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Simulation of Dynamic Earthquake Ruptures in Complex Geometries Using High-Order Finite Difference Methods

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Abstract

We develop a stable and high-order accurate finite difference method for problems in earthquake rupture dynamics in complex geometries with multiple faults. The bulk material is an isotropic elastic solid cut by pre-existing fault interfaces that accommodate relative motion of the material on the two sides. The fields across the interfaces are related through friction laws which depend on the sliding velocity, tractions acting on the interface, and state variables which evolve according to ordinary differential equations involving local fields.

The method is based on summation-by-parts finite difference operators with irregular geometries handled through coordinate transforms and multi-block meshes. Boundary conditions as well as block interface conditions (whether frictional or otherwise) are enforced weakly through the simultaneous approximation term method, resulting in a provably stable discretization.

The theoretical accuracy and stability results are confirmed with the method of manufactured solutions. The practical benefits of the new methodology are illustrated in a simulation of a subduction zone megathrust earthquake, a challenging application problem involving complex free-surface topography, nonplanar faults, and varying material properties.

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Acknowledgements

J.E.K. and E.M.D. were supported by National Science Foundation (NSF) award EAR-0910574 and the Southern California Earthquake Center (SCEC), as funded by NSF Cooperative Agreement EAR-0529922 and US Geological Survey Cooperative Agreement 07HQAG0008 (SCEC contribution number 1424). J.E.K. was also supported by NSF Fellowship for Transformative Computational Science using CyberInfrastructure OCI-1122734. The computations in this paper were conducted at the Stanford Center for Computational Earth and Environmental Science. Finally, we would like to thank the two anonymous reviewers of the manuscript for their suggestions and comments.

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Authors and Affiliations

  1. Department of Geophysics, Stanford University, Stanford, CA, USA

    Jeremy E. Kozdon

  2. Department of Geophysics and Institute for Computational and Mathematical Engineering, Stanford University, Stanford, CA, USA

    Eric M. Dunham

  3. Department of Mathematics, Linköping University, Linköping, Sweden

    Jan Nordström

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  1. Jeremy E. Kozdon
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Correspondence to Jeremy E. Kozdon.

Appendix: Equivalence of Friction Law in Physical and Characteristic Variables

Appendix: Equivalence of Friction Law in Physical and Characteristic Variables

In this appendix we show that if ∂f/∂V≥0 then friction law f(V,ψ) is expressible in characteristic form. Assuming that the interface is between blocks (a) and (b), the normal stress and fault normal velocity can be written using the characteristic interface variables (30):

(114)
(115)

Continuity of normal stress (36) and fault normal velocity (38) implies that these can be written as

(116)

All that remains is to show that (40) can also be written in characteristic form (35). We can write the shear stress and slip velocity using the characteristic variables (31):

(117)
(118)
(119)
(120)

Force balance (36) and the nonlinear friction law (40) then can be written as the nonlinear system

(121)

where \(V_{m} = -v_{m}^{(a)} - v_{m}^{(b)}\) and \(V_{z} = -v_{z}^{(a)} + v_{z}^{(b)}\); see (39). The Jacobian of (121) with respect to the variables \(\mathcal{W}^{-(a)}_{m}\), \(\mathcal{W}^{-(a)}_{z}\), \(\mathcal{W}^{-(b)}_{m}\), and \(\mathcal{W}^{-(b)}_{z}\), is

(122)

where 0 2 is the 2×2 zero matrix and

(123)
(124)

with f=f(V,ψ). The determinant of J is

(125)

If ∂f/∂V≥0 then J≠0 and it follows by the implicit function theorem that friction law f is expressible in characteristic form.

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Kozdon, J.E., Dunham, E.M. & Nordström, J. Simulation of Dynamic Earthquake Ruptures in Complex Geometries Using High-Order Finite Difference Methods. J Sci Comput 55, 92–124 (2013). https://doi.org/10.1007/s10915-012-9624-5

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