Scaling theory for the statistics of slip at frictional interfaces

Slip at a frictional interface occurs via intermittent events. Understanding how these events are nucleated, can propagate, or stop spontaneously remains a challenge, central to earthquake science and tribology. In the absence of disorder, rate-and-state approaches predict a diverging nucleation length at some stress σ^{*}, beyond which cracks can propagate. Here we argue for a flat interface that disorder is a relevant perturbation to this description. We justify why the distribution of slip contains two parts: a power law corresponding to "avalanches" and a "narrow" distribution of system-spanning "fracture" events. We derive novel scaling relations for avalanches, including a relation between the stress drop and the spatial extension of a slip event. We compute the cut-off length beyond which avalanches cannot be stopped by disorder, leading to a system-spanning fracture, and successfully test these predictions in a minimal model of frictional interfaces.

State-dependent driving: a route to non-equilibrium stationary states

We study three different experiments that involve dry friction and periodic driving, and which employ both single- and many-particle systems. These experimental set-ups, besides providing a playground for investigation of frictional effects, are relevant in broad areas of science and engineering. Across all these experiments, we monitor the dynamics of objects placed on a substrate that is being moved in a horizontal manner. The driving couples to the degrees of freedom of the substrate and this coupling in turn influences the motion of the objects. Our experimental findings suggest emergence of stationary-states with non-trivial features. We invoke a minimalistic phenomenological model to explain our experimental findings. Within our model, we treat the injection of energy into the system to be dependent on its dynamical state, whereby energy injection is allowed only when the system is in its suitable-friction state. Our phenomenological model is built on the fact that such a state-dependent driving results in a force that repeatedly toggles the frictional states in time and serves to explain our experimental findings.

Dynamic rupture initiation and propagation in a fluid-injection laboratory setup with diagnostics across multiple temporal scales

Fluids are known to trigger a broad range of slip events, from slow, creeping transients to dynamic earthquake ruptures. Yet, the detailed mechanics underlying these processes and the conditions leading to different rupture behaviors are not well understood. Here, we use a laboratory earthquake setup, capable of injecting pressurized fluids, to compare the rupture behavior for different rates of fluid injection, slow (megapascals per hour) versus fast (megapascals per second). We find that for the fast injection rates, dynamic ruptures are triggered at lower pressure levels and over spatial scales much smaller than the quasistatic theoretical estimates of nucleation sizes, suggesting that such fast injection rates constitute dynamic loading. In contrast, the relatively slow injection rates result in gradual nucleation processes, with the fluid spreading along the interface and causing stress changes consistent with gradually accelerating slow slip. The resulting dynamic ruptures propagating over wetted interfaces exhibit dynamic stress drops almost twice as large as those over the dry interfaces. These results suggest the need to take into account the rate of the pore-pressure increase when considering nucleation processes and motivate further investigation on how friction properties depend on the presence of fluids.

Earthquake Nucleation Along Faults With Heterogeneous Weakening Rate

The transition from quasistatic slip growth to dynamic rupture propagation constitutes one possible scenario to describe earthquake nucleation. If this transition is rather well understood for homogeneous faults, how the friction properties of multiscale asperities may influence the overall stability of seismogenic faults remains largely unclear. Combining classical nucleation theory and concepts borrowed from condensed matter physics, we propose a comprehensive analytical framework that predicts the influence of heterogeneities of weakening rate on the nucleation lengthL c for linearly slip-dependent friction laws. Model predictions are compared to nucleation lengths measured from 2D dynamic simulations of earthquake nucleation along heterogeneous faults. Our results show that the interplay between frictional properties and the asperity size gives birth to three instability regimes (local, extremal, and homogenized), each related to different nucleation scenarios, and that the influence of heterogeneities at a scale far lower than the nucleation length can be averaged.

Two end-member earthquake preparations illuminated by foreshock activity on a meter-scale laboratory fault

The preparation process of natural earthquakes is still difficult to quantify and remains a subject of debate even with modern observational techniques. Here, we show that foreshock activity can shed light on understanding the earthquake preparation process based on results of meter-scale rock friction experiments. Experiments were conducted under two different fault surface conditions before each run: less heterogeneous fault without pre-existing gouge and more heterogeneous fault with pre-existing gouge. The results show that fewer foreshocks occurred along the less heterogeneous fault and were driven by preslip; in contrast, more foreshocks with a lower b value occurred along the more heterogeneous fault and showed features of cascade-up. We suggest that the fault surface condition and the stress redistribution caused by the ongoing fault slip mode control the earthquake preparation process, including the behavior of foreshock activity. Our findings imply that foreshock activity can be a key indicator for probing the fault conditions at present and in the future, and therefore useful for assessing earthquake hazard.

Nucleation of Stick-Slip Instability Within a Large-Scale Experimental Fault: Effects of Stress Heterogeneities Due to Loading and Gouge Layer Compaction

Geodetic observations and large-scale laboratory experiments show that seismic instability is preceded by slow slip within a finite nucleation zone. In laboratory experiments rupture nucleation is studied mostly using bare (rock) interfaces, whereas upper crustal faults are typically filled with gouge. To investigate effects of gouge on rupture nucleation, we performed a biaxial shearing experiment on a 350 mm long saw-cut fault filled with gypsum gouge, at room temperature and a minimum horizontal stress σ 2 = 0.3-5 MPa. The gouge layer was sandwiched between polymethylmethacrylate (PMMA) plates For reference also a fault without gouge was deformed. Strain gauges and Digital Image Correlation were used to monitor the deformation field along the fault zone margins. Stick-slip behavior occurred on both the gouge-filled fault and the PMMA fault. Nucleation of instability on the PMMA fault persistently occurred from one location 2/3 to 3/4 along the fault adjacent to a slow slip zone at the fault end, but nucleation on the gouge-filled fault was more variable, nucleating at the ends and/or at approximately 2/3 along the fault, with precursory slip occurring over a large fraction of the fault. Nucleation correlated to regions of high average fault stress ratio τ/σ n , which was more variable for the gouge-filled fault due to small length scale variations in normal stress caused by heterogeneous gouge compaction. Rupture velocities and slip rates were lower for the gouge-filled fault than for the bare PMMA fault. Stick-slip persisted when σ 2 was lowered and the nucleation zone length increased, expanding from the center to the sample ends before transitioning into instability.

Spatiotemporal Dynamics of Frictional Systems: The Interplay of Interfacial Friction and Bulk Elasticity

Frictional interfaces are abundant in natural and engineering systems, and predicting their behavior still poses challenges of prime scientific and technological importance. At the heart of these challenges lies the inherent coupling between the interfacial constitutive relation—the macroscopic friction law—and the bulk elasticity of the bodies that form the frictional interface. In this feature paper, we discuss the generic properties of a minimal macroscopic friction law and the many ways in which its coupling to bulk elasticity gives rise to rich spatiotemporal frictional dynamics. We first present the widely used rate-and-state friction constitutive framework, discuss its power and limitations, and propose extensions that are supported by experimental data. We then discuss how bulk elasticity couples different parts of the interface, and how the range and nature of this interaction are affected by the system’s geometry. Finally, in light of the coupling between interfacial and bulk physics, we discuss basic phenomena in spatially extended frictional systems, including the stability of homogeneous sliding, the onset of sliding motion and a wide variety of propagating frictional modes (e.g., rupture fronts, healing fronts and slip pulses). Overall, the results presented and discussed in this feature paper highlight the inseparable roles played by interfacial and bulk physics in spatially extended frictional systems.

Earthquake Nucleation Size: Evidence of Loading Rate Dependence in Laboratory Faults

Recent Global Positioning System observations of major earthquakes such as the 2014 Chile megathrust show a slow preslip phase releasing a significant portion of the total moment (Ruiz et al., 2014, https://doi.org/10.1126/science.1256074). Despite advances from theoretical stability analysis (Rubin & Ampuero, 2005, https://doi.org/10.1029/2005JB003686; Ruina, 1983, https://doi.org/10.1029/jb088ib12p10359) and modeling (Kaneko et al., 2017, https://doi.org/10.1002/2016GL071569), it is not fully understood what controls the prevalence and the amount of slip in the nucleation process. Here we present laboratory observations of slow slip preceding dynamic rupture, where we observe a dependence of nucleation size and position on the loading rate (laboratory equivalent of tectonic loading rate). The setup is composed of two polycarbonate plates under direct shear with a 30-cm long slip interface. The results of our laboratory experiments are in agreement with the preslip model outlined by Ellsworth and Beroza (1995, https://doi.org/10.1126/science.268.5212.851) and observed in laboratory experiments (Latour et al., 2013, https://doi.org/10.1002/grl.50974; Nielsen et al., 2010, https://doi.org/10.1111/j.1365-246x.2009.04444.x; Ohnaka & Kuwahara, 1990, https://doi.org/10.1016/0040-1951(90)90138-X), which show a slow slip followed by an acceleration up to dynamic rupture velocity. However, further complexity arises from the effect of (1) rate of shear loading and (2) inhomogeneities on the fault surface. In particular, we show that when the loading rate is increased from 10-2 to 6 MPa/s, the nucleation length can shrink by a factor of 3, and the rupture nucleates consistently on higher shear stress areas. The nucleation lengths measured fall within the range of the theoretical limits L b and L ∞ derived by Rubin and Ampuero (2005, https://doi.org/10.1029/2005JB003686) for rate-and-state friction laws.

Unstable Slip Pulses and Earthquake Nucleation as a Nonequilibrium First-Order Phase Transition

The onset of rapid slip along initially quiescent frictional interfaces, the process of "earthquake nucleation," and dissipative spatiotemporal slippage dynamics play important roles in a broad range of physical systems. Here we first show that interfaces described by generic friction laws feature stress-dependent steady-state slip pulse solutions, which are unstable in the quasi-1D approximation of thin elastic bodies. We propose that such unstable slip pulses of linear size L^{*} and characteristic amplitude are "critical nuclei" for rapid slip in a nonequilibrium analogy to equilibrium first-order phase transitions and quantitatively support this idea by dynamical calculations. We then perform 2D numerical calculations that indicate that the nucleation length L^{*} exists also in 2D and that the existence of a fracture mechanics Griffith-like length L_{G}<L^{*} gives rise to a richer phase diagram that features also sustained slip pulses.

Tomography of the 2016 Kumamoto earthquake area and the Beppu-Shimabara graben

Detailed three-dimensional images of P and S wave velocity and Poisson's ratio (σ) of the crust and upper mantle beneath Kyushu in SW Japan are determined, with a focus on the source area of the 2016 Kumamoto earthquake (M 7.3) that occurred in the Beppu-Shimabara graben (BSG) where four active volcanoes and many active faults exist. The 2016 Kumamoto earthquake took place in a high-velocity and low-σ zone in the upper crust, which is surrounded and underlain by low-velocity and high-σ anomalies in the upper mantle. This result suggests that, in and around the source zone of the 2016 Kumamoto earthquake, strong structural heterogeneities relating to active volcanoes and magmatic fluids exist, which may affect the seismogenesis. Along the BSG, low-velocity and high-σ anomalies do not exist everywhere in the upper mantle but mainly beneath the active volcanoes, suggesting that hot mantle upwelling is not the only cause of the graben. The BSG was most likely formed by joint effects of northward extension of the Okinawa Trough, westward extension of the Median Tectonic Line, and hot upwelling flow in the mantle wedge beneath the active volcanoes.

Laboratory Observations of Linkage of Preslip Zones Prior to Stick-Slip Instability

Field and experimental observations showed that preslip undergoes a transition from multiple to single preslip zones, which implies the existence of linkage of preslip zones before the fault instability. However, the observations of the linkage process, which is significant for understanding the mechanism of earthquake preparation, remains to be implemented due to the limitations of observation methods in previous studies. Detailed spatiotemporal evolutions of preslip were observed via a high-speed camera and a digital image correlation method in our experiments. The normalized length of preslip zones shows an increase trend while the normalized number of preslip zones (N_N) shows an increase followed by a decrease trend, which indicate that the expansion of the preslip undergoes a transition from increase to linkage of the isolated preslip zones. The peak N_N indicates the initiation of the linkage of preslip zones. Both the linkage of the preslip zones and the decrease in the normalized information entropy of fault displacement direction indicate the reduction of spatial complexity of preslip as the instability approaches. Furthermore, the influences of dynamic adjustment of stress along the fault and the interactions between the asperities and preslip on the spatial complexity of preslip were also observed and analyzed.

Brittle Fracture Theory Predicts the Equation of Motion of Frictional Rupture Fronts

We study rupture fronts propagating along the interface separating two bodies at the onset of frictional motion via high-temporal-resolution measurements of the real contact area and strain fields. The strain measurements provide the energy flux and dissipation at the rupture tips. We show that the classical equation of motion for brittle shear cracks, derived by balancing these quantities, well describes the velocity evolution of frictional ruptures. Our results demonstrate the extensive applicability of the dynamic brittle fracture theory to friction.

Rupture, waves and earthquakes

Normally, an earthquake is considered as a phenomenon of wave energy radiation by rupture (fracture) of solid Earth. However, the physics of dynamic process around seismic sources, which may play a crucial role in the occurrence of earthquakes and generation of strong waves, has not been fully understood yet. Instead, much of former investigation in seismology evaluated earthquake characteristics in terms of kinematics that does not directly treat such dynamic aspects and usually excludes the influence of high-frequency wave components over 1 Hz. There are countless valuable research outcomes obtained through this kinematics-based approach, but "extraordinary" phenomena that are difficult to be explained by this conventional description have been found, for instance, on the occasion of the 1995 Hyogo-ken Nanbu, Japan, earthquake, and more detailed study on rupture and wave dynamics, namely, possible mechanical characteristics of (1) rupture development around seismic sources, (2) earthquake-induced structural failures and (3) wave interaction that connects rupture (1) and failures (2), would be indispensable.

Velocity-strengthening friction significantly affects interfacial dynamics, strength and dissipation

Frictional interfaces abound in natural and man-made systems, yet their dynamics are not well-understood. Recent extensive experimental data have revealed that velocity-strengthening friction, where the steady-state frictional resistance increases with sliding velocity over some range, is a generic feature of such interfaces. This physical behavior has very recently been linked to slow stick-slip motion. Here we elucidate the importance of velocity-strengthening friction by theoretically studying three variants of a realistic friction model, all featuring identical logarithmic velocity-weakening friction at small sliding velocities, but differ in their higher velocity behaviors. By quantifying energy partition (e.g. radiation and dissipation), the selection of interfacial rupture fronts and rupture arrest, we show that the presence or absence of strengthening significantly affects the global interfacial resistance and the energy release during frictional instabilities. Furthermore, we show that different forms of strengthening may result in events of similar magnitude, yet with dramatically different dissipation and radiation rates. This happens because the events are mediated by rupture fronts with vastly different propagation velocities, where stronger velocity-strengthening friction promotes slower rupture. These theoretical results may have significant implications on our understanding of frictional dynamics.

Shear with comminution of a granular material: microscopic deformations outside the shear band

A correlation imaging velocimetry technique is applied to recover displacement fields in a granular material subjected to extended shear. A thick (10 cm) annular sand sample (grain size: 1 mm) is confined at constant pressure (sigma=0.5 MPa) against a rough moving wall displacing at very low speed (delta=83 microm s(-1)). Localization of the strain rapidly forms a shear band (seven particles wide) in which comminution develops. We focused on the strain field outside this shear band and observed a rich dynamics of large and intermittent mechanical clusters (up to 50 particles wide). Quantitative description of the radial velocity profile outside the shear band reveals an exponential decrease. However, a significant slip evolution of the associated characteristic length is observed, indicative of a slow decoupling between the shear band and the rest of the sample. This slow evolution is shown to be well described by power laws with the imposed slip, and has important implications for friction laws and earthquake physics.