Consistent approximate models of the global atmosphere: shallow, deep, hydrostatic, quasi-hydrostatic and non-hydrostatic

We study global atmosphere models that are at least as accurate as the hydrostatic primitive equations (HPEs), reviewing known results and reporting some new ones. The HPEs make spherical geopotential and shallow atmosphere approximations in addition to the hydrostatic approximation. As is well known, a consistent application of the shallow atmosphere approximation requires omission of those Coriolis terms that vary as the cosine of latitude and of certain other terms in the components of the momentum equation. An approximate model is here regarded as consistent if it formally preserves conservation principles for axial angular momentum, energy and potential vorticity, and (following R. Müller) if its momentum component equations have Lagrange's form. Within these criteria, four consistent approximate global models, including the HPEs themselves, are identified in a height-coordinate framework. The four models, each of which includes the spherical geopotential approximation, correspond to whether the shallow atmosphere and hydrostatic (or quasi-hydrostatic) approximations are individually made or not made. Restrictions on representing the spatial variation of apparent gravity occur. Solution methods and the situation in a pressure-coordinate framework are discussed. © Crown copyright 2005.

The cumulus-capped boundary layer. II: Interface fluxes

This paper considers the relationship between the mean temperature and humidity profiles and the fluxes of heat and moisture at cloud base and the base of the inversion in the cumulus-capped boundary layer. The relationships derived are based on an approximate form of the scalar-flux budget and the scaling properties of the turbulent kinetic energy (TKE) budget. The scalar-flux budget gives a relationship between the change in the virtual potential temperature across either the cloud base transition zone or the inversion and the flux at the base of the layer. The scaling properties of the TKE budget lead to a relationship between the heat and moisture fluxes and the mean subsaturation through the liquid-water flux. The 'jump relation' for the virtual potential temperature at cloud base shows the close connection between the cumulus mass flux in the cumulus-capped boundary layer and the entrainment velocity in the dry-convective boundary layer. Gravity waves are shown to be an important feature of the inversion.

Equatorial waves in the lower stratosphere. II: Annual and interannual variability

The annual and interannual variability of idealized, linear, equatorial waves in the lower stratosphere is investigated using the temperature and velocity fields from the ECMWF 15-year re-analysis dataset. Peak Kelvin wave activity occurs during solstice seasons at 100 hPa, during December-February at 70 hPa and in the easterly to westerly quasi-biennial oscillation (QBO) phase transition at 50 hPa. Peak Rossby-gravity wave activity occurs during equinox seasons at 100 hPa, during June-August/September-November at 70 hPa and in the westerly to easterly QBO phase transition at 50 hPa. Although neglect of wind shear means that the results for inertio-gravity waves are likely to be less accurate, they are still qualitatively reasonable and an annual cycle is observed in these waves at 100 hPa and 70 hPa. Inertio-gravity waves with n = 1 are correlated with the QBO at 50 hPa, but the eastward inertio-gravity n = 0 wave is not, due to its very fast vertical group velocity in all background winds. The relative importance of different wave types in driving the QBO at 50 hPa is also discussed. The strongest acceleration appears to be provided by the Kelvin wave while the acceleration provided by the Rossby-gravity wave is negligible. Of the higher-frequency waves, the westward inertio-gravity n = 1 wave appears able to contribute more to the acceleration of the 50 hPa mean zonal wind than the eastward inertio-gravity n = 1 wave.

Equatorial waves in the lower stratosphere. I: A novel detection method

Wavenumber-frequency spectral analysis and linear wave theory are combined in a novel method to quantitatively estimate equatorial wave activity in the tropical lower stratosphere. The method requires temperature and velocity observations that are regularly spaced in latitude, longitude and time; it is therefore applied to the ECMWF 15-year re-analysis dataset (ERA-15). Signals consistent with idealized Kelvin and Rossby-gravity waves are found at wavenumbers and frequencies in agreement with previous studies. When averaged over 1981-93, the Kelvin wave explains approximately 1 K-2 of temperature variance on the equator at 100 hPa, while the Rossby-gravity wave explains approximately 1 m(2)s(-2) of meridional wind variance. Some inertio-gravity wave and equatorial Rossby wave signals are also found; however the resolution of ERA-15 is not sufficient for the method to provide an accurate climatology of waves with high meridional structure.

On the steadiness of separating meandering currents

The existence of inertial steady currents that separate from a coast and meander afterward is investigated. By integrating the zonal momentum equation over a suitable area, it is shown that retroflecting currents cannot be steady in a reduced gravity or in a barotropic model of the ocean. Even friction cannot negate this conclusion. Previous literature on this subject, notably the discrepancy between several articles by Nof and Pichevin on the unsteadiness of retroflecting currents and steady solutions presented in other papers, is critically discussed. For more general separating current systems, a local analysis of the zonal momentum balance shows that given a coastal current with a specific zonal momentum structure, an inertial, steady, separating current is unlikely, and the only analytical solution provided in the literature is shown to be inconsistent. In a basin-wide view of these separating current systems, a scaling analysis reveals that steady separation is impossible when the interior flow is nondissipative (e.g., linear Sverdrup-like). These findings point to the possibility that a large part of the variability in the world’s oceans is due to the separation process rather than to instability of a free jet.

The propagation mechanism of a vortex on the β plane

The propagation velocity and propagation mechanism for vortices on a β plane are determined for a reduced-gravity model by integrating the momentum equations over the β plane. Isolated vortices, vortices in a background current, and initial vortex propagation from rest are studied. The propagation mechanism for isolated anticyclones as well as cyclones, which has been lacking up to now, is presented. It is shown that, to first order, the vortex moves to generate a Coriolis force on the mass anomaly of the vortex to compensate for the force on the vortex due to the variation of the Coriolis parameter. Only the mass anomaly of the vortex is of importance, because the Coriolis force due to the motion of the bulk of the layer moving with the vortex is almost fully compensated by the Coriolis force on the motion of the exterior flow. Because the mass anomaly of a cyclone is negative the force and acceleration have opposite sign. The role of dipolar structures in steadily moving vortices is discussed, and it is shown that their overall structure is fixed by the steady westward motion of the mass anomaly. Furthermore, it is shown that reduced-gravity vortices are not advected with a background flow. The reason for this behavior is that the background flow changes the ambient vorticity gradient such that the vortex obtains an extra self-propagation term that exactly cancels the advection by the background flow. Last, it is shown that a vortex initially at rest will accelerate equatorward first, after which a westward motion is generated. This result is independent of the sign of the vortex.

Quantifying mesoscale variability in ocean transient tracer fields

A powerful way to test the realism of ocean general circulation models is to systematically compare observations of passive tracer concentration with model predictions. The general circulation models used in this way cannot resolve a full range of vigorous mesoscale activity (on length scales between 10–100 km). In the real ocean, however, this activity causes important variability in tracer fields. Thus, in order to rationally compare tracer observations with model predictions these unresolved fluctuations (the model variability error) must be estimated. We have analyzed this variability using an eddy‐resolving reduced‐gravity model in a simple midlatitude double‐gyre configuration. We find that the wave number spectrum of tracer variance is only weakly sensitive to the distribution of (large scale slowly varying) tracer sources and sinks. This suggests that a universal passive tracer spectrum may exist in the ocean. We estimate the spectral shape using high‐resolution measurements of potential temperature on an isopycnal in the upper northeast Atlantic Ocean, finding a slope near k −1.7 between 10 and 500 km. The typical magnitude of the variance is estimated by comparing tracer simulations using different resolutions. For CFC‐ and tritium‐type transient tracers the peak magnitude of the model variability saturation error may reach 0.20 for scales shorter than 100 km. This is of the same order as the time mean saturation itself and well over an order of magnitude greater than the instrumental uncertainty.

The geometry of optimal control solutions on some six dimensional lie groups

This paper examines optimal solutions of control systems with drift defined on the orthonormal frame bundle of particular Riemannian manifolds of constant curvature. The manifolds considered here are the space forms Euclidean space E-3, the spheres S-3 and the hyperboloids H-3 with the corresponding frame bundles equal to the Euclidean group of motions SE(3), the rotation group SO(4) and the Lorentz group SO(1,3). The optimal controls of these systems are solved explicitly in terms of elliptic functions. In this paper, a geometric interpretation of the extremal solutions is given with particular emphasis to a singularity in the explicit solutions. Using a reduced form of the Casimir functions the geometry of these solutions are illustrated.

Integrating control systems defined on the frame bundles of the space forms

This paper considers left-invariant control systems defined on the orthonormal frame bundles of simply connected manifolds of constant sectional curvature, namely the space forms Euclidean space E-3, the sphere S-3 and Hyperboloid H-3 with the corresponding frame bundles equal to the Euclidean group of motions SE(3), the rotation group SO(4) and the Lorentz group SO(1, 3). Orthonormal frame bundles of space forms coincide with their isometry groups and therefore the focus shifts to left-invariant control systems defined on Lie groups. In this paper a method for integrating these systems is given where the controls are time-independent. In the Euclidean case the elements of the Lie algebra se(3) are often referred to as twists. For constant twist motions, the corresponding curves g(t) is an element of SE(3) are known as screw motions, given in closed form by using the well known Rodrigues' formula. However, this formula is only applicable to the Euclidean case. This paper gives a method for computing the non-Euclidean screw motions in closed form. This involves decoupling the system into two lower dimensional systems using the double cover properties of Lie groups, then the lower dimensional systems are solved explicitly in closed form.

Multimodal semantic-associative collateral labelling and indexing of still images

A novel framework for multimodal semantic-associative collateral image labelling, aiming at associating image regions with textual keywords, is described. Both the primary image and collateral textual modalities are exploited in a cooperative and complementary fashion. The collateral content and context based knowledge is used to bias the mapping from the low-level region-based visual primitives to the high-level visual concepts defined in a visual vocabulary. We introduce the notion of collateral context, which is represented as a co-occurrence matrix, of the visual keywords, A collaborative mapping scheme is devised using statistical methods like Gaussian distribution or Euclidean distance together with collateral content and context-driven inference mechanism. Finally, we use Self Organising Maps to examine the classification and retrieval effectiveness of the proposed high-level image feature vector model which is constructed based on the image labelling results.

Perspex machine VII: The universal perspex machine

The perspex machine arose from the unification of projective geometry with the Turing machine. It uses a total arithmetic, called transreal arithmetic, that contains real arithmetic and allows division by zero. Transreal arithmetic is redefined here. The new arithmetic has both a positive and a negative infinity which lie at the extremes of the number line, and a number nullity that lies off the number line. We prove that nullity, 0/0, is a number. Hence a number may have one of four signs: negative, zero, positive, or nullity. It is, therefore, impossible to encode the sign of a number in one bit, as floating-, point arithmetic attempts to do, resulting in the difficulty of having both positive and negative zeros and NaNs. Transrational arithmetic is consistent with Cantor arithmetic. In an extension to real arithmetic, the product of zero, an infinity, or nullity with its reciprocal is nullity, not unity. This avoids the usual contradictions that follow from allowing division by zero. Transreal arithmetic has a fixed algebraic structure and does not admit options as IEEE, floating-point arithmetic does. Most significantly, nullity has a simple semantics that is related to zero. Zero means "no value" and nullity means "no information." We argue that nullity is as useful to a manufactured computer as zero is to a human computer. The perspex machine is intended to offer one solution to the mind-body problem by showing how the computable aspects of mind and. perhaps, the whole of mind relates to the geometrical aspects of body and, perhaps, the whole of body. We review some of Turing's writings and show that he held the view that his machine has spatial properties. In particular, that it has the property of being a 7D lattice of compact spaces. Thus, we read Turing as believing that his machine relates computation to geometrical bodies. We simplify the perspex machine by substituting an augmented Euclidean geometry for projective geometry. This leads to a general-linear perspex-machine which is very much easier to pro-ram than the original perspex-machine. We then show how to map the whole of perspex space into a unit cube. This allows us to construct a fractal of perspex machines with the cardinality of a real-numbered line or space. This fractal is the universal perspex machine. It can solve, in unit time, the halting problem for itself and for all perspex machines instantiated in real-numbered space, including all Turing machines. We cite an experiment that has been proposed to test the physical reality of the perspex machine's model of time, but we make no claim that the physical universe works this way or that it has the cardinality of the perspex machine. We leave it that the perspex machine provides an upper bound on the computational properties of physical things, including manufactured computers and biological organisms, that have a cardinality no greater than the real-number line.

Integrating Hamiltonian systems defined on the Lie groups SO(4) and SO(1,3)

This paper examines optimal solutions of control systems with drift defined on the orthonormal frame bundle of particular Riemannian manifolds of constant curvature. The manifolds considered here are the space forms Euclidean space E³, the spheres S³ and the hyperboloids H³ with the corresponding frame bundles equal to the Euclidean group of motions SE(3), the rotation group SO(4) and the Lorentz group SO(1,3). The optimal controls of these systems are solved explicitly in terms of elliptic functions. In this paper, a geometric interpretation of the extremal solutions is given with particular emphasis to a singularity in the explicit solutions. Using a reduced form of the Casimir functions the geometry of these solutions is illustrated.

A swarm intelligence method for feature tracking in AMV derivation

Feature tracking is a key step in the derivation of Atmospheric Motion Vectors (AMV). Most operational derivation processes use some template matching technique, such as Euclidean distance or cross-correlation, for the tracking step. As this step is very expensive computationally, often shortrange forecasts generated by Numerical Weather Prediction (NWP) systems are used to reduce the search area. Alternatives, such as optical flow methods, have been explored, with the aim of improving the number and quality of the vectors generated and the computational efficiency of the process. This paper will present the research carried out to apply Stochastic Diffusion Search, a generic search technique in the Swarm Intelligence family, to feature tracking in the context of AMV derivation. The method will be described, and we will present initial results, with Euclidean distance as reference.

Oriented vehicles travelling in spherical space

This paper tackles the path planning problem for oriented vehicles travelling in the non-Euclidean 3-Dimensional space; spherical space S3. For such problem, the orientation of the vehicle is naturally represented by orthonormal frame bundle; the rotation group SO(4). Orthonormal frame bundles of space forms coincide with their isometry groups and therefore the focus shifts to control systems defined on Lie groups. The oriented vehicles, in this case, are constrained to travel at constant speed in a forward direction and their angular velocities directly controlled. In this paper we identify controls that induce steady motions of these oriented vehicles and yield closed form parametric expressions for these motions. The paths these vehicles trace are defined explicitly in terms of the controls and therefore invariant with respect to the coordinate system used to describe the motion.

Planning rigid body motions using elastic curves

This paper tackles the problem of computing smooth, optimal trajectories on the Euclidean group of motions SE(3). The problem is formulated as an optimal control problem where the cost function to be minimized is equal to the integral of the classical curvature squared. This problem is analogous to the elastic problem from differential geometry and thus the resulting rigid body motions will trace elastic curves. An application of the Maximum Principle to this optimal control problem shifts the emphasis to the language of symplectic geometry and to the associated Hamiltonian formalism. This results in a system of first order differential equations that yield coordinate free necessary conditions for optimality for these curves. From these necessary conditions we identify an integrable case and these particular set of curves are solved analytically. These analytic solutions provide interpolating curves between an initial given position and orientation and a desired position and orientation that would be useful in motion planning for systems such as robotic manipulators and autonomous-oriented vehicles.