Aiming at addressing the contradiction between the high-speed real-time positioning and multi-channel signal processing in multi-beam sonar systems, in this work we present a real-time multi-beam sonar system based on a Field Programmable Gate Array (FPGA) and Digital Signal Processing (DSP) from two perspectives, i.e., hardware implementation and software optimization. In terms of hardware, an efficient high-voltage pulse transmitting module and a multi-channel data acquisition module with time versus gain (TVG) compensation with characteristics such as low noise and high phase amplitude consistency, are proposed. In terms of algorithms, we study three beamforming methods, namely delay-and-sum (D&S), direct-method (DM) and Chirp Zeta Transform (CZT). We compare the computational efficiency of DM and CZT in the digital domain. In terms of software, according to the transmission bandwidth of the Gigabit Ethernet and a serial rapid IO (SRIO) interface, the data transmission paths of the acquired data and the beam pattern between the FPGA, the DSP, and a personal computer (PC) are planned. A master-slave multi-core pipelined signal processing architecture is designed based on DSP, which enhances the data throughput of the signal processor by seven times as compared with that of the single-core operation. The experimental results reveal that the sound source level of the transmitting module is around 190.25 dB, the transmitting beam width is 64° × 64°, the background noise of the acquisition module is less than 4 μVrms, the amplitude consistency error of each channel is less than −6.55 dB, and the phase consistency error is less than 0.2°. It is noteworthy that the beam number of the sonar system is 90 × 90, the scanning angle interval is 0.33°, the working distance ranges from 5 m to 40 m, and the maximum distance resolution is 0.384 m. In the positioning experiment performed in this work; the 3-D real-time position of the baffle placed in the detection sector is realized. Please note that the maximum deviation of azimuth is 2°, the maximum deviation of elevation is 2.3°, and the maximum distance deviation is 0.379 m.

This paper presents the simulation results of the acoustic field around an underwater supercavitation vehicle under various operating conditions and analyzes the cavitation phenomenon and the hydrodynamic noise spectrum. Regarding the ventilated cavitation phenomenon, the simulation shows that low vehicle speed can reduce the threshold of the ventilated supercavitation, and high background pressure can enhance the stability of the supercavitation structure. As for hydrodynamic noise, firstly, the simulation results reveal that when cavitation occurs, the noise spectrum exhibits several characteristic peaks near 1 kHz and between 3 and 10 kHz. The overall noise amplitude demonstrates a descending trend between 10 and 40 kHz. Further, under natural cavitation conditions, a characteristic peak is detectable between 40 and 80 kHz. The influence of the operating conditions on the noise is essentially achieved by altering the scale of the cavitation flow: with the growth of the bubble flow scale, the noise between 3 and 10 kHz first increases and then decreases due to its own pulsation and the masking effect, while the noise between 10 to 40 kHz substantially reduces. On the other hand, if the scale expansion of bubble flow is related to the increase of ventilation flow, the noise amplitude near 1 kHz will increase significantly. These results provide theoretical support for studying the supercavitation vehicles’ noise and applying the ventilated supercavitation technology.

To improve the accuracy of bearing state classification in multi-source monitoring environments, a novel decision fusion method based on probabilistic Jensen–Shannon (PJS) divergence and D-S evidence theory is proposed. Firstly, the initial state probability of each bearing is determined by the bearing state classification score value, and the basic probability assignment (BPA) value of each bearing state is set by obtaining the global credibility of each sensor based on the pre-network test results. Secondly, the PJS divergence is proposed on the basis of the Kullback Leibler (KL) divergence to measure the conflict between the data collected by each sensor, and the weight value of the BPA value of each sensor is reset according to the PJS divergence value, which improves the accuracy of the BPA value. Finally, the D-S evidence theory is used to fuse the BPA value of each sensor and obtain the final bearing state classification result. The experimental part shows the effectiveness using the bearing signals collected in the laboratory, and the generality of this paper’s method is verified by using it in conjunction with other networks.

Induced polarization (IP) effects in transient electromagnetic (TEM) measurement play a significant role in the detection of minerals, such as sulfide ore, clay ore, etc. However, due to the complex impacts caused by the polarization parameters, the structure of the earth, and the measurement system configuration, the IP effects cannot be easily measured and interpreted. We paid more attention to the vertical component of the ungrounded-TEM system in previous work; however, we will now attempt to utilize the horizontal component to enhance the precision of the measurement and interpretation. We quantitatively discussed the behavior of the horizontal and vertical magnetic fields of the towed-TEM (tTEM) system. We simultaneously introduced the vertical and horizontal components into the Jacobian matrix of the 1D laterally constrained inversion to build the joint inversion. Compared to the vertical component, the horizontal component always shows earlier and bigger sign reversals and contains more IP information. Inversion with the single horizontal or single vertical component showed poor accuracy in the deep and shallow layers, respectively. The joint inversion with both components could correct the errors. Including the horizontal component in the detection and interpretation facilitates an improved resolution for polarizable minerals.

The biological focal region (BFR) induced by a single high-intensity focused ultrasound (HIFU) exposure is considered to be the foundation of the ultrasound ablation of tumor lesions. The purpose of this study was to explore the relationship between the acoustic focal region (AFR) and the BFRs with different combinations of power and time in low-power cumulative HIFU treatment. The finite-difference time-domain (FDTD) method was used to simulate AFR and BFR during HIFU ablation. The acoustic fields, the temperature profiles, and the shapes of BFRs were calculated by the Westervelt equation, Pennes’ equation, and the equivalent thermal dose model. In order to verify the simulation rules, phantom and ex vivo bovine livers were exposed by HIFU with a different power and time. The results demonstrated that in the low-power cumulative HIFU treatment, when the lengths of BFRs and the length of AFR were approximately equal, the shape of the BFR induced by ‘high power × short time’ exposure was closer to that of AFR than the shape of the BFR induced by ‘low power × long time’ exposure, and the exposure energy required was significantly reduced. The analysis revealed the relationship between the BFR and the AFR with different acoustic power. This study provides a reference for doctors to determine power, time, and movement distance in clinical treatment.

High-intensity focused ultrasound (HIFU) ablation has been widely used in advanced pancreatic cancer in recent years. In numerous studies, HIFU has been shown to be safe, effective, and practicable, but there are a few HIFU-related adverse effects. The patients’ discomfort during therapy increased proportionally with increasing delivered energy and pain levels seemed to be independent of the dose of anesthetic or sedation. If the power used in therapy is too high, the temperature of the target area will rise rapidly, and the boiling and cavitation make the shape of the necrosis area difficult to control. In recent years, moderate-intensity focused ultrasound (MIFU) has also been shown to heat the tumor locally for palliative treatment. Choosing the appropriate power and effectively controlling the tissue temperature until reaching the threshold for thermal necrosis are of great significance for ensuring the safety of palliative treatment. In this study, an infrared temperature measurement experimental system was set up to measure the temperature rise at different power in an ex vivo bovine liver. It was found that when the acoustic intensity of the focused ultrasound was lower than the cavitation threshold (within the range of the MIFU), the temperature of the tissue kept rising at a steady rate and could still reach the thermal damage threshold temperature within tens of seconds. The results showed that the temperature induced by the MIFU was almost entirely dependent on the thermal effect, and the temperature of the tissue at the end of sonication was linearly related to the power. Finally, this study considered the effect of blood perfusion on the temperature for the application of focused ultrasound in the palliative treatment of advanced pancreatic cancer with the goal of providing a reference for the application of focused ultrasound in the palliative treatment of advanced pancreatic cancer.