Phase Synchronization of Slips by Periodical Tange

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Phase synchronization of slips by periodical (tangential and normal)

mechanical forcing in the spring-slider model
Article in Acta Geophysica · June 2008

DOI: 10.2478/s11600-008-0006-1
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Acta Geophysica
vol. 56, no. 2, pp. 357-371
DOI: 10.2478/s11600-008-0006-1
Phase synchronization of slips

by periodical (tangential and normal) mechanical forcing
in the spring-slider model
Nodar VARAMASHVILI, Tamaz CHELIDZE, and Otar LURSMANASHVILI
M. Nodia Institute of Geophysics, Tbilisi, Georgia

e-mail: chelidze@ig.acnet.ge
Abstract
In the present study, the character of slip regimes under weak external peri-
odical (tangential and normal) mechanical forcing has been investigated in a labora-
tory spring-slider system. We report the experimental evidence of phase synchroni-
zation in a slip dynamics, induced by the external periodic mechanical impact. At
certain conditions, we have a stick-slip effect in the spring-slider system. To de-
scribe this effect, we can use rate- and state-dependent friction law.
In our experiments, the slip events are distinguished by acoustic emission
bursts, which are generated by slider displacement. In addition to drag, the weak
variable mechanical forcing was superimposed either tangential or normal to the
slip plane. With increasing external forcing one can see increasing phase synchroni-
zation of the first arrivals (onsets) of stick-slip generated acoustic pulses. The
grouping of the onsets in a certain phase of the external periodic forcing is consid-
ered as a hallmark of the phase synchronization. The onsets of stick-slip pulses in
the case of normal mechanical forcing are shifted relative to onsets in the case of
tangential forcing.
Key words: stick-slip, phase synchronization, periodical mechanical forcing.
1. INTRODUCTION
It is known that many physical, biological or technical systems often respond in a very
unusual (nonlinear) way to the external driving signals. One of the possible responses
is synchronization of the system dynamics by a weak external perturbation. In geo-
physics, the study of synchronization phenomenon is connected with the important
problem of modification of seismic regime by weak external forces, such as tides,
© 2008 Institute of Geophysics, Polish Academy of Sciences
Unauthenticated
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358 N. VARAMASHVILI et al.
magnetic storms, reservoir impounding (Grasso 1992, Sobolev and Ponomarev 2003,
Beeler and Lockner 2003). That is why we tried to study the synchronization effect in
a laboratory slider-spring system under controllable conditions. The additional me-
chanical or electromagnetic forcing, which can be much smaller than the main driving
force, may provoke triggering and synchronization during stick-slip process, which
means that these phenomena are connected with nonlinear interaction of objects,
namely with the initiation of instability in systems that are close to the critical state
(Chelidze et al. 2002, Chelidze and Lursmanashvili 2003, Avila 2004, Pikovsky et al.
2003). The earlier similar works considered mainly the effect of forcing on the friction
coefficient (Brace and Byerlee, 1966, Perfettini et al. 2001, Rice et al. 2001).
Understanding of triggering and synchronization effects can be obtained in con-
trollable experiments. We carried out laboratory experiments on the spring-slider sys-
tem with periodic mechanical forcing, which is weak in comparison with the main
dragging force of the spring (Varamashvili et al. 2007a,b).
2. EXPERIMENTAL SETUP
We investigated (mechanical) triggering and synchronization of instabilities in ex-
perimental spring-slider system by recording acoustic emission, accompanying the slip
events; the setup is described in detail in Chelidze et al. (2002, 2004, 2005, 2006,
Chelidze and Lursmanashvili 2003).
Experimental setup represents a system of two horizontally oriented plates
(Fig. 1). The supporting and the slipping blocks were prepared from basalt; these sam-
Fig. 1. Schematic representation of the experimental spring-slider model: 1 – Stabilized power

source, 2 – personal computer, 3 – amplifier, 4 – forcing signal generator, 5 – external voltage
generator, 6 – voltage divider, 7 – dragging device, 8 – tensometer, 9 – dynamometer, 10 –
spring, 11 – piezoelectric sensor, 12 – electrode, 13 – vibrator, 14 – sliding block, 15 – fixed
block, 16 – electrode.
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PHASE SYNCHRONIZATION OF SLIPS IN SPRING-SLIDER MODEL 359
ples were saw-cut and roughly finished. The height of surface protuberances was in
the range of 0.1-0.2 mm. A constant dragging force of the order of 4 N was applied to
the upper (sliding) plate; in addition, the system was subjected to periodic mechanical
perturbations of various amplitude. The mechanical forcing was much weaker com-
pared to the driving force.
The experiments were conducted for two modes of mechanical forcing: (i) when
the forcing load is applied normal to the slip surface, and (ii) when the forcing load is
applied parallel to the slip surface; for brevity we will refer to them as normal forcing
and tangential forcing, respectively.
The forcing was realized by the vibrator СВ-5 at normal forcing and СВ-20 at tan-
gential forcing. Slip events were recorded as acoustic emission (AE) bursts (Fig. 2
later in the text). The intensity of mechanical vibration was regulated by the voltage
applied to the vibrator.
3. RESULTS
The dynamics of the sliding process in the spring-slider model depends on the drag-
ging spring stiffness K and dragging velocity V (Boettcher and Marone 2004). At low
velocity, this process is of relaxation type, at intermediate velocity it is periodic, and at
high velocity the sliding became relatively stable, with random deviations.
In the case of normally directed forcing we calculated the maximum value of
mechanical forcing, which corresponds to the maximum measured voltage applied to
mechanical vibrator (i.e., when the voltage applied to the vibrator is 6.5 V). The mass
m of the oscillating element of the vibrator is about 20 g, so we obtain for oscillating
element of the vibrator the natural frequency
k
f = = 5 Hz ,
m
where k is the stiffness of the vibrator spring. Then
k = 25 m = 0.5 N/m . (1)
The maximum deflection xmax of the oscillating element at the applied voltage of
6.5 V is ≈ 4×10-3 m, so the corresponding (maximal) intensity of forcing Fmax is
Fmax = kxmax ≈ 2 × 10 −3 N . (2)
As the forcing is periodic, F = Fmax cos(2πϖ t ), the maximum rate of vibrator force
change is
⎛ dF ⎞
⎜ dt ⎟ = 2πϖ f max ≈ 0.25 N/s . (3)
⎝ ⎠ max
The friction force is Ffr = Kl , where K is the dragging spring stiffness and l is the
spring elongation.
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The rate of dragging shear force change in our experiments is

dF fr
= ( Kl )′ = Kv , (4)
dt
where v is the dragging velocity. In our experiment ν ≈ 0.9 mm/s , K ≈ 140 N/m , i.e.,
dF fr dt ≈ 0.12 N/s .
The ratio of rate of periodic (vibrator) force to the dragging force rate is
dF fr / dt
≈ 0.5 .
(dF / dt ) max
As the forcing rate is larger than the dragging rate, the synchronization is possible
(Meerovich and Zelichenko 1954).
In the case of tangentially directed forcing we calculated the maximum value of
mechanical forcing when the voltage applied to the vibrator was 6 V. Mass m of the
oscillating element of the vibrator is about 10 g, so we obtain for the oscillating ele-
ment of vibrator the natural frequency f
k
f = = 20 Hz , (5)
m
where m is the mass and k is the stiffness of vibrator spring. Then
k = 400 m = 4 N/s .
The maximum deflection xmax of the oscillating element in this case is about
10-3 m, so the corresponding (maximal) intensity of forcing Fmax is
Fmax = kxmax ≈ 4 × 10−3 N . (6)
The external force F = Fmax cos(2πϖ t ). The maximum rate of vibrator force change is
⎛ dF ⎞
⎜ dt ⎟ = 2πϖ f max ≈ 0.75 N/s . (7)
⎝ ⎠ max
The friction force Ffr = Kl , where K is the dragging spring stiffness and l is the
spring elongation.
The rate of dragging shear force change is
dF fr
= ( Kl )′ = Kv , (8)
dt
where v is the dragging velocity. In our (tangential forcing) experiments v ≈ 0.35 mm/s,
K ≈ 280 N/m, i.e.
dF fr
≈ 0.1 N/s .
dt
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The ratio of the periodic (vibrator) force rate to the dragging force rate is
(dF / dt ) max
≈ 0.13 ,
dF fr / dt
which again means that synchronization is possible.
From the presented results for the normal forcing (Fig. 4 later in the text) it is evi-
dent that synchronization of various strengths is observed for the range of forcing volt-
ages from 1 to 6 V. The above calculation shows that for 6.5 V the forcing is about
2×10-3 N and our assessment for 1 V is about 5×10-4 N. Thus, for the interval of
forcing voltages 2-6 V the equivalent mechanical forcing is in the range (5×10-4–
2×10-3 N) and for smaller (0.1–0.5 V) forcing voltages, the corresponding mechanical
equivalents are much less than 5×10-4 N.
a)
b)
Fig. 2. The full record of acoustic emission pulses (upper channel) and mechanical forcing
(lower channel) during synchronized stick-slip. 1 – Ordinary record of forcing, corresponding
to the time scale shown in the upper side of figure; 2 – Part of forcing’s ordinary record in ex-
panded form; here the time scale is disregarded in order to visualize the form of forcing signal.
Mechanical forcing corresponds to vibration intensity generated by application of 4 V voltage
to the vibrator: (a) normal forcing, (b) tangential forcing.
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For the tangential forcing (Fig. 4), for 6 V the forcing is about 4×10-3 N and for
1 V is about 5×10-4 N. Thus, for the 2-6 V interval of forcing voltage the equivalent
mechanical forcing is in the range (5×10-4–4×10-3 N).
In our experiments the friction process is of stick-slip type. Figures 2 and 3 present
experimental records, when the mechanical forcing is in the range (5×10-5–2×10-3 N),
which corresponds to 4 V voltage value applied to the vibrator.
Figure 2 presents the full experimental record for mechanical forcing generated by
application of 4 V voltage to the vibrator. Recordings were carried out on the com-
puter sound card and analyzed using program Sound Forge. On the upper channel,
acoustic pulses are presented, and on the lower channel the mechanical forcing is
shown, which in the sections numbered 1 is not perceptible because of compressed
scale.
Figure 3 presents a single acoustic pulse and corresponding normal and tangential
mechanical forcing on the expanded scale. In this figure, the initial slow deviation from
a)
b)
Fig. 3. A single acoustic emission pulse (upper channel) and mechanical forcing (lower chan-
nel) on the expanded part of recording shown in Fig. 2. In both cases vibrator was powered by
the voltage 4 V: (a) normal forcing, (b) tangential forcing.
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Fig. 4. Distribution of acoustic emission onsets relative to forcing period phases (in decimals)
for different intensities of normal forcing.
the background line is considered as the onset of the AE pulse (upper channels); on
the lower channels, the forcing frequencies are also presented (30 Hz for the tangential
and 20 Hz for the normal forcing).
Figure 4 presents distributions of the onsets relative to the phase (in decimals) of
the forcing period for the normal forcing. At low voltages (up to 1 V) the onsets are
more or less randomly distributed in the decimals of the forcing period (Fig. 4).
A voltage increase results in concentration of the offsets at a definite part of forcing
period, namely in the first and last decimals of forcing phase. We can suppose that
increasing of voltage applied to vibrator promotes synchronization of AE offsets with
external forcing.
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It is striking that the AE bursts are well synchronized though the waiting interval
of bursts varies between 100 and 200 periods of forcing, i.e., to initiate the slip event,
the forcing should pump the energy of hundreds of oscillations to the slider-spring
system.
Figure 5 presents distributions of the onsets relative to the phase of the forcing pe-
riod for the tangential forcing. Again, the increase of forcing leads to phase synchroni-
zation, which in this case is most pronounced in the interval 0.25–0.5 of the forcing
period and fills the gap observed for normal forcing (Fig. 4).
Fig. 5. Distribution of acoustic emission onsets number relative to the forcing period phase
(in decimals) for different intensities of tangential forcing.
The interval from 0.6 to 0.8 decimals of forcing period seems to be a prohibited
zone for both kinds of forcing.
Figure 6 presents the standard deviation of AE offsets distribution relative to the
normal (a) and tangential (b) forcing phase versus forcing voltage. In both cases, it is
evident that with increasing forcing voltage the standard deviation decreases signifi-
cantly, i.e., the concentration of the onset times at a definite phase of external forcing
period takes place. This phase corresponds to the rising part of the external forcing pe-
riod amplitude, for the tangential forcing and to the minimum area of the external
forcing sinusoid for the normal forcing.
It is interesting to note that the dependence of synchronization effectiveness on the
intensity of forcing in both forcing modes is almost the same.
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a)
b)
Fig. 6. The standard deviation of offsets’ distribution for different intensities (applied voltages)
of external forcing: (a) normal forcing, (b) tangential forcing.
4. THEORETICAL BACKGROUND
Theoretical solutions and experiments demonstrate a possibility of quite different be-
havior of the system depending on the conditions of the test. For example, nonlinear
analysis of a simple quasistatic slider-spring system with rate- and state-dependent
friction law shows that it follows the chaotic dynamics behavior in the deterministic
sense (Perfettini et al. 2001). In particular, at the critical value of spring stiffness the
friction stress may undergo oscillations close to periodical.
There are several mathematical models related to the stick-slip process. For exam-
ple, we can, using rate- and state-friction law, write down the equation of motion for
non modified stick-slip (Kanamori and Brodsky 2004):
⎛ . B ⎞
σ n ⎜ µ0 + A ln δ + B ln θ 0 − δ ⎟ = − kδ + kδ 0 , (9)
⎝ Dc ⎠
.
where δ is the sliding speed, θ is a state variable that accounts for the history of slid-
ing, Dc is the critical slip distance and µ0 , A and B are constants. This equation can be
solved for the slip velocity. At the moment of stick-slip initiation the velocity in-
creases infinitely. In this way, the slip event waiting time can be calculated theoreti-
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cally (Kanamori and Brodsky 2004). Preliminary calculations show that this time ap-
proximately corresponds to the natural (not forced) stick-slip period of our experi-
ments.
In order to account for periodic (normal) forcing we introduce the additional term
in eq. (9):
⎛ B ⎞
σ n (1 + ε cosϖ t ) ⎜ µ0 + A ln δ& + B ln θ 0 + δ ⎟ = − kδ + kδ 0 . (10)
⎝ Dc ⎠
The received equation can be solved by different assumptions and limitations. It can
be shown that at the definite amplitude of external forcing we have synchronization of
stick-slip with the forcing frequency ω, but a low amplitude forcing has no influence
on the process. Solution of this equation leads to the conclusion on the regular phase
synchronization, i.e., each forcing period is accompanied by the triggered slip event.
To obtain imperfect (intermittent) synchronization one needs to introduce a noise
member in this equation.
Another approach to the analysis of experimental data is to use the van der Pol
equation:
x + λ ( x 2 − 1) x& + x = 0 ,
&& (11)
where λ is a scalar parameter indicating the strength of the nonlinear damping; for
λ >> 1 eq. (11) describes stick-slip as an accumulate and fire (relaxation) type of os-
cillations. Stick-slip process also belongs to the relaxation oscillators’ class. The λ co-
efficient shows the intensity of coupling of the system with environment; in our case
we can consider it as a parameter related to friction. From (11) we can calculate the re-
laxation period as
T = ν ( 3 − 2 ln 3) ≈ 1.6ν . (12)
In our experiments the period of unmodified (natural) stick-slip is T ≈ 7s , i.e.,

ν ≈ 4.35 ; this agrees with conditions for relaxation process. Using eq. (11) we can de-
scribe the natural stick-slip process. For modeling the forced relaxation stick-slip
process we can use a forced van der Pol equation (Nicolis 1989). In our case the forc-
ing period is much less then the natural stick-slip period.
In our experiments, when the external mechanical forcing was applied in parallel
to the sliding plane, the concentration of the first motion onsets occurred on the in-
creasing section of the forcing sinusoid. At normal forcing the initiation of motion was
concentrated in the minimum area of the forcing sinusoid (Varamashvili et al. 2007a,b).
Motion onsets at shear and normal forcing are shifted in phase. Periodical normal forc-
ing induced also a periodical shear stress component (Boettcher and Marone 2004).
According to Perfettini et al. (2001) and Boettcher and Marone (2004), the shear stress
in comparison with the normal stress has lower amplitude and is shifted in phase. The
difference in phase shift of the first motions between normal and tangential forcing
cases can be explained by considering various impacts of normal and shear forcing on
the slip process.
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We computed the number of stick-slip impulses for different intensity of mechani-

cal forcing. The full time and the full distance of slip were constant for all experi-
ments. The findings are presented in Fig. 7. It is evident that with increasing of forcing
amplitude the number of pulses per unit time increases. When the forcing is not ap-
plied, the natural period of stick-slip T ≈ 7s , but at the maximal forcing T ≈ 4s , i.e.,
unlike the cases of natural stick-slip or very weak forcing, at strong enough forcing the
pulse recurrence time decreases and the onsets of pulses become synchronized in
phase with the forcing sinusoid.
Fig. 7. The number of acoustic pulses versus intensity of mechanical (normal) forcing during
the whole experiment.
A decrease of stick-slip pulse recurrence period can be explained as a result of de-

creasing friction coefficient imposed by normal mechanical periodical forcing. Ac-
cording to Bureau et al. (2000) due to the normal periodical mechanical forcing the
coefficient of friction changes
µ ( µ + 2 A)
∆µ = − ε2 , (13)
4A
where µ = µ0 − ( B − A)ln(V / V0 ) and ε corresponds to Fmax (eq. 2). From (13) it is
evident that mechanical periodical normal forcing reduces the coefficient of friction
and this in turn leads to a decrease of stick-slip period. Theoretically, when µ de-
creases, ν decreases too, and according to (12) a decrease of ν leads to a decrease of
recurrence period T as T ≈ 1.6ν . Experiments confirm this prediction – with an in-
crease of the normal forcing the recurrence period of stick-slip decreases from T ≈ 7s
to T ≈ 4s .
The increase of the forcing intensity from 0.1 to 6.5 V leads to decrease of the
pulse duration (Fig. 8). The duration of pulse can be related to the radiated energy.
A possible mechanism of the pulse duration decrease can be the effect of the durability
(kinetic strength theory). The pulse shortening effect can also be explained using inte-
grate and fire model, if the stick-slip occurs at a certain threshold level (Sobolev et al.
1996).
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Fig. 8. Mean duration of stick-slip generated acoustic pulses for different intensity of normal
forcing, with a trend line.
We can consider our experiment as the interaction of two oscillators: one is the
natural stick-slip (slow process) and another is the forcing (fast process). In the sim-
plest case of two periodic oscillators, synchronization is classically understood as a
phase locking and for two coupled oscillators with nearly equal natural frequencies, it
implies that the phase difference remains constant (∆φ = const). In some cases, even
in the synchronous regime, ∆φ is not strictly constant, but fluctuates, although these
fluctuations are bounded.
Synchronization may also be achieved in a more complicated way, when the fre-
quencies of oscillators differ considerably. Obviously, there is no common frequency
in this case, but the relation between the driving and forcing frequencies is a rational
number called the winding or rotation number (Avila 2004), defined as
ρ=Ω . (14)
ϖ
In the case of a periodically kicked oscillator, this number is nothing else than the
ratio between the observed frequency of oscillations of the system, Ω, and the fre-
quency of the external forcing, ϖ . This condition of the so-called high-order synchro-
nization can be incorporated in the general framework of the frequency-locking as
nϖ = mΩ . (15)
In this case, n:m is the winding number: ρ = n/m . The phase-locking in this case can
be also expressed in terms of the oscillators’ phases
nϕ f − mϕ < const , (16)
where φf is the phase of the force and φ is that of the kicked oscillator.
At normal forcing for the used frequencies and the applied (to vibrator) voltage of
0.1 V, the winding ratio n:m = 140:1, and when the voltage is 6 V the ratio decreases
to n:m = 80:1. At tangential forcing the winding ratio n:m = 220:1 changes insignifi-
cantly at increasing voltage applied to the vibrator.
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This means that the system needs to accumulate the energy of hundreds of forcing
cycles in order to fire, i.e., to give birth to a single acoustic event.
5. CONCLUSIONS
Experiments on the standard spring-slider system (fixed and sliding basalt samples)
subject to a constant pull and weak mechanical (normal and tangential) periodic force
superimposed to it in dry environment show that, at definite conditions, the system
manifests the effect of phase synchronization of microslip events with the weak peri-
odic excitation.
The regular phase shift is observed between the forcing sinusoid and the onsets of
acoustic pulses; at the forcing normal to the slip plane, the initiation of motion is con-
centrated in the area of minimum of the forcing sinusoid, which differs from the case
of tangential forcing, when the concentration of AE pulses takes place in the rising
section of forcing sinusoid.
In our experiments, the high-order synchronization was observed; the winding
number, i.e., the ratio of forcing frequency to observed stick-slip average recurrence
frequency is high. At weak forcing the winding ratio is n:m = 140:1 for normal forc-
ing and n:m = 220:1 for tangential forcing. At relatively strong forcing the ratio is
n:m = 80:1 in the case of normal forcing but almost does not change for tangential
forcing.
It was also found that an increase of forcing intensity causes shortening of (aver-
age) pulse duration.
A c k n o w l e d g m e n t s . The authors express their gratitude to the Georgian Na-

tional Science Foundation (Grant No. GNSF/ST06/5-028) and INTAS foundation
(Ref. No. 05-100008-7889) for financial support.
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Received 17 July 2007

Accepted 17 February 2008
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Phase synchronization of slips by periodical (tangential and normal)

Article in Acta Geophysica · June 2008

Nodar Davit Varamashvili T. Chelidze

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Phase synchronization of slips

M. Nodia Institute of Geophysics, Tbilisi, Georgia

© 2008 Institute of Geophysics, Polish Academy of Sciences

Fig. 1. Schematic representation of the experimental spring-slider model: 1 – Stabilized power

The rate of dragging shear force change in our experiments is

In our experiments the period of unmodified (natural) stick-slip is T ≈ 7s , i.e.,

We computed the number of stick-slip impulses for different intensity of mechani-

A decrease of stick-slip pulse recurrence period can be explained as a result of de-

A c k n o w l e d g m e n t s . The authors express their gratitude to the Georgian Na-

Avila, G. (2004), Synchronization Phenomena in Light Controlled Oscillators, Free University

Received 17 July 2007

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