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Computational Seismology COMPUTATIONAL SEISMOLOGY Computational Seismology A Practical Introduction Heiner Igel Department of Earth and Environmental Sciences, Ludwig-Maximilians-University of Munich 3 3 Great Clarendon Street, Oxford, OX2 6DP, United Kingdom Oxford University Press is a department of the University of Oxford. It furthers the University’s objective of excellence in research, scholarship, and education by publishing worldwide. Oxford is a registered trade mark of Oxford University Press in the UK and in certain other countries © Heiner Igel 2017 The moral rights of the author have been asserted First Edition published in 2017 Impression: 1 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, without the prior permission in writing of Oxford University Press, or as expressly permitted by law, by licence or under terms agreed with the appropriate reprographics rights organization. Enquiries concerning reproduction outside the scope of the above should be sent to the Rights Department, Oxford University Press, at the address above You must not circulate this work in any other form and you must impose this same condition on any acquirer Published in the United States of America by Oxford University Press 198 Madison Avenue, New York, NY 10016, United States of America British Library Cataloguing in Publication Data Data available Library of Congress Control Number: 2016940973 ISBN 978–0–19–871740–9 (hbk.) ISBN 978–0–19–871741–6 (pbk.) Printed and bound by CPI Group (UK) Ltd, Croydon, CR0 4YY Links to third party websites are provided by Oxford in good faith and for information only. Oxford disclaims any responsibility for the materials contained in any third party website referenced in this work. To M a r i a , and our wonderful kids Anna, Jonas, Lukas, and Clara. Thanks for always bringing me back to Earth. Preface When I was an undergraduate student in Scotland in the late eighties working on seismic anisotropy I was lucky to have been able to attend an international meet- ing that took place at the University of Berkeley, California. I saw a presentation of a Stanford PhD student showing 2D simulations of anisotropic wave propa- gation using the finite-difference method. I was totally struck by the beauty of the graphics, the ease with which one could develop intuition about wave phe- nomena, and the elegant and simple maths underlying the simulation method. This became what I wanted to learn, master, and apply! Luckily, later I was of- fered a PhD position in Paris, where the development of finite-difference-based simulation methods and their application to inverse problems became my topic. It is important to note that at the time (parallel) computer codes needed for our research were basically written from scratch. The primary goal was to en- sure that the codes were correct (rather than making them readable by others through heavy commenting). As computers grew larger and architectures became more complex, this heroic (unprofessional) coding style no longer worked. Today, parallel codes must have a different quality. To be able to obtain computational resources on large supercomputer facilities, one has to demonstrate proper par- allel scaling properties and in many cases this is not possible without interaction with computational scientists. This implies a paradigm shift in the approach to simulation technology. Today, the shortest time to results for students involves the use of community software provided by projects like CIG (<http://www.geodynamics.org>), individual re- searchers or groups (see appendix), or community platforms as developed within the VERCE project (<http://www.verce.eu>). This creates problems. Numerical methods are not necessarily featured with much detail in Earth science courses. On the other hand, it is usually straightforward to use community simulation tools and obtain synthetic seismograms. However, without experience, quality control is difficult. Not seldom am I presented with simulation results where there are obvious problems with the set-up. How can we fix this? Students and researchers should have at least a basic un- derstanding of what is under the bonnet of current simulation technologies used to solve interesting research problems. They should understand what problems to look out for, and how to properly design simulation tasks, and to ensure the results are correct. In addition, today there is a zoo of different methods, and it is difficult to choose the right method for a particular problem. In this volume I try to provide some guidelines. viii Preface The strategy is to keep the maths as simple as possible, extensively using graphics to illustrate concepts, while at the same time presenting the link between theory and computer program (using the Python language and Jupyter note- books). This concept should be beneficial to both students and lecturers. While it is advisable to write own codes as much as possible (and compare with the so- lutions presented here), lecturers can start right away using the supplementary electronic material and the online platform provided. This volume should be considered a starting point. There are many excellent books for each of the numerical methods presented in this text. These references should be consulted when more detail is required. The focus here is to present the fundamental concepts of the various methods, their inter-relations, and pros and cons for specific applications in seismology (and other fields). My hope is that you become equally excited about this fascinating field of Earth science, and use your knowledge to further our understanding of this amazing planet! Heiner Igel Munich, July 2016 Acknowledgements Thanks to Sonke Adlung from Oxford University Press for suggesting this project, to Ania Wronski and the production staff at Integra (Marie Felina Francois) for their help and support, and to Henry MacKeith for copy-editing. I would like to express my gratitude to those who helped me to get off the ground in science. Stuart Crampin of the University of Edinburgh, taught me to ‘think science’, and became a lifelong friend. This volume would never have been possible without the vision of Albert Tarantola and Peter Mora of the Institut de Physique du Globe Paris, who—decades ago—foresaw the impact of parallel computing in the Earth (and other) sciences. I consider myself very lucky having had these scientists as supervisors. The work presented in this volume benefitted from research projects funded by the German Research Foundation, the European Union, the European Re- search Council, the Bavarian Government, the German Ministry of Research, the Volkswagen Foundation, and the European Science Foundation. I gratefully ac- knowledge the strong support from the Leibniz Supercomputing Centre Munich. The concepts for this volume were born out of workshops organized dur- ing the SPICE and QUEST training networks funded by the European Union between 2003 and 2013. The people who invented the training network fund- ing instruments should be awarded! We learned so much through these projects on both seismic forward and inverse modelling, which pushed the limits in seismology substantially, and at the same time shaped careers for dozens of young scientists who today are scattered around the world, many in senior positions. Preface ix Infinite thanks to the principal investigators and associates of the SPICE and QUEST projects—they were so much fun: Chris Bean, Lapo Boschi, Jo- hana Brokesova, Michel Campillo, Torsten Dahm, Ana Ferreira, Domenico Giardini, Alex Goertz, Matthias Holschneider, Raul Madariaga, Martin Mai, Valerie Maupin, Peter Moczo, Jean-Paul Montagner, Andrea Morelli, Tarje Nissen-Meyer, Guust Nolet, Johan Robertsson, Barbara Romanowicz, Malcolm Sambridge, Geza Seriani, Karin Sigloch, Eleonore Stutzmann, Jeannot Trampert, Colin Thomson, Jeroen Tromp, Jean-Pierre Vilotte, Jean Virieux, John Wood- house, Aldo Zollo, and many others; the enthusiastic administrators Erika Vye and Greta Küppers; and all doctoral and postdoctoral researchers involved. Part of the material benefitted enormously from other people’s work; for exam- ple, Bernhard Schuberth’s diploma thesis, course material by Martin Käser, and Andreas Fichtner’s book on modelling and inversion. Thanks to Peter Shearer and Cambridge University Press for giving permission to use some of the graph- ics from Peter’s excellent introductory work in seismology. I also want to thank Wolfgang Bangerth who introduced me to the finite-element method many years ago using just the blackboard and a pen. This volume got started during the phenomenal RHUM-RUM cruise in the Indian Ocean in autumn 2013, coordinated by Karin Sigloch and Guilhem Bar- ruol. Thanks to Yann Capdeville with whom I shared many day and night shifts. He helped me a lot with the spectral-element method. According to him I was his worst student ever. Thanks to Florian Wölfl, who helped tremendously getting the Latex project started. Sebastian Anger, Bryant Chow, Jonas Igel, Lion Krischer, David Vargas, and Moritz Goll helped with the graphics, slide material, and the notebooks. Special thanks to Stephanie Wollherr: her mathematical skills and good humour helped substantially in getting the finite-volume and discontinuous Galerkin chap- ters (and the codes) in shape. Sujana Talavera provided great comments on these parts, too. I am also grateful to Matthias and Thomas Meschede for creating the graphics for the title page. Thanks to all the participants of the Munich Earth Skience School 2015 (<http://www.geophysik.lmu.de/MESS>) in Sudelfeld, Christine Thomas for col- lecting all the comments and the staff Renate and Winfried Löffler and Michael Sponi for always creating a wonderful atmosphere over the years. Thanks to the participants of the 2015 seminar on computational seismology and all their com- ments and suggestions on the draft: Michael Bader, Esteban Bedoya, Christoph Heidelmann, Eduard Kharitonov, Jiunn Lin, Martin Mai, Sneha Singh, Taufiq Taufiqurrahman, Tushar Upadhyay, Vasco Varduhn, and Donata Wardani.
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