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Curvilinear, multiblock summation-by-parts finite difference operators with the simultaneous approximation term method provide a stable and accurate framework for solving the wave equation in second order form. That said, the standard method can become arbitrarily stiff when characteristic boundary conditions and nonlinear interface conditions are used. Here we propose a new technique that avoids this stiffness by using characteristic variables to “upwind” the boundary and interface treatment. This is done through the introduction of an additional block boundary displacement variable. Using a unified energy, which expresses both the standard as well as characteristic boundary and interface treatment, we show that the resulting scheme has semidiscrete energy stability for the scalar anisotropic wave equation. The theoretical stability results are confirmed with numerical experiments that also demonstrate the accuracy and robustness of the proposed scheme. The numerical results also show that the characteristic scheme has a time step restriction based on standard wave propagation considerations and not the boundary closure. 

Abstract We present an efficient numerical method for earthquake sequences in 2D antiplane shear that incorporates wave propagation. A vertical strike‐slip fault governed by rate‐and‐state friction is embedded in a heterogeneous elastic half‐space discretized using a high‐order accurate Summation‐by‐Parts finite difference method. Adaptive time‐stepping is applied during the interseismic periods; during coseismic rupture we apply a non‐stiff method, enabling a variety of explicit time stepping methods. We consider a shallow sedimentary basin and explore sensitivity to spatial resolution and the switching criteria used to transition between solvers. For sufficient grid resolution and switching thresholds, simulations results remain robust over long time scales. We explore the effects of full dynamics and basin depth and stiffness, making comparisons with quasi‐dynamic counterparts. Fully‐dynamic ruptures generate higher stresses, faster slip rates and rupture speeds, producing seismic scattering in the bulk. Because single‐event dynamic simulations penetrate further into sediments compared to the quasi‐dynamic simulations, we hypothesize that the incorporation of inertial effects would produce sequences of only surface‐rupturing events. However, we find that subbasin ruptures can still emerge with elastodynamics, for sufficiently compliant basins. We also find that full dynamics can increase the frequency of surface‐rupturing events, depending on basin depth and stiffness. These results suggest that an earthquake's potential to penetrate into shallow sediments should be viewed through the lens of the earthquake sequence, as it depends on basin properties and wave‐mediated effects, but also on self‐consistent initial conditions obtained from seismogenic cycling. 

ABSTRACT Numerical modeling of earthquake dynamics and derived insight for seismic hazard relies on credible, reproducible model results. The sequences of earthquakes and aseismic slip (SEAS) initiative has set out to facilitate community code comparisons, and verify and advance the next generation of physics-based earthquake models that reproduce all phases of the seismic cycle. With the goal of advancing SEAS models to robustly incorporate physical and geometrical complexities, here we present code comparison results from two new benchmark problems: BP1-FD considers full elastodynamic effects, and BP3-QD considers dipping fault geometries. Seven and eight modeling groups participated in BP1-FD and BP3-QD, respectively, allowing us to explore these physical ingredients across multiple codes and better understand associated numerical considerations. With new comparison metrics, we find that numerical resolution and computational domain size are critical parameters to obtain matching results. Codes for BP1-FD implement different criteria for switching between quasi-static and dynamic solvers, which require tuning to obtain matching results. In BP3-QD, proper remote boundary conditions consistent with specified rigid body translation are required to obtain matching surface displacements. With these numerical and mathematical issues resolved, we obtain excellent quantitative agreements among codes in earthquake interevent times, event moments, and coseismic slip, with reasonable agreements made in peak slip rates and rupture arrival time. We find that including full inertial effects generates events with larger slip rates and rupture speeds compared to the quasi-dynamic counterpart. For BP3-QD, both dip angle and sense of motion (thrust versus normal faulting) alter ground motion on the hanging and foot walls, and influence event patterns, with some sequences exhibiting similar-size characteristic earthquakes, and others exhibiting different-size events. These findings underscore the importance of considering full elastodynamics and nonvertical dip angles in SEAS models, as both influence short- and long-term earthquake behavior and are relevant to seismic hazard.