Large-scale dynamics of the mesosphere and lower thermosphere: an analysis using the extended Canadian Middle Atmosphere Model

The extended Canadian Middle Atmosphere Model is used to investigate the large-scale dynamics of the mesosphere and lower thermosphere (MLT). It is shown that the 4-day wave is substantially amplified in southern polar winter in the presence of instabilities arising from strong vertical shears in the MLT zonal mean zonal winds brought about by parameterized nonorographic gravity wave drag. A weaker 4-day wave in northern polar winter is attributed to the weaker wind shears that result from weaker parameterized wave drag. The 2-day wave also exhibits a strong dependence on zonal wind shears, in agreement with previous modeling studies. In the equatorial upper mesosphere, the migrating diurnal tide provides most of the resolved westward wave forcing, which varies semiannually in conjunction with the tide itself; resolved forcing by eastward traveling disturbances is dominated by smaller scales. Nonmigrating tides and other planetary-scale waves play only a minor role in the zonal mean zonal momentum budget in the tropics at these heights. Resolved waves are shown to play a significant role in the zonal mean meridional momentum budget in the MLT, impacting significantly on gradient wind balance. Balance fails at low latitudes as a result of a strong Reynolds stress associated with the migrating diurnal tide, an effect which is most pronounced at equinox when the tide is strongest. Resolved and parameterized waves account for most of the imbalance at higher latitudes in summer. This results in the gradient wind underestimating the actual eastward wind reversal by up to 40%.

Optimising the FAMOUS climate model: inclusion of global carbon cycling

FAMOUS fills an important role in the hierarchy of climate models, both explicitly resolving atmospheric and oceanic dynamics yet being sufficiently computationally efficient that either very long simulations or large ensembles are possible. An improved set of carbon cycle parameters for this model has been found using a perturbed physics ensemble technique. This is an important step towards building the "Earth System" modelling capability of FAMOUS, which is a reduced resolution, and hence faster running, version of the Hadley Centre Climate model, HadCM3. Two separate 100 member perturbed parameter ensembles were performed; one for the land surface and one for the ocean. The land surface scheme was tested against present-day and past representations of vegetation and the ocean ensemble was tested against observations of nitrate. An advantage of using a relatively fast climate model is that a large number of simulations can be run and hence the model parameter space (a large source of climate model uncertainty) can be more thoroughly sampled. This has the associated benefit of being able to assess the sensitivity of model results to changes in each parameter. The climatologies of surface and tropospheric air temperature and precipitation are improved relative to previous versions of FAMOUS. The improved representation of upper atmosphere temperatures is driven by improved ozone concentrations near the tropopause and better upper level winds.

Evaluation of Earth system models using modern and palaeo-observations: the state-of-the-art

Earth system models are increasing in complexity and incorporating more processes than their predecessors, making them important tools for studying the global carbon cycle. However, their coupled behaviour has only recently been examined in any detail, and has yielded a very wide range of outcomes, with coupled climate-carbon cycle models that represent land-use change simulating total land carbon stores by 2100 that vary by as much as 600 Pg C given the same emissions scenario. This large uncertainty is associated with differences in how key processes are simulated in different models, and illustrates the necessity of determining which models are most realistic using rigorous model evaluation methodologies. Here we assess the state-of-the-art with respect to evaluation of Earth system models, with a particular emphasis on the simulation of the carbon cycle and associated biospheric processes. We examine some of the new advances and remaining uncertainties relating to (i) modern and palaeo data and (ii) metrics for evaluation, and discuss a range of strategies, such as the inclusion of pre-calibration, combined process- and system-level evaluation, and the use of emergent constraints, that can contribute towards the development of more robust evaluation schemes. An increasingly data-rich environment offers more opportunities for model evaluation, but it is also a challenge, as more knowledge about data uncertainties is required in order to determine robust evaluation methodologies that move the field of ESM evaluation from "beauty contest" toward the development of useful constraints on model behaviour.

Late Quaternary hydrological dynamics in the Middle Kalahari: forcing and feedbacks

The Kalahari region has become a major source of Quaternary palaeoenvironmental data derived primarily from the analysis of geomorphological proxies of environmental change. One suite of data, from palaeolacustrine landforms, has recently provided a new record of major hydrological changes in the last 150 ka [Burrough, S. L., Thomas, D. S. G., Bailey, R. M., 2009. Mega-Lake in the Kalahari: A Late Pleistocene record of the Palaeolake Makgadikgadi system. Quaternary Science Reviews, in press.]. Here we present an improved analysis of the drivers and feedbacks of lake level change, utilising information from three main sources: data from the lake system itself, from analyses of other late Quaternary records within the region and from climate modelling. Simulations using the Hadley Centre coupled climate model, HadCM3, suggest that once triggered, the lake body was large enough to potentially affect both local and regional climates. Surface waters and their interactions with the climate are therefore an important component of environmental dynamics during the late Quaternary. Through its capacity to couple Middle Kalahari environments to distant forcing mechanisms and to itself force environmental change, we demonstrate that the existence or absence of megalake Makgadikgadi adds a new level of complexity to the interpretations of environmental proxy records in southern Africa's summer rainfall zone.

Evaluation of biospheric components in Earth system models using modern and palaeo-observations: the state-of-the-art

Earth system models (ESMs) are increasing in complexity by incorporating more processes than their predecessors, making them potentially important tools for studying the evolution of climate and associated biogeochemical cycles. However, their coupled behaviour has only recently been examined in any detail, and has yielded a very wide range of outcomes. For example, coupled climate–carbon cycle models that represent land-use change simulate total land carbon stores at 2100 that vary by as much as 600 Pg C, given the same emissions scenario. This large uncertainty is associated with differences in how key processes are simulated in different models, and illustrates the necessity of determining which models are most realistic using rigorous methods of model evaluation. Here we assess the state-of-the-art in evaluation of ESMs, with a particular emphasis on the simulation of the carbon cycle and associated biospheric processes. We examine some of the new advances and remaining uncertainties relating to (i) modern and palaeodata and (ii) metrics for evaluation. We note that the practice of averaging results from many models is unreliable and no substitute for proper evaluation of individual models. We discuss a range of strategies, such as the inclusion of pre-calibration, combined process- and system-level evaluation, and the use of emergent constraints, that can contribute to the development of more robust evaluation schemes. An increasingly data-rich environment offers more opportunities for model evaluation, but also presents a challenge. Improved knowledge of data uncertainties is still necessary to move the field of ESM evaluation away from a "beauty contest" towards the development of useful constraints on model outcomes.

Variation in genes related to hepatic lipid metabolism and changes in waist circumference and body weight.

We analysed single nucleotide polymorphisms (SNPs) tagging the genetic variability of six candidate genes (ATF6, FABP1, LPIN2, LPIN3, MLXIPL and MTTP) involved in the regulation of hepatic lipid metabolism, an important regulatory site of energy balance for associations with body mass index (BMI) and changes in weight and waist circumference. We also investigated effect modification by sex and dietary intake. Data of 6,287 individuals participating in the European prospective investigation into cancer and nutrition were included in the analyses. Data on weight and waist circumference were followed up for 6.9 ± 2.5 years. Association of 69 tagSNPs with baseline BMI and annual changes in weight as well as waist circumference were investigated using linear regression analysis. Interactions with sex, GI and intake of carbohydrates, fat as well as saturated, monounsaturated and polyunsaturated fatty acids were examined by including multiplicative SNP-covariate terms into the regression model. Neither baseline BMI nor annual weight or waist circumference changes were significantly associated with variation in the selected genes in the entire study population after correction for multiple testing. One SNP (rs1164) in LPIN2 appeared to be significantly interacting with sex (p = 0.0003) and was associated with greater annual weight gain in men (56.8 ± 23.7 g/year per allele, p = 0.02) than in women (-25.5 ± 19.8 g/year per allele, p = 0.2). With respect to gene-nutrient interaction, we could not detect any significant interactions when accounting for multiple testing. Therefore, out of our six candidate genes, LPIN2 may be considered as a candidate for further studies.

Earthworm distribution and abundance predicted by a process-based model

Earthworms are significant ecosystem engineers and are an important component of the diet of many vertebrates and invertebrates, so the ability to predict their distribution and abundance would have wide application in ecology, conservation and land management. Earthworm viability is known to be affected by the availability and quality of food resources, soil water conditions and temperature, but has not yet been modelled mechanistically to link effects on individuals to field population responses. Here we present a novel model capable of predicting the effects of land management and environmental conditions on the distribution and abundance of Aporrectodea caliginosa, the dominant earthworm species in agroecosystems. Our process-based approach uses individual based modelling (IBM), in which each individual has its own energy budget. Individual earthworm energy budgets follow established principles of physiological ecology and are parameterised for A. caliginosa from experimental measurements under optimal conditions. Under suboptimal conditions (e.g. food limitation, low soil temperatures and water contents) reproduction is prioritised over growth. Good model agreement to independent laboratory data on individual cocoon production and growth of body mass, under variable feeding and temperature conditions support our representation of A. caliginosa physiology through energy budgets. Our mechanistic model is able to accurately predict A. caliginosa distribution and abundance in spatially heterogeneous soil profiles representative of field study conditions. Essential here is the explicit modelling of earthworm behaviour in the soil profile. Local earthworm movement responds to a trade-off between food availability and soil water conditions, and this determines the spatiotemporal distribution of the population in the soil profile. Importantly, multiple environmental variables can be manipulated simultaneously in the model to explore earthworm population exposure and effects to combinations of stressors. Potential applications include prediction of the population-level effects of pesticides and changes in soil management e.g. conservation tillage and climate change.

Many-body effect in electrorheological responses

The many-body effect in the kinetic responses of ER fluids is studied by a molecular-dynamic simulation method. The mutual polarization effects of the particles are considered by self-consistently calculating the dipole strength on each particle according to the external field and the dipole field due to all the other particles in the fluids. The many-body effect is found to increase with the enhancement of the particle concentration and the permittivity ratio between the solvent and the particles. The calculated response times are shorter than that predicted with the 'point-dipole' model and agree very well with experimental results. The many-body effect enhances the shear stresses of the fluids by several times. But they are not proportional to the many-body correction factor lambda as expected. This is due to the fact that larger interaction forces between the particles lead to coarsening of the fibers formed in the suspensions. The results show that the many-body and multipolar interaction between the particles must be treated comprehensively in the simulations in order to get more reliable results.

Open solar flux estimates from near-Earth measurements of the interplanetary magnetic field: comparison of the first two perihelion passes of the Ulysses spacecraft

Results from all phases of the orbits of the Ulysses spacecraft have shown that the magnitude of the radial component of the heliospheric field is approximately independent of heliographic latitude. This result allows the use of near- Earth observations to compute the total open flux of the Sun. For example, using satellite observations of the interplanetary magnetic field, the average open solar flux was shown to have risen by 29% between 1963 and 1987 and using the aa geomagnetic index it was found to have doubled during the 20th century. It is therefore important to assess fully the accuracy of the result and to check that it applies to all phases of the solar cycle. The first perihelion pass of the Ulysses spacecraft was close to sunspot minimum, and recent data from the second perihelion pass show that the result also holds at solar maximum. The high level of correlation between the open flux derived from the various methods strongly supports the Ulysses discovery that the radial field component is independent of latitude. We show here that the errors introduced into open solar flux estimates by assuming that the heliospheric field’s radial component is independent of latitude are similar for the two passes and are of order 25% for daily values, falling to 5% for averaging timescales of 27 days or greater. We compare here the results of four methods for estimating the open solar flux with results from the first and second perehelion passes by Ulysses. We find that the errors are lowest (1–5% for averages over the entire perehelion passes lasting near 320 days), for near-Earth methods, based on either interplanetary magnetic field observations or the aa geomagnetic activity index. The corresponding errors for the Solanki et al. (2000) model are of the order of 9–15% and for the PFSS method, based on solar magnetograms, are of the order of 13–47%. The model of Solanki et al. is based on the continuity equation of open flux, and uses the sunspot number to quantify the rate of open flux emergence. It predicts that the average open solar flux has been decreasing since 1987, as Correspondence to: M. Lockwood (m.lockwood@rl.ac.uk) is observed in the variation of all the estimates of the open flux. This decline combines with the solar cycle variation to produce an open flux during the second (sunspot maximum) perihelion pass of Ulysses which is only slightly larger than that during the first (sunspot minimum) perihelion pass.

The impact of uncertain precipitation data on insurance loss estimates using a flood catastrophe model

Catastrophe risk models used by the insurance industry are likely subject to significant uncertainty, but due to their proprietary nature and strict licensing conditions they are not available for experimentation. In addition, even if such experiments were conducted, these would not be repeatable by other researchers because commercial confidentiality issues prevent the details of proprietary catastrophe model structures from being described in public domain documents. However, such experimentation is urgently required to improve decision making in both insurance and reinsurance markets. In this paper we therefore construct our own catastrophe risk model for flooding in Dublin, Ireland, in order to assess the impact of typical precipitation data uncertainty on loss predictions. As we consider only a city region rather than a whole territory and have access to detailed data and computing resources typically unavailable to industry modellers, our model is significantly more detailed than most commercial products. The model consists of four components, a stochastic rainfall module, a hydrological and hydraulic flood hazard module, a vulnerability module, and a financial loss module. Using these we undertake a series of simulations to test the impact of driving the stochastic event generator with four different rainfall data sets: ground gauge data, gauge-corrected rainfall radar, meteorological reanalysis data (European Centre for Medium-Range Weather Forecasts Reanalysis-Interim; ERA-Interim) and a satellite rainfall product (The Climate Prediction Center morphing method; CMORPH). Catastrophe models are unusual because they use the upper three components of the modelling chain to generate a large synthetic database of unobserved and severe loss-driving events for which estimated losses are calculated. We find the loss estimates to be more sensitive to uncertainties propagated from the driving precipitation data sets than to other uncertainties in the hazard and vulnerability modules, suggesting that the range of uncertainty within catastrophe model structures may be greater than commonly believed.

Ionospheric signatures of pulsed reconnection at the Earth's magnetopause

THE plasma precipitating into the Earth's dayside auroral atmosphere has characteristics which show that it originates from the shocked solar-wind plasma of the magnetosheath1'2. The particles of the magnetosheath plasma precipitate down a funnel-shaped region (cusp) of open field lines resulting from reconnection of the geomagnetic field with the interplanetary magnetic field3. Although the cusp has long been considered a well defined spatial structure maintained by continuous reconnection, it has recently been suggested4–6 that reconnection instead may take place in a series of discontinuous events; this is the ‘pulsating cusp model’. Here we present coordinated radar and satellite observations of a series of discrete, poleward-moving plasma structures that are consistent with the pulsating-cusp model.

Earth's energy imbalance since 1960 in observations and CMIP5 models

Observational analyses of running 5-year ocean heat content trends (Ht) and net downward top of atmosphere radiation (N) are significantly correlated (r~0.6) from 1960 to 1999, but a spike in Ht in the early 2000s is likely spurious since it is inconsistent with estimates of N from both satellite observations and climate model simulations. Variations in N between 1960 and 2000 were dominated by volcanic eruptions, and are well simulated by the ensemble mean of coupled models from the Fifth Coupled Model Intercomparison Project (CMIP5). We find an observation-based reduction in N of -0.31±0.21 Wm-2 between 1999 and 2005 that potentially contributed to the recent warming slowdown, but the relative roles of external forcing and internal variability remain unclear. While present-day anomalies of N in the CMIP5 ensemble mean and observations agree, this may be due to a cancellation of errors in outgoing longwave and absorbed solar radiation.

Climate and carbon cycle changes from 1850 to 2100 in MPI-ESM simulations for the Coupled Model Intercomparison Project phase 5

The new Max-Planck-Institute Earth System Model (MPI-ESM) is used in the Coupled Model Intercomparison Project phase 5 (CMIP5) in a series of climate change experiments for either idealized CO2-only forcing or forcings based on observations and the Representative Concentration Pathway (RCP) scenarios. The paper gives an overview of the model configurations, experiments related forcings, and initialization procedures and presents results for the simulated changes in climate and carbon cycle. It is found that the climate feedback depends on the global warming and possibly the forcing history. The global warming from climatological 1850 conditions to 2080–2100 ranges from 1.5°C under the RCP2.6 scenario to 4.4°C under the RCP8.5 scenario. Over this range, the patterns of temperature and precipitation change are nearly independent of the global warming. The model shows a tendency to reduce the ocean heat uptake efficiency toward a warmer climate, and hence acceleration in warming in the later years. The precipitation sensitivity can be as high as 2.5% K−1 if the CO2 concentration is constant, or as small as 1.6% K−1, if the CO2 concentration is increasing. The oceanic uptake of anthropogenic carbon increases over time in all scenarios, being smallest in the experiment forced by RCP2.6 and largest in that for RCP8.5. The land also serves as a net carbon sink in all scenarios, predominantly in boreal regions. The strong tropical carbon sources found in the RCP2.6 and RCP8.5 experiments are almost absent in the RCP4.5 experiment, which can be explained by reforestation in the RCP4.5 scenario.

Climatic impacts of land-use change due to crop yield increases and a universal carbon tax from a scenario model*

Future land cover will have a significant impact on climate and is strongly influenced by the extent of agricultural land use. Differing assumptions of crop yield increase and carbon pricing mitigation strategies affect projected expansion of agricultural land in future scenarios. In the representative concentration pathway 4.5 (RCP4.5) from phase 5 of the Coupled Model Intercomparison Project (CMIP5), the carbon effects of these land cover changes are included, although the biogeophysical effects are not. The afforestation in RCP4.5 has important biogeophysical impacts on climate, in addition to the land carbon changes, which are directly related to the assumption of crop yield increase and the universal carbon tax. To investigate the biogeophysical climatic impact of combinations of agricultural crop yield increases and carbon pricing mitigation, five scenarios of land-use change based on RCP4.5 are used as inputs to an earth system model [Hadley Centre Global Environment Model, version 2-Earth System (HadGEM2-ES)]. In the scenario with the greatest increase in agricultural land (as a result of no increase in crop yield and no climate mitigation) there is a significant -0.49 K worldwide cooling by 2100 compared to a control scenario with no land-use change. Regional cooling is up to -2.2 K annually in northeastern Asia. Including carbon feedbacks from the land-use change gives a small global cooling of -0.067 K. This work shows that there are significant impacts from biogeophysical land-use changes caused by assumptions of crop yield and carbon mitigation, which mean that land carbon is not the whole story. It also elucidates the potential conflict between cooling from biogeophysical climate effects of land-use change and wider environmental aims.

Body-centric modelling, identification, and acceleration tracking control of a quadrotor UAV

This paper presents the mathematical development of a body-centric nonlinear dynamic model of a quadrotor UAV that is suitable for the development of biologically inspired navigation strategies. Analytical approximations are used to find an initial guess of the parameters of the nonlinear model, then parameter estimation methods are used to refine the model parameters using the data obtained from onboard sensors during flight. Due to the unstable nature of the quadrotor model, the identification process is performed with the system in closed-loop control of attitude angles. The obtained model parameters are validated using real unseen experimental data. Based on the identified model, a Linear-Quadratic (LQ) optimal tracker is designed to stabilize the quadrotor and facilitate its translational control by tracking body accelerations. The LQ tracker is tested on an experimental quadrotor UAV and the obtained results are a further means to validate the quality of the estimated model. The unique formulation of the control problem in the body frame makes the controller better suited for bio-inspired navigation and guidance strategies than conventional attitude or position based control systems that can be found in the existing literature.