low-frequency rotational seismology: observations with ring laser technology h. igel 1, a. cochard...
TRANSCRIPT
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Low-Frequency Rotational Seismology:Observations with Ring Laser
TechnologyH. Igel1, A. Cochard1, A. Fichtner1, A. Flaws1,2, U. Schreiber3 , B. Schuberth1, W. Suryanto1, D.N. Pham1, A. Velikoseltsev3
, F. Vernon4,
J. Wassermann1, M. Bernauer1, F. Bernauer1, D. Kurrle1
1Department of Earth and Environmental Sciences, LMU Munich2Department of Physics and Astronomy, Christchurch, New Zealand3Fundamentalstation Wettzell, Kötzting4IGPP, La Jolla, USA
What is rotation in seismology? (Why bother?)
The ring laser instrument
Observations: What to do with rotations? Waveform comparison with translations Tomography without travel times Free oscillations of the Earth!!!
Array-derived vs. directly measured rotations
Conclusions and Outlook
What is rotation in seismology? (Why bother?)
The ring laser instrument
Observations: What to do with rotations? Waveform comparison with translations Tomography without travel times Free oscillations of the Earth!!!
Array-derived vs. directly measured rotations
Conclusions and Outlook
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Rotation is the curl of the wavefield
… it separates P- and S-waves in isotropic media
xyyx
zxxz
yzzy
z
y
x
vv
vv
vv
2
1
2
1v
vz
vy
vx
z
y
x
Ground velocity Seismometer
Rotation rateRotation sensor
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Rotation from seismic arrays?... by finite differencing ...
xyyxz vv
vy
vx
z
vy
vx
vy
vx
vy
vx
Rotational motion estimated from
seismometer recordings
seismometers
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Rotations – why bother?
Standard seismological observations are contaminated by rotations (e.g. OBS, strong motions, free oscillations)
Tiltmeters (rotation around horizontal axes) are contaminated by translations
6C sensor may allow integration to displacements
Rotations may contribute to co-seismic structural damage
Rotational measurements provides additional wavefield information (phase velocities, structure, propagation direction, anisotropy, etc)
... and may allow putting further constraints on rupture processes ...
Standard seismological observations are contaminated by rotations (e.g. OBS, strong motions, free oscillations)
Tiltmeters (rotation around horizontal axes) are contaminated by translations
6C sensor may allow integration to displacements
Rotations may contribute to co-seismic structural damage
Rotational measurements provides additional wavefield information (phase velocities, structure, propagation direction, anisotropy, etc)
... and may allow putting further constraints on rupture processes ...
Instruments
Earthquake engineering
Tomography and
sources
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THEORY
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Radiation from a point
source
Near field term contains the static displacement
Intermediate terms
Far field terms: the main ingredient for source inversion, ray theory, etc.
Ground displacement
Aki and Richards (2002)
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The rotational part
• Rotations are zero before S arrival
• Far-field P-rotation is not zero! Only the sum of all contributions cancel!
Cochard et al. (2006)
• Rotations are zero before S arrival
• Far-field P-rotation is not zero! Only the sum of all contributions cancel!
Cochard et al. (2006)
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Basic seismograms, full space
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Rotation rate and transverse accelerationplane-wave propagation
Plane transversely polarized wave propagating in x-direction with phase velocity c Plane transversely polarized wave propagating in x-direction with phase velocity c
kctkxftxu y /)(),( kctkxftxu y /)(),(
)(),(),( 2 tkxftxutxa yy )(),(),( 2 tkxftxutxa yy Acceleration
ctxtxa 2),(/),( ctxtxa 2),(/),(
Rotation rate and acceleration should be in phase and the amplitudes scaled by two times the horizontal phase velocity
Rotation rate and acceleration should be in phase and the amplitudes scaled by two times the horizontal phase velocity
Rotation rate
)(
2
1,0,00,,0
2
1),( tkxfkutx y
)(
2
1,0,00,,0
2
1),( tkxfkutx y
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Instrumentation
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The ring laser at Wettzell
ring laser
Data accessible at www.rotational-seismology.org
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How can we observe rotations?-> ring laser
Ring laser technology developed by the groups at the Technical University Munich and the University of Christchurch, NZ
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Ring laser – the principle
PfSagnac
AΩ
4P
fSagnac AΩ
4
A surface of the ring laser (vector) imposed rotation rate (Earth‘s rotation +
earthquake +...) laserwavelength (e.g. 633 nm)Pperimeter (e.g. 4-16m)f Sagnac frequency (e.g. 348,6 Hz sampled at
1000Hz)
Resolution down to O(10-11) rad/s
A surface of the ring laser (vector) imposed rotation rate (Earth‘s rotation +
earthquake +...) laserwavelength (e.g. 633 nm)Pperimeter (e.g. 4-16m)f Sagnac frequency (e.g. 348,6 Hz sampled at
1000Hz)
Resolution down to O(10-11) rad/s
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The Sagnac Frequency(schematically)
Tiny changes in the Sagnac frequencies
are extracted to obtain the time
series with rotation rate
f ->
Tiny changes in the Sagnac frequencies
are extracted to obtain the time
series with rotation rate
f ->
Sagnac frequency sampled with 1000Hz (Reftek)-> instantaneous freq. using Hilbert transform
Sagnac frequency sampled with 1000Hz (Reftek)-> instantaneous freq. using Hilbert transform
Rotation rate sampled with 20Hz
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The PFO sensor… built for seismology
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The PFO sensormode hopping
... mode hops can be avoided by cleaning through getter function (reducing outgassing)
Sagnac
signal
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Cross-axis sensitivity: tilt-Ringlaser coupling
… negligible for far-field observations …
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Horizontal axes?
First application in VIRGO project (gravitational wave detection, Pisa, Italy)
3C planned for PFO Options to get around
„lock-in“ problem: 45 degree arrangement,
projections Running RL with
„dithering“ out of lock-in
RL1RL2
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Data, Data, Data
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Mw = 8.3 Tokachi-oki 25.09.2003transverse acceleration – rotation rate
From Igel et al., GRL, 2005
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PFO Observations
Kamtchatka M7.6
California M3.9
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Compatibility with MS (surface wave magnitude)T=30s, c=4300m/s
3.3log66.1log 1010 DT
AM S
3.9log66.12
2
210102),(2 DM
SzS
cTDMA
cT
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Instrument correction!transverse acceleration – rotation
rate
Time (s)
Before correction
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Instrument correction!transverse acceleration – rotation
rateAfter correction
Time (s)
... an independent confirmation of the quality of the instrument correction ...
Time (s)
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Love wave dispersiontransverse acceleration – rotation
rate
From Igel et al. (GJI, 2007)
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… dispersion … M7.4 Kuril islands, 15/1/09
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Love wave dispersion from 28 events
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… why the large variations?
… overtones alone can do it …
(Kurrle et al., in preparation)
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Sumatra M8.3 12.9.2007
P
P Coda
Modelling the ratio of Energy in P-Rotations and Translations allows putting constraints on crustal
scattering (Pham et al., BSSA, 2009)
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Adjoint method and rotationssensitivity kernels
Fichtner and Igel, 2009, BSSA.
Sensitivity of travel times (or rotation amplitudes alone)
Sensitivity of acceleration/rotation(apparent shear wave speed)
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… tomography without travel times!
… the observables are frequency dependent amplitude ratios of rotations and translations …
Bernauer et al, Geophysics, in print
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EARTHQUAKE on 29/09/2009 at 17:48 (UTC) SAMOA ISLANDS REGION 164 km S Siumu MAGNITUDE: Mw 7.9
Widmer et al., BSSA, 2009
Ring laser record, Wettzell, Germany
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… long periods ….
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First observations of eigenmodes with ring laser!
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Synthetics ….
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Rotations using Seismic Arrays
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Array measurementsDec 2003-Mar 2004
xyyxz vv
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First comparison of array-derived rotations (black) and direct ring laser measurements
(red)
From Suryanto et al (2006, BSSA)
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Array vs. direct
Wassermann et al., 2009, BSSA.
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Step table tests with low-resolution sensors
See poster by Wassermann et al!
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Conclusions
Ring laser technology is the most promising technology for broadband far-field observations (Hz – mHz range, 10-11-10-6 rad/s)
Measuring tilts (horizontal component of rotation) in broadband seismology is a fundamental research question!
Collocated observations of rotations and translations are providing additional structural information!
Our current state of knowledge: Broadband, far field: ring lasers Seismological applications, portable: fiber-optic gyros Strong motion: fluid-based sensors (e.g., R1)
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Future
A 6C permanent observatory (with surrounding BB array) at PFO
Cooperation with Gravitational Wave Experiments (e.g., LIGO, VIRGO)
Applications in earthquake engineering, source problems, reservoir seismics, strong motion seismology, ocean bottom seismology, planetology
Tilts, tilts, tilts!
-> www.rotational-seismology.org (IWGoRS)-> IWGoRS Meeting in Europe, provisional schedule
for 2nd Meeting in Prague 12-15 October, 2010
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Using Surface Wave Ray Theory
Ferreira and Igel, 2009, BSSA.
l >> 1
Love wave dispersion from point measurement!
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Max. cross-corr. coefficient in sliding time
window transverse acceleration – rotation rate
Small tele-seismic event
P-onset
S-waveLove waves Aftershock
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M8.3 Tokachi-oki, 25 September 2003
phase velocities ( + observations, o theory)
From Igel et al. (GRL, 2005)
Horizontal phase velocity in sliding time window
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Real vs. Synthetics : Papua event
Cochard et al., 2006
Observations
Synthetics
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Collocated measurements of translations and rotationsGrenoble Basin (synthetics) and the LA basin
Apparent shear velocity from ratio acceleration/rotation
Basin model
Stupazzini et al., 2009, BSSA, and Wang et al. BSSA, 2009
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Rotational signals in the P-coda?frequency dependence
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… observable for all events!
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Rotational signals in the P-coda?azimuth dependence
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Love waves – direction of energy
… from rotations and translations measured at one point …
correlations in Love wave window
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P-Coda energy direction… comes from all directions …
correlations in P-coda window
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P-SH scattering simulations with ADER-DG
translations
rotations
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P-SH scatteringsimulations with ADER-DG
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Ratio of Rotational energy vs. Translational energy
Observed range of
energy ratios
Observed range of
energy ratios
Pham et al., 2008, BSSA, subm.
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Love wave wave rotationsJWKB synthetics
3D
PREM
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Love wave dispersion-> S-wave tomography
Ferreira and Igel., 2009, BSSA.
Acceleration
Spectral ratio
Rotation
Oceanic Crust Continental Crust