Frequency response modelling of seismic waves using finite difference time domain with phase sensitive detection (TD–PSD)

This paper describes an efficient approach for computing the frequency response of seismic waves propagating in 2- and 3-D earth models within which the magnitude and phase are required at many locations. The approach consists of running an explicit finite difference time domain (TD) code with a time harmonic source out to steady-state. The magnitudes and phases at locations in the model are computed using phase sensitive detection (PSD). PSD does not require storage of time-series (unlike a fast Fourier transform), reducing its memory requirements. Additionally, the response from multiple sources can be obtained from a single finite difference run by encoding each source with a different frequency. For 2-D models with many sources, this time domain phase sensitive detection (TD–PSD) approach has a higher arithmetic complexity than direct solution of the finite difference frequency domain (FD) equations using nested dissection re-ordering (FD–ND). The storage requirements for 2-D finite difference TD–PSD are lower than FD–ND. For 3-D finite difference models, TD–PSD has significantly lower arithmetic complexity and storage requirements than FD–ND, and therefore, may prove useful for computing the frequency response of large 3-D earth models.     

Calculating the two-dimensional magnetotelluric Jacobian in finite elements using reciprocity

To speed up the calculation of the field Jacobian for 2-D magnetoteliuric inversion using finite elements, the principle of electromagnetic reciprocity is applied. The governing relationship for the Jacobian of the field along strike is obtained by differentiating the Helmholtz equation with respect to the resistivity of each region in the finite-element mesh. The result is a similar Helmholtz equation for the Jacobian, with new sources distributed over all nodes within the parameter medium. However, according to the principle of electromagnetic reciprocity, the roles of sources and receivers are interchangeable. Utilizing reciprocity, the field values obtained from the original forward problem and for new unit sources imposed at the receivers are then utilized in the calculation of the Jacobian by simple multiplication and summation with finite-element terms at each rectangle in the mesh. For the auxiliary (across-strike) fields, the Jacobian terms are obtained by solving source vectors loaded with parabola coefficients used in the approximation to Maxwell's equations. Jacobian terms for the apparent resistivity ( p _a), the impedance phase (φ) and the vertical magnetic field ( K _zy) are then calculated utilizing the parallel- and auxiliary-field Jacobians. Comparison of Jacobian values obtained from reciprocity calculations and by differencing two forward solutions show that the reciprocity method is accurate and can be used to decrease the number of calculations required to obtain sensitivities by one to two orders of magnitude.     

Seismic reflection traveltimes in two-dimensional statistically anisotropic random media

Velocity estimation remains one of the main problems when imaging the subsurface with seismic reflection data. Traveltime inversion enables us to obtain large-scale structures of the velocity field and the position of seismic reflectors. However, as the media currently under study are becoming more and more complex, we need to know the finer-scale structures. The problem is that below a certain range of velocity heterogeneities, deterministic methods become difficult to use, so we turn to a probabilistic approach. With this in view, we characterize the velocity field as a random field defined by its first and second statistical moments. Usually, a seismic random medium is defined as a homogeneous velocity background perturbed by a small random field that is assumed to be stationary. Thus, we make a link between such a random velocity medium (together with a simple reflector) and seismic reflection traveltimes. Assuming that the traveltimes are ergodic, we use 2-D seismic reflection geometry to study the decrease in the statistical traveltime fluctuations as a function of the offset (the source–receiver distance). Our formulae are based on the Rytov approximation and the parabolic approximation for acoustic waves. The validity and the limits are established for both of these approximations in statistically anisotropic random media. Finally, theoretical inversion procedures are developed for the horizontal correlation structure of the velocity heterogeneities for the simplest case of a horizontal reflector. Synthetic seismograms are then computed (on particular realizations of random media) by simulating scalar wave propagation via finite difference algorithms. There is good agreement between the theoretical and experimental results.     

Earthquake location in strongly heterogeneous media

Traveltime computation methods for strongly heterogeneous 3-D media developed during recent years are well suited for earthquake location. We present here a new method based on the traveltime algorithm of Podvin-Lecomte, related to the inverse problem formulation of Tarantola & Valette. The Podvin-Lecomte method, based on the Huygens principle, is very robust and allows arbitrary surface topography and station placement even for borehole instruments. First arrival traveltimes are computed for each of the recording stations using a fine 3-D velocity mesh (up to 10⁶ cells on a workstation). The traveltime grid allows the use of the Tarantola & Valette formulation, which enables a full non-linear approach. The solution is given as a 3-D probability density function of hypocentre coordinates, which accounts for the arrival time measurements as well as a priori information for the location, the accuracy of both the arrival time readings and the computation of the theoretical traveltimes. This powerful method called 3DGRIDLOC gives the location of the induced seismicity of the gas field of Lacq (France) using 443 520 cells of a 3-D velocity mesh and the observations from nine recording stations, one of which is located at the bottom of a 3880 m deep borehole. Location of synthetic foci as well as more than 500 actual earthquakes shows the real advantages of this new method versus the classical HYPO71. A new insight into the induced seismicity is now possible: induced seismicity may occur as far away as 10 km from the gas reservoir and involve a much greater volume of rock than expected using earlier locations.     

A comparison of analytic and numerical results for a two-dimensional control model in electromagnetic induction – I. B-polarization calculations

Summary. A conducting slab of finite thickness divided into three segments of different conductivities and overlying a perfect conductor is proposed as a suitable two-dimensional 'control' model for testing the accuracy of the various numerical modelling programs that are available for calculating the fields induced in the Earth by an external, time-varying magnetic source. An analytic solution is obtained for this control model for the case of the magnetic field everywhere parallel to the conductivity boundaries ( B -polarization). Values of the field given by this solution for a particular set of model parameters are calculated at selected points on the surface and on a horizontal plane inside the conductor, and are tabulated to three figure accuracy for reference. They are used to check the accuracy of the results given by the finite difference program of Brewitt-Taylor & Weaver and the finite element program of Kisak & Silvester for the same model. Improved formulae for calculating the derived electric field components in B -polarization are first developed for incorporation in the finite difference program, and these give surface electric fields within 1 per cent of the analytic values, while all three field components inside the conductor are calculated to better than 96 per cent accuracy by the finite difference program. The results given by the finite element program are not quite so satisfactory. Errors somewhat greater than 10 per cent are present and although the program requires much less disk space it takes rather more CPU time to complete the calculations.     

Traveltime measurements from noise correlation: stability and detection of instrumental time-shifts

We test the feasibility of using Green's functions extracted from records of ambient seismic noise to monitor temporal changes in the Earth crust properties by repeated measurements at regional distances. We use about 11 yr of continuous recordings to extract surface waves between three pairs of stations in California. The correlations are computed in a moving 1-month window and we analyse the temporal evolution of measured interstation traveltimes. The comparison of the arrival times in the positive and negative correlation time of Rayleigh and Love waves allows us to separate time-shifts associated with any form of physical change in the medium, those resulting from clock drift or other instrumental errors, and those due to change in the localization of the noise sources. This separation is based on the principle of time symmetry. When possible, we perform our analysis in two different period bands: 5–10 and 10–20 s. The results indicate that significant instrumental time errors (0.5 s) are present in the data. These time-shifts can be measured and tested by closure relation and finally corrected independently of any velocity model. The traveltime series show a periodic oscillation that we interpret as the signature of the seasonal variation of the region of origin of the seismic noise. Between 1999 and 2005, the final arrival time fluctuations have a variance of the order of 0.01 s. This allows us to measure interstation traveltimes with errors smaller than 0.3 per cent of the interstation traveltime and smaller than 1 per cent of the used wave period. This level of accuracy was not sufficient to detect clear physical variation of crustal velocity during the considered 11 yr between the three stations in California. Such changes may be more easily detectable when considering pairs of stations more closely located to each other and in the vicinity of tectonically active faults or volcanoes.     

The growing spherical seismic source

Summary. A solution is found for the seismic radiation from an arbitrarily growing spherical source in an inhomogeneously prestressed elastic medium. The general problem of the growing seismic source in a prestressed medium is formulated as a boundary value problem. For the special case of the growing spherical source, an expansion in vector spherical harmonics reduces the problem to a set of one-dimensional Volterra integral equations. The equations can be easily formed through the use of Bessel function recursion relations. The integral equations for a growing spherical cavity are solved numerically. Waveforms are then computed for homogeneous and inhomogeneous stress fields for several growth histories. The resulting waveforms are similar to the waveforms of the corresponding instantaneous problem, but stretched out in time and reduced in amplitude. The effects of diffraction and the overshoot of equilibrium are reduced with a reduction in growth rate. The effects caused by inhomogeneity of the stress field are quite strong for the growing as well as for the instantaneous seismic source.     

Sensitivities of seismic traveltimes and amplitudes in reflection tomography

Seismic traveltimes and amplitudes in reflection-seismic data show different dependences on the geometry of reflection interfaces, and on the variation of interval velocities. These dependences are revealed by eigenanalysis of the Hessian matrix, defined in terms of the Fréchet matrix and its adjoint associated with different norms chosen in the model space. The eigenvectors and eigenvalues of the Hessian clearly show that for reflection tomographic inversion, traveltime and amplitude data contain complementary information. Both for reflector-geometry and for interval-velocity variations, the traveltimes are sensitive to the model components with small wavenumbers, whereas the amplitudes are more sensitive to the components with high wavenumbers. The model resolution matrices, after the rejection of eigenvectors corresponding to small eigenvalues, give us some insight into how the addition of amplitude information could potentially contribute to the recovery of physical parameters.
In order to cooperatively invert seismic traveltimes and amplitudes simultaneously, we propose an empirical definition of the data covariance matrix which balances the relative sensitivities of different types of data. We investigate the cooperative use of both data types for, separately, interface-geometry and 2-D interval-velocity variations. In both cases we find that cooperative inversions can provide better solutions than those using traveltimes alone. The potential benefit of including amplitude-data constraints in seismic-reflection traveltime tomography is therefore that it may be possible to resolve the known ambiguity between the reflector-depth uncertainty and the interval-velocity uncertainty better.     

Seismic imaging of the laterally varying D" region beneath the Cocos Plate

We use an axisymmetric, spherical Earth finite difference algorithm to model SH -wave propagation through cross-sections of laterally varying lower mantle models beneath the Cocos Plate derived from recent data analyses. Synthetic seismograms with dominant periods as short as 4 s are computed for several models: (1) a D" reflector 264 km above the core–mantle boundary with laterally varying S -wave velocity increases of 0.9–2.6 per cent, based on localized structures from a 1-D double-array stacking method; (2) an undulating D" reflector with large topography and uniform velocity increase obtained using a 3-D migration method and (3) cross-sections through the 3-D mantle S -wave velocity tomography model TXBW. We apply double-array stacking to assess model predictions of data. Of the models explored, the S -wave tomography model TXBW displays the best overall agreement with data. The undulating reflector produces a double Scd arrival that may be useful in future studies for distinguishing between D" volumetric heterogeneity and D" discontinuity topography. Synthetics for the laterally varying models show waveform variability not observed in 1-D model predictions. It is challenging to predict 3-D structure based on localized 1-D models when lateral structural variations are on the order of a few wavelengths of the energy used, particularly for the grazing geometry of our data. Iterative approaches of computing synthetic seismograms and adjusting model characteristics by considering path integral effects are necessary to accurately model fine-scale D" structure.     

Displacement, strain and stress fields due to shear and tensile dislocations in a viscoelastic half-space

Okada (1992) provided expressions for the displacement and strain fields due to a finite rectangular source in an elastic, homogeneous and isotropic half-space. Starting with these results, we applied the correspondence principle of linear viscoelasticity to derive the quasi-static displacement, strain and stress fields in a viscoelastic, homogeneous and isotropic half-space. We assume that the medium deforms viscoelastically with respect to both the shear and the normal stresses but keeps a constant bulk modulus; in particular, the shear modulus relaxes as Maxwell fluid. We presented the viscoelastic effect on displacement, displacement gradient and stress fields, for a choice of parameter values. The viscoelastic effect due to the sudden dislocation reaches a limit value after about 10 times the Maxwell time. The expressions obtained here provide tools for the study of viscoelastic relaxation of lithosphere associated with seismic and volcanic phenomena.     

Three-dimensional geometrical ray theory and modelling of transmitted seismic energy of data from the Nevada Test Site

This paper presents a geometrically based algorithm for computing synthetic seismograms for energy transmitted through a 3-D velocity distribution. 3-D ray tracing is performed to compute the traveltimes and geometrical spreading (amplitude). The formulations of both kinematic and dynamic ray-tracing systems are presented. The two-point ray-tracing problem is solved by systematically updating the initial conditions and adjusting the ray direction until the ray intersects the specified endpoint. The amount of adjustment required depends on the derivatives of the position with respect to the given starting angles between consecutive rays. The algorithm uses derivatives to define the steepest-descent direction and to update the initial directions. The convergence rate depends on the complexity of the model.
Test seismograms compare favourably with those from a 2-D asymptotic ray theory algorithm and a 3-D Gaussian-beam algorithm. The algorithm is flexible in modelling arbitrary source and recorder geometries for various smoothly varying 3-D velocity distributions. The algorithm is further tested by simulating surface-to-tunnel vibroseis field data. Shear waves as well as compressional waves may be approximately included. Application of the algorithm to a data set from the Rainier Mesa of the Nevada Test Site produced a good fit to the transmitted (first arrival) traveltimes and amplitudes, with approximately 15 per cent variation in the local 3-D velocity.     

Asymptotic edge-and-vertex diffraction theory

Uniformly asymptotic formulae for edge-and-vertex diffraction in the time-domain, involving elementary functions of time, traveltimes and GTD amplitudes, are derived. Explicit expressions for diffraction at a pyramid and a triangle are constructed. They can be applied to the numerical calculation of a field reflected and diffracted at 3-D objects with sharp edges and to reflection from triangulated surfaces. the computational cost is very low.     

Inversion of seismic attributes for velocity and attenuation structure

We have developed an inversion formuialion for velocity and attenuation structure using seismic attributes, including envelope amplitude, instantaneous frequency and arrival times of selected seismic phases. We refer to this approach as AFT inversion for amplitude, (instantaneous) frequency and time. Complex trace analysis is used to extract the different seismic attributes. The instantaneous frequency data are converted to t * using a matching procedure that approximately removes the effects of the source spectra. To invert for structure, ray-perturbation methods are used to compute the sensitivity of the seismic attributes to variations in the model. An iterative inversion procedure is then performed from smooth to less smooth models that progressively incorporates the shorter-wavelength components of the model. To illustrate the method, seismic attributes are extracted from seismic-refraction data of the Ouachita PASSCAL experiment and used to invert for shallow crustal velocity and attenuation structure. Although amplitude data are sensitive to model roughness, the inverted velocity and attenuation models were required by the data to maintain a relatively smooth character. The amplitude and t * data were needed, along with the traveltimes, at each step of the inversion in order to fit all the seismic attributes at the final iteration.     

Ground deformation in a viscoelastic medium composed of a layer overlying a half-space: a comparison between point and extended sources

We obtain and compare analytical and numerical solutions for ground displacement caused by an overpressurized magma chamber placed in a linear viscoelastic medium composed of a layer over a half-space. Different parameters such as size, depth and shape of the chamber, crustal rheology and topography are considered and discussed. Numerical solutions for an axisymmetric extended source are computed using a finite element method (FEM). Analytical solutions for a point source are obtained using the dislocation theory and the propagator matrix technique. In both cases, the elastic solutions are used together with the correspondence principle of linear viscoelasticity to obtain the solution in the Laplace transform domain. Viscoelastic solutions in the time domain are derived inverting the Laplace transform using the Prony series method. The differences between the results allow us to constrain the applicability of the point source and the flat surface hypothesis, which are usually implicitly assumed when analytical solutions are derived. The effect of the topography is also considered. The results obtained show that neglecting the topographic effects may, in some cases, introduce an error greater than that implicit in the point-source hypothesis. Therefore, for an adequate modelling and interpretation of the time-dependent displacements, topography must be considered.     

Transient electromagnetic field above a permeable and conducting half-space

Summary. The transient fields resulting from an abrupt current switch-off in a vertically oriented finite loop and a magnetic dipole above a permeable and conducting half-space have been investigated by Fourier methods, utilizing an appropriate Green's function. Two partial fields are identified, one 'radiative' and evanescent and one 'diffusive'. Asymptotic formulae for the diffusive field above the interface, applicable for late times, are developed, and from these the effects of height of the transmitting source and the permeability contrast are calculated. It is shown that for 'late enough' times and at sufficient distances the dipole formulae provide adequate approximations to the field due to a finite loop.     

Finite-frequency traveltime tomography of San Francisco Bay region crustal velocity structure

Seismic velocity structure of the San Francisco Bay region crust is derived using measurements of finite-frequency traveltimes. A total of 57 801 relative traveltimes are measured by cross-correlation over the frequency range 0.5–1.5 Hz. From these are derived 4862 'summary' traveltimes, which are used to derive 3-D P -wave velocity structure over a 341 × 140 km² area from the surface to 25 km depth. The seismic tomography is based on sensitivity kernels calculated on a spherically symmetric reference model. Robust elements of the derived P -wave velocity structure are: a pronounced velocity contrast across the San Andreas fault in the south Bay region (west side faster); a moderate velocity contrast across the Hayward fault (west side faster); moderately low velocity crust around the Quien Sabe volcanic field and the Sacramento River delta; very low velocity crust around Lake Berryessa. These features are generally explicable with surface rock types being extrapolated to depth ∼10 km in the upper crust. Generally high mid-lower crust velocity and high inferred Poisson's ratio suggest a mafic lower crust.     

Inversion of time domain three-dimensional electromagnetic data

We present a general formulation for inverting time domain electromagnetic data to recover a 3-D distribution of electrical conductivity. The forward problem is solved using finite volume methods in the spatial domain and an implicit method (Backward Euler) in the time domain. A modified Gauss–Newton strategy is employed to solve the inverse problem. The modifications include the use of a quasi-Newton method to generate a pre-conditioner for the perturbed system, and implementing an iterative Tikhonov approach in the solution to the inverse problem. In addition, we show how the size of the inverse problem can be reduced through a corrective source procedure. The same procedure can correct for discretization errors that inevidably arise. We also show how the inverse problem can be efficiently carried out even when the decay time for the conductor is significantly larger than the repetition time of the transmitter wave form. This requires a second processor to carry an additional forward modelling. Our inversion algorithm is general and is applicable for any electromagnetic field  ( E , H , d B / dt )  measured in the air, on the ground, or in boreholes, and from an arbitrary grounded or ungrounded source. Three synthetic examples illustrate the basic functionality of the algorithm, and a result from a field example shows applicability in a larger-scale field example.     

Three-dimensional image of the Moho undulations beneath the Gulf of Bothnia using wide-angle seismic data

The BABEL marine seismic experiment has been carried out to investigate the lithospheric structure and antecedent tectonic signatures of the Baltic Shield, including the Archaean-Proterozoic collisional structure in the northern part of the Gulf of Bothnia.
Lithospheric seismic-reflection streamer data and simultaneously recorded wide-angle reflection and refraction data collected in the Gulf of Bothnia as part of the BABEL project have been used for 3-D modelling. The distribution of land stations around the Gulf provides a good 3-D ray coverage of the PMP reflection data recorded at the eight stations in the area and allows an estimation of strikes and dips of the Moho boundary in the area. The traveltimes of reflected phases are calculated using a method that utilizes the finite-difference solution of the eikonal equation. The Moho wide-angle-reflection (PMP) traveltimes are modelled using an inversion method. A 2-D model from the Gulf of Bothnia extended into the third dimension is used as an initial model. During the inversion the velocity is kept constant and only the Moho boundary is allowed to vary. To estimate the strike of the Moho boundary and the stability of the inversion, two initial models with different strikes are examined.
The results indicate that the Moho depth in the Gulf of Bothnia undulates and has a maximum depth of 55 km in the south, rising to 42 km in the north. The Moho depth variations seem to be step-like. This change in the Moho depth coincides with the location of the presumed fossil subduction zone in the area. The crustal-thickness variations seem to be well approximated by a nearly 2-D structure striking parallel to a postulated subduction zone immediately to the south of the Skellefte area. The presence of the step at the crust/mantle boundary can be interpreted as a result of a plate-collision event at about 2 Ga.     

Simultaneous velocity and interface tomography of normal-incidence and wide-aperture seismic traveltime data

A tomographic inversion technique that inverts traveltimes to obtain a model of the subsurface in terms of velocities and interfaces is presented. It uses a combination of refraction, wide-angle reflection and normal-incidence data, it simultaneously inverts for velocities and interface depths, and it is able to quantify the errors and trade-offs in the final model. The technique uses an iterative linearized approach to the non-linear traveltime inversion problem. The subsurface is represented as a set of layers separated by interfaces, across which the velocity may be discontinuous. Within each layer the velocity varies in two dimensions and has a continuous first derivative. Rays are traced in this medium using a technique based on ray perturbation theory, and two-point ray tracing is avoided by interpolating the traveltimes to the receivers from a roughly equidistant fan of rays. The calculated traveltimes are inverted by simultaneously minimizing the misfit between the data and calculated traveltimes, and the roughness of the model. This 'smoothing regularization' stabilizes the solution of the inverse problem. In practice, the first iterations are performed with a high level of smoothing. As the inversion proceeds, the level of smoothing is gradually reduced until the traveltime residual is at the estimated level of noise in the data. At this point, a minimum-feature solution is obtained, which should contain only those features discernible over the noise.
The technique is tested on a synthetic data set, demonstrating its accuracy and stability and also illustrating the desirability of including a large number of different ray types in an inversion.