Gravity observations along the eastern margin of the Tibetan Plateau and an application to the Lushan MS 7.0 earthquake

This paper introduces relative and absolute gravity change observations in the eastern portion of the Tibetan Plateau. We analyze and discuss a change that occurred in 2010 in the gravity along the eastern margin of the plateau and the relationship between this change and the 2013 Lushan Ms7.0 earthquake. Our results show that： （1） before the Lushan MsT.0 earthquake, gravity anomalies along the eastern margin of the Tibetan Plateau changed drastically. The Lushan earthquake occurred at the bend of the high gradient zone of gravity var- iation along the southern edge of the Longmenshan fault zone. （2） The 2013 Lushan earthquake occurred less than 100 km away from the epicenter of the 2008 Wenchuan earthquake. Lushan and Wenchuan are located at the center of a four- quadrant section with different gravity anomalies, which may suggest that restoration after the Wenchuan earthquake may have played a role in causing the Lushan earthquake. （3） A medium-term prediction based on changes in gravity anoma- lies was made before the Lushan Ms7.0 earthquake, in par- ticular, a prediction of epicenter location.

Analysis of the tidal gravity observations in Three Gorges reservoir area

The comparative observations of the tidal gravity in Three Gorges reservoir area, recorded with the LCR-ET20 gravimeter from Institute of Geodesy and Geophysics, Chinese Academy of Sciences and the DZW-9 gravimeter from Institute of Seismology, China Earthquake Administration, are introduced. High-accuracy tidal gravity parameters in this area are obtained, and the scale factor of the DZW-9 gravimeter is also estimated at a value of -（756.06±0.05）×10^-8 m-s^-2V^-1. The observed residuals of the corresponding instruments are investigated. Numerical results indicate that the long-term drift of the DZW-9 gravimeter appears a linear characteristic, and the observed accuracy is of the same order comparing with that of the LCR-ET20 gravimeter. The results given in the paper can provide with an effective reference model of the tidal gravity correction to the ground based and space geodesy.

Gravity observation at continental borderlands (Russia, Primorie, Cape Shults)

The paper is focused on different kinds of gravity results obtained in Shults Cape Observatory for 2010 -2015. Gravity observation is interpreted together with GPS observation data which was obtained from 2012 to 2015 at the same station, The station is situated on Gamov peninsular （42.58° N, 131.15° E, Russia） at the coast of Japan Sea, This region constitutes the eastern boundary of Eurasia. This major continental tectonic feature is associated with a seismic activity, high heat flow and anomalous thickness of earth＇s crust. The goal of the observation was the investigation of gravity variation with time and seismicity situation monitoring. Gravity observation was developed at special basement by absolute gravimeter （GABL type） and by spring gravimeter （SCINREX CG-5and gPhone type）. Tidal models were tested by results of observation with spring gravimeters. Reduction task was solved, as the experimental data received from different points of Shults Cape Observatory was used. Applied reduction coefficient is 203.3 12Gal m l, and agrees with theoretical calculation. Next goal was studying structure of earth＇s crust by means of gravity models. Gravity anomaly varied from 30 mGal to 46 mGal, which also depend on difference reference system, Experimental results were used for testing of the structure of continental boundary, which also depends on the sea bottom flexion. Thickness of elastic layer was estimated from 12 km to 18 km by using different models.

Relationship between gravity change and Yangbi M_(S)6.4 earthquake

Based on the relative and absolute gravity measurements in the southern South-North Seismic Belt since 2015,we analyzed the dynamic change of the regional gravity field and its relationship with the Yangbi M_(S)6.4 earthquake that occurred on May 21,2021.The results show that:(1)The regional gravity field changes are closely related to the Weixi-Qiaohou fault,which reflects the surface gravity field changes caused by the fault activity from 2015 to 2021;(2)The gravity field change related to the preparation of Yangbi earthquake has experienced the evolution process of"steady state-regional gravity anomaly-local gravity anomaly-four-quadrant distribution-large area positive anomaly-earthquake occurring in the reverse change process";(3)The cumulative and differential change images of the gravity field show that there were significant gravity changes in the two years preceding the Yangbi earthquake,and the earthquake occurred in the high-gradient belt of gravity variation,the center of the four-quadrant,and close to the zero contour turn;(4)The dynamic evolution image of the gravity field can well reflect the precursory phenomena during the preparation for the Yangbi MS6.4 earthquake.Based on the anomaly change of mobile gravity,a certain degree of medium-term prediction was made before the Yangbi M_(S)6.4 earthquake,especially the determination of strong earthquake location.

Constraint on the focal mechanism of the 2011 Tohoku earthquake from the radial modes

Different from other normal modes of the Earth’s free oscillation that depend on all the six components(M_(rr),M_(tt),M_(pp),M_(rt),M_(rp),and M_(tp))of the centroid moment tensor,the amplitudes of the radial modes depend on the M_(rr)component(e.g.,scalar moment(M_(0)),dip(δ),and slip(λ))and hypocenter depth of the focal mechanism,and hence can be easily used to constrain these parameters of the focal mechanism.In this study,we use the superconducting gravimeter(SG)records after the 2011 Tohoku earthquake to analyze the radial modes_(0)S_(0)and_(1)S_(0).Based on the solutions of the focal mechanism provided by the GCMT and USGS,we can obtain the theoretical amplitudes of these two radial modes.Comparing the theoretical amplitudes with the observation amplitudes,it is found that there are obvious differences between the former and the latter,which means that the GCMT and USGS focal mechanisms cannot well represent the real focal mechanism of the 2011 event.Taking the GCMT solution as a reference and changing the depth and the three parameters of the M_(rr)moment,the scalar moment(M_(0))and the dip(δ)have significant influences,but the effects of the slip(λ)and the depth are minor.After comparisons,we provide a new constraint(M_(0)=5.8±0.09×10^(22)N·m,δ=10.1±0.08°,λ=88°,and depth=20 km)for the focal mechanism of the 2011 event.In addition,we further determine the center frequency(1.631567±2.6e^(-6)mHz)and quality factor(2046.4±50.1)of the_(1)S_(0)mode.

Gravity anomaly before the Leshan M5.0 earthquake?

The North-South Seismic Belt was analyzed using gravity observation data from 2011 to 2015, and the nontidal analysis results show that there was a nonlinear gravity change at both the Chengdu and Guza seismostations one month before the Leshan M5.0 earthquake.

Analytical study on abnormal change in time-variable gravity at Yichang seismostation before the M5.1 Badong earthquake

An M5.1 earthquake occurred in Badong County, only 66 km from the Three Gorges Dam, on De- cember 16, 2013. The continuous gravity observation data obtained at Yichang seismostation nearest to the epi- center （96 km） were analyzed, and it was found that the continuous gravity observation data obtained in this rainy season did not exhibit a characteristic of seasonal change in gravity identical to that in the past years, and thereafter the M5.1 Badong earthquake occurred. Numerical simulation revealed that the water storage and discharge of the Three Gorges reservoir generated seasonal change in gravity, and the changes in atmospheric pressure and gravity load were not the main sources of the seasonal change of continuous gravity observation data whether in respect of magnitude or phase and did not have obvious breaking change on annual variation before the earthquake. Through analysis of the seasonal change data observed on the same site including cavern temperature, rainfall data and global terrestrial water model （CPC） simulated water load, it was thought that, in the observation room with cavern temperature change of only -0.1 l^C/a at Yichang seismostation, the sea- sonal change of continuous gravity observation result mainly originated from the seasonal change in rainfall. In the case that the changes in rainfall and its water load did not have evident breaking change on annual varia- tion law before the earthquake, if the MS. 1 Badong earthquake was the cause of the breaking change on annual variation law in Yichang this time, then it was believed through analysis of crust expansion ratio that similar a- nomaly should occur at a crust expansion and compression intersection, no more than 100 km away from the epicenter.

Study on a gravity precursor mode of the M_S=7.0 Lijiang earthquake

To study the seismogeny process or the precursory behavior of the 1976 MS=7.0 Lijiang earthquake, we analyze the repeat gravity data with high precision from the Western Yunnan Earthquake Prediction Experiment Area (WYEPEA) and the related results of geology and geophysics survey in this paper. Considering the gross errors caused by observation data and model difference, we have firstly inverted the slip distribution of the main active faults with time based on the robust Bayesian least squares estimation and multi-fault dislocation model. The re-sults show that the slip changes of the faults with time from 1990 to 1997 obviously reflect the preparation process of the Lijiang earthquake. The images of main precursor mode have the characteristic of main shock-after shock type, which is agreement to the model of coupling movement between crust density and crust deformation (DD mode of coupling movement).

Gravity variation associated with Wenchuan earthquake in western Sichuan

Based on the data of mobile gravity observation from 1998 to 2008 in western Sichuan, spatial dynamic variation results of regional gravity field are obtained. The relationship between the gravity variation features and Wenchuan Ms8.0 earthquake is systematically analyzed. The results show： 1 ） Gravity variation is closely related to active fault tectonics, and gravity measurement can better reflect material migration following crustal tectonic activity near active fault. 2）The gravity field appeared a wider range regional gravity variation during Wenchuan earthquake occurrence. The dynamic patterns of gravity field demonstrates the evolution process of gravity field ： quasi - homogeneous state non - homogeneous state-earthquake occurrence.

Coseismic Effects of the 2011 Magnitude 9.0 Tohoku-Oki Earthquake Measured at Far East Russia Continental Coast by Gravity and GPS Methods

This work presents the results of complex gravity observation performed at Shults Cape, Gamov peninsula (42.58°N, 131.15°E), Russia. Absolute laser gravimeter GABL type and Scintrex type relative gravimeter were used for measurement. To investigate the accuracy of tidal corrections we compared the observed tidal parameters of the main tidal waves O1 and M2 with modeled ones computed from 6 different ocean tidal models: CSR4, FES02, FES04, GOT00, NAO99 and TPX06. After discussion a theoretical model based on TPX06 ocean tides model and DDW99 non hydrostatic body tides model was used for tidal correction of absolute gravity data. Preliminary estimate of gravity effect induced by the Tohoku-Oki earthquake of11 March 2011Mw = 9.0 at Primorye territory (Russia) was found to be 5.1 ± 2.0 μGal. Co-seismic crustal displacements revealed by GPS data at Far EastRussiacontinental coast are also investigated. Volumetric dilatation of this area is observed at +1.7 × 10-8 level.

Temporal variations in free core nutation period

Based on the nearly diurnal resonance in the tidal gravity observations, the temporal variations in period of the Earth＇s free core nutation （FCN） are investigated by using the tidal gravity observations of 18-year duration recorded continu- ously with a superconducting gravimeter （SG） at Brussels. The effects of the global oceanic tide loading and local barometric pressure on the SG observations have been removed by using eleven high-precision global digital models of oceanic tides and barometric pressure measurements recorded simultaneously at the same site. The results indicate that there exist decade-scale variations in the FCN period. The results should be further confirmed by the measurements using other space-based geodetic techniques （such as the very long baseline interferometry） and the SG observations from globally distributed stations.

Development of Precise Geoid Model for the Establishment of Consistent Height System in Geoga Grand Bridge Construction Area

The national benchmarks on islands were mostly established by trigonometric leveling in Korea. This method results in inaccuracy, which is a serious problem in Geoga Grand Bridge construction work that tried to link the mainland and the islands. The Geoga Grand Bridge （Pusan-Geoje fixed link project） was selected as the study area, a huge construction work in Korea that will connect the mainland （Pnsan） and an island （Gecje island）. However, the orthometric heights issued at benchmarks （JINH and GOFJ） were not consistent, because they did not refer to the same zero point, which would make the linking of the sections problematic. This paper introduces the precise local geoidas a vertical datum for the construction area in order to establish a consistent height system. To determine the precise local geoid for the construction area, we firstly developed a precise gravimetric geoid for Korea and its adjoining seas as a whole. This gravimetric geoid was developed by use of all available gravity data, including surface and satellite data on land and on the ocean. The gravimetrie gecid was computed by spherical fast fourier transform with modified Stokes＇ kernels. The remove-restore technique was used to eliminate the terrain effects by use of the RTM reduction and to determine the residual geoid by combining the GGM02S/EGM96 geopotential model, free-air gravity anomalies and high-resolutinn DEM data. Finally, the gravimetric model was fitted to the geoid heights obtained from GPS and tide observations （Ncps/Tiae） by least square coUocatian, to provide the final GPS-consistent local precise geoid model. The post-fit error （std. dev. ） of the final geoid to the NetS/Tide derived from GPS and tide observations was ± 2.2 cm for the construction area. We solved the height inconsistency problem by calculating the orthometric height of the benchmarks and the cnntrol points using the final geoid model. Also, the highly accurate orthometric height was estimated through the GPS/leveling technique by applying the developed local precise geoid. Therefore, the precise local geoid is expected to improve the quality of the construction procedure of the Geoga Grand Bridge.

Capturability-based Fuzzy Footstep Planner for a Biped Robot with Centroidal Compliance

Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious behaviors.The force estimation without direct end-actuator force measurement and the optimal footsteps based on complex analytical calculation are still challenging tasks for elementary and kid-size position-controlled robots.In this paper,an online compliant controller with Gravity Projection Observer(GPO),which can express the external force condition of perturbations by the estimated Projection of Gravity(PoG)with estimation covariance,is proposed for the realization of disturbance absorption,with which the robustness of the humanoid contact with environments can be maintained.The fuzzy footstep planner based on capturability analysis is proposed,and the Model Predictive Control(MPC)is applied to generate the desired steps.The fuzzification rules are well-designed and give the corresponding control output responding to complex and changeable external disturbances.To validate the presented methods,a series of experiments on a real humanoid robot are conducted.The results verify the effectiveness of the proposed balance control framework.