Analyses of Virtual Ship‐Tracks Systematically Underestimate Aerosol‐Cloud Interactions Signals
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Tianle Yuan↗
Engineering topics
Robert Wood
Publications and source records attributed to Robert Wood.
Evaluation of Initial and Midterm Air Traffic Procedures for Urban Air Mobility Operations
This paper describes a follow-on joint human-in-the loop (HITL) simulation effort by NASA and Joby Aviation that builds on the results of these previous studies. It extends that work by comparing the LOA condition for Initial UAM operations to Midterm operations that includes corridor airspace structures and some other changes to the operating environment. This is the first reported air traffic controller-in-the-loop evaluation of the corridor condition in a high-fidelity simulation environment. The following sections describe the routes, scenarios, and operating conditions along with metrics used to evaluate feasibility from the air traffic controllers’ perspectives. The results section presents the traffic levels that were feasible in each condition and concludes with recommendations for extending the scope and applicability of evaluations like this one in the future.
Savvy Verma↗
A Koopman-based residual modeling approach for the control of a soft robot arm
Soft robots are challenging to model and control due to their poorly defined kinematics and nonlinear dynamics. Recently, Koopman operator theory has been shown capable of constructing control-oriented soft robot models from data. However, building these models requires extensive data collection and they do not necessarily generalize well outside of the training observations. This paper presents a more data-efficient and generalizable approach to soft robot modeling that first identifies a physics-based Koopman model then supplements it with a data-driven residual Koopman model. The resulting combined model is linear and thus compatible with real-time model-based control techniques such as Model Predictive Control (MPC). The efficacy of the approach is demonstrated on several simulated systems and on a real soft robot arm, where it is shown to generate models that are more accurate than purely physics-based models and require less data to construct than purely data-driven models. Using a model-based controller, the soft arm is able to successfully track end effector trajectories, perform a pick-and-place task, and write on a dry-erase board, showcasing the applicability of this framework to increase the capabilities of soft robotic systems.
Daniel Bruder↗
Buffering of Aerosol-Cloud Adjustments by Coupling Between Radiative Susceptibility and Precipitation Efficiency
Aerosol-cloud interactions (ACI) in warm clouds are the primary source of uncertainty in effective radiative forcing (ERF) during the historical period and, by extension, inferred climate sensitivity. The ERF due to ACI (ERFaci) is composed of the radiative forcing due to changes in cloud microphysics and cloud adjustments to microphysics. Here, we examine the processes that drive ERFaci using a perturbed parameter ensemble (PPE) hosted in CAM6. Observational constraints on the PPE result in substantial constraints in the response of cloud microphysics and macrophysics to anthropogenic aerosol, but only minimal constraint on ERFaci. Examination of cloud and radiation processes in the PPE reveal buffering of ERFaci by the interaction of precipitation efficiency and radiative susceptibility.
perturbed parameter ensemble↗
Buffering of Aerosol‐Cloud Adjustments by Coupling Between Radiative Susceptibility and Precipitation Efficiency
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Ci Song↗
Abrupt Reduction in Shipping Emission as an Inadvertent Geoengineering Termination Shock Produces Substantial Radiative Warming
Human activities affect the Earth’s climate through modifying the composition of the atmosphere, which then creates radiative forcing that drives climate change. The warming effect of anthropogenic greenhouse gases has been partially balanced by the cooling effect of anthropogenic aerosols. In 2020, fuel regulations abruptly reduced the emission of sulfur dioxide from international shipping by about 80% and created an inadvertent geoengineering termination shock with global impact. Here we estimate the regulation leads to a radiative forcing of +0.2±0.11Wm-2 averaged over the global ocean.The amount of radiative forcing could lead to a doubling (or more) of the warming rate in the 2020s compared with the rate since 1980 with strong spatiotemporal heterogeneity.The warming effect is consistent with the recent observed strong warming in 2023 and expected to make the 2020s anomalously warm. The forcing represents 80% to the measured increase in planetary heat uptake since 2020. The radiative forcing also has strong hemispheric contrast, which has important implications for precipitation pattern changes. Our result suggests marine cloud brightening may be a viable geoengineering method in temporarily cooling the climate that has its unique challenges due to inherent spatiotemporal heterogeneity.
Tianle Yuan↗
Observational Evidence of Strong Forcing from Aerosol Effect on Low Cloud Coverage
Aerosols cool Earth’s climate indirectly by increasing low cloud brightness and their coverage (Cf), constituting the aerosol indirect forcing (AIF). The forcing partially offsets the greenhouse warming and positively correlates with the climate sensitivity. However, it remains highly uncertain. Here, we show direct observational evidence for strong forcing from Cf adjustment to increased aerosols and weak forcing from cloud liquid water path adjustment. We estimate that the Cf adjustment drives between 52% and 300% of additional forcing to the Twomey effect over the ocean and a total AIF of −1.1 ± 0.8 W m -2 . The Cf adjustment follows a power law as a function of background cloud droplet number concentration, N d . It thus depends on time and location and is stronger when N d is low. Cf only increases substantially when background clouds start to drizzle, suggesting a role for aerosol-precipitation interactions. Our findings highlight the Cf adjustment as the key process for reducing the uncertainty of AIF and thus future climate projections.
Tianle Yuan↗
Transformable Linkage-Based Gripper for Multi-Mode Grasping and Manipulation
Gripper hardware design often involves a trade-off between distinct and sometimes opposing goals (e.g., high grasping force vs. gentleness). To address this trade-off within a single device, we present a multi-mode gripper with fingers that are scissor linkages, that can actively transform between three distinct modes by varying the number and locations of mechanical singularities. Each of these modes has properties that are suitable for specific needs. Mode 1 provides high grip strength, using a short lever arm and rigid structure. Mode 2 allows precise finger positioning and in-hand manipulation, using two independently controlled DOFs per finger. Mode 3 provides underactuated grasping that can passively adapt to delicate or irregularly shaped objects, with four DOFs per finger. The kinematic relationships, joint torques, and fingertip forces are derived analytically for each of the three modes. Gripper performance and the kinematic model are verified experimentally.
Junghan Kwon↗
Cloud Adjustments From Large-Scale Smoke–Circulation Interactions Strongly Modulate the Southeastern Atlantic Stratocumulus-to-Cumulus Transition
Smoke from southern Africa blankets the southeastern Atlantic Ocean from June to October, producing strong and competing aerosol radiative effects. Smoke effects on the transition between overcast stratocumulus and scattered cumulus clouds are investigated along a Lagrangian (air-mass-following) trajectory in regional climate and large eddy simulation models. Results are compared with observations from three recent field campaigns that took place in August 2017: ObseRvations of Aerosols above CLouds and their intEractionS (ORACLES), CLouds and Aerosol Radiative Impacts and Forcing: Year 2017 (CLARIFY), and Layered Atlantic Smoke Interactions with Clouds (LASIC). The case study is set up around the joint ORACLES–CLARIFY flight that took place near Ascension Island on 18 August 2017. Smoke sampled upstream on an ORACLES flight on 15 August 2017 likely entrained into the marine boundary layer later sampled during the joint flight. The case is first simulated with the WRF-CAM5 regional climate model in three distinct setups: (1) FireOn, in which smoke emissions and any resulting smoke–cloud–radiation interactions are included; (2) FireOff, in which no smoke emissions are included; (3) RadOff, in which smoke emissions and their microphysical effects are included but aerosol does not interact directly with radiation. Over the course of the Lagrangian trajectory, differences in free tropospheric thermodynamic properties between FireOn and FireOff are nearly identical to those between FireOn and RadOff, showing that aerosol–radiation interactions are primarily responsible for the free tropospheric effects. These effects are non-intuitive: in addition to the expected heating within the core of the smoke plume, there is also a “banding” effect of cooler temperature (∼1–2 K) and greatly enhanced moisture (>2 g kg−1) at the plume top. This banding effect is caused by a vertical displacement of the former continental boundary layer in the free troposphere in the FireOn simulation resulting from anomalous diabatic heating due to smoke absorption of sunlight that manifests primarily as a few hundred meters per day reduction in large-scale subsidence over the ocean. A large eddy simulation (LES) is then forced with free tropospheric fields taken from the outputs for the WRF-CAM5 FireOn and FireOff runs. Cases are run by selectively perturbing one variable (e.g., aerosol number concentration, temperature, moisture, vertical velocity) at a time to better understand the contributions from different indirect (microphysical), “large-scale” semi-direct (above-cloud thermodynamic and subsidence changes), and “local” semi-direct (below-cloud smoke absorption) effects. Despite a more than 5-fold increase in cloud droplet number concentration when including smoke aerosol concentrations, minimal differences in cloud fraction evolution are simulated by the LES when comparing the base case with a perturbed aerosol case with identical thermodynamic and dynamic forcings. A factor of 2 decrease in background free tropospheric aerosol concentrations from the FireOff simulation shifts the cloud evolution from a classical entrainment-driven “deepening–warming” transition to trade cumulus to a precipitation-driven “drizzle-depletion” transition to open cells, however. The thermodynamic and dynamic changes caused by the WRF-simulated large-scale adjustments to smoke diabatic heating strongly influence cloud evolution in terms of both the rate of deepening (especially for changes in the inversion temperature jump and in subsidence) and in cloud fraction on the final day of the simulation (especially for the moisture “banding” effect). Such large-scale semi-direct effects would not have been possible to simulate using a small-domain LES model alone.
southeast Atlantic Ocean↗
Global Reduction in Ship-tracks from Sulfur Regulations for Shipping Fuel
Ship-tracks are produced by ship-emitted aerosols interacting with low clouds. Here, we apply deep learning models on satellite data to produce the first global climatology map of ship-tracks. We show that ship-tracks are at the nexus of cloud physics, maritime shipping, and fuel regulation. Our map captures major shipping lanes while missing others because of background conditions. Ship-track frequency is more than 10 times higher than a previous survey, and its interannual fluctuations reflect variations in cross-ocean trade, shipping activity, and fuel regulations. Fuel regulation can alter both detected frequency and shipping routes due to cost. The 2020 fuel regulation, together with the coronavirus disease 2019 pandemic, reduced ship-track frequency to its lowest level in recent decades across the globe and may have ushered in an era of low frequency. The regulation reduces the aerosol indirect forcing from ship emissions by 46% or between 0.02 and 0.27 W m −2 given its current estimates.
ship tracks↗
Opportunistic Experiments to Constrain Aerosol Effective Radiative Forcing
Aerosol-cloud interactions (ACI) are considered to be the most uncertain driver of present-day radiative forcing due to human activities. The non-linearity of cloud-state changes to aerosol perturbations make it challenging to attribute causality in observed relationships of aerosol radiative forcing. Using correlations to infer causality can be challenging when meteorological variability also drives both aerosol and cloud changes independently. Natural and anthropogenic aerosol perturbations from well defined sources provide ‘opportunistic experiments’ (also known as natural experiments) to investigate ACI in cases where causality may be more confidently inferred. These perturbations cover a wide range of locations and spatio-temporal scales, including point sources such as volcanic eruptions or industrial sources, plumes from biomass burning or forest fires, and tracks from individual ships or shipping corridors.We review the different experimental conditions and conduct a synthesis of the available satellite data sets and field campaigns to place these opportunistic experiments on a common footing, facilitating new insights and a clearer understanding of key uncertainties in aerosol radiative forcing. Cloud albedo perturbations are strongly sensitive to background meteorological conditions. Strong liquid water path increases due to aerosol perturbations are largely ruled out by averaging across experiments. Opportunistic experiments have significantly improved process-level understanding of ACI, but it remains unclear how reliably the relationships found can be scaled to the global level, thus demonstrating a need for deeper investigation in order to improve assessments of aerosol radiative forcing and climate change.
Matthew W Christensen↗
Identifying Meteorological Influences on Marine Low Cloud Mesoscale Morphology Using Satellite Classifications
Marine low cloud mesoscale morphology in the southeastern Pacific Ocean is analyzed using a large dataset of machine-learning generated classifications spanning three years. Meteorological variables and cloud properties are composited 10by mesoscale cloud type, showing distinct meteorological regimes of marine low cloud organization from the tropics to the midlatitudes. The presentation of mesoscale cellular convection, with respect to geographic distribution, boundary layer structure, and large-scale environmental conditions, agrees with prior knowledge. Two tropical and subtropical cumuliform boundary layer regimes, suppressed cumulus and clustered cumulus, are studied in detail. The patterns in precipitation, circulation, column water vapor, and cloudiness are consistent with the representation of marine shallow mesoscale convective 15 self-aggregation by large eddy simulations of the boundary layer. Although they occur under similar large-scale conditions, the suppressed and clustered low cloud types are found to be well-separated by variables associated with low-level mesoscale circulation, with surface wind divergence being the clearest discriminator between them, whether reanalysis or satellite observations are used. Clustered regimes are associated with surface convergence and suppressed regimes are associated with surface divergence.
Johannes Mohrmann↗
X3 Simulation with National Campaign-Developmental Test (NC-DT) Airspace Partners
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UAM↗
An overview of the ORACLES (ObseRvations of Aerosols above CLouds and their intEractionS) project: aerosol–cloud–radiation interactions in the southeast Atlantic basin
Southern Africa produces almost a third of the Earth’s biomass burning (BB) aerosol particles, yet the fate of these particles and their influence on regional and global climate is poorly understood. ORACLES (ObseRvations of Aerosols above CLouds and their intEractionS) is a 5-year NASA EVS-2 (Earth Venture Suborbital-2) investigation with three intensive observation periods designed to study key atmospheric processes that determine the climate impacts of these aerosols. During the Southern Hemisphere winter and spring (June–October), aerosol particles reaching 3–5 km in altitude are transported westward over the southeast Atlantic, where they interact with one of the largest subtropical stratocumulus (Sc) cloud decks in the world. The representation of these interactions in climate models remains highly uncertain in part due to a scarcity of observational constraints on aerosol and cloud properties, as well as due to the parameterized treatment of physical processes. Three ORACLES deployments by the NASA P-3 aircraft in September 2016, August 2017, and October 2018 (totaling ~ 350 science flight hours), augmented by the deployment of the NASA ER-2 aircraft for remote sensing in September 2016 (totaling ~ 100 science flight hours), were intended to help fill this observational gap. ORACLES focuses on three fundamental science themes centered on the climate effects of African BB aerosols: (a) direct aerosol radiative effects, (b) effects of aerosol absorption on atmospheric circulation and clouds, and (c) aerosol–cloud microphysical interactions. This paper summarizes the ORACLES science objectives, describes the project implementation, provides an overview of the flights and measurements in each deployment, and highlights the integrative modeling efforts from cloud to global scales to address science objectives. Significant new findings on the vertical structure of BB aerosol physical and chemical properties, chemical aging, cloud condensation nuclei, rain and precipitation statistics, and aerosol indirect effects are emphasized, but their detailed descriptions are the subject of separate publications. The main purpose of this paper is to familiarize the broader scientific community with the ORACLES project and the dataset it produced.
Jens Redemann↗
Modeling the smoky troposphere of the southeast Atlantic: a comparison to ORACLES airborne observations from September of 2016
In the southeast Atlantic, well-defined smoke plumes from Africa advect over marine boundary layer cloud decks; both are most extensive around September, when most of the smoke resides in the free troposphere. A framework is put forth for evaluating the performance of a range of global and regional atmospheric composition models against observations made during the NASA ORACLES (ObseRvations of Aerosols above CLouds and their intEractionS) airborne mission in September 2016. A strength of the comparison is a focus on the spatial distribution of a wider range of aerosol composition and optical properties than has been done previously. The sparse airborne observations are aggregated into approximately 2° grid boxes and into three vertical layers: 3–6 km, the layer from cloud top to 3 km, and the cloud-topped marine boundary layer. Simulated aerosol extensive properties suggest that the flight-day observations are reasonably representative of the regional monthly average, with systematic deviations of 30 % or less. Evaluation against observations indicates that all models have strengths and weaknesses, and there is no single model that is superior to all the others in all metrics evaluated. Whereas all six models typically place the top of the smoke layer within 0–500 m of the airborne lidar observations, the models tend to place the smoke layer bottom 300–1400 m lower than the observations. A spatial pattern emerges, in which most models underestimate the mean of most smoke quantities (black carbon, extinction, carbon monoxide) on the diagonal corridor between 16° S, 6° E, and 10° S, 0° E, in the 3–6 km layer, and overestimate them further south, closer to the coast, where less aerosol is present. Model representations of the above-cloud aerosol optical depth differ more widely. Most models overestimate the organic aerosol mass concentrations relative to those of black carbon, and with less skill, indicating model uncertainties in secondary organic aerosol processes. Regional-mean free-tropospheric model ambient single scattering albedos vary widely, between 0.83 and 0.93 compared with in situ dry measurements centered at 0.86, despite minimal impact of humidification on particulate scattering. The modeled ratios of the particulate extinction to the sum of the black carbon and organic aerosol mass concentrations (a mass extinction efficiency proxy) are typically too low and vary too little spatially, with significant inter-model differences. Most models overestimate the carbonaceous mass within the offshore boundary layer. Overall, the diversity in the model biases suggests that different model processes are responsible. The wide range of model optical properties requires further scrutiny because of their importance for radiative effect estimates.
Yohei Shinozuka↗
Limited Regional Aerosol and Cloud Microphysical Changes Despite Unprecedented Decline in Nitrogen Oxide Pollution During the February 2020 COVID-19 Shutdown in China
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Michael Steven Diamond↗
Exploring the Elevated Water Vapor Signal Associated With the Free Tropospheric Biomass Burning Plume Over the Southeast Atlantic Ocean
In southern Africa, widespread agricultural fires produce substantial biomass burning (BB) emissions over the region. The seasonal smoke plumes associated with these emissions are then advected westward over the persistent stratocumulus cloud deck in the southeast Atlantic (SEA) Ocean, resulting in aerosol effects which vary with time and location. Much work has focused on the effects of these aerosol plumes, but previous studies have also described an elevated free tropospheric water vapor signal over the SEA. Water vapor influences climate in its own right, and it is especially important to consider atmospheric water vapor when quantifying aerosol–cloud interactions and aerosol radiative effects. Here we present airborne observations made during the NASA ORACLES (ObseRvations of Aerosols above CLouds and their intEractionS) campaign over the SEA Ocean. In observations collected from multiple independent instruments on the NASA P-3 aircraft (from near-surface to 6–7 km), we observe a strongly linear correlation between pollution indicators (carbon monoxide (CO) and aerosol loading) and atmospheric water vapor content, seen at all altitudes above the boundary layer. The focus of the current study is on the especially strong correlation observed during the ORACLES-2016 deployment (out of Walvis Bay, Namibia), but a similar relationship is also observed in the August 2017 and October 2018 ORACLES deployments. Using reanalyses from the European Centre for Medium-Range Weather Forecasts (ECMWF) and Modern-Era Retrospective analysis for Research and Applications, Version 2 (MERRA-2), and specialized WRF-Chem simulations, we trace the plume–vapor relationship to an initial humid, smoky continental source region, where it mixes with clean, dry upper tropospheric air and then is subjected to conditions of strong westward advection, namely the southern African easterly jet (AEJ-S). Our analysis indicates that air masses likely left the continent with the same relationship between water vapor and carbon monoxide as was observed by aircraft. This linear relationship developed over the continent due to daytime convection within a deep continental boundary layer (up to ∼5–6 km) and mixing with higher-altitude air, which resulted in fairly consistent vertical gradients in CO and water vapor, decreasing with altitude and varying in time, but this water vapor does not originate as a product of the BB combustion itself. Due to a combination of conditions and mixing between the smoky, moist continental boundary layer and the dry and fairly clean upper-troposphere air above (∼6 km), the smoky, humid air is transported by strong zonal winds and then advected over the SEA (to the ORACLES flight region) following largely isentropic trajectories. Hybrid Single-Particle Lagrangian Integrated Trajectory model (HYSPLIT) back trajectories support this interpretation. This work thus gives insights into the conditions and processes which cause water vapor to covary with plume strength. Better understanding of this relationship, including how it varies spatially and temporally, is important to accurately quantify direct, semi-direct, and indirect aerosol effects over this region.
Kristina Pistone↗
Biomass Burning Smoke and Coincident Water Vapor Over the Southeast Atlantic Stratocumulus Region: Results from Observations and Models
In southern Africa, widespread agricultural fires produce substantial biomass burning (BB) emissions over the region. The seasonal smoke plumes associated with these emissions are then advected westward over the persistent stratocumulus cloud deck in the Southeast Atlantic (SEA) Ocean. We present airborne observations made during the NASA ORACLES (ObseRvations of Aerosols above CLouds and their intEractionS) campaign over the SEA. Using multiple airborne datasets, we observe a strongly linear correlation between biomass burning indicators (carbon monoxide (CO) and aerosol loading) and atmospheric water vapor content, seen at all altitudes above the boundary layer. This relationship was particularly strong in the 2016 observations, but was also present in the 2017 and 2018 deployments. Using ECMWF and MERRA-2 reanalyses and specialized WRF-Chem simulations, we trace the plume-vapor relationship to an initial humid, smoky continental source region, where it mixes with clean, dry upper-tropospheric air and then is subjected to conditions of strong westward advection, namely the South African Easterly Jet (AEJ-S). Our analysis indicates that airmasses likely left the continent with the same relationship between water vapor and carbon monoxide as was observed by aircraft. This linear relationship developed over the continent due to daytime convection within a deep continental boundary layer (up to ~5-6km) and mixing with higher-altitude air, which resulted in fairly consistent vertical gradients in CO and water vapor, decreasing with altitude and varying in time, but this water vapor does not originate as a product of the BB combustion itself. The smoky, humid mixed air is then subjected to strong zonal winds and advected over the SEA following largely isentropic trajectories. HYSPLIT back trajectories support this interpretation. With better understanding of this relationship, and its spatial and temporal variations, we are working towards accurately quantifying the radiative and dynamical effects of both aerosol and water vapor over this region.
Kristina Pistone↗