Mitigation of threats posed to marine mammals by human activities can be greatly improved with a better understanding of animal occurrence in real time. Recent advancements have enabled low-power passive acoustic systems to be integrated into long-endurance autonomous platforms for persistent near real-time monitoring of marine mammals via the sounds they produce. Here, the integration of a passive acoustic instrument capable of real-time detection and classification of low-frequency (LF) tonal sounds with a Liquid Robotics wave glider is reported. The goal of the integration was to enable monitoring of LF calls produced by baleen whales over periods of several months. Mechanical noises produced by the platform were significantly reduced by lubricating moving parts with polytetrafluoroethylene, incorporating rubber and springs to decelerate moving parts and shock mounting hydrophones. Flow noise was reduced with the development of a 21-element hydrophone array. Surface noise produced by breaking waves was not mitigated despite experimentation with baffles. Compared to a well-characterized moored passive acoustic monitoring buoy, the system greatly underestimated the occurrence of sei, fin, and North Atlantic right whales during a 37-d deployment, and therefore is not suitable in its current configuration for use in scientific or management applications for these species at this time.

中文翻译：

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近实时检测来自自主水面车辆的低频须鲸叫声：实施、评估和剩余挑战

通过更好地实时了解动物的发生情况，可以大大减轻人类活动对海洋哺乳动物构成的威胁。最近的进步使低功率无源声学系统能够集成到长续航自主平台中，通过以下方式对海洋哺乳动物进行持续近实时监测他们产生的声音。在这里，报告了一种能够实时检测和分类低频 (LF) 音调声音的无源声学仪器与液体机器人波滑翔机的集成。集成的目标是能够监测须鲸在几个月内产生的低频呼叫。通过用聚四氟乙烯润滑运动部件，结合橡胶和弹簧来减速运动部件和减震安装水听器，平台产生的机械噪音显着降低。随着 21 单元水听器阵列的开发，流噪声降低了。尽管使用了挡板进行了实验，但由破碎波产生的表面噪声并没有得到减轻。与特性良好的系泊被动声学监测浮标相比，