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At least 19 records

A frozen Gaussian approximation-based multi-level particle swarm optimization for seismic inversion

In this paper, we propose a frozen Gaussian approximation (FGA)-based multi-level particle swarm optimization (MLPSO) method for seismic inversion of high-frequency wave data. The method addresses two challenges in it: First, the optimization problem is highly non-convex, which makes hard for gradient-based methods to reach global minima. This is tackled by MLPSO which can escape from undesired local minima. Second, the character of high-frequency of seismic waves requires a large number of grid points in direct computational methods, and thus renders an extremely high computational demand on the simulation of each sample in MLPSO. We overcome this difficulty by three steps: First, we use FGA to compute high-frequency wave propagation based on asymptotic analysis on phase plane; Then we design a constrained full waveform inversion problem to prevent the optimization search getting into regions of velocity where FGA is not accurate; Last, we solve the constrained optimization problem by MLPSO that employs FGA solvers with different fidelity. The performance of the proposed method is demonstrated by a two-dimensional full-waveform inversion example of the smoothed Marmousi model.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Swarming behaviors in multi-agent systems with nonlinear dynamics

The dynamic analysis of a continuous-time multi-agent swarm model with nonlinear profiles is investigated in this paper. It is shown that, under mild conditions, all agents in a swarm can reach cohesion within a finite time, where the upper bounds of the cohesion are derived in terms of the parameters of the swarm model. The results are then generalized by considering stochastic noise and switching between nonlinear profiles. Furthermore, swarm models with limited sensing range inducing changing communication topologies and unbounded repulsive interactions between agents are studied by switching system and nonsmooth analysis. Here, the sensing range of each agent is limited and the possibility of collision among nearby agents is high. Finally, simulation results are presented to demonstrate the validity of the theoretical analysis.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Small-Magnitude Seismic Swarms in Central Utah (US): Interactions of Regional Tectonics, Local Structures and Hydrothermal Systems

Swarms in Central Utah are situated in the complex transition between the Basin and Range (BR) province and the Colorado Plateau. Transecting transverse structures, volcanic deposits, and hydrothermal systems complicate the extensional BR horst and graben structures and provide a multitude of plausible triggering mechanisms. Revisiting the catalog of the University of Utah Seismograph Stations (1981–2022), we analyze spatio-temporal patterns and characteristic features of seismic sequences. Swarms with alternating seismicity rates, bursts, and longer swarms with persistent moment release exhibit a remarkable diversity in temporal evolution. Swarm durations do not scale with cumulative seismic moment: swarms lasting less than 1 day can have similar cumulative seismic moments as month-long swarms. Here, we observe stationary swarms re-occurring for years (e.g., Mineral Mountains), as well as singular swarms in low-seismicity areas (e.g., activating a local structure). The swarms show a pronounced heterogeneity in triggering and driving mechanisms, observed in the detailed analysis of exemplary sequences (detections, relocations, moment tensors, waveform-based clustering, and repeater analysis). The 2022 Sevier Valley sequence activated a BR-related normal fault, the first resolved fault plane in the valley since 1983. The 2011 Circleville sequence is interpreted as a swarm triggered by mainshock-aftershock activity characterized by increasing magnitudes, changing rupture mechanisms, and a concentration of highly similar events in the second part of the sequence. By jointly discussing exemplary sequences and catalog statistics, we draw a comprehensive picture of swarm activity and its relation to geothermal and tectonic activity.

58 GEOSCIENCES↗

Field-Driven Out-of-Equilibrium Collective Patterns for Swarm Micro-Robotics

Soft robotics has been rapidly advancing, offering significant improvements over traditional rigid robotic systems through the use of compliant materials that enhance adaptability and interaction with the environment. However, current approaches face critical challenges, including the reliance on complex “top-down” fabrication techniques and the difficulty of wireless powering and control at the microscale. Swarm robotics introduces a paradigm shift, leveraging collective dynamics to achieve cooperative and adaptable behaviors among multiple robotic units. Inspired by nature, this “bottom-up” approach enables swarm robots to execute task-specific reconfigurations, enhancing flexibility and robustness. Field-driven active colloids emerge as a promising platform for swarm microrobotics, capable of self-propulsion and self-organization into dynamic collective patterns under external field excitation and manipulation. These systems mimic biologically inspired swarm behaviors, such as flocking and vortex formation, providing a versatile foundation for designing innovative swarm microrobots. Here, this review discusses the principles of electric and magnetic field-driven collective self-organization, focusing on the particle dynamics, the emergence of collective swarm patterns, and illustrative examples of functional swarm microrobots. It concludes with future perspectives on harnessing these systems for adaptive, scalable, and multifunctional microrobotic applications.

77 NANOSCIENCE AND NANOTECHNOLOGY↗

Analysis of the 2021 Milford, Utah earthquake swarm: Enhanced earthquake catalog and migration patterns

An earthquake swarm occurred in Spring 2021 in south-central Utah near the town of Milford. The University of Utah Seismograph Stations located 125 earthquakes between March 19 and May 10 with magnitudes ranging from 0.5 to 3.2. We implement a matched-filter technique in order to identify additional earthquakes that went undetected during the routine network location. The 125 network-located earthquakes are used as templates and are cross-correlated with continuous data for the dates Feb 17—June 10. This time period corresponds to approximately 1 month before the earthquake swarm began through 1 month after it ended. For the matched-filter analysis, we rely heavily on station FOR1, which is located within 5 km of most template events. Four other stations within 20–30 km of most template events provide a supplement to the closest station. The matched-filter implementation results in the detection of over 600 earthquakes in addition to the original 125 catalog events. This is one of the largest swarms ever recorded in Utah, and no previous large swarms have been recorded in this location. We use HypoDD to obtain relative double-difference locations of the catalog events. Both routine locations and HypoDD relocations of the catalog events suggest a fault dipping west beneath the mountain range, opposite of typical Basin and Range normal faults that dip beneath alluvial valleys. Moment tensors for the largest five events show normal faulting consistent with the west-dipping fault seen in the seismicity. Hydrothermal features in the area, including a geothermal power plant, suggest that fluids may be a contributing factor to the earthquake swarm triggering. We examine the role of fluids by exploring bounds on diffusion parameters and investigating spatial migration characteristics of the swarm seismicity. We conclude that this swarm is the result of heterogenous stress conditions in a prefractured region.

58 GEOSCIENCES↗

Kinematics of the 2015 San Ramon, California earthquake swarm: Implications for fault zone structure and driving mechanisms

Earthquake swarms represent a sudden increase in seismicity that may indicate a heterogeneous fault-zone, the involvement of crustal fluids and/or slow fault slip. Swarms sometimes precede major earthquake ruptures. An earthquake swarm occurred in October 2015 near San Ramon, California in an extensional right step-over region between the northern Calaveras Fault and the Concord–Mt. Diablo fault zone, which has hosted ten major swarms since 1970. The 2015 San Ramon swarm is examined here from 11 October through 18 November using template matching analysis. The relocated seismicity catalog contains ~4000 events with magnitudes between -0.2 < M d < 3.6. The swarm illuminated three sub-parallel, southwest striking and northwest dipping fault segments of km-scale dimension and thickness of up to 200 m. The segments contain coexisting populations of different focal-mechanisms, suggesting a complex fault zone structure with several sets of en échelon fault orientations. The migration of events along the three planar structures indicates a complex fluid and faulting interaction processes. We searched for correlations between seismic activity and tidal stresses and found some suggestive features, but nothing that we can be confident is statistically significant.

58 GEOSCIENCES↗

Developing Upscaling Approach for Swarming Hydraulic Fractures Observed at Hydraulic Fracturing Test Site through Multiscale Simulations

We show that this work aims to address a challenge posed by recent observations of tightly spaced hydraulic fractures in core samples from the hydraulic fracturing test site (HFTS) in the Middle Wolfcamp Formation. Many fractures in retrieved cores have subfoot spacing, which is at odds with conventional models in which usually one hydraulic fracture is initiated per cluster. Models assuming a single fracture at each cluster, although a common practice, often predict excessive fracture propagation that is inconsistent with microseismic observation. Here, we aim to develop a numerical approach to effectively account for densely spaced hydraulic fractures in field-scale simulations. Because it is impractical to explicitly model all aforementioned fractures, we develop a new upscaling law that enables existing simulation tools to predict reservoir response to fracture swarms. The upscaling law is derived based on an energy equivalence argument and validated through multiscale simulations using a high-fidelity code, GEOS. The swarming fractures are first modeled with a spacing that is much smaller than the cluster spacing; these fractures are then approximated by an upscaled, single fracture based on the proposed upscaling law. The upscaled fracture is shown to successfully match the energy input rate and produce the total fracture aperture and average propagation length of the explicitly simulated swarm. Afterward, the upscaling approach is further implemented in 3D field-scale simulations and validated against the HFTS microseismic data of a horizontal well. Our results show that hydraulic fracture swarming can significantly affect fracture propagation behaviors compared with the propagation of single fractures as assumed by conventional modeling approaches. Under the considered situations, the conventional treatment yields fast propagation speed that far exceeds that indicated by the microseismic data. We also illustrate that this discrepancy can be reduced readily through the implementation of the upscaling law. Our results demonstrate the importance of accounting for the fracture swarming effect in field-scale simulations and the efficacy of this approach to enable realistic predictions of reservoir responses to fracture swarms, without the need to model tightly spaced fractures individually.

02 PETROLEUM↗

Integrated Proteomics and Lipidomics Reveal That the Swarming Motility of Paenibacillus polymyxa Is Characterized by Phospholipid Modification, Surfactant Deployment, and Flagellar Specialization Relative to Swimming Motility

Paenibacillus polymyxa is a Gram-positive bacterium commonly found associated with plant roots. P. polymyxa can exhibit two forms of flagellar motility: swimming in liquid culture and swarming on a surface. Here, swimming cells were compared to swarming cells using an integrated proteomic and lipidomic approach, yielding information about how lipid modifications and protein/enzyme pathways are tailored for these specific phenotypes. Observed differences in both phospholipid composition and metabolism between the two conditions suggest membrane remodeling in response to the surrounding environment. Key enzymes involved in glycerophospholipid metabolism were abundant in swimming bacteria, while enzymes associated with glycerol-3-phosphate metabolism were more abundant in swarming bacteria. Several glycoside hydrolases were either unique to or more abundant during swarming. This likely reflects the degradation of their own exopolysaccharides to both enhance swarming and supply the necessary chemical energy to compensate for increased flagellar synthesis. The observed upregulation of biosynthetic gene clusters (polyketides, lantibiotics, and surfactin) in swarming bacteria suggest the importance of signaling, antimicrobial activity, and surfactin production during this mode of motility – the latter of which is confirmed via RT-PCR.

59 BASIC BIOLOGICAL SCIENCES↗

Determination of equilibrium electron temperature and times using an electron swarm model with BOLSIG+ calculated collision frequencies and rate coefficients

Electromagnetic pulse (EMP) events produce low-energy conduction electrons from Compton electron or photoelectron ionizations with air. It is important to understand how conduction electrons interact with air in order to accurately predict EMP evolution and propagation. An electron swarm model can be used to monitor the time evolution of conduction electrons in an environment characterized by electric field and pressure. Here a swarm model is developed that is based on the coupled ordinary differential equations (ODEs) described by Higgins et al. (1973), hereinafter HLO. The ODEs characterize the swarm electric field, electron temperature, electron number density, and drift velocity. Important swarm parameters, the momentum transfer collision frequency, energy transfer collision frequency, and ionization rate, are calculated and compared to the previously reported fitted functions given in HLO. These swarm parameters are found using BOLSIG+, a two term Boltzmann solver developed by Hagelaar and Pitchford (2005), which utilizes updated cross sections from the LXcat website created by Pancheshnyi et al. (2012). We validate the swarm model by comparing to experimental effective ionization coefficient data in Dutton (1975) and drift velocity data in Ruiz-Vargas et al. (2010). In addition, we report on electron equilibrium temperatures and times for a uniform electric field of 1 StatV/cm for atmospheric heights from 0 to 40 km. We show that the equilibrium temperature and time are sensitive to the modifications in the collision frequencies and ionization rate based on the updated electron interaction cross sections.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Contour Mapping Based Radiation Source Localization by UAS Swarm

The unmanned swarm of aerial systems (UAS) can be used for remote radiation sensing and search for source location. Recently, the cost of developing UAS platforms has dropped drastically partly due to the increase in their popularity. The radiation sensing using multiple UAS has becomes economically viable. Different algorithms for determining the location of a radiation source using simultaneous measurements taken from drones in formation have been studied including gradient-based methods. Generally in order to accomplish contour mapping, the swarm of drones with on board sensors use gradient estimation to determine the direction of steepest gradient which governs a bulk heading vector for the swarm to follow. However, some algorithms and test methods are useful only in a specific set of circumstances with particular initial conditions. Besides, implementation of drones in swarm formation was generally not tested in the context of radiation source detection. The objective of this research is to advance the state-of-the-art by conducting experiments using multiple UAS and radiative sources in an indoor flight test-bed. The dynamic flight characteristic of the UAS swarm were considered in the search and mapping algorithms. In this paper, the radiation source detection using algorithms pertaining to swarm formation of UAS, gradient estimation, contour mapping, and experimental flight test-bed are discussed. In addition, more effective and practical ways of constructing the contour maps are explored. (authors)

42 ENGINEERING↗

Self-assembled reconfigurable pump architectures via magnetic colloidal swarms

Self-assembled swarms of interactive active units, which are adaptive and dynamically reconfigurable to accommodate different functionalities, represent a promising platform for the development of next-generation robotics. Here, we utilize the emergent collective behavior of active magnetic colloids confined in quasi-two-dimensional arrays of overlapping wells to demonstrate the self-organization of a colloidal swarm into a dynamic pump architecture capable of controlled transport of passive cargo particles. This dynamic architecture provides a global unidirectional looping flow pattern along the entire length of the system. We show that the flow direction of the dynamic swarm-based pump can be externally controlled by a phase shift of a driving magnetic field energizing the swarm. The experimental observations are supported by computational modeling based on phenomenological coarse-grained particle dynamics coupled to shallow-water Navier-Stokes hydrodynamics. In conclusion, our findings demonstrate how the emergent collective behavior of a swarm can be orchestrated into a desired functionality by exploiting the interplay between activity and confinement potentials.

36 MATERIALS SCIENCE↗

Tectonic Setting of the Wooded Island Earthquake Swarm, Eastern Washington

Magnetic anomalies provide insights into the tectonic implications of a swarm of ~1500 shallow (~1 km deep) earthquakes that occurred in 2009 on the Hanford site, Washington. Epicenters were concentrated in a 2 km 2 area near Wooded Island in the Columbia River. The largest earthquake (M 3.0) had first motions consistent with slip on a northwest-striking reverse fault. The swarm was accompanied by 35 mm of vertical surface deformation, seen in satellite interferometry (InSAR), interpreted to be caused by ~50 mm of slip on a northwest-striking reverse fault and associated bedding-plane fault in the underlying Columbia River Basalt Group (CRBG). A magnetic anomaly over exposed CRBG at Yakima Ridge 40 km northwest of Wooded Island extends southeastward beyond the ridge to the Columbia River, suggesting that the Yakima Ridge anticline and its associated thrust fault extend southeastward in the subsurface. In map view, the concealed anticline passes through the earthquake swarm and lies parallel to reverse faults determined from first motions and InSAR data. A forward model of the magnetic anomaly near Wooded Island is consistent with uplift of concealed CRBG, with the top surface <200 m below the surface. The earthquake swarm and the thrust and bedding-plane faults modeled from interferometry all fall within the northeastern limb of the faulted anticline. Finally, although fluids may be responsible for triggering the Wooded Island earthquake swarm, the seismic and aseismic deformation are consistent with regional-scale tectonic compression across the concealed Yakima Ridge anticline.

earthquakes↗

3D fault architecture controls the dynamism of earthquake swarms

The vibrant evolutionary patterns made by earthquake swarms are incompatible with standard, effectively two-dimensional (2D) models for general fault architecture. Here we leverage advances in earthquake monitoring with a deep-learning algorithm to image a fault zone hosting a 4-year-long swarm in southern California. We infer that fluids are naturally injected into the fault zone from below and diffuse through strike-parallel channels while triggering earthquakes. A permeability barrier initially limits up-dip swarm migration but ultimately is circumvented. This enables fluid migration within a shallower section of the fault with fundamentally different mechanical properties. Our observations provide high-resolution constraints on the processes by which swarms initiate, grow, and arrest. These findings illustrate how swarm evolution is strongly controlled by 3D variations in fault architecture.

58 GEOSCIENCES↗

On-board Radiation Sensor and Low-Altitude Contour Mapping of Radiation Fields using UAS Swarm - 18239

This paper addresses the design of light weight radiation sensors for the small-scale unmanned aerial system (UAS), and its implementation for low-altitude radiation source localization and contour mapping. The compact, high-resolution gamma-ray CZT sensors were integrated to UAS platforms as plug-and-play components using Robot Operation System (ROS). In this work, the UAS swarm consists of three platforms positioned in circular formation. The onboard data analysis provides time and position stamped intensities of gamma-ray peaks for each UAS-based sensor that are used as the input data for the swarm flight control algorithm. Each UAS measures radiation simultaneously for estimating gradient of radiation to compute a bulk heading angle of the swarm for contour mapping, which can provide relatively precise boundary of the safe area for potential human exploration. The UAS radiation sensors allow measurements from just few meters up to hundreds of meters thus filling the gap between land- and helicopter- based platforms. The swarm of UAS has advantages over a single agent based approach in detecting radiative sources and effectively mapping the area. The proposed method can locate sources of radiation as well as mapping the contaminated area for enhancing situation awareness capabilities for first responders. Computer simulation is presented for UAS swarm based source localization and contour mapping in the simulated radiation fields created by the MCNP code. Selected key gradient estimation and contour mapping algorithms are validated experimentally with small scale multicopter UAS in the indoor flight test bed. (authors)

42 ENGINEERING↗

Adaptive Control Parameters for Dispersal of Multi-Agent Mobile Ad Hoc Network (MANET) Swarms

A mobile ad hoc network is a collection of independent nodes that communicate wirelessly with one another. This paper investigates nodes that are swarm robots with communications and sensing capabilities. Each robot in the swarm may operate in a distributed and decentralized manner to achieve some goal. This paper presents a novel approach to dynamically adapting control parameters to achieve mesh configuration stability. The presented approach to robot interaction is based on spring force laws (attraction and repulsion laws) to create near-optimal mesh like configurations. In prior work, we presented the extended virtual spring mesh (EVSM) algorithm for the dispersion of robot swarms. This paper extends the EVSM framework by providing the first known study on the effects of adaptive versus static control parameters on robot swarm stability. The EVSM algorithm provides the following novelties: 1) improved performance with adaptive control parameters and 2) accelerated convergence with high formation effectiveness. Simulation results show that 120 robots reach convergence using adaptive control parameters more than twice as fast as with static control parameters in a multiple obstacle environment.

42 ENGINEERING↗