS prof. Henryka Czyż prof. Andrzej Dobrucki prof. Grażyna Grelowska prof. Tadeusz Gudra prof. Adam Kawalec prof. Zygmunt Klusek prof. Eugeniusz Kozaczka prof. Tamara Kujawska prof. Zbigniew Łubniewski prof. Jacek Marszal prof. Marek Przyborski prof. Tadeusz Pustelny prof. Lech Rowiński prof. Roman Salamon prof. Andrey Serebryany prof. Edward Sędek prof. Cezary Specht prof. Andrzej Stateczny prof. Andrzej Stepnowski prof. Joanna Szczucka prof. Antoni Śliwiński prof. Jarosław Tęgowski prof. Adam Zieliński prof. Andrzej Żak STATISTICAL EDITOR dr Agata Załęska-Fornal ENGLISH PROOFREADING Adam Green

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