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arxiv: 2606.24813 · v1 · pith:3K7MLU3Knew · submitted 2026-06-23 · 📡 eess.AS

A Methodology for Characterizing Underwater Radiated Noise from Submerged Electric Vehicles in a Coastal Environment: An AUV Test Case

Mark Shipton , Amir Boag , Roee Diamant This is my paper

Pith reviewed 2026-06-25 21:59 UTC · model grok-4.3

classification 📡 eess.AS
keywords underwater radiated noiseAUVtonal signaturesacoustic characterizationcoastal environmentelectric propulsionpass-by measurementssubsystem analysis
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The pith

An eight-step methodology resolves distinct tonal and modulated acoustic signatures from submerged electric vehicles in coastal environments.

A machine-rendered reading of the paper's core claim, the machinery that carries it, and where it could break.

This paper establishes an eight-step methodology to characterize the underwater radiated noise from submerged electric vehicles in coastal settings. Existing standards for surface vessels fall short for these vehicles due to their tonal, harmonic, and modulated components from electric drives. The method combines calibrated pass-by measurements with vehicle metadata and ambient noise context to isolate these features. A demonstration on an A18D AUV reveals specific tonal groups at 5.56 kHz multiples with source levels between 77 and 120 dB. This approach enables resolution of signatures that broadband methods miss, supporting detection and diagnostics.

Core claim

The paper presents an eight-step methodology for characterizing underwater radiated noise from submerged electric vehicles. The steps include measurement design, cavitation assessment, frequency-band selection, ambient-noise characterization, spectral and time-frequency analysis, subsystem-oriented interpretation, propagation-corrected source-related estimation, and angular and operational analysis. When applied to an A18D AUV in coastal water, it identifies drive-related tonal groups near 5.56, 11.1, and 22.2 kHz with harmonics up to 105 kHz, and source-related tonal PSD estimates from 77 to 120 dB re 1 μPa²/Hz at 1 m.

What carries the argument

The eight-step methodology that integrates calibrated pass-by acoustics with synchronized vehicle metadata, ambient-noise context, and subsystem-oriented analysis to resolve tonal and modulated features.

Load-bearing premise

Ambient noise, shallow-water propagation, and aspect-dependent radiation can obscure vehicle-related features, yet the eight-step integration of pass-by acoustics, metadata, and subsystem analysis will still resolve tonal and modulated signatures in coastal settings.

What would settle it

If applying the eight-step methodology to the A18D AUV measurements yields no identifiable tonal groups near 5.56 kHz or their harmonics, this would indicate the method does not resolve the features as claimed.

Figures

Figures reproduced from arXiv: 2606.24813 by Amir Boag, Mark Shipton, Roee Diamant.

Figure 1
Figure 1. Figure 1: Proposed SEV URN characterization framework. Steps 1–4 establish the mea [PITH_FULL_IMAGE:figures/full_fig_p007_1.png] view at source ↗
Figure 2
Figure 2. Figure 2: Generic SEV pass-by measurement configurations with increasing geometric cov [PITH_FULL_IMAGE:figures/full_fig_p010_2.png] view at source ↗
Figure 3
Figure 3. Figure 3: A18D AUV used in the experimental test case, including the three-bladed propeller. [PITH_FULL_IMAGE:figures/full_fig_p018_3.png] view at source ↗
Figure 4
Figure 4. Figure 4: Bathymetric map of the Haifa Bay region, including the survey area approximately [PITH_FULL_IMAGE:figures/full_fig_p019_4.png] view at source ↗
Figure 5
Figure 5. Figure 5: Plan view of the AUV track during the survey, showing HYD1 and HYD2 relative [PITH_FULL_IMAGE:figures/full_fig_p020_5.png] view at source ↗
Figure 6
Figure 6. Figure 6: Spectrogram of Passage ID 2 recorded by HYD1 over the analyzed frequency band. [PITH_FULL_IMAGE:figures/full_fig_p025_6.png] view at source ↗
Figure 7
Figure 7. Figure 7: Spectrograms of Passage ID 2 in the four principal tonal regions (256k FFT, Hann [PITH_FULL_IMAGE:figures/full_fig_p026_7.png] view at source ↗
Figure 8
Figure 8. Figure 8: Spectrogram of a segment with rapid RPM changes prior to Passage ID 12 (256k [PITH_FULL_IMAGE:figures/full_fig_p028_8.png] view at source ↗
Figure 9
Figure 9. Figure 9: Received PSD shown using (a) a logarithmic frequency axis and (b) a linear fre [PITH_FULL_IMAGE:figures/full_fig_p030_9.png] view at source ↗
Figure 10
Figure 10. Figure 10: Estimated source-related tonal PSD levels for Passage IDs 2 and 3 after band [PITH_FULL_IMAGE:figures/full_fig_p031_10.png] view at source ↗
Figure 11
Figure 11. Figure 11: Estimated source-related tonal PSD levels from HYD1 and HYD2 after band [PITH_FULL_IMAGE:figures/full_fig_p032_11.png] view at source ↗
Figure 12
Figure 12. Figure 12: Spectrogram and band-integrated received level around the [PITH_FULL_IMAGE:figures/full_fig_p034_12.png] view at source ↗
Figure 13
Figure 13. Figure 13: Spectrogram and band-integrated received level around the [PITH_FULL_IMAGE:figures/full_fig_p034_13.png] view at source ↗
Figure 14
Figure 14. Figure 14: Spectrogram and band-integrated received level around the [PITH_FULL_IMAGE:figures/full_fig_p035_14.png] view at source ↗
read the original abstract

Submerged electric vehicles (SEVs), including autonomous underwater vehicles (AUVs), remotely operated vehicles, and diver propulsion systems, may radiate distinct tonal, harmonic, and modulated acoustic components associated with electric propulsion drives and motor-control electronics. Characterizing these signatures is relevant to passive detection and engineering diagnostics, but remains challenging in coastal environments because ambient noise, shallow-water propagation, and aspect-dependent radiation can obscure vehicle-related features. Existing underwater radiated noise (URN) standards, developed primarily for surface vessels, do not address the spectral, operational, and geometric complexity of SEV measurements. This paper presents an eight-step methodology for SEV URN characterization, covering measurement design, cavitation assessment, frequency-band selection, ambient-noise characterization, spectral and time-frequency analysis, subsystem-oriented interpretation, propagation-corrected source-related estimation, and angular and operational analysis. The novelty lies in integrating calibrated pass-by acoustics with synchronized vehicle metadata, ambient-noise context, and subsystem-oriented analysis to resolve tonal and modulated features that broadband methods cannot capture. The methodology is demonstrated using an A18D AUV measured in coastal water. Drive-related tonal groups were observed near 5.56, 11.1, and 22.2 kHz, with harmonic structure up to 105 kHz. Source-related tonal PSD estimates ranged from 77 to 120 dB re 1 uPa^2/Hz at 1 m

Editorial analysis

A structured set of objections, weighed in public.

Desk editor's note, referee report, simulated authors' rebuttal, and a circularity audit. Tearing a paper down is the easy half of reading it; the pith above is the substance, this is the friction.

Referee Report

1 major / 1 minor

Summary. The paper presents an eight-step methodology for characterizing underwater radiated noise from submerged electric vehicles (SEVs) such as AUVs in coastal settings. It integrates calibrated pass-by acoustics with synchronized vehicle metadata, ambient-noise context, and subsystem-oriented analysis to isolate tonal and modulated features. The approach is demonstrated on an A18D AUV, reporting drive-related tonal groups near 5.56, 11.1, and 22.2 kHz (with harmonics to 105 kHz) and source-related tonal PSD estimates of 77–120 dB re 1 μPa²/Hz at 1 m.

Significance. If implemented with verifiable details, the integrated methodology could fill a gap left by surface-vessel URN standards when applied to SEVs, enabling better resolution of tonal signatures relevant to passive detection and diagnostics. The explicit combination of pass-by data, metadata, and subsystem interpretation, together with the provision of quantitative observational results, constitutes a concrete demonstration that could serve as a starting point for further work in the field.

major comments (1)
  1. [Abstract and methodology outline] Abstract / eight-step methodology description: the central claim that the integrated approach resolves tonal features despite ambient noise, shallow-water propagation, and aspect dependence rests on the eight steps being executable and effective, yet no implementation details, data-quality checks, verification procedures, or explicit linkage between observed tonals (5.56/11.1/22.2 kHz) and specific subsystems are supplied. This absence is load-bearing for assessing whether the reported PSD values and harmonic structure are attributable to the vehicle.
minor comments (1)
  1. [Abstract] Notation: 'uPa' should be rendered as 'μPa' for standard SI consistency in the reported PSD units.

Simulated Author's Rebuttal

1 responses · 0 unresolved

We thank the referee for the constructive assessment and the recommendation for major revision. We address the single major comment point-by-point below.

read point-by-point responses

  1. Referee: [Abstract and methodology outline] Abstract / eight-step methodology description: the central claim that the integrated approach resolves tonal features despite ambient noise, shallow-water propagation, and aspect dependence rests on the eight steps being executable and effective, yet no implementation details, data-quality checks, verification procedures, or explicit linkage between observed tonals (5.56/11.1/22.2 kHz) and specific subsystems are supplied. This absence is load-bearing for assessing whether the reported PSD values and harmonic structure are attributable to the vehicle.

    Authors: We agree that the abstract and methodology outline supply only a high-level enumeration of the eight steps and do not furnish the concrete implementation details, quality-control criteria, verification steps, or subsystem-to-tonal mappings required to evaluate the central claim. In the revised manuscript we will expand the dedicated methodology section (currently Section 3) to document, for the A18D data set: (i) exact parameter choices and thresholds applied at each step (e.g., SNR criteria for tonal detection, propagation-model assumptions, aspect-angle binning), (ii) data-quality checks performed (calibration verification, ambient-noise stationarity tests, metadata synchronization tolerances), (iii) verification procedures (repeatability across runs, cross-checks against vehicle telemetry), and (iv) the explicit engineering rationale linking the 5.56/11.1/22.2 kHz groups and their harmonics to particular drive and motor-control subsystems. These additions will be supported by additional figures or tables as needed. revision: yes

Circularity Check

0 steps flagged

No significant circularity in the derivation chain

full rationale

The paper describes an empirical eight-step measurement methodology for SEV URN characterization, demonstrated via pass-by acoustics and metadata on an A18D AUV, with reported tonal observations at specific frequencies and PSD levels. No equations, derivations, fitted parameters, or predictions are present that could reduce to inputs by construction. The work is a descriptive integration of calibrated measurements, ambient context, and subsystem analysis, fully self-contained against external benchmarks with no self-citation load-bearing or ansatz smuggling.

Axiom & Free-Parameter Ledger

0 free parameters · 0 axioms · 0 invented entities

Abstract provides no details on free parameters, axioms, or invented entities; the contribution is a practical measurement methodology rather than a theoretical derivation.

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