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416 Inverse Problems rm ‘oda or ‘brerabes verted and prediaed| ‘is Canora inate ‘Average veloiy andes, Lateral eocy variation itn conmencure ‘erssseptn {onencominea sen erences er elute plate motions terandasiuntvot plate motion Euler vector Nomi tte berate Inte an boundary sone) Thermal eelaon of Vatistionuithage indopt, heat Plate ihn ethaasghere Lateral thermomschanvaritons crenieithestere Nom andgeod (oven ete) Propertesteqy a m8) Signicanly onthe details ofthe location algorithm and vl ity model, but have oaly Limited elution for wherein the slab the eathguakes occur More dered locations, which ate more uf for relating the earthquakes to the physics Of subduction, can be deaved from sophisticated Toston ‘gorithms using a ateralyranable eloerty model tha betet ‘presents the slab. Hower, the improved resolution comes tthe pric of sabiliy, im hati depends on che specie velo iy model used “The ress of inverse suis can be viewed in tome of to end members. nope, We use an individual set of dat characterize 2 specifi phenomenon, sich the lation of an farthguake or the vloitysrctreinaspeciicate. In others, wwe desctbea ser of data avecaged over argion or the whole earch withasmpl physical model character byareatiely Seal or spare stot parameters, Such reference models the physical mode! with 2 speci set of parameters are used To characterize Lage sts of data na simple way, pedi dats where no observations exis, and thus idently miss, “anomalies,” where the data deviate rom the model predicons and hence the global average. We then ute reference models {ode inferences about te processes that erie o both che vere situation and deviations frm i For example boy ‘wave, surface wave and nomal mode data pve average lob ‘eloce stricto, Thisrvtore used to contain mode of {he average radial vatstons in composition and temperate, andasa teleence agains which velocity perturbations di Sulucting slabs, consineel roo, ho spo dg, ee. ca be dented and analyzed in terms of lca process that pet: tue the glabal model As shown in Table 7-1-1, we cn view ‘other reference models ina similar way For example the Euler vectors desing a plates motion are a simple desription Of is behavior, and paces where eathgoake mechanisms Ailer from these predictions inicte deviations fom sg plate behavior. Sizes simple cooling modes of the oceanic Tihosphere describe the average aration indepth, es ow and the geo, ands give a reference mo! forth tempera ‘re against which other tet canbe idenied and modeled ‘As strated in Fig. 11-8, the models are refined overtime sing new dats and’ model parameterization Eventually, the reference model does nor improve sigaicatly. When this ‘occurs, we are probably doing about 8 well as pose with thi ype of model For example as discussed in Section 3.5, laterally homogeneous global seismic velocity model have become suciely accurate that more stetion now di ted tosard the lateral vartions Inchischapter, we discuss several avese problems nro: doce some ofthe metbods used. Because sch inverse prob lems are crucial to sesmology and the earth sciences and slo appear in other sence, considerable attention has been fered toward them Ir ears ou that physeally que diferent Problems are ofendesribed sn mathematically sila ways. (Our goal sto identi some common themes and approaches, rather than discus the deta. Some more sophisticated reat. nents aelseed in che oggested reading. 7.2. Earthquake location We fst consider the clase inverse problem of locating 30 carthquake and ding its origin time ding the rival ies of Seismic waves at arous stations. The velit stractre eich determines the ray paths and hence eavel times eusal We fst regatd the velocity stature as known, and then explo how item also be esimated fom the travel ties, 724. Theory Assume that an enethquake occurred at sn unknown ie fat ‘an unknown position x= (x2, known asthe fypocenter, fr focus (ig. 72-1). The poi (9) onthe surace above the focus is elle the epicenter. scsmic stations a¢loctions X= (e395) detect the earthquake a arial ines d, which Alpend on the origin time # and the travel tne between the source and th station Tx) faTaxpee a che veloc structure is known, the forward problem eaa be writen sing the formulation 7.2 Earthquake location 417 oe Fi, 724 Caomery forage onion a tomogeneo aioe hc alee im), or = Alm, 2 showing how the dats vector, containing the arial mes at the tations, can be computed fom an assumed model vector ompored fhe source location ad origin ie, m= be7 80) ° The model vector consists of physically differen quant: dhyce space coordinates and an origin time, Because the data tnd model ze vectors elation betwen them canbe writen In terms of ether vecoms (d= Alm) other components (d= At The inverse problem can be stated as given the observed rival ines, Ad a mode that fits them. To do this we bein ‘with starting model we, which san estimate of or guess 2) 2 model that we hope close to the solution we eek. The Stating model predicts that we would have observed data >= Alyy) Unless we ae lucky, thse predicted data are not ‘wharsere actually observed Hence we sek changes ithe stating model | my ” ‘hae will make the predicted data close to those observed. In general the data do not depend lineaey om the model para ‘raters, we linearize he problem by expanding the data ina ‘Taylor series about the starting model mand Keeping ony the liner, nee 34 am % Thisequation canbe write in terms ofthe dfeence between the observed data andeose predic, a, Fan © Soch lation are common in inverse problems Fr sipli- cixy we omit the superscripts andl define the partial dative a sothe equation becomes Gam, oF = 3.6, 8) ‘Often the sare aso suppressed, andthe equation i writen as ‘d=Gm, This makes the notation simple, burcan be confusing tf inthis derivation, werezain dhe so expla indiate changes. Eqiation 8 isa vector-matrx equation representing a ss- ‘em of simultaneous linear equations. To save i, we sek 2 change inthe model Am that, when mulled by the known Patil derivative matrix G, gives the equied change in the ‘lata Bd, This isan inverse problem, in contrast othe forward roller of ing the change inthe dats Ad rected by == Ssvumed change im in the model, Maay aspects of inverse Theory desl with solving such eqations under various Ge ‘custaaces, The earthquake location problem considered bere isasimplecase “Acommon comply is that we generally have aerial ine ‘oervations st ny (en several ndred) rim eatons “andre solving for oaly four model paramecer. Inthe notation ‘fqn, janges rors 14, and range from Teo‘ where Ismach gee han 4, Because each arial time corresponds tovome equation, and each model parameter provides one Unknown, G has a umber of rots equal so the number of arral tite observations, and a nuke of columns equal :0 the numberof model parameter. Because there are mere (x) ‘equations than unknowns (4), has more rows than cums, so Eqn looks ike ‘Ad,) (Gu Ga Gs Gre ad] [Gn Ge Gy Gale a am ° 34) (on Ga Gn 6, Sch oerdtomind problems can pose dfs. One way 29 see this ito scal hatin were equal 9 4 chemattix G would be square thane the same numberof cows and column, 39 gn could be solved by mulkpliston by theinversemati, OMCCtm tm oe Betsy «BoB yom am (1 IF the numer of serv me observations excende fous, this method eannot be wed, because snot square and that 418. Inverse Problems I docs nochavean inverse! Oust inntinct might eto as only sva times at four stations, which would ge an exace sol tion and essume thatthe arrival ces a the eter stations see only extra, redundant information, In an deal world his ‘would be the ease. In reality, the arial ines contain exors due to variety of posible effec, including reading errors, inaccuracies in the locks atthe station, and misidentcaion ofthe ie arrivals In addition to these eros of measurement, there are systematic erors da tthe fact shat the velocity rarvete is no perety known ad i aterally variable. Asa esl the equations are inconsstont no one model can solve them exactly. Moreover, choosing fout arrival times might tmeanselecting data poorerthan those discarded. The approach taken instead isco seek che ongn cme and source loeation shat “hes” slvethe overdetermined, inconsistent equations. “Todo ths, we regard the observations da having ecors sesbed by their standard eviatios and find the model ‘hat minimizes the mii, (x “Baan cay whichis the prediction cron, the normalized sum of the avares of the diference Between the observed asta mes and hos predicted bythe model the firing function tobe ‘nized, weights he datay the reciprocal oftheir variances, fora theme uncertain have the las llct.To nd the best, fr, wesc pr derivatives ofthe mine with respec othe hange ia model parameters my equal to 20, and se the fact thatthe mode clements are independent, so the partial derivative of the change in one with respect (0 those inthe others iszeo, 1) The puis deinatves he mie as Scam, a3) Sauce TH{E60m ay eke variances ofthe data are equal (o} =o) that tem canbe factored out, and Lae 2 (26.0% ee (1s) haa: "Gam, a6) To ce that BA Gy fier the denon The advantage ofthis form is that although the matrix G cannot be inverted the matrbe G'G is squate and can be lnverted. Equation 16 thus ives am thestandard eas squares Solution tase of equtios chat cannot be soled exactly, Tecate Tad, wheres 8Gym,» Gam, com am=(GToy'GTad=Grad, or m= EG zad. (17) “The operstor(GT™G)"G, which acts on the dats to yield he model i called the generalized inverse of Gand is ween 4 G7, Iepromdes the "best soln na leas squares tense, cause elves che smallest squared mist. The generalized inverse ss the analog of the verse, but ora mat that not square, andhence does no have conventional averse. FG i ‘uate and hasan inverse, then G-1~ G-, Ithe data errors ate ‘ot equal he las squares solution i weighted bythe ers, {sshowa in problem atthe en of this chapter "To ae this method, we begin with a starting model 4ouce location and origin tine) mand predict the values expected forthe data d= Al). We then form the residual vector gr ing he miso the dat, ad" = evaluate the mates of arial dersvativs about the starting model, as) snd use the generalized inverse (Egp 17) ro God Am’, he ‘ange inthe starting model hae give a better Bo the dats ‘Thusthenew model ry preics values ofthe data BAI!) (20) that should be closer to the observations than the pedicons ‘ofthe starting model. This canbe tested by computing the d= ference between the observations andthe predicted dat forthe ‘ew model Ad=d'~¢and examining terra squared mist

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