First observations of core-transiting seismic phases on Mars.

We present the first observations of seismic waves propagating through the core of Mars. These observations, made using seismic data collected by the InSight geophysical mission, have allowed us to construct the first seismically constrained models for the elastic properties of Mars' core. We observe core-transiting seismic phase SKS from two farside seismic events detected on Mars and measure the travel times of SKS relative to mantle traversing body waves. SKS travels through the core as a compressional wave, providing information about bulk modulus and density. We perform probabilistic inversions using the core-sensitive relative travel times together with gross geophysical data and travel times from other, more proximal, seismic events to seek the equation of state parameters that best describe the liquid iron-alloy core. Our inversions provide constraints on the velocities in Mars' core and are used to develop the first seismically based estimates of its composition. We show that models informed by our SKS data favor a somewhat smaller (median core radius = 1,780 to 1,810 km) and denser (core density = 6.2 to 6.3 g/cm3) core compared to previous estimates, with a P-wave velocity of 4.9 to 5.0 km/s at the core-mantle boundary, with the composition and structure of the mantle as a dominant source of uncertainty. We infer from our models that Mars' core contains a median of 20 to 22 wt% light alloying elements when we consider sulfur, oxygen, carbon, and hydrogen. These data can be used to inform models of planetary accretion, composition, and evolution.

Monitoring microseismicity of the Hengill Geothermal Field in Iceland.

Induced seismicity is one of the main factors that reduces societal acceptance of deep geothermal energy exploitation activities, and felt earthquakes are the main reason for closure of geothermal projects. Implementing innovative tools for real-time monitoring and forecasting of induced seismicity was one of the aims of the recently completed COSEISMIQ project. Within this project, a temporary seismic network was deployed in the Hengill geothermal region in Iceland, the location of the nation's two largest geothermal power plants. In this paper, we release raw continuous seismic waveforms and seismicity catalogues collected and prepared during this project. This dataset is particularly valuable since a very dense network was deployed in a seismically active region where thousand of earthquakes occur every year. For this reason, the collected dataset can be used across a broad range of research topics in seismology ranging from the development and testing of new data analysis methods to induced seismicity and seismotectonics studies.

A Reconstruction Algorithm for Temporally Aliased Seismic Signals Recorded by the InSight Mars Lander.

In December 2018, the NASA InSight lander successfully placed a seismometer on the surface of Mars. Alongside, a hammering device was deployed at the landing site that penetrated into the ground to attempt the first measurements of the planetary heat flow of Mars. The hammering of the heat probe generated repeated seismic signals that were registered by the seismometer and can potentially be used to image the shallow subsurface just below the lander. However, the broad frequency content of the seismic signals generated by the hammering extends beyond the Nyquist frequency governed by the seismometer's sampling rate of 100 samples per second. Here, we propose an algorithm to reconstruct the seismic signals beyond the classical sampling limits. We exploit the structure in the data due to thousands of repeated, only gradually varying hammering signals as the heat probe slowly penetrates into the ground. In addition, we make use of the fact that repeated hammering signals are sub-sampled differently due to the unsynchronized timing between the hammer strikes and the seismometer recordings. This allows us to reconstruct signals beyond the classical Nyquist frequency limit by enforcing a sparsity constraint on the signal in a modified Radon transform domain. In addition, the proposed method reduces uncorrelated noise in the recorded data. Using both synthetic data and actual data recorded on Mars, we show how the proposed algorithm can be used to reconstruct the high-frequency hammering signal at very high resolution.

Upper mantle structure of Mars from InSight seismic data.

For 2 years, the InSight lander has been recording seismic data on Mars that are vital to constrain the structure and thermochemical state of the planet. We used observations of direct (P and S) and surface-reflected (PP, PPP, SS, and SSS) body-wave phases from eight low-frequency marsquakes to constrain the interior structure to a depth of 800 kilometers. We found a structure compatible with a low-velocity zone associated with a thermal lithosphere much thicker than on Earth that is possibly related to a weak S-wave shadow zone at teleseismic distances. By combining the seismic constraints with geodynamic models, we predict that, relative to the primitive mantle, the crust is more enriched in heat-producing elements by a factor of 13 to 20. This enrichment is greater than suggested by gamma-ray surface mapping and has a moderate-to-elevated surface heat flow.

Seismic detection of the martian core.

Clues to a planet's geologic history are contained in its interior structure, particularly its core. We detected reflections of seismic waves from the core-mantle boundary of Mars using InSight seismic data and inverted these together with geodetic data to constrain the radius of the liquid metal core to 1830 ± 40 kilometers. The large core implies a martian mantle mineralogically similar to the terrestrial upper mantle and transition zone but differing from Earth by not having a bridgmanite-dominated lower mantle. We inferred a mean core density of 5.7 to 6.3 grams per cubic centimeter, which requires a substantial complement of light elements dissolved in the iron-nickel core. The seismic core shadow as seen from InSight's location covers half the surface of Mars, including the majority of potentially active regions-e.g., Tharsis-possibly limiting the number of detectable marsquakes.

Kalman Filter-Based Fusion of Collocated Acceleration, GNSS and Rotation Data for 6C Motion Tracking.

The ground motion of an earthquake or the ambient motion of a large engineered structure not only has translational motion, but it also includes rotation around all three axes. No current sensor can record all six components, while the fusion of individual instruments that could provide such recordings, such as accelerometers or Global Navigation Satellite System (GNSS) receivers, and rotational sensors, is non-trivial. We propose achieving such a fusion via a six-component (6C) Kalman filter (KF) that is suitable for structural monitoring applications, as well as earthquake monitoring. In order to develop and validate this methodology, we have set up an experimental case study, relying on the use of an industrial six-axis robot arm, on which the instruments are mounted. The robot simulates the structural motion resulting atop a wind-excited wind turbine tower. The quality of the 6C KF reconstruction is assessed by comparing the estimated response to the feedback system of the robot, which performed the experiments. The fusion of rotational information yields significant improvement for both the acceleration recordings but also the GNSS positions, as evidenced via the substantial reduction of the RMSE, expressed as the difference between the KF predictions and robot feedback. This work puts forth, for the first time, a KF-based fusion for all six motion components, validated against a high-precision ground truth measurement. The proposed filter formulation is able to exploit the strengths of each instrument and recover more precise motion estimates that can be exploited for multiple purposes.

The AlpArray Seismic Network: A Large-Scale European Experiment to Image the Alpine Orogen.

The AlpArray programme is a multinational, European consortium to advance our understanding of orogenesis and its relationship to mantle dynamics, plate reorganizations, surface processes and seismic hazard in the Alps-Apennines-Carpathians-Dinarides orogenic system. The AlpArray Seismic Network has been deployed with contributions from 36 institutions from 11 countries to map physical properties of the lithosphere and asthenosphere in 3D and thus to obtain new, high-resolution geophysical images of structures from the surface down to the base of the mantle transition zone. With over 600 broadband stations operated for 2 years, this seismic experiment is one of the largest simultaneously operated seismological networks in the academic domain, employing hexagonal coverage with station spacing at less than 52 km. This dense and regularly spaced experiment is made possible by the coordinated coeval deployment of temporary stations from numerous national pools, including ocean-bottom seismometers, which were funded by different national agencies. They combine with permanent networks, which also required the cooperation of many different operators. Together these stations ultimately fill coverage gaps. Following a short overview of previous large-scale seismological experiments in the Alpine region, we here present the goals, construction, deployment, characteristics and data management of the AlpArray Seismic Network, which will provide data that is expected to be unprecedented in quality to image the complex Alpine mountains at depth.