I describe the properties of a fourth-order accurate space, second-order accurate time two-dimensional P-Sk’ finite-difference scheme based on the MadariagaVirieux staggered-grid formulation. The numerical scheme is developed from the first-order system of hyperbolic elastic equations of motion and constitutive laws expressed in particle velocities and stresses. The Madariaga-Virieux staggered-grid scheme has the desirable quality that it can correctly model any variation in material properties, including both large and small Poisson’s ratio materials, with minimal numerical dispersion and numerical anisotropy. Dispersion analysis indicates that the shortest wavelengths in the model need to be sampled at 5 gridpoints/wavelength. The scheme can be used to accurately simulate wave propagation in mixed acoustic-elastic media, making it ideal for modeling marine problems. Explicitly calculating both velocities and stresses makes it relatively simple to initiate a source at the free-surface or within a layer and to satisfy free-surface boundary conditions. Benchmark comparisons of finite-difference and analytical solutions to Lamb’s problem are almost identical, as are comparisons of finite-difference and reflectivity solutions for elastic-elastic and acoustic-elastic layered models.

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Fourth-order finite-difference P-SV seismograms

We present the spectral element method to simulate elastic-wave propagation in realistic geological structures involving complieated free-surface topography and material interfaces for two- and three-dimensional geometries. The spectral element method introduced here is a high-order variational method for the spatial approximation of elastic-wave equations. The mass matrix is diagonal by construction in this method, which drastically reduces the computational cost and allows an efficient parallel implementation. Absorbing boundary conditions are introduced in variational form to simulate unbounded physical domains. The time discretization is based on an energy-momentum conserving scheme that can be put into a classical explicit-implicit predictor/multi-corrector format. Long-term energy conservation and stability properties are illustrated as well as the efficiency of the absorbing conditions. The associated Courant condition behaves as Δ tC < O ( nel−1/nd N −2), with nel the number of elements, nd the spatial dimension, and N the polynomial order. In practice, a spatial sampling of approximately 5 points per wavelength is found to be very accurate when working with a polynomial degree of N = 8. The accuracy of the method is shown by comparing the spectral element solution to analytical solutions of the classical two-dimensional (2D) problems of Lamb and Garvin. The flexibility of the method is then illustrated by studying more realistic 2D models involving realistic geometries and complex free-boundary conditions. Very accurate modeling of Rayleigh-wave propagation, surface diffraction, and Rayleigh-to-body-wave mode conversion associated with the free-surface curvature are obtained at low computational cost. The method is shown to provide an efficient tool to study the diffraction of elastic waves by three-dimensional (3D) surface topographies and the associated local effects on strong ground motion. Complex amplification patterns, both in space and time, are shown to occur even for a gentle hill topography. Extension to a heterogeneous hill structure is considered. The efficient implementation on parallel distributed memory architectures will allow to perform real-time visualization and interactive physical investigations of 3D amplification phenomena for seismic risk assessment.

The spectral element method: An efficient tool to simulate the seismic response of 2D and 3D geological structures

This article provides an overview of the application of the staggered-grid finite-difference technique to model wave propagation problems in 3D elastic media. In addition to presenting generalized, discrete representations of the differential equations of motion using the staggered-grid approach, we also provide detailed formulations that describe the incorporation of moment-tensor sources, the implementation of a stable and accurate representation of a planar free-surface boundary for 3D models, and the derivation and implementation of an approximate technique to model spatially variable anelastic attenuation within time-domain finite-difference computations. The comparison of results obtained using the staggered-grid technique with those obtained using a frequency-wavenumber algorithm shows excellent agreement between the two methods for a variety of models. In addition, this article also introduces a memory optimization procedure that allows large-scale 3D finite-difference problems to be computed on a conventional, single-processor desktop workstation. With this technique, model storage is accommodated using both external (hard-disk) and internal (core) memory. To reduce system overhead, a cascaded time update procedure is utilized to maximize the number of computations performed between I/O operations. This formulation greatly expands the applicability of the 3D finite-difference technique by providing an efficient and practical algorithm for implementation on commonly available workstation platforms.

Simulating seismic wave propagation in 3D elastic media using staggered-grid finite differences

The pseudospectral (or Fourier) method has been used recently by several investigators for forward seismic modeling. The method is introduced here in two different ways: as a limit of finite differences of increasing orders, and by trigonometric interpolation. An argument based on spectral analysis of a model equation shows that the pseudospectral method (for the accuracies and integration times typical of forward elastic seismic modeling) may require, in each space dimension, as little as a quarter the number of grid points compared to a fourth‐order finite‐difference scheme and one‐sixteenth the number of points as a second‐order finite‐difference scheme. For the total number of points in two dimensions, these factors become 1/16 and 1/256, respectively; in three dimensions, they become 1/64 and 1/4 096, respectively. In a series of test calculations on the two‐dimensional elastic wave equation, only minor degradations are found in cases with variable coefficients and discontinuous interfaces.

The pseudospectral method: Comparisons with finite differences for the elastic wave equation

We present a review of the recent development in finite-difference time-domain modeling of seismic wave propagation and earthquake motion. The finite-difference method is a robust numerical method applicable to structurally complex media. Due to its relative accuracy and computational efficiency it is the dominant method in modeling earthquake motion and it also is becoming increasingly more important in the seismic industry and for structural modeling. We first introduce basic formulations and properties of the finite-difference schemes including promising recent advances. Then we address important topics as material discontinuities, realistic attenuation, anisotropy, the planar free surface boundary condition, free-surface topography, wavefield excitation (including earthquake source dynamics), non-reflecting boundaries, and memory optimization and parallelization.

The finite-difference time-domain method for modeling of seismic wave propagation

A finite difference for elastic waves is introduced. The model is based on the first order system of equations for the velocities and stresses. The differencing is fourth order accurate on the spatial derivatives and second order accurate in time. The model is tested on a series of examples including the Lamb problem, scattering from plane interf aces and scattering from a fluid-elastic interface. The scheme is shown to be effective for these problems. The accuracy and stability is insensitive to the Poisson ratio. For the class of problems considered here it is found that the fourth order scheme requires for two-thirds to one-half the resolution of a typical second order scheme to give comparable accuracy.

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B. J. LeMesurier

Papers

A fourth-order accurate finite-difference scheme for the computation of elastic waves