FUNDAMENTALS of ENGINEERING SEISMOLOGY LOCATING EARTHQUAKES.
FUNDAMENTALS of ENGINEERING SEISMOLOGY
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Transcript of FUNDAMENTALS of ENGINEERING SEISMOLOGY
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FUNDAMENTALS of ENGINEERING SEISMOLOGY
SEISMIC SOURCES: POINT VS. EXTENDED
SOURCE; SOURCE SCALING
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SOURCE REPRESENTATION
Kinematic point source
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Point sources
• Complete wave solution – near-, intermediate-, far-field terms– Radiation patterns– P vs. S wave amplitudes
• S wave spectra
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Basic properties of seismic sources
• Focal mechanisms• Double couple force system• Brune source model• Self-similarity principle• Haskell source model• directivity
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Point Source
• Much can be learned from the equation giving the motion in an infinite medium resulting from a small (mathematically, a point) seismic source.
• This is a specialized case of the Representation Theorem, using a point source and the infinite space Green’s function.
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M0 (seismic moment)
r
Point source approximation is allowed when the receiver is at a distance from the source larger than a few lengths of the fault.
r >> L
),( txu
KINEMATICS POINT SOURCE
Validity range
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• Imagine an earthquake source which is growing with time.• At each instant in time, one could define the moment that has been
accumulated so far.• That would involve the area A(t) and the average slip D(t) at each
point in time.
Fault perimeter at different times in the rupture process.
5 s4 s
3 s2 s1 s
KINEMATICS POINT SOURCE
Moment release
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• M0(t)=0 before the earthquake begins.• M0(t)= M0, the final seismic moment, after slip has
finished everyplace on the fault.• M0(t) treats this process as if it occurs at a point, and
ignores the fault finiteness.
tDtAtM 0
KINEMATICS POINT SOURCE
Seismic moment
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)(tD
trisetime
Source time function
maxD
)(tD
t
KINEMATICS POINT SOURCE
Source time function
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true only if the medium is :• Infinite •
Homogeneous• Isotropic • 3D
KINEMATICS POINT SOURCE
Simplest solution
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/
04/
02 2
02 2
03
03
1 1( , )4
1 14
1 14
1 14
1 14
rN
r
IP
IS
FP
FS
u x t A M t dr
rA M tr
rA M tr
rA M tr
rA M tr
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Point Source: Discussion• Both u and x are vectors.• u gives the three components of displacement at
the location x.• The time scale t is arbitrary, but it is most
convenient to assume that the radiation from the earthquake source begins at time t=0.
• This assumes the source is at location x=0. The equations use r to represent the distance from the source to x.
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/
04/
02 2
02 2
03
03
1 1( , )4
1 14
1 14
1 14
1 14
rN
r
IP
IS
FP
FS
u x t A M t dr
rA M tr
rA M tr
rA M tr
rA M tr
KINEMATICS POINT SOURCE
Equation terms
Near-field term
Intermediate-field P-wave
Intermediate-field S-wave
Far-field P-wave
Far-field S-wave
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• A* is a radiation pattern. • A* is a vector.• A* is named after the term it
is in.• For example, AFS is the “far-
field S-wave radiation pattern”
/
04/
02 2
02 2
03
03
1 1( , )4
1 14
1 14
1 14
1 14
rN
r
IP
IS
FP
FS
u x t A M t dr
rA M tr
rA M tr
rA M tr
rA M tr
KINEMATICS POINT SOURCE
Radiation pattern
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• ρ is material density• α is the P-wave velocity• β is the S-wave velocity.• r is the source-station
distance.
/
04/
02 2
02 2
03
03
1 1( , )4
1 14
1 14
1 14
1 14
rN
r
IP
IS
FP
FS
u x t A M t dr
rA M tr
rA M tr
rA M tr
rA M tr
KINEMATICS POINT SOURCE
Other constants
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• M0(t), or it’s first derivative, controls the shape of the radiated pulse for all of the terms.
• M0(t) is introduced here for the first time.• Closely related to the seismic moment,
M0.• Represents the cumulative deformation
on the fault in the course of the earthquake.
0
0
0
0
0
M t d
rM t
rM t
rM t
rM t
KINEMATICS POINT SOURCE
Temporal waveform
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• 1/r4
• 1/r2
• 1/r2
• 1/r
• 1/r
/
04/
02 2
02 2
03
03
1 1( , )4
1 14
1 14
1 14
1 14
rN
r
IP
IS
FP
FS
u x t A M t dr
rA M tr
rA M tr
rA M tr
rA M tr
KINEMATICS POINT SOURCE
Geometrical spreading
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• The far field terms decrease as r-1. Thus, they have the geometrical spreading that carries energy into the far field.
• The intermediate-field terms decrease as r-2. Thus, they decrease in amplitude rapidly, and do not carry energy to the far field. However, being proportional to M0(t) , these terms carry a static offset into the region near the fault.
• The near-field term decreases as r-4. Except for the faster decrease in amplitude, it is like the intermediate-field terms in carrying static offset into the region near the fault.
KINEMATICS POINT SOURCE
Geometrical spreading
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• Signal between the P and the S waves.
• Signal for duration of faulting, delayed by P-wave speed.
• Signal for duration of faulting, delayed by S-wave speed.
/
04/
02 2
02 2
03
03
1 1( , )4
1 14
1 14
1 14
1 14
rN
r
IP
IS
FP
FS
u x t A M t dr
rA M tr
rA M tr
rA M tr
rA M tr
KINEMATICS POINT SOURCE
Temporal delays
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M0
r
),( tru
)(tD
t
Rise time = 0
maxD
KINEMATICS POINT SOURCE
Solution for a Heaviside source time function
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M0
r
( )dD tdt
)(tD
t
Rise time = 0
maxD
t
KINEMATICS POINT SOURCE
Solution for a Heaviside source time function
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M0
r
),( tru
)(tD
t
Rise time = 0
maxD
t
r
r0
KINEMATICS POINT SOURCE
Solution for a Heaviside source time function
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M0
r
),( tru
)(tD
t
Rise time = 0
maxD
t
r
r0
Far field P wave
KINEMATICS POINT SOURCE
Solution for a Heaviside source time function
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M0
r
),( tru
)(tD
t
Rise time = 0
maxD
t
r
r0
+ Int. field P wave
KINEMATICS POINT SOURCE
Solution for a Heaviside source time function
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M0
r
),( tru
)(tD
t
Rise time = 0
maxD
t
r
r0
+ far field S wave
KINEMATICS POINT SOURCE
Solution for a Heaviside source time function
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M0
r
),( tru
)(tD
t
Rise time = 0
maxD
t
r
r0
+ int. field S wave
KINEMATICS POINT SOURCE
Solution for a Heaviside source time function
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M0
r
),( tru
)(tD
t
Rise time = 0
maxD
t
r
r0
+ near field wave
KINEMATICS POINT SOURCE
Solution for a Heaviside source time function
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t)(tu
t( )du t
dt
t
2
2
( )d u tdt
INFLUENCE OF SOURCE PARAMETERS
Displacement versus acceleration (for the S-wave, showing starting and stopping arrivals)
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SOURCE REPRESENTATION
Kinematic point source: FAR FIELD
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• 1/r geometrical spreading
• Signal for duration of faulting, delayed by P-wave speed.
• Signal for duration of faulting, delayed by S-wave speed.
03
03
1 1( , )4
1 14
FP
FS
ru x t A M tr απρα
rA M tr βπρβ
KINEMATICS POINT SOURCE
Far Field
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Frequencies of ground-motion for engineering purposes
• 10 Hz --- 10 sec (usually less than about 3 sec)
• Resonant period of typical N story structure ~ N/10 sec
• Corner periods for M 5, 6, and 7 ~ 1, 3, and 9 sec
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Horizontal motions are of most importance for earthquake engineering
• Seismic shaking in range of resonant frequencies of structures
• Shaking often strongest on horizontal component:– Earthquakes radiate larger S waves than P waves– Decreasing seismic velocities near Earth’s surface produce
refraction of the incoming waves toward the vertical, so that the ground motion for S waves is primarily in the horizontal direction
• Buildings generally are weakest for horizontal shaking• => An unfortunate coincidence of various factors
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Radiation Patterns & Relative Amplitudes in 3D
no nodal surfaces for S waves
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Source spectra of radiated waves (far-field, point source)
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Source spectra of radiated waves (far-field, point source)
A description of the amplitude and frequency content of waves radiated from the earthquake source is the foundation on which theoretical predictions of ground shaking are built. The specification of the source most commonly used in engineering seismology is based on the motions from a simple point source.
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Point Source: Discussion
• Imagine an earthquake source which is growing with time.• At each instant in time, one could define the moment that has been
accumulated so far.• That would involve the area A(t) and the average slip D(t) at each
point in time.
Fault perimeter at different times in the rupture process.
5 s4 s
3 s2 s1 s
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Point Source: Discussion
• M0(t)=0 before the earthquake begins.• M0(t)= M0, the final seismic moment, after slip has
finished everyplace on the fault.• M0(t) treats this process as if it occurs at a point, and
ignores the fault finiteness.
tDtAtM 0
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M0(t)
Consider:
This is the shape of M0(t). It is zero before the earthquake starts, and reaches a value of M0 at the end of the earthquake.This figure presents a “rise time” for the source time function, here labeled T. (Do not confuse this symbol with the period of a harmonic wave--- should have used Tr )
M0
0
t
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M0(t)
Consider these relations:
The simplest possible shape of M0(t) is a very smooth ramp.
From M0(t), this suggests that the simplest possible shape of the far-field displacement pulse is a one-sided pulse.
dM0(t)/dt the far-field shape is proportional to the moment rate function
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M0(t)
Consider these relations:
• Differentiating again, the simplest possible shape of the far-field velocity pulse is a two-sided pulse.
• Likewise, the simplest possible shape of the far-field acceleration pulse is a three-sided pulse.
dM0(t)/dt d2M0(t)/dt2 d3M0(t)/dt3
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M0(t)
Consider these relations:
dM0(t)/dt d2M0(t)/dt2 d3M0(t)/dt3
Far-field: displacement velocity acceleration
If the simplest possible far-field displacement pulse is a one-sided pulse, the simplest velocity pulse is two-sided, and the simplest acceleration pulse is three sided (with zero area, implying velocity = 0.0 at end of record).
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Point Source: Discussion• These results for the shape of the seismic pulses will
always apply at “low” frequencies, for which the corresponding wavelengths are much longer than the fault dimensions--- the fault “looks” like a point. They will tend to break down at higher frequencies.
• They have important consequences for the shape of the Fourier transform of the seismic pulse.
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Calculate the period for which the wavelength equals a given value. Assume βs = 3.5 km/s.
ST
M λ T
5.7 3.56.9 358.0 350
ST
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Calculate the period for which the wavelength equals a given value. Assume βs = 3.5 km/s.
ST
M λ T
5.7 3.5 1 s6.9 35 10 s8.0 350 100 s
ST
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Source Time Function
• The “Source time function” describes the moment release rate of an earthquake in time
• For large earthquakes, source time function can be complicated
• For illustration, consider a simple pulse
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Source Spectrum
• To explore source properties in more detail, consider the source spectrum
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Source Spectrum
• To explore source properties in more detail, consider the source spectrum
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Source Spectrum• To explore source properties in more detail, consider the
source spectrum
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Source Spectrum
• Radiated energy as function of frequency• Small earthquake: high frequencies (short )• Large earthquake: lower frequencies (long )• Energy release proportional to velocity spectrum• Corner frequency = peak of velocity spectrum
peak frequency of energy release• Displacement spectrum: flat below corner
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Point Source: Discussion• The Fourier transform of a one-
sided pulse is always flat at low frequencies, and falls off at high frequencies.
• The corner frequency is related to the pulse width.
• Commonly used equation:fc
201 / [1 ( / ) ]S ff
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Motivation for commonly used equation
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)(tD
t
maxD)(tD
t
maxD
t
KINEMATICS EXTENDED SOURCE
Source radiation: convolution of two box functions
This motivates the need to look at the frequency-domain representation of a box function
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Fourier spectrum of a box function: The frequency domain
representation of the point source
• For any time series g(t), the Fourier spectrum is:
dttitgG exp)(
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Example
• Calculate the Fourier transform of a “boxcar” function.
200
22
20
0
Dt
DtDB
Dt
tb0
B0
2D
2D
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The answer…
2
2sin
)( 0 D
D
DBG
With the following behavior for low and high frequencies:
G() area of pulse = B0D, 0
G( ) 1/ , 60
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Properties:
• The asymptotic limit for frequency -->0 is B0D.• The first zero is at:
Df
Df
D
12
2
2
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Cornerfrequency
Firstzero
Note can approximate the spectral shape with two lines, ignoring the scalloping. The intersection of the two lines is the corner frequency, an important concept.
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Examples of spectra for two pulses with the same area but different durations
linear-linear axes
log-log axes
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Examples of spectra for two pulses with the same area but different durations. Note that the low frequency limit is the
same for both pulses, but the corner frequency shifts
linear-linear axes
log-log axes
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)(tD
t
maxD)(tD
t
maxD
t
KINEMATICS EXTENDED SOURCE
Source radiation: convolution of two box functions
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t
)(tu
f
)(~ fu
2w
0M
d
d1
KINEMATICS EXTENDED SOURCE
Omega square model
corner frequency
Spectrum of single box function goes as 1/f at high frequencies; spectrum of convolution of two box functions goes as 1/f2
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• 1/r geometrical spreading
• Signal for duration of faulting, delayed by P-wave speed.
• Signal for duration of faulting, delayed by S-wave speed.
03
03
1 1( , )4
1 14
FP
FS
ru x t A M tr απρα
rA M tr βπρβ
KINEMATICS POINT SOURCE
Far Field
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Static scaling before, now consider frequency-dependent source excitation
00 0( , ) ( , )E M f CM S M f
ΘΦ3
04 S S
R VFC
πρ β R
0 0( , , ) ( , ) ( , ) ( )Y M R f E M f P R f G f
Changing notation, the Fourier transform of u(t) can be written:
Spectrum of displacement = Source X Path X SIte
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69
Simplest source model:
20
1( )1
S ff f
This is known as the ω-square model. Because the acceleration source spectrum is
20 0 0( , ) 2 ( , )A M f M πf S M f the scaling of the acceleration source spectrum at low frequencies goes as 2
0 0( , ) , 0A M f M f f and at high frequencies as 2
0 0 0( , ) ,A M f M f f
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Discussion
• The displacement spectrum is flat at low frequencies, then starts to decrease at a corner frequency.
• Above the corner frequency, the spectrum falls off as f-2 (for two box functions), with some fine structure superimposed.
• The corner frequency is inversely related to the (apparent) duration of slip on the fault.
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Point Source: Discussion• The duration of the pulse gives information about the size of the
source.
• Expect that rupture will cross the source with a speed (vr) that does not depend much, if at all, on magnitude.
• Thus, the duration of rupture is ~L/vr. We thus expect the pulse width (D before, but T now) is T~L/vr with some modification for direction.
• If we measure T, we can estimate the fault dimension. The uncertainty may be a factor of 2 or so.
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Point Source: Discussion• For a circular fault with radius rb, Brune (1970, 1971) proposed
the relationship (β is shear-wave velocity, f0 is corner frequency):
• This is widely used in studies of small earthquakes.
• Uncertainties in rb due to the approximate nature of Brune’s model are probably a factor of two or so.
0
2.342br f
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Introducing the stress drop Δσ (also known as the stress parameter)
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1 2
1 1
2 2
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For a circular crack:• There is a theoretical relation between the static
stress drop (Δσ), the average slip over the crack surface (U), and the radius of the crack (rb):
• Note that for a constant radius, an increasing slip gives increasing stress drop
716 b
Ur
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For a circular crack:• This can be converted into an equation in terms of
seismic moment:
• Although developed for a simple source (a circular crack), this equation is the basis for the simulation of ground motions of engineering interest, as improbable as that seems.
03
716 b
Mr
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Using the relation between source radius, corner frequency andstress drop leads to this important equation
where f0 is in Hz, in km/s, in bars, and Mo in dyne-cm
1 360 04.9 10f M
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Stress Drop
• “Static” versus “dynamic stress”• Variability over rupture area• Estimation = difficult
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Typical Stress Drop Values
• Typical values: 0.1 bars – 500 bars0.01 MPa – 50 MPa
• Units: force/area (bars = cgs)• Atmospheric pressure ~ 1 bar• Absolute stress in earth = high, very difficult to measure
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Example
f0 = _____r = 2.34 /(2f0) = ? meters
If Mo =
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Example
R = 50 mIf Mo = 1012Nm, stress drop = ____If Mo = 1010Nm, stress drop = ____
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Source Scaling
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Recall that
20 0 0( , ) ,A M f M f f
Using the equation relating 0f , , and 0M :
we have
1 3 2 30 0, .A M f M f
This is an important equation, because it relates the high-frequency spectral level to a few parameters. The different dependence of the low- and high-frequency spectra on 0M is also important in the dependence of ground motion on moment magnitude. This dependence is often known as source scaling.
1 360 04.9 10f M
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Self Similarity and Scaling at High Frequencies
• U/rb = constant for self similarity
• AHF M01/3 (2/3) M0
1/3
constant stress parameter (drop) scaling (a common assumption)
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f
)(~ fu
2w
1cf 2
cf
1 10
2 20
lf
lf
u Mu M
INFLUENCE OF SOURCE PARAMETERSMagnitude
1 31 10
2 20
hf
hf
u Mu M
Scaling if Δσ is constant
This is an important figure, as it indicates that the magnitude scaling of ground motion will be a function of frequency, with stronger scaling for low frequencies than high frequencies. One consequence is that the spectral shape of ground motion will be magnitude dependent, with large earthquakes having relatively more low-frequency energy than small earthquakes
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(From J. Anderson)84
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(From J. Anderson)85
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Scaling of high-frequency ground motions:Typical scaling of spectra observed for earthquakes with M<7 : 2 displacement spectral falloff and constant stress drop withrespect to seismic moment
u f Mhf ( ) / 01 3
E f A( ) 86
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f
)(~ fu
1cf
2cf
If the moment is fixed, an increase of stress drop means an increase of the corner frequency value
3
1
2
2
11
2
LL
ff
c
c
32
2
12
1
~~
hf
hf
uu
INFLUENCE OF SOURCE PARAMETERSStress drop
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Scaling difference: • Low frequency
• A≈ M0, but log M0 ≈
1.5M, so A ≈ 101.5M. This is a factor of 32 for a unit increase in M
• High frequency
• A ≈ M0(1/3), but log M0 ≈
1.5M, so A ≈ 100.5M. This is a factor of 3 for a unit increase in M
• Ground motion at frequencies of engineering interest does not increase by 10x for each unit increase in M
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0.01 0.1 1 10 1000.1
1
10
100
1000
10000
Frequency (Hz)
Four
ierA
ccel
erat
ion
Spe
ctru
m(c
m/s
)
AB95H96Fea96 (no site amp)BC92J97
M = 7.5
M = 4.5
File:
C:\m
etu_
03\re
c_pr
oc_s
trong
_mot
ion\
FAS_
XCA.
draw
;Da
te:
2003
-09-
15;
Time:
14:4
9:29
Equal M implies the same spectra at low frequencies
decay at high f due to source or site (I prefer the latter)
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Δσ is a KEY parameter for ground-motion at frequencies of engineering interest
Units: bars, MPa, where 1 MPa= 10 bars
Also, M0 in dyne-cm or N-m, where 1 N-m=10^7 dyne-cm (log M0=1.5M+16.05 for M0 in dyne-cm).
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Why Stress Drop Matters
• Increase stress drop more high frequency motion• Structural response depends on amplitude of shaking and
frequency content
Frequencies of Engineering concern10 Hz --- 10 sec (usually less than about 3 sec)
Resonant period of typical N story structure ~ N/10 sec
Resonance period of 20 storey structure?
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Why Stress Drop Matters
• Ground motion prediction methods:stress drop = input parameter
• Intraplate earthquakes (longer recurrence) higher stress drop
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Use of mb/Mw in the Search for High Stress-Parameter Earthquakes in
Regions of Tectonic Extension
Jim Dewey and Dave Boore
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We have 21,179 events, h(PDE) or h(GCMT) < 50 km, 1976 – Sept 2007, for which mb(PDE) and Mw(GCMT) are both available
Assumptions for theoretical curves
• random-vibration source with ω-squared source-spectrum
• mb measured on WWSSN SP seismograph
• same raypath attenuation for all source-station pairs
Conventional wisdom: high mb with respect to Mw implies high stress parameter
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SOURCE EFFECTS
Complex source phenomena
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• Influence of source phenomena– Directivity and rupture velocity– Super shear velocity– Rupture in surface– Hanging wall/foot wall– Stopping phases– Concept of asperities and barriers– Self similar slip distribution
60 min
SOURCE EFFECTS ON STRONG GROUND MOTION
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Haskell source model: Simple description of a moving source.
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Directivity: Ground motion pulse duration will be shortened in duration in the direction in which wave front is advancing, as waves radiating from near-end of fault pile up on top of waves radiating from the far end. This directivity effect increases wave amplitudes in the rupture propagation direction.
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Example of observed directivity effects in the Landers earthquake ground motions near the fault.
Directivity was a key factor in causing large ground motions in Kobe, Japan, and a major damage factor. It probably also played a role in the recent San Simeon, CA, earthquake
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COMPLEX SOURCE PHENOMENADirectivity formulation
crt 0
c
LrvLt
rL
cos
cos10 c
vvLttd r
rL
cos1
11 90
cv
fd
fr
cc
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cos1
1r
d vC
For an unilateral fault :
.8 5 0.9
.9 10 0.83
0 180/rv
COMPLEX SOURCE PHENOMENADirectivity coefficient
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Hirasawa (1965)
COMPLEX SOURCE PHENOMENADirectivity effect on radiation
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f
)(~ fu
2w
cd fC
2dC
COMPLEX SOURCE PHENOMENADirectivity effect on acceleration spectrum
For very low frequencies, the wavelengths are much longer than the fault length, and directivity has no impact on the motion, which is controlled by the seismic moment; this is why the two spectra are the same at low frequencies in this cartoon. 103
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Cd f
Haskell (1964)
Frankell (1991)
Non directive
)(~ fu
COMPLEX SOURCE PHENOMENADirectivity effect on displacement spectrum
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Directivity
• Directivity is a consequence of a moving source• Waves from far-end of fault will pile up with waves arriving from
near-end of fault, if you are forward of the rupture• This causes increased amplitudes in direction of rupture
propagation, and decreased duration.• Directivity is useful in distinguishing earthquake fault plane from its
auxiliary plane because it destroys the symmetry of the radiation pattern.
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SOURCE REPRESENTATION
Kinematics extended source
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Fault kinematics
• Distribution of fault slip as a function of space and time• Often parameterized by velocity of rupture front, and rise
time and total slip at each point of the fault
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surface
KINEMATICS EXTENDED SOURCE
An extended source is a sum of point sources
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Depth
Into the
earth
Surface of the earth
Distance along the fault plane 100 km (60 miles)
Slip on an earthquake fault
START
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Slip on an earthquake faultSecond 2.0
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Slip on an earthquake faultSecond 4.0
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Slip on an earthquake faultSecond 6.0
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Slip on an earthquake faultSecond 8.0
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Slip on an earthquake faultSecond 10.0
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Slip on an earthquake faultSecond 12.0
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Slip on an earthquake faultSecond 14.0
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Slip on an earthquake faultSecond 16.0
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Slip on an earthquake faultSecond 18.0
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Slip on an earthquake faultSecond 20.0
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Slip on an earthquake faultSecond 22.0
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Slip on an earthquake faultSecond 24.0
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Total Slip in the M7.3 Landers Earthquake
Rupture on a Fault
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End
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