The process referred to as semi-convection in astrophysics and double-diffusive convection in the diffusive regime in Earth and planetary sciences, occurs in stellar and planetary interiors in regions which are stable according to the Ledoux criterion but unstable according to the Schwarzschild criterion. In this series of papers, we analyze the results of an extensive suite of 3D numerical simulations of the process, and ultimately propose a new 1D prescription for heat and compositional transport in this regime which can be used in stellar or planetary structure and evolution models. In a preliminary study of the phenomenon, Rosenblum et al. (2011) showed that, after saturation of the primary instability, a system can evolve in one of two possible ways: the induced turbulence either remains homogeneous, with very weak transport properties, or transitions into a thermo-compositional staircase where the transport rate is much larger (albeit still smaller than in standard convection). In this paper, we show that this dichotomous behavior is a robust property of semi-convection across a wide region of parameter space. We propose a simple semi-analytical criterion to determine whether layer formation is expected or not, and at what rate it proceeds, as a function of the background stratification and of the diffusion parameters (viscosity, thermal diffusivity and compositional diffusivity) only. The theoretical criterion matches the outcome of our numerical simulations very adequately in the numerically accessible planetary parameter regime, and can easily be extrapolated to the stellar parameter regime. Subsequent papers will address more specifically the question of quantifying transport in the layered case and in the non-layered case.
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