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The problems of determining a feedback controller or estimator that optimizes an H2 performance criterion involving a collection of plant models is considered. The approach is based upon fixed-structure optimization in which the estimator or controller order is fixed prior to the development of optimality conditions. The question of maximal controller order is also investigated.
The US CLIVAR working group on drought recently initiated a series of global climate model simulations forced with idealized SST anomaly patterns, designed to address a number of uncertainties regarding the impact of SST forcing and the role of land-atmosphere feedbacks on regional drought. Specific questions that the runs are designed to address include: What are mechanisms that maintain drought across the seasonal cycle and from one year to the next. What is the role of the land? What is the role of the different ocean basins, including the impact of EL Nino/Southern Oscillation (ENSO), the Pacific Decadal Oscillation (PDO), the Atlantic Multi-decadal Oscillation (AMO), and warming trends in the global oceans? The runs were done with several global atmospheric models including NASA/NSIPP-1, NCEP/GFS, GFDL/AM2, and NCAR CCM3 and CAM3. In addition, runs were done with the NCEP CFS (coupled atmosphere-ocean) model by employing a novel adjustment technique to nudge the coupled model towards the imposed SST forcing patterns. This talk provides an overview of the experiments and some initial results.
The evolution of stratospheric ozone from 1960 to 2100 is examined in simulations from fourteen chemistry-climate models. There is general agreement among the models at the broadest levels, showing column ozone decreasing at all latitudes from 1960 to around 2000, then increasing at all latitudes over the first half of the 21st century, and latitudinal variations in the rate of increase and date of return to historical values. In the second half of the century, ozone is projected to continue increasing, level off or even decrease depending on the latitude, resulting in variable dates of return to historical values at latitudes where column ozone has declined below those levels. Separation into partial column above and below 20 hPa reveals that these latitudinal differences are almost completely due to differences in the lower stratosphere. At all latitudes, upper stratospheric ozone increases throughout the 21st century and returns to 1960 levels before the end of the century, although there is a spread among the models in dates that ozone returns to historical values. Using multiple linear regression, we find decreasing halogens and increasing greenhouse gases contribute almost equally to increases in the upper stratospheric ozone. In the tropical lower stratosphere an increase in tropical upwelling causes a steady decrease in ozone through the 21st century, and total column ozone does not return to 1960 levels in all models. In contrast, lower stratospheric and total column ozone in middle and high latitudes increases during the 21st century and returns to 1960 levels.
The evolution of ozone from 1960 to 2100 is examined in simulations from fourteen chemistry-climate models. There is general agreement among the models at the broadest levels, with all showing column ozone decreasing at all latitudes from 1960 to around 2000, then increasing at all latitudes over the first half of the 21 st century (21 C), and latitudinal variations in the rate of increase and date of return to historical values. In the second half of the century, ozone is projected to carry on increasing, level off or even decrease depending on the latitude, resulting in variable dates of return to historical values at latitudes where column ozone has declined below those levels. Separation into partial column above and below 20 hPa reveals that these latitudinal differences are almost completely due to differences in the lower stratosphere. At all latitudes, upper stratospheric ozone increases throughout the 21 C and returns to 1960 levels before the end of the century, although there is a spread among the models in dates that ozone returns to historical values. Using multiple linear regression the upper stratospheric ozone increase comes from almost equal contributions due to decrease in halogens and cooling from increased greenhouse gas concentrations. The evolution of lower stratospheric ozone differs with latitude. In the tropical lower stratosphere an increase in tropical upwelling causes a steady decrease in ozone through the 21C, and total column ozone does not return to 1960 levels in all models. In contrast, lower stratospheric and total column ozone in middle and high latitudes increases during the 21 C and returns to 1960 levels. For all models there is an earlier return for ozone to historical levels in the northern hemisphere. This is thought to be due to interhemispheric differences in transport.
A multi-model design technique to find a variable-gain control law defined over the whole operating range is proposed. The design is formulated as an optimal control problem which minimizes a cost function weighing the performance at many operating points. The solution is obtained by embedding into the Multi-Configuration Control (MCC) problem, a multi-model robust control design technique. In contrast to conventional gain scheduling which uses a curve fit of single model designs, the optimal variable-gain control law stabilizes the plant at every operating point included in the design. An iterative algorithm to compute the optimal control gains is presented. The methodology has been successfully applied to reconfigurable aircraft flight control and to nonlinear flight control systems.
Previous estimates of land-atmosphere interaction (the impact of soil moisture on precipitation) have been limited by a severe paucity of relevant observational data and by the model-dependence of the various computational estimates. To counter this limitation, a dozen climate modeling groups have recently performed the same highly-controlled numerical experiment as part of a coordinated intercomparison project. This allows, for the first time ever, a superior multi-model approach to the estimation of the regions on the globe where precipitation is affected by soil moisture anomalies during Northern Hemisphere summer. Such estimation has many potential benefits; it can contribute, for example, to seasonal rainfall prediction efforts.
GLACE is a model intercomparison study focusing on a typically neglected yet critical element of numerical weather and climate modeling: land-atmosphere coupling strength, or the degree to which anomalies in land surface state (e.g., soil moisture) can affect rainfall generation and other atmospheric processes. The twelve AGCM groups participating in GLACE performed a series of simple numerical experiments that allow the objective quantification of this element. The derived coupling strengths vary widely. Some similarity, however, is found in the spatial patterns generated by the models, enough similarity to pinpoint multi-model "hot spots" of land-atmosphere coupling. For boreal summer, such hot spots for precipitation and temperature are found over large regions of Africa, central North America and India; a hot spot for temperature is also found over eastern China. The design of the GLACE simulations are described in full detail so that any interested modeling group can repeat them easily and thereby place their model s coupling strength within the broad range of those documented here.
CEOP has contributed and will continue to provide integrated data sets from diverse platforms for better understanding of the water and energy cycles, and for validaintg models. In this talk, I will show examples of how CEOP has contributed to the formulation of a strategy for the study of the monsoon as a system. The CEOP data concept has led to the development of the CEOP Inter-Monsoon Studies (CIMS), which focuses on the identification of model bias, and improvement of model physics such as the diurnal and annual cycles. A multi-model validation project focusing on diurnal variability of the East Asian monsoon, and using CEOP reference site data, as well as CEOP integrated satellite data is now ongoing. Preliminary studies show that climate models have difficulties in simulating the diurnal signals of total rainfall, rainfall intensity and frequency of occurrence, which have different peak hours, depending on locations. Further more model diurnal cycle of rainfall in monsoon regions tend to lead the observed by about 2-3 hours. These model bias offer insight into lack of, or poor representation of, key components of the convective and stratiform rainfall. The CEOP data also stimulated studies to compare and contrasts monsoon variability in different parts of the world. It was found that seasonal wind reversal, orographic effects, monsoon depressions, meso-scale convective complexes, SST and land surface land influences are common features in all monsoon regions. Strong intraseasonal variability is present in all monsoon regions. While there is a clear demarcation of onset, breaks and withdrawal in the Asian and Australian monsoon region associated with climatological intraseasonal variabillity, it is less clear in the American and Africa monsoon regions. The examination of satellite and reference site data in monsoon has led to preliminary model experiments to study the impact of aerosol on monsoon variability. I will show examples of how the study of the dynamics of aerosol-water cycle interactions in the monsoon region, can be best achieved using the CEOP data and modeling strategy.
CEOP has contributed and will continue to provide integrated data sets from diverse platforms for better understanding of the water and energy cycles, and for validating models. In this talk, I will show examples of how CEOP has contributed to the formulation of a strategy for the study of the monsoon as a system. The CEOP data concept has led to the development of the CEOP Inter-Monsoon Studies (CIMS), which focuses on the identification of model bias, and improvement of model physics such as the diurnal and annual cycles. A multi-model validation project focusing on diurnal variability of the East Asian monsoon, and using CEOP reference site data, as well as CEOP integrated satellite data is now ongoing. Similar validation projects in other monsoon regions are being started. Preliminary studies show that climate models have difficulties in simulating the diurnal signals of total rainfall, rainfall intensity and frequency of occurrence, which have different peak hours, depending on locations. Further more model diurnal cycle of rainfall in monsoon regions tend to lead the observed by about 2-3 hours. These model bias offer insight into lack of, or poor representation of key components of the convective,and stratiform rainfall. The CEOP data also stimulated studies to compare and contrasts monsoon variability in different parts of the world. It was found that seasonal wind reversal, orographic effects, monsoon depressions, meso-scale convective complexes, SST and land surface land influences are common features in all monsoon regions. Strong intraseasonal variability is present in all monsoon regions. While there is a clear demarcation of onset, breaks and withdrawal in the Asian and Australian monsoon region associated with climatological intraseasonal variability, it is less clear in the American and Africa monsoon regions. The examination of satellite and reference site data in monsoon has led to preliminary model experiments to study the impact of aerosol on monsoon variability. I will show examples of how the study of the dynamics of aerosol-water cycle interactions in the monsoon region, can be best achieved using the CEOP data and modeling strategy.
A viscoelastic model of the K-BKZ (Kaye 1962; Bernstein et al. 1963) type is developed for isotropic biological tissues, and applied to the fat pad of the human heel. To facilitate this pursuit, a class of elastic solids is introduced through a novel strain-energy function whose elements possess strong ellipticity, and therefore lead to stable material models. The standard fractional-order viscoelastic (FOV) solid is used to arrive at the overall elastic/viscoelastic structure of the model, while the elastic potential via the K-BKZ hypothesis is used to arrive at the tensorial structure of the model. Candidate sets of functions are proposed for the elastic and viscoelastic material functions present in the model, including a regularized fractional derivative that was determined to be the best. The Akaike information criterion (AIC) is advocated for performing multi-model inference, enabling an objective selection of the best material function from within a candidate set.
The CEOP Inter-Monsoon Study (CIMS) is one of the two main science drivers of CEOP that aims to (a) provide better understanding of fundamental physical processes in monsoon regions around the world, and (b) demonstrate the synergy and utility of CEOP data in providing a pathway for model physics evaluation and improvement. As the data collection phase for EOP-3 and EOP-4 is being completed, two full annual cycles (2003-2004) of research-quality data sets from satellites, reference sites, and model output location time series (MOLTS) have been processed and made available for data analyses and model validation studies. This article presents preliminary results of a CIMS study aimed at the characterization and intercomparison of all major monsoon systems. The CEOP reference site data proved its value in such exercises by being a powerful tool to cross-validate the TRMM data, and to intercompare with multi-model results in ongoing work. We use 6 years (1998-2003) of pentad CEOP/TRMM data with 2deg x 2.5deg latitude-longitude grid, over the domain of interests to define the monsoon climatological diurnal and annual cycles for the East Asian Monsoon (EAM), the South Asian Monsoon (SAM), the West Africa Monsoon (WAM), the North America/Mexican Monsoon (NAM), the South American Summer Monsoon (SASM) and the Australian Monsoon (AUM). As noted, the TRMM data used in the study were cross-validated using CEOP reference site data, where applicable. Results show that the observed diurnal cycle of rain peaked around late afternoon over monsoon land, and early morning over the oceans. The diurnal cycles in models tend to peak 2-3 hours earlier than observed. The seasonal cycles of the EAM and SAM show the strongest continentality, i.e, strong control by continental processes away from the ITCZ. The WAM, and the AUM shows the less continentality, i.e, strong control by the oceanic ITCZ.
Scientists have made great strides in modeling physical processes that represent various weather and climate phenomena. Many modeling systems that represent the major earth system components (the atmosphere, land surface, and ocean) have been developed over the years. However, developing advanced Earth system applications that integrates these independently developed modeling systems have remained a daunting task due to limitations in computer hardware and software. Recently, efforts such as the Earth System Modeling Ramework (ESMF) and Assistance for Land Modeling Activities (ALMA) have focused on developing standards, guidelines, and computational support for coupling earth system model components. In this article, the development of a coupled land-atmosphere hydrometeorological modeling system that adopts these community interoperability standards, is described. The land component is represented by the Land Information System (LIS), developed by scientists at the NASA Goddard Space Flight Center. The Weather Research and Forecasting (WRF) model, a mesoscale numerical weather prediction system, is used as the atmospheric component. LIS includes several community land surface models that can be executed at spatial scales as fine as 1km. The data management capabilities in LIS enable the direct use of high resolution satellite and observation data for modeling. Similarly, WRF includes several parameterizations and schemes for modeling radiation, microphysics, PBL and other processes. Thus the integrated LIS-WRF system facilitates several multi-model studies of land-atmosphere coupling that can be used to advance earth system studies.
The CEOP Inter-Monsoon Study (CIMS) is one of the two main science drivers of CEOP that aims to (a) provide better understanding of fundamental physical processes in monsoon regions around the world, and (b) demonstrate the synergy and utility of CEOP data in providing a pathway for model physics evaluation and improvement. As the data collection phase for EOP-3 and EOP-4 is being completed, two full annual cycles (2003-2004) of research-quality data sets from satellites, reference sites, and model output location time series (MOLTS) have been processed and made available for data analyses and model validation studies. This article presents preliminary results of a CIMS study aimed at the characterization and intercomparison of all major monsoon systems. The CEOP reference site data proved its value in such exercises by being a powerful tool to cross-validate the TRMM data, and to intercompare with multi-model results in ongoing work. We use 6 years (1998-2003) of pentad CEOP/TRMM data with 2 deg x 2.5 deg. latitude-longitude grid, over the domain of interests to define the monsoon climatological diurnal and annual cycles for the East Asian Monsoon (EAM), the South Asian Monsoon (SAM), the West Africa Monsoon (WAM), the North America/Mexican Monsoon (NAM), the South American Summer Monsoon (SASM) and the Australian Monsoon (AUM). As noted, the TRMM data used in the study were cross-validated using CEOP reference site data, where applicable. Results show that the observed diurnal cycle of rain peaked around late afternoon over monsoon land, and early morning over the oceans. The diurnal cycles in models tend to peak 2-3 hours earlier than observed. The seasonal cycles of the EAM and SAM show the strongest continentality, i.e, strong control by continental processes away from the ITCZ. The WAM, and the AUM shows the less continentality, i.e, strong control by the oceanic ITCZ.
Research in land surface data assimilation has grown rapidly over the last decade. In this presentation we provide a brief overview of key research contributions by the NASA Goddard Space Flight Center (GSFC). The GSFC contributions to land assimilation primarily include the continued development and application of the Land Information System (US) and the ensemble Kalman filter (EnKF). In particular, we have developed a method to generate perturbation fields that are correlated in space, time, and across variables and that permit the flexible modeling of errors in land surface models and observations, along with an adaptive filtering approach that estimates observation and model error input parameters. A percentile-based scaling method that addresses soil moisture biases in model and observational estimates opened the path to the successful application of land data assimilation to satellite retrievals of surface soil moisture. Assimilation of AMSR-E surface soil moisture retrievals into the NASA Catchment model provided superior surface and root zone assimilation products (when validated against in situ measurements and compared to the model estimates or satellite observations alone). The multi-model capabilities of US were used to investigate the role of subsurface physics in the assimilation of surface soil moisture observations. Results indicate that the potential of surface soil moisture assimilation to improve root zone information is higher when the surface to root zone coupling is stronger. Building on this experience, GSFC leads the development of the Level 4 Surface and Root-Zone Soil Moisture (L4_SM) product for the planned NASA Soil-Moisture-Active-Passive (SMAP) mission. A key milestone was the design and execution of an Observing System Simulation Experiment that quantified the contribution of soil moisture retrievals to land data assimilation products as a function of retrieval and land model skill and yielded an estimate of the error budget for the SMAP L4_SM product. Terrestrial water storage observations from GRACE satellite system were also successfully assimilated into the NASA Catchment model and provided improved estimates of groundwater variability when compared to the model estimates alone. Moreover, satellite-based land surface temperature (LST) observations from the ISCCP archive were assimilated using a bias estimation module that was specifically designed for LST assimilation. As with soil moisture, LST assimilation provides modest yet statistically significant improvements when compared to the model or satellite observations alone. To achieve the improvement, however, the LST assimilation algorithm must be adapted to the specific formulation of LST in the land model. An improved method for the assimilation of snow cover observations was also developed. Finally, the coupling of LIS to the mesoscale Weather Research and Forecasting (WRF) model enabled investigations into how the sensitivity of land-atmosphere interactions to the specific choice of planetary boundary layer scheme and land surface model varies across surface moisture regimes, and how it can be quantified and evaluated against observations. The on-going development and integration of land assimilation modules into the Land Information System will enable the use of GSFC software with a variety of land models and make it accessible to the research community.
The Land Information System (LIS; http://lis.gsfc.nasa.gov; Kumar et al., 2006; Peters- Lidard et al.,2007) is a flexible land surface modeling framework that has been developed with the goal of integrating satellite- and ground-based observational data products and advanced land surface modeling techniques to produce optimal fields of land surface states and fluxes. As such, LIS represents a step towards the next generation land component of an integrated Earth system model. In recognition of LIS object-oriented software design, use and impact in the land surface and hydrometeorological modeling community, the LIS software was selected ase co-winner of NASA's 2005 Software of the Year award. LIS facilitates the integration of observations from Earth-observing systems and predictions and forecasts from Earth System and Earth science models into the decision-making processes of partnering agency and national organizations. Due to its flexible software design, LIS can serve both as a Problem Solving Environment (PSE) for hydrologic research to enable accurate global water and energy cycle predictions, and as a Decision Support System (DSS) to generate useful information for application areas including disaster management, water resources management, agricultural management, numerical weather prediction, air quality and military mobility assessment. LIS has evolved from two earlier efforts North American Land Data Assimilation System (NLDAS; Mitchell et al. 2004) and Global Land Data Assimilation System (GLDAS; Rodell al. 2004) that focused primarily on improving numerical weather prediction skills by improving the characterization of the land surface conditions. Both of GLDAS and NLDAS now use specific configurations of the LIS software in their current implementations. In addition, LIS was recently transitioned into operations at the US Air Force Weather Agency (AFWA) to ultimately replace their Agricultural Meteorology (AGRMET) system, and is also used routinely by NOAA's National Centers for Environmental Prediction (NCEP)/Environmental Modeling Center (EMC) for their land data assimilation systems to support weather and climate modeling. LIS not only consolidates the capabilities of these two systems, but also enables a much larger variety of configurations with respect to horizontal spatial resolution, input datasets and choice of land surface model through "plugins,". As described in Kumar et al., 2007, and demonstrated in Case et al., 2008, and Santanello et al., 2009, LIS has been coupled to the Weather Research and Forecasting (WRF) model to support studies of land-atmosphere coupling the enabling ensembles of land surface states to be tested against multiple representations of the atmospheric boundary layer. LIS has also been demonstrated for parameter estimation as described in Peters-Lidard et al. (2008) and Santanello et al. (2007), who showed that the use of sequential remotely sensed soil moisture products can be used to derive soil hydraulic and texture properties given a sufficient dynamic range in the soil moisture retrievals and accurate precipitation inputs. LIS has also recently been demonstrated for multi-model data assimilation (Kumar et al., 2008) using an Ensemble Kalman Filter for sequential assimilation of soil moisture, snow, and temperature. Ongoing work has demonstrated the value of bias correction as part of the filter, and also that of joint calibration and assimilation. Examples and case studies demonstrating the capabilities and impacts of LIS for hydrometeoroogical modeling, assimilation and parameter estimation will be presented as advancements towards the next generation of integrated observation and modeling systems.
In the domain of predicting land surface fluxes, models are used to bring data from large observation networks and satellite remote sensing together to make predictions about present and future states of the Earth. Characterizing the uncertainty about such predictions is a complex process and one that is not yet fully understood. Uncertainty exists about initialization, measurement and interpolation of input variables; model parameters; model structure; and mixed spatial and temporal supports. Multiple models or structures often exist to describe the same processes. Uncertainty about structure is currently addressed by running an ensemble of different models and examining the distribution of model outputs. To illustrate structural uncertainty, a multi-model ensemble experiment we have been conducting using the Terrestrial Observation and Prediction System (TOPS) will be discussed. TOPS uses public versions of process-based ecosystem models that use satellite-derived inputs along with surface climate data and land surface characterization to produce predictions of ecosystem fluxes including gross and net primary production and net ecosystem exchange. Using the TOPS framework, we have explored the uncertainty arising from the application of models with different assumptions, structures, parameters, and variable definitions. With a small number of models, this only begins to capture the range of possible spatial fields of ecosystem fluxes. Few attempts have been made to systematically address the components of uncertainty in such a framework. We discuss the characterization of uncertainty for this approach including both quantifiable and poorly known aspects.
This talk briefly describes two recent studies on the impact of soil moisture information on hydrological and meteorological prediction. While the studies utilize soil moisture derived from the integration of large-scale land surface models with observations-based meteorological data, the results directly illustrate the potential usefulness of satellite-derived soil moisture information (e.g., from SMOS and SMAP) for applications in prediction. The first study, the GEWEX- and ClIVAR-sponsored GLACE-2 project, quantifies the contribution of realistic soil moisture initialization to skill in subseasonal forecasts of precipitation and air temperature (out to two months). The multi-model study shows that soil moisture information does indeed contribute skill to the forecasts, particularly for air temperature, and particularly when the initial local soil moisture anomaly is large. Furthermore, the skill contributions tend to be larger where the soil moisture initialization is more accurate, as measured by the density of the observational network contributing to the initialization. The second study focuses on streamflow prediction. The relative contributions of snow and soil moisture initialization to skill in streamflow prediction at seasonal lead, in the absence of knowledge of meteorological anomalies during the forecast period, were quantified with several land surface models using uniquely designed numerical experiments and naturalized streamflow data covering mUltiple decades over the western United States. In several basins, accurate soil moisture initialization is found to contribute significant levels of predictive skill. Depending on the date of forecast issue, the contributions can be significant out to leads of six months. Both studies suggest that improvements in soil moisture initialization would lead to increases in predictive skill. The relevance of SMOS and SMAP satellite-based soil moisture information to prediction are discussed in the context of these studies.
During the POLARCAT summer campaign in 2008, two episodes (2 5 July and 7 10 July 2008) occurred where low-pressure systems traveled from Siberia across the Arctic Ocean towards the North Pole. The two cyclones had extensive smoke plumes from Siberian forest fires and anthropogenic sources in East Asia embedded in their associated air masses, creating an excellent opportunity to use satellite and aircraft observations to validate the performance of atmospheric transport models in the Arctic, which is a challenging model domain due to numerical and other complications. Here we compare transport simulations of carbon monoxide (CO) from the Lagrangian transport model FLEXPART and the Eulerian chemical transport model TOMCAT with retrievals of total column CO from the IASI passive infrared sensor onboard the MetOp-A satellite. The main aspect of the comparison is how realistic horizontal and vertical structures are represented in the model simulations. Analysis of CALIPSO lidar curtains and in situ aircraft measurements provide further independent reference points to assess how reliable the model simulations are and what the main limitations are. The horizontal structure of mid-latitude pollution plumes agrees well between the IASI total column CO and the model simulations. However, finer-scale structures are too quickly diffused in the Eulerian model. Applying the IASI averaging kernels to the model data is essential for a meaningful comparison. Using aircraft data as a reference suggests that the satellite data are biased high, while TOMCAT is biased low. FLEXPART fits the aircraft data rather well, but due to added background concentrations the simulation is not independent from observations. The multi-data, multi-model approach allows separating the influences of meteorological fields, model realisation, and grid type on the plume structure. In addition to the very good agreement between simulated and observed total column CO fields, the results also highlight the difficulty to identify a data set that most realistically represents the actual pollution state of the Arctic atmosphere.