OpenFWI 2.0: Benchmark datasets for elastic full-waveform inversion
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Underground tunnel and void detection is a challenging geophysical problem, and many methods have been proposed. Seismic techniques are promising because of the large seismic velocity contrasts between the air-filled void and the surrounding sediment and concrete. We apply a joint seismic traveltime and waveform inversion method to image a buried tunnel with concrete walls and a void space inside. The joint inversion images the top of the concrete tunnel as a high-velocity anomaly and the void space as a low-velocity anomaly. The location of the velocity anomalies predicted by the method agrees with the known location of the tunnel. As a comparison, the stand-alone full waveform inversion is also applied to the data. The first-arrival traveltime tomography shows weak nonlinearity but fails to image the hidden low-velocity layer. Full waveform inversion is able to image complex near-surface structures, but fitting waveforms may not honor the traveltime fit, especially when the data contain noise. Synthetic and real data tests show that the joint inversion method retains the advantages of both traveltime inversion and full waveform inversion and overcomes their respective drawbacks at the same time. The field example shows the joint inversion provides a better reconstruction of the high-velocity feature representing the top of the concrete wall in terms of its magnitude and location.
This project aims to improve field-scale Carbon Capture and Storage (CCS) assessments by enhancing petrophysical and geophysical log predictions through machine learning and neural networks. In our work during EY23, we applied Conditional Variational Autoencoders (CVAEs) to predict compressional velocity (Vp) and assess CO2 saturation levels in geological formations at the Illinois Basin Decatur Project (IBDP). In another task, we improved full-waveform inversion (FWI) methods with machine-learning approaches using lithological constraints. Full-waveform inversion (FWI) of seismic data estimates the elastic properties of subsurface rocks with high spatial resolution.
The discrimination problem in seismology aims to accurately classify different underground source types based on local, regional, and/or teleseismic observations of ground motion. Typical discriminant approaches are rooted in fundamental, physics-based differences in radiation pattern or wave excitation, which can be frequency-dependent and may not make use of the full waveform. In this article, we explore whether phase and amplitude distances derived from dynamic time warping (DTW) and elastic shape analysis (ESA) can inform event discrimination. We demonstrate the ability to distinguish underground point sources using synthetic waveforms calculated for a 1D Earth model and various source mechanisms. We then apply the method to recorded data from events in the Korean Peninsula, which includes declared nuclear explosions, a collapse event, and naturally occurring earthquakes. Phase and amplitude distances derived from DTW and ESA are then used to classify the event types via dendrogram and k-nearest-neighbor clustering analyses. Using information from the full waveform, we show how different underground sources can be distinguished at regional distances. We highlight the potential of these nonlinear alignment algorithms for discrimination and comment on ways we can extend the framework presented here.
The EGS Collab project, supported by the US Department of Energy, is performing intensively monitored rock stimulation and flow tests at the 10-m scale in an underground research laboratory to address challenges in implementing enhanced geothermal systems (EGS). Data and observations from the field tests are compared to simulations to understand processes and build confidence in numerical modeling of the processes. We have completed Experiment 1 (of 3), which examined hydraulic fracturing in a well-characterized underground fractured phyllite test bed at a depth of approximately 1.5 km at the Sanford Underground Research Facility (SURF) in Lead, South Dakota. Testbed characterization included fracture mapping, borehole acoustic and optical televiewers, full waveform sonic, conductivity, resistivity, temperature, campaign p- and s-wave investigations and electrical resistance tomography. Borehole geophysical techniques including passive seismic, continuous active source seismic monitoring, electrical resistance tomography, fiber-based distributed strain, distributed temperature, and distributed acoustic monitoring, were used to carefully monitor stimulation events and flow tests. More than a dozen stimulations and nearly one year of flow tests were performed. Quality data and detailed observations were collected and analyzed during stimulation and water flow tests using ambient temperature and chilled water. We achieved adaptive control of the tests using real-time monitoring and rapid dissemination of data and near-real-time simulation. More detailed numerical simulation was performed to answer key experimental design questions, forecast fracture propagation trajectories and extents, and analyze and evaluate results. Data are freely available from the Geothermal Data Repository. Experiment 2 examines the potential for hydraulic shearing in amphibolite at a depth of about 1.25 km at SURF. This site has a different set of stress and fracture conditions than Experiment 1. The Experiment 2 testbed consists of nine subhorizontal boreholes configured in two fans of two boreholes which surround the testbed and contain grouted-in electrical resistance tomography, seismic sensors, active seismic sources and distributed fiber sensors. A “five-spot” set of test wells that extends from a custom mined alcove includes an injection well and four production/monitoring wells. The testbed was characterized geophysically and hydrologically, and three stimulations have been performed using the Step-Rate Injection Method for Fracture In-Situ Properties (SIMFIP) tool to measure strains, and a new strain quantifying tool (downhole robotic strain analysis tool -DORSA) was deployed in a monitoring hole during stimulation. Real-time data were broadcast during stimulations to allow real-time response to arising issues.
This dataset provides Level 1 (L1) full-waveform light detection and ranging (LiDAR) data collected for the 2025 Colorado Headwaters Ecological Spectroscopy Study (CHESS). These data were acquired to enable characterization of vegetation structure and other three-dimensional features of the land surface, and to evaluate structural changes that may have occurred between a prior LiDAR acquisition in 2018 and the 2025 overflight. Waveform LiDAR data can provide more detailed information about objects on the ground than discrete point clouds typically do, and they are often used for granular target segmentation and characterization of subcanopy vegetation. The data were acquired over three study domains in the Upper Gunnison river basin: the upper East River watershed (CRBU); Almont Triangle and Taylor Canyon (ALMO); and Upper Taylor River watershed (UPTA) between 2025-06-13 and 2025-07-15. LiDAR data were acquired using the Optech Galaxy Prime Airborne LiDAR Terrain Mapper onboard the National Ecological Observatory Network (NEON) Airborne Observation Platform (AOP). These are the primary waveform LiDAR data delivered by NEON and are provided per flightline in compressed Pulsewaves format, an open-source binary file standard. A Pulsewaves object comprises a two files: a pulse (.pls) file, which stores the geographic origin, outgoing vector, and metadata for every laser pulse emitted by the scanner, and a wave file (.wvs), which stores the sequential amplitude samples of the outgoing pulse and the returning signals. The files are published here in their compressed forms (.plz, .wvz). All waveform data were processed following the theoretical workflow described in the NEON L0-to-L1 Waveform LiDAR Algorithm Theoretical Basis Document (Krause and Goulden 2022a); however, the Pulsewaves output format differs from a legacy format described in that document. Waveform amplitude samples are recorded at 1 nanosecond intervals. All coordinates are provided in meters. Horizontal coordinates are referenced in Universal Transverse Mercator (UTM) zone 13N and the World Geodetic System (WGS) 1984 ensemble datum. Elevations are referenced to Geoid12A. Waveform data for the UPTA survey area were collected without incident and the published records are complete. However, both the ALMO and CRBU collections experienced issues that resulted in incomplete data for those areas. On collection day 2018-06-16 a hardware failure caused the waveform digitizer to lose data from the eastern edge of the ALMO site (Figure 22). The waveform data for flightlines 2–20 could not be extracted from the digitizer, and the data proved unrecoverable. As a result, a portion of the site does not have coverage with waveform data. Although no hardware failure was observed during collection over the CRBU area, final waveform files generated by vendor software contained only ~25% of the expected number of return pulses. After discovery, NEON initiated troubleshooting with the vendor. The root cause of the data ablation had not been identified at the time of publication. Additional data will be published in an update to this package if further recovery proves successful. CHESS Project Description: The Colorado Headwaters Ecological Spectroscopy Study (CHESS) comprised a multi-week airborne remote sensing and field observation campaign in the Upper Gunnison Basin, Colorado, conducted in June and July of 2025. Airborne remote sensing was conducted by the National Ecological Observatory Network Airborne Observation Platform (NEON AOP), concurrent with a field campaign run by the Rocky Mountain Biological Laboratory (RMBL), the Lawrence Berkeley National Laboratory (LBNL) and SLAC National Accelerator Laboratory Watershed Function Science Focus Area (SFA), and NASA-JPL (Jet Propulsion Laboratory) Earth Surface Mineral Dust Source Investigation (EMIT) program. Between June 10 and July 18, 2025, the NEON AOP flight team collected high-resolution aerial imaging spectroscopy and Light Detection and Ranging (LiDAR) data over three domains: the Upper East River (CRBU), Almont Triangle (ALMO), and the Upper Taylor Basin (UPTA). In coordination with the flights, a field campaign acquired ground-truth observations, including observations of vegetation composition, foliar traits, forest demography, and subsurface properties in 18 core sampling areas within the domains. Additional surface water observations were taken at over 380 point locations. All CHESS campaign datasets can be found within the CHESS ESS-DIVE data portal: https://data.ess-dive.lbl.gov/portals/chess. Funding Acknowledgement: Field and remote-sensing data acquisition was performed under a grant from the National Aeronautics and Space Administration (80NSSC24K1005). This work was also supported by the Watershed Function Science Focus Area at Lawrence Berkeley National Laboratory funded by the US Department of Energy, Office of Science, Biological and Environmental Research under Contract No. DE-AC02-05CH11231.
We develop an early arrival waveform inversion (EAWI) technique for high-resolution near-surface velocity estimation by iteratively updating the P-wave velocity model to minimize the difference between the observed and calculated seismic refraction data. Traditional EAWI uses a least-squares penalty function and an acoustic forward-modeling engine. Conventional least-squares error is sensitive to data with low signal-to-noise ratio (S/N) and iterations of EAWI stop at a local-minimum data misfit or at the preassigned maximum number of iterations. These stopping criteria can result in overfitting the data. In addition, fitting the elastic field data with an acoustic modeling engine can introduce artifacts in velocity estimation, especially in land data with significant elastic effects. To overcome these challenges, we develop a robust EAWI (REAWI) method by (1) incorporating the data uncertainties into the penalty function and (2) mitigating the elastic effects using a matching filter workflow. The data uncertainties are estimated from waveform reciprocal errors. When full-waveform reciprocity is not available, trace interpolation is applied. The proposed method prevents closely fitting data with low S/N, avoids overall overfitting by stopping the iterations when a normalized chi-square ([Formula: see text]) waveform misfit of one is achieved, and is less affected by elastic effects. Numerical examples and application to near-surface refraction data at a groundwater contamination site suggest that the final REAWI models are more accurate than the corresponding EAWI models, at the same level of misfit. This is the first known application of a matching filter workflow to real land data. The final REAWI models satisfy an appropriate misfit between the real data and predicted elastic P-wave data, making this approach in this respect equivalent to elastic waveform inversion. We also develop a method to analyze model constraint by examining the energy of the wavefield Fréchet derivative thereby avoiding the influence of the data residuals in traditional Fréchet kernels.
The Geoscience Laser Altimeter System (GLAS) on board ICESat spacecraft measures the surface height (altimetry) via the time of flight of its 1064 nm laser pulse. The GLAS laser transmitter produces 6 ns wide pulses with 70 mJ energy at 1064 nm at a 40 Hz rate. The altimeter receiver consists of a telescope, aft optics, a silicon avalanche photodiode, and electronic amplifiers. The transmitted and echo pulse waveforms are digitized at 1 GHz rate. The laser pulse time of flight is determined on the ground from the two digitized pulse waveforms and their positions in the full waveform record (about 5.4 ms ong) by computing the pulse centroids or by curve fitting. The GLAS receiver algorithms in on board software selects the two waveform segments containing the transmitted and the echo pulses and sends them to ground. The probability of echo pulse detection and the accuracy of time of flight measurement depend on the received signal level, the background light within the receiver field of view, the inherent detector and amplifier noise, the quantization of the digitizer, and some times by cloud obscurations. A receiver model has been developed to calculate the probability of detection and accuracy of the altimeter measurements with these noise sources. From prelaunch testing, the minimum detectable echo pulse energy for 90% detection probability was about 0.1 fj/pulse onto the detector. Such a receiver sensitivity allows GLAS to measure the surface height through clouds with optical density less than 2. The echo pulse energy required to achieve 10 cm ranging accuracy was found to be about 3 times higher than the minimum detectable signal level. The smallest single shot range measurement error, which was determined by ranging to a fixed target with strong echo pulses and no background light, was 2 to 3cm. The maximum linear response echo pulse energy was 10 fJ/pulse for the strongest echo signals, assuming a Lambertian scattering snow surface, clear sky atmosphere transmission, and no pulse width spreading due to surface slopes. Results from the initial 38 days of GLAS operation on-orbit with Laser 1, showed the echo pulse energies varied, as expected, over a wide dynamic range due to the variability of atmosphere transmission and Earth surface characteristics. The receiver was able to reliably detect the ground surface echoes and measure time of flight under such dynamic conditions, except when there were dense clouds. When over Antarctica, the echo pulse energies were several times stronger than predicted. This suggests that the 1064 nm backscattering from the snow pack and ice-sheet &ce are not completely Lambertian but is somewhat peaked at opposit.ion. With Laser 1, the peak amplitude of the echo pulses from flat ice sheets under clear sky conditions exceeded the linear response range of the receiver, causing some pulse waveform distortion due to saturation. We have characterized the effects of receiver saturation on the time of flight, pulse width, and pulse energy measurements for flat surface by testing a night spare detector in the lab with simulated echo pulses. A data processing algorithm that minimizes the errors due to saturation for these measurements are described.
Subsurface characterization is crucial for geothermal energy exploration and production. Yet hydrothermal reservoirs usually reside in highly fractured and faulted zones where accurate characterization is very challenging because of low signal-to-noise ratios of land seismic data and lack of coherent reflection signals. We perform an active-source seismic characterization for the Blue Mountain geothermal field in Nevada using active seismic data to reveal the elastic medium property complexity and fault distribution at this field. We first employ an unsupervised machine learning method to attenuate groundroll and near-surface guided-wave noise and enhance coherent reflection and scattering signals from noisy seismic data. We then build a smooth initial P-wave velocity model based on an existing magnetotellurics survey result, and use 3D first-arrival traveltime tomography to refine the initial velocity model. We then derive a set of elastic wave velocities and anisotropic parameters using elastic full-waveform inversion, and obtain PP and PS images using elastic reverse-time migration. We identify major faults by analyzing the variations of seismic velocities and anisotropy parameters, and reveal mid- to small-scale faults by applying a supervised machine learning method to the seismic migration images. Our characterization reveals complex velocity heterogeneities and anisotropies, as well as faults, with a high spatial resolution. These results can provide valuable information for optimal placement of future injection and production wells to increase geothermal energy production at the Blue Mountain geothermal power plant.
Deep learning and data-driven approaches have shown great potential in scientific domains. The promise of data-driven techniques relies on the availability of a large volume of high-quality training datasets. Due to the high cost of obtaining data through expensive physical experiments, instruments, and simulations, data augmentation techniques for scientific applications have emerged as a new direction for obtaining scientific data recently. However, existing data augmentation techniques originating from computer vision yield physically unacceptable data samples that are not helpful for the domain problems that we are interested in. In this article, we develop new data augmentation techniques based on convolutional neural networks. Specifically, our generative models leverage different physics knowledge (such as governing equations, observable perception, and physics phenomena) to improve the quality of the synthetic data. To validate the effectiveness of our data augmentation techniques, we apply them to solve a subsurface seismic full-waveform inversion using simulated CO 2 leakage data. Our interest is to invert for subsurface velocity models associated with very small CO 2 leakage. We validate the performance of our methods using comprehensive numerical tests. Here via comparison and analysis, we show that data-driven seismic imaging can be significantly enhanced by using our data augmentation techniques. Particularly, the imaging quality has been improved by 15% in test scenarios of general-sized leakage and 17% in small-sized leakage when using an augmented training set obtained with our techniques.
Accurate characterization of subsurface geophysical properties and detection of the fault system are essential for geothermal energy exploration and production. The Soda Lake geothermal field is in western Nevada with a complex fault system. Previous seismic characterization only produced a low-resolution, smooth velocity model along with a simple, conceptual fault model. Using optimized correlation-based full-waveform inversion, wavefield-separation-based reverse-time migration, and automatic fault detection techniques, we present 3D seismic characterization for the Soda Lake geothermal field using 3D surface seismic data acquired with Vibroseis sources. Here, we obtain 3D high-resolution velocity, density, and acoustic impedance models, 3D seismic images with different grid spacings, and a high-resolution fault system. Consistency check between the constructed faults and currently active injection and production geothermal wells verifies that our seismic inversion and imaging results and detected faults are reliable. These results can provide valuable information for optimizing well placement and geothermal energy production at the Soda Lake geothermal field.
In carbon capture and sequestration (CCS), developing rapid and effective imaging techniques is crucial for real-time monitoring of the spatial and temporal dynamics of CO 2 propagation during/after injection. With continuing improvements in computational power and data storage, data-driven techniques based on machine learning (ML) have been effectively applied to seismic inverse problems. In particular, ML helps alleviate the ill-posedness and high computational cost of full-waveform inversion (FWI). However, such data-driven inversion techniques require massive high-quality training data sets to ensure prediction accuracy, which hinders their application to time-lapse monitoring of CO 2 sequestration. We propose an efficient “hybrid” time-lapse workflow that combines physics-based FWI and data-driven ML inversion. The scarcity of the available training data is addressed by developing a new data-generation technique with physics constraints. The method is vali dated on a synthetic CO 2 -sequestration model based on the Kimberlina storage reservoir in California. The proposed approach is shown to synthesize a large volume of high-quality, physically realistic training data, which is critically important in accurately characterizing the CO 2 movement in the reservoir. In conclusion, the developed hybrid methodology can also simultaneously predict the variations in velocity and saturation and achieve high spatial resolution in the presence of realistic noise in the data.
Non-invasive seismic imaging has the potential to cost-effectively evaluate large volumes of subsurface material to inform geotechnical site investigation. However, seismic imaging using full waveform inversion (FWI) requires significant computational time and is dependent on an initial starting model. As a result, FWI has not yet been widely adopted into geotechnical practice. Previous efforts, on relatively simple two-layered models, indicate that data-driven artificial intelligence (AI) models may be as effective as FWI at predicting 2D images of shear wave velocity (V s ). Furthermore, the AI model predictions can be made almost instantaneously after data acquisition and do not require an initial starting model. We examine the generality of these findings by developing a new AI model for subsurface seismic imaging, whereby we make several notable contributions. First, we architect a multimodal AI model that combines time- and frequency-domain representations of the seismic wavefield to predict a 50 m by 20 m subsurface image of V s . Second, we developed a new diverse dataset of 100,000 images with their corresponding seismic wavefields to train the AI model. Third, we propose four physics-informed data augmentations for data-driven seismic imaging. Fourth, we develop two prediction consistency tests to evaluate the model’s performance when the true subsurface is unknown. Our final model, which has been made publicly available, is capable of predicting a subsurface V s image from a single seismic wavefield with an average, mean absolute percent error (MAPE) of 24 %. The predictive model is applied to a field dataset and shown to be consistent with local geology and shear-wave refraction measurements from the same location.
SUMMARY SPiRaL is a joint global-scale model of wave speeds (P and S) and anisotropy (vertical transverse isotropy, VTI) variations in the crust and mantle. The model is comprised of >2.1 million nodes with five parameters at each node that capture velocity variations for P- and S-waves travelling at arbitrary directions in transversely isotropic media with a vertical symmetry axis (VTI). The crust (including ice, water, sediments and crystalline layers) is directly incorporated into the model. The default node spacing is approximately 2° in the lower mantle and 1° in the crust and upper mantle. The grid is refined with ∼0.25° minimum node spacing in highly sampled regions of the crust and upper mantle throughout North America and Eurasia. The data considered in the construction of SPiRaL includes millions of body wave traveltimes (crustal, regional and teleseismic phases with multiples) and surface wave (Rayleigh and Love) dispersion. A multiresolution inversion approach is employed to capture long-wavelength heterogeneities commonly depicted in global-scale tomography images as well as more localized details that are typically resolved in more focused regional-scale studies. Our previous work has demonstrated that such global-scale models with regional-scale detail can accurately predict both teleseismic and regional body wave traveltimes, which is necessary for more accurate location of small seismic events that may have limited signal at teleseismic distances. SPiRaL was constructed to predict traveltimes for event location and long-period waveform dispersion for seismic source inversion applications in regions without sufficiently tuned models. SPiRaL may also serve as a starting model for full-waveform inversion (FWI) with the goal of fitting waves with periods 10–50 s over multiple broad regions (thousands of kilometres) and potentially the globe. To gain insight to this possibility, we simulated waveforms for a small set of events using SPiRaL and independent waveform-based models for comparison. For the events tested, the performance of the traveltime-based SPiRaL model is shown to be generally on par with regional 3-D waveform-based models in three regions (western United States, Middle East, Korean Peninsula) suggesting SPiRaL may serve as a starting model for FWI over broad regions.
Chemical explosions generate pressure disturbances in air that radiate as nonlinear shock waves near the source and transition into acoustic waves with distance. Because low-frequency acoustic waves generally travel large distances without significant loss of energy, they are often used for explosion monitoring and yield estimation. However, quantitative relationships between acoustic energy and explosion yields are required for accurate yield estimation. Here, we develop an empirical acoustic source model for chemical explosions from experimental data. The empirical model returns the acoustic pressure waveform for the detonation of 1 kg of trinitrotoluene, which is conventionally used to represent the explosive release of 4.184 MJ of explosion energy. The full-waveform model can be used to predict acoustic signals for an arbitrary yield of a high-explosive detonation based on the standard scaling law and to estimate acoustic energies in a specific frequency range. We evaluate the accuracy of the acoustic source model independently by estimating the yield of other explosive events that are not included in the model development. Finally, statistical characteristics of the model and their implications for the uncertainty quantification of estimated yields are discussed.
Gaining a proper understanding of how Earth structure and other near-source properties affect estimates of explosion yield is important to the nonproliferation mission. The yields of explosion sources are often based on seismic moment or waveform amplitudes. Quantifying how the seismic waveforms or estimates of the source characteristics derived from those waveforms are influenced by natural or man-made structures within the near-source region, where the wavefield behaves nonlinearly, is required to understand the full range of uncertainty in those yield estimates. We simulate tamped chemical explosions using a nonlinear, shock physics code and couple the ground motions beyond the elastic radius to a linear elastic, full waveform seismic simulation algorithm through 3D media. In order to isolate the effects of simple small-scale 3D structures on the seismic wavefield and linear seismic source estimates, we embed spheres and cylinders close to the fully- tamped source location within an otherwise homogenous half-space. The 3 m diameters spheres, given their small size compared to the predominate wavelengths investigated, not surprisingly are virtually invisible with only negligible perturbations to the far-field waveforms and resultant seismic source time functions. Similarly, the 11 m diameter basalt sphere has a larger, but still relatively minor impact on the wavefield. However, the 11 m diameter air-filled sphere has the largest impact on both waveforms and the estimated seismic moment of any of the investigated cases with a reduction of ~25% compared to the tamped moment. This significant reduction is likely due in large part to the cavity collapsing from the shock instead of being solely due to diffraction effects . Although the cylinders have the same diameters as the 3 m spheres, their length of interaction with the wavefield produces noticeable changes to the seismic waveforms and estimated source terms with reductions in the peak seismic moment on the order of 10%. Both the cylinders and 11 m diameter spheres generate strong shear waves that appear to emanate from body force sources.
Pulse shapes differ between neutron and gamma particles when measured with detector devices employing pulse shape discriminating (PSD) scintillators. Digitized waveforms can be used in detection systems to perform pulse shape discrimination for this application. Prior Gaussian Mixture Model (GMM) methods require access to the pulse full-waveform. Reducing the waveform to a smaller set of combined samples reduces computational cost while affecting PSD performance. In this work, we develop a method for selecting the best performing combination of integration gates, or contiguous summed segments of the digitized pulse for PSD. The method uses a discrimination score based on the GMM PSD approach. Furthermore, the final selection is performed using Bayesian Optimization. PSD detection results are compared with varying numbers of selected gates on time-of-flight (TOF) data. This method can be used to fully automate the selection of gates in an unsupervised (without ground truth labels) setting.