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Today's minimum requirements for ocean acoustic models are to be able to simulate broadband signal transmissions in 2D varying environments with an acceptable computational effort. Standard approaches comprise ray, normal mode and parabolic equation techniques. In this paper we compare the performance of four broadband models on a set of shallow-water test environments with propagation out to 10 km and a maximum signal bandwidth of 10–1000 Hz. It is shown that a computationally efficient modal approach as implemented in the model is much faster than standard, less optimized models such as and . However, the handling of range dependency in the adiabatic approximation is not always sufficiently accurate, and it is suggested that a mode coupling approach be adopted in . Moreover, the interpolation of modal properties in range could lead to a further significant speed-up of mode calculations in range-dependent environments. It is concluded that coupled modes with wavenumber interpolation in both frequency and range remain the most promising wave modeling approach for broadband signal simulations in range-dependent shallow water environments. At higher frequencies (> 1 kHz) there is currently no alternative to rays as a practical signal simulation tool.

The accuracy of the seismo-acoustic parabolic equation is tested for problems involving sloping solid–solid interfaces and variable topography. The approach involves approximating the medium in terms of a series of range-independent regions, using a parabolic wave equation to propagate the field through each region, and applying a single-scattering approximation to obtain transmitted fields across the vertical interfaces between regions. The accuracy of the parabolic equation method for range-dependent problems in seismo-acoustics was previously tested in the small slope limit. It is tested here for problems involving larger slopes using a finite-element model to generate reference solutions.

The accuracy of the seismo-acoustic parabolic equation is tested for problems involving sloping fluid–solid interfaces. The fluid may correspond to the ocean or a sediment layer that only supports compressional waves. The solid may correspond to ice cover or a sediment layer that supports compressional and shear waves. The approach involves approximating the medium in terms of a series of range-independent regions, using a parabolic wave equation to propagate the field through each region, and applying single-scattering approximations to obtain transmitted fields across the vertical interfaces between regions. The accuracy of the parabolic equation method for range-dependent problems in seismo-acoustics was previously tested in the small slope limit. It is tested here for problems involving larger slopes using a finite-element model to generate reference solutions.

Single-scattering operators are used to extend the seismo-acoustic parabolic equation to problems involving transitions between areas with and without ice cover, which are common in the marginal ice zone. Gradual transitions are handled with single-scattering operators for sloping fluid–solid interfaces. Sudden transitions, which may occur when the ice fractures and drifts, are handled with a single-scattering operator that conserves normal displacement and tangential stress across the vertical interfaces between the range-independent regions that are used to approximate a range-dependent environment. The approach is tested by making comparisons with a finite-element model for problems involving range-dependent features in the ice cover and in a sediment that supports shear waves.

Several methods for handling sloping fluid–solid interfaces with the elastic parabolic equation are tested. A single-scattering approach that is modified for the fluid–solid case is accurate for some problems but breaks down when the contrast across the interface is sufficiently large and when there is a Scholte wave. An approximate condition for conserving energy breaks down when a Scholte wave propagates along a sloping interface but otherwise performs well for a large class of problems involving gradual slopes, a wide range of sediment parameters, and ice cover. An approach based on treating part of the fluid layer as a solid with low shear speed is developed and found to handle Scholte waves and a wide range of sediment parameters accurately, but this approach needs further development. The variable rotated parabolic equation is not effective for problems involving frequent or continuous changes in slope, but it provides a high level of accuracy for most of the test cases, which have regions of constant slope. Approaches based on a coordinate mapping and on using a film of solid material with low shear speed on the rises of the stair steps that approximate a sloping interface are also tested and found to produce accurate results for some cases.

After the parabolic equation method was initially applied to scalar wave propagation problems in ocean acoustics and seismology, it took more than a decade before there was any substantial progress in extending this approach to problems involving solid layers. Some of the key steps in the development of the elastic parabolic equation are discussed here. The first breakthrough came in 1985 with the discovery that changing to an unconventional set of dependent variables makes it possible to factor the operator in the elastic wave equation into a product of outgoing and incoming operators. This innovation, which included an approach for handling fluid-solid interfaces, was utilized in the first successful implementations of the elastic parabolic equation less than five years later. A series of papers during that period addressed the issues of accuracy and stability, which require special attention relative to the scalar case. During the 1990s, the self-starter made it possible to handle all types of waves, rotated rational approximations of the operator square root made it possible to handle relatively thin solid layers, and there was some progress in the accurate treatment of sloping interfaces. During the next decade, an improved formulation and approach for handling interfaces facilitated the treatment of piecewise continuous depth dependence and sloping interfaces. During the last 10 years, the accuracy of the elastic parabolic equation was improved and tested for problems involving sloping interfaces and boundaries, and this approach was applied to Arctic acoustics and other problems involving thin layers. After decades of development, the elastic parabolic equation has become a useful tool for a wide range of problems in seismology, seismo-acoustics, and Arctic acoustics, but possible directions for further work are discussed.

This paper reviews some of the highlights of selected topics in ocean acoustics during the thirty years that have passed since the founding of the Journal of Theoretical and Computational Acoustics. Advances in computational methods and computers helped to make computational ocean acoustics a vibrant area of research during that period. The parabolic equation method provides an unrivaled combination of accuracy and efficiency for propagation problems in which the bathymetry, sound speed, and other environmental parameters vary in the horizontal directions. The extension of this approach to cases involving layers that support shear waves has been an active area of research throughout the thirty year period. Interest in basin-scale and global-scale propagation was stimulated by the Heard Island Feasibility Test for monitoring climate change in terms of changes in travel time that occur as the temperature of the ocean rises. Diminishing ice cover in the Arctic, which is one of the consequences of climate change, has stimulated renewed interest in Arctic acoustics during the past decade. Reverberation is a challenging problem that was the topic of a major research program during the beginning of the thirty year period. An innovative approach for making it feasible to solve such problems was applied to data for reverberation from the seafloor and from schools of fish, and some of the findings were featured in Science and Nature. Source localization is one of the core problems in ocean acoustics. When applied on a 2-D array of receivers, an approach based on the eigenvectors of the covariance matrix is capable of separating the signals from different sources from each other, determining when this partitioning step is successful, and tracking sources that cross each other in bearing; one of the advantages of this approach is that it does not require environmental information or solutions of the wave equation. Geoacoustic inversion for estimating the layer structure, wave speeds, density, and other parameters of ocean bottoms has also been a topic of interest throughout the thirty year period.

The parabolic equation method is the most effective approach for solving wave propagation problems in environments with strong vertical variations and gradual horizontal variations. This approach efficiently provides accurate solutions for problems involving sloping fluid-fluid interfaces, sloping solid-solid interfaces, and sloping solid boundaries. There remains a need for improvement for the case of sloping fluid-solid interfaces. The most promising approach to date is the combination of a single-scattering approximation and the treatment of part of the fluid layer as a solid layer with low shear speed. This is a singular perturbation, which results in rapid oscillations near the interface between the low-speed layer and the true solid layer. It is demonstrated here that the rapid oscillations may be eliminated by using slip conditions at the interface between the low-speed layer and the true solid layer. Stability problems were encountered when attempting to directly implement the slip conditions, but this problem was resolved by using an equivalent condition involving the normal derivative of the tangential displacement. This progress does not fully resolve the case of the sloping fluid-solid interface. There remains a need to find a vertical interface condition that is compatible with the slip conditions and that provides accurate results for problems involving sloping fluid-solid interfaces.