I don’t think this is a simple topic.

The essence of the problem is this:

Can we measure the top of atmosphere (TOA) radiative changes and the surface temperature changes and derive the “climate sensivity” from the relationship between the two parameters?

First, what do we mean by “climate sensitivity”?

In simple terms this parameter should tell us how much more radiation (“flux”) escapes to space for each 1°C increase in surface temperature.

### Climate Sensitivity Is All About Feedback

Climate sensitivity is all about trying to discover whether the climate system has positive or negative feedback.

If the average surface temperature of the earth increased by 1°C and the radiation to space consequently increased by 3.3 W/m², this would be approximately “zero feedback”.

Why is this zero feedback?

If somehow the average temperature of the surface of the planet increased by 1°C – say due to increased solar radiation – then as a result we would expect a higher flux into space. A hotter planet should radiate more. If the increase in flux = 3.3 W/m² it would indicate that there was no negative or positive feedback from this solar forcing (note 1).

Suppose the flux increased by 0. That is, the planet heated up but there was no increase in energy radiated to space. That would be positive feedback within the climate system – because there would be nothing to “rein in” the increase in temperature.

Suppose the flux increased by 5 W/m². In this case it would indicate negative feedback within the climate system.

The key value is the “benchmark” no feedback value of 3.3 W/m². If the value is above this, it’s negative feedback. If the value is below this, it’s positive feedback.

Essentially, the higher the radiation to space as a result of a temperature increase the more the planet is able to “damp out” temperature changes that are forced via solar radiation, or due to increases in inappropriately-named “greenhouse” gases.

Consider the extreme case where as the planet warms up it actually radiates less energy to space – clearly this will lead to runaway temperature increases (less energy radiated means more energy absorbed, which increased temperatures, which leads to even less energy radiated..).

As a result we measure sensitivity as W/m².K which we read as *Watts per meter squared per Kelvin*” – and 1K change is the same as 1°C change.

### Theory and Measurement

In many subjects, researchers’ algebra converges on conventional usage, but in the realm of climate sensitivity everyone has apparently adopted their own. As a note for non-mathematicians, there is nothing inherently wrong with this, but it just makes each paper confusing especially for newcomers and probably for everyone.

I mostly adopt the Spencer & Braswell 2008 terminology in this article (see reference and free link below). *I do change their α (climate sensitivity) into λ (which everyone else uses for this value) mainly because I had already produced a number of graphs with λ before starting to write the article..*

The model is a very simple 1-dimensional model of temperature deviation into the ocean mixed layer, from the first law of thermodynamics:

C.∂T/∂t = F + S ….[1]

where C = heat capacity of the ocean, T = temperature anomaly, t = time, F = total top of atmosphere (TOA) radiative flux anomaly, S = heat flux anomaly into the deeper ocean

What does this equation say?

Heat capacity times change in temperature equals the net change in energy

- this is a simple statement of energy conservation, the first law of thermodynamics.

The TOA radiative flux anomaly, F, is a value we can measure using satellites. T is average surface temperature, which is measured around the planet on a frequent basis. But S is something we can’t measure.

What is F made up of?

Let’s define:

F = N + f – λT ….[1a]

where N = random fluctuations in radiative flux, f = “forcings”, and λT is the all important climate response or feedback.

The forcing **f** is, for the purposes of this exercise, defined as something added into the system which we believe we can understand and estimate or measure. This could be solar increases/decreases, it could be the long term increase in the “greenhouse” effect due to CO2, methane and other gases. For the purposes of this exercise it is **not feedback**. Feedback includes clouds and water vapor and other climate responses like changing lapse rates (atmospheric temperature profiles), all of which combine to produce a change in radiative output at TOA.

And an important point is that for the purposes of this theoretical exercise, we can remove **f** from the measurements because we believe we know what it is at any given time.

**N** is an important element. Effectively it describes the variations in TOA radiative flux due to the random climatic variations over many different timescales.

The climate sensitivity is the value **λT**, where λ is the value we want to find.

Noting the earlier comment about our assumed knowledge of ‘f’ (note 2), we can rewrite eqn 1:

C.∂T/∂t = – λT + N + S ….[2]

remembering that – λT + N = F is the radiative value we measure at TOA

### Regression

If we plot F (measured TOA flux) vs T we can **estimate** λ from the slope of the least squares regression.

However, there is a problem with the estimate:

λ (est) = Cov[F,T] / Var[T] ….[3]

= Cov[- λT + N, T] / Var[T]

where Cov[a,b] = covariance of a with b, and Var[a]= variance of a

Forster & Gregory 2006

This oft-cited paper (reference and free link below) calculates the climate sensitivity from 1985-1996 using measured ERBE data at 2.3 ± 1.3 W/m².K.

Their result indicates positive feedback, or at least, a range of values which sit mainly in the positive feedback space.

On the method of calculation they say:

This equation includes a term that allows F to vary independently of surface temperature.. If we regress (- λT+ N) against T, we should be able to obtain a value for λ. The N terms are likely to contaminate the result for short datasets,

but provided the N terms are uncorrelated to T, the regression should give the correct value for λ, if the dataset is long enough..

[Terms changed to SB2008 for easier comparison, and emphasis added].

### Simulations

Like Spencer & Braswell, I created a simple model to demonstrate why measured results might deviate from the actual climate sensitivity.

The model is extremely simple:

- a “slab” model of the ocean of a certain depth
- daily radiative noise (normally distributed with mean=0, and standard deviation σ
_{N}) - daily ocean flux noise (normally distributed with mean=0, and standard deviation σ
_{S}) - radiative feedback calculated from the temperature and the actual climate sensitivity
- daily temperature change calculated from the daily energy imbalance
- regression of the whole time series to calculate the “apparent” climate sensitivity

In this model, the climate sensitivity, λ = 3.0 W/m².K.

In some cases the regression is done with the daily values, and in other cases the regression is done with averaged values of temperature and TOA radiation across time periods of 7, 30 & 90 days. I also put a 30-day low pass filter on the daily radiative noise in one case (before “injecting” into the model).

Some results are based on 10,000 days (about 30 years), with 100,000 days (300 years) as a separate comparison.

In each case the estimated value of λ is calculated from the mean of 100 simulation results. The 2nd graph shows the standard deviation σ_{λ}, of these simulation results which is a useful guide to the likely spread of measured results of λ (if the massive oversimplifications within the model were true). *The vertical axis (for the estimate of λ) is the same in each graph for easier comparison, while the vertical axis for the standard deviation changes according to the results due to the large changes in this value.*

First, the variation as the number of time steps changes and as the averaging period changes from 1 (no averaging) through to 90-days. Remember that the “real” value of λ = 3.0 :

*Figure 1*

Second, the estimate as the standard deviation of the radiative flux is increased, and the ocean depth ranges from 20-200m. The daily temperature and radiative flux is calculated as a monthly average before the regression calculation is carried out:

*Figure 2*

As figure 2, but for 100,000 time steps (instead of 10,000):

*Figure 3*

Third, the estimate as the standard deviation of the radiative flux is increased, and the ocean depth ranges from 20-200m. The regression calculation is carried out on the daily values:

*Figure 4*

As figure 4, but with 100,000 time steps:

*Figure 5*

Now against averaging period and also against low pass filtering of the “radiative flux noise”:

*Figure 6*

As figure 6 but with 100,000 time steps:

*Figure 7*

Now with the radiative “noise” as an AR(1) process (see Statistics and Climate – Part Three – Autocorrelation), vs the autoregressive parameter φ and vs the number of averaging periods: 1 (no averaging), 7, 30, 90 with 10,000 time steps (30 years):

*Figure 8*

And the same comparison but with 100,000 timesteps:

*Figure 9*

### Discussion of Results

If we consider first the changes in the standard deviation of the estimated value of climate sensitivity we can see that the spread in the results is much higher in each case when we consider 30 years of data vs 300 years of data. This is to be expected. However, given that in the 30-year cases σ_{λ} is similar in magnitude to λ we can see that doing one estimate and relying on the result is problematic. This of course is what is actually done with measurements from satellites where we have 30 years of history.

Second, we can see that mostly the estimates of λ tend to be lower than the actual value of 3.0 W/m².K. The reason is quite simple and is explained mathematically in the next section *which non-mathematically inclined readers can skip*.

In essence, it is related to the idea in the quote from Forster & Gregory. If the radiative flux noise is **uncorrelated** to temperature then the estimates of λ will be unbiased. By the way, remember that by “noise” we don’t mean instrument noise, although that will certainly be present. We mean the random fluctuations due to the chaotic nature of weather and climate.

If we refer back to Figure 1 we can see that when the averaging period = 1, the estimates of climate sensitivity are equal to 3.0. In this case, the noise is uncorrelated to the temperature because of the model construction. Slightly oversimplifying, today’s temperature is calculated from yesterday’s noise. Today’s noise is a random number unrelated to yesterday’s noise. Therefore, no correlation between today’s temperature and today’s noise.

As soon as we average the daily data into monthly results which we use to calculate the regression then we have introduced the fact that monthly temperature **is correlated** to monthly radiative flux noise (note 3).

This is also why Figures 8 & 9 show a low bias for λ even with no averaging of daily results. These figures are calculated with autocorrelation for radiative flux noise. This means that past values of flux are correlated to current vales – and so once again, daily temperature will be correlated with daily flux noise. *This is also the case where low pass filtering is used to create the radiative noise data (as in Figures 6 & 7)*.

### Maths

x = slope of the line from the linear regression

x = Cov[- λT + N, T] / Var[T] ….[3]

It’s not easy to read equations with complex terms numerator and denominator on the same line, so breaking it up:

Cov[- λT + N, T] = E[ (λT + N)T ] – E[- λT + N]E[T] ….[4], *where E[a] = expected value of a*

= E[-λT²] + E[NT] + λ.E[T].E[T] – E[N].E[T]

= -λ { E[T²] – (E[T])² } + E[NT] – E[N].E[T] …. [4]

And

Var[T] = E[T²] – (E[T])² …. [5]

So

x = -λ + { E[NT] – E[N].E[T] } / { E[T²] – (E[T])² } …. [6]

And we see that the regression of the line is always biased if N is correlated with T. If the expected value of N = 0 the last term in the top part of the equation drops out, but E[NT] ≠ 0 unless N is uncorrelated with T.

*Note of course that we will use the negative of the slope of the line to estimate λ, and so estimates of λ will be biased low.*

As a note for the interested student, why is it that some of the results show λ > 3.0?

### Murphy & Forster 2010

Murphy & Forster picked up the challenge from Spencer & Braswell 2008 (reference below but no free link unfortunately). The essence of their paper is that using more realistic values for radiative noise and mixed ocean depth the error in calculation of λ is very small:

Figure 10

The value b_{a} on the vertical axis is a normalized error term (rather than the estimate of λ).

Evaluating their arguments requires more work on my part, especially analyzing some CERES data, so I hope to pick that up in a later article. [*Update, Spencer has a response to this paper on his blog, thanks to Ken Gregory for highlighting it*]

### Linear Feedback Relationship?

One of the biggest problems with the idea of climate sensitivity, λ, is the idea that it exists as a constant value.

From Stephens (2005),* reference and free link below*:

The relationship between global-mean radiative forcing and global-mean climate response (temperature) is of intrinsic interest in its own right. A number of recent studies, for example, discuss some of the broad limitations of (1) and describe procedures for using it to estimate Q from GCM experiments (Hansen et al. 1997; Joshi et al. 2003; Gregory et al. 2004) and even procedures for estimating from observations (Gregory et al. 2002).

While we cannot necessarily dismiss the value of (1) and related interpretation out of hand, the global response, as will become apparent in section 9, is the accumulated result of complex regional responses that appear to be controlled by more local-scale processes that vary in space and time.

If we are to assume gross time–space averages to represent the effects of these processes,

then the assumptions inherent to (1) certainly require a much more careful level of justification than has been given. At this time it is unclear as to the specific value of a global-mean sensitivity as a measure of feedback other than providing a compact and convenient measure of model-to-model differences to a fixed climate forcing (e.g., Fig. 1).

[Emphasis added and where the reference to "(1)" is to the linear relationship between global temperature and global radiation].

If, for example, λ is actually a function of location, season & phase of ENSO.. then clearly measuring overall climate response is a more difficult challenge.

### Conclusion

Measuring the relationship between top of atmosphere radiation and temperature is clearly very important if we want to assess the all-important climate sensitivity.

Spencer & Braswell have produced a very useful paper which demonstrates some obvious problems with deriving the value of climate sensitivity from measurements. Although I haven’t attempted to reproduce their actual results, I have done many other model simulations to demonstrate the same problem.

Murphy & Forster have produced a paper which claims that the actual magnitude of the problem demonstrated by Spencer & Braswell is quite small in comparison to the real value being measured (as yet I can’t tell whether their claim is correct).

The value called climate sensitivity might be a variable (i.e., not a constant value) and it might turn out to be much harder to measure than it really seems (and already it doesn’t seem easy).

### Articles in this Series

Measuring Climate Sensitivity – Part Two – Mixed Layer Depths

Measuring Climate Sensitivity – Part Three – Eddy Diffusivity

### References

The Climate Sensitivity and Its Components Diagnosed from Earth Radiation Budget Data, Forster & Gregory, *Journal of Climate* (2006)

Potential Biases in Feedback Diagnosis from Observational Data: A Simple Model Demonstration, Spencer & Braswell, *Journal of Climate* (2008)

On the accuracy of deriving climate feedback parameters from correlations between surface temperature and outgoing radiation, Murphy & Forster, *Journal of Climate* (2010)

Cloud Feedbacks in the Climate System: A Critical Review, Stephens, *Journal of Climate* (2005)

### Notes

**Note 1** – The reason why the “no feedback climate response” = 3.3 W/m².K is a little involved but is mostly due to the fact that the overall climate is radiating around 240 W/m² at TOA.

**Note 2** – This is effectively the same as saying f=0. If that seems alarming I note in advance that the exercise we are going through is a theoretical exercise to demonstrate that *even if* f=0, the regression calculation of climate sensitivity includes some error due to random fluctuations.

**Note 3** – If the model had one random number for last month’s noise which was used to calculate this month’s temperature then the monthly results would also be free of correlation between the temperature and radiative noise.

## Natural Variability and Chaos – One – Introduction

Posted in Climate Models, Commentary, Statistics on July 22, 2014 | 18 Comments »

There are many classes of systems but in the climate blogosphere world two ideas about climate seem to be repeated the most.

In camp A:

And in camp B:

Of course, like any complex debate, simplified statements don’t really help. So this article kicks off with some introductory basics.

Many inhabitants of the climate blogosphere already know the answer to this subject and with much conviction. A reminder for new readers that on this blog opinions are not so interesting, although occasionally entertaining. So instead, try to explain what evidence is there for your opinion. And, as suggested in About this Blog:

## Pendulums

The equation for a simple pendulum is “non-linear”, although there is a simplified version of the equation, often used in introductions, which is linear. However, the number of variables involved is only two:

and this isn’t enough to create a “chaotic” system.

If we have a double pendulum, one pendulum attached at the bottom of another pendulum, we do get a chaotic system. There are some nice visual simulations around, which St. Google might help interested readers find.

If we have a forced damped pendulum like this one:

Figure 1 – the blue arrows indicate that the point O is being driven up and down by an external force-we also get a chaotic system.

## Digression on Non-Linearity for Non-Technical People

Common experience teaches us about linearity. If I pick up an apple in the supermarket it weighs about 0.15 kg or 150 grams (also known in some countries as “about 5 ounces”). If I take 10 apples the collection weighs 1.5 kg. That’s pretty simple stuff. Most of our real world experience follows this linearity and so we expect it.

On the other hand, if I was near a very cold black surface held at 170K (-103ºC) and measured the radiation emitted it would be 47 W/m². Then we double the temperature of this surface to 340K (67ºC) what would I measure? 94 W/m²? Seems reasonable – double the absolute temperature and get double the radiation.. But it’s not correct.

The right answer is 758 W/m², which is 16x the amount. Surprising, but most actual physics, engineering and chemistry is like this. Double a quantity and you

don’tget double the result.It gets more confusing when we consider the interaction of other variables.

Let’s take riding a bike [updated thanks to Pekka]. Once you get above a certain speed most of the resistance comes from the wind so we will focus on that. Typically the wind resistance increases as the square of the speed. So if you double your speed you get four times the wind resistance. Work done = force x distance moved, so with no head wind power input has to go up as the cube of speed (note 4). This means you have to put in 8x the effort to get 2x the speed.

On Sunday you go for a ride and the wind speed is zero. You get to 25 km/hr (16 miles/hr) by putting a bit of effort in – let’s say you are producing 150W of power (I have no idea what the right amount is). You want your new speedo to register 50 km/hr – so you have to produce 1,200W.

On Monday you go for a ride and the wind speed is 20 km/hr into your face. Probably should have taken the day off.. Now with 150W you get to only 14 km/hr, it takes almost 500W to get to your basic 25 km/hr, and to get to 50 km/hr it takes almost 2,400W. No chance of getting to that speed!

On Tuesday you go for a ride and the wind speed is the same so you go in the opposite direction and take the train home. Now with only 6W you get to go 25 km/hr, to get to 50km/hr you only need to pump out 430W.

In mathematical terms it’s quite simple: F = k(v-w)², Force = (a constant, k) x (road speed – wind speed) squared. Power, P = Fv = kv(v-w)². But notice that the effect of the “other variable”, the wind speed, has really complicated things.

The real problem with nonlinearity isn’t the problem of keeping track of these kind of numbers. You get used to the fact that real science – real world relationships – has these kind of factors and you come to expect them. And you have an equation that makes calculating them easy. And you have computers to do the work.

No, the real problem with non-linearity (the real world) is that many of these equations link together and solving them is very difficult and often only possible using “numerical methods”.

It is also the reason why something like climate feedback is very difficult to measure. Imagine measuring the change in power required to double speed on the Monday. It’s almost 5x, so you might think the relationship is something like the square of speed. On Tuesday it’s about 70 times, so you would come up with a completely different relationship. In this simple case know that wind speed is a factor, we can measure it, and so we can “factor it out” when we do the calculation. But in a more complicated system, if you don’t know the “confounding variables”, or the relationships, what are you measuring? We will return to this question later.

When you start out doing maths, physics, engineering.. you do “linear equations”. These teach you how to use the tools of the trade. You solve equations. You rearrange relationships using equations and mathematical tricks, and these rearranged equations give you insight into how things work. It’s amazing. But then you move to “nonlinear” equations, aka the real world, which turns out to be mostly insoluble. So nonlinear isn’t something special, it’s normal. Linear is special. You don’t usually get it.

..End of digression## Back to Pendulums

Let’s take a closer look at a forced damped pendulum. Damped, in physics terms, just means there is something opposing the movement. We have friction from the air and so over time the pendulum slows down and stops. That’s pretty simple. And not chaotic. And not interesting.

So we need something to keep it moving. We drive the pivot point at the top up and down and now we have a forced damped pendulum. The equation that results (note 1) has the massive number of three variables – position, speed and now time to keep track of the driving up and down of the pivot point. Three variables seems to be the minimum to create a chaotic system (note 2).

As we increase the ratio of the forcing amplitude to the length of the pendulum (β in note 1) we can move through three distinct types of response:

This is typical of chaotic systems – certain parameter values or combinations of parameters can move the system between quite different states.

Here is a plot (note 3) of position vs time for the chaotic system, β=0.7, with two initial conditions, only different from each other by 0.1%:

Forced damped harmonic pendulum, b=0.7: Start angular speed 0.1; 0.1001

Figure 1It’s a little misleading to view the angle like this because it is in radians and so needs to be mapped between 0-2π (but then we get a discontinuity on a graph that doesn’t match the real world). We can map the graph onto a cylinder plot but it’s a mess of reds and blues.

Another way of looking at the data is via the statistics – so here is a histogram of the position (θ), mapped to 0-2π, and angular speed (dθ/dt) for the two starting conditions over the first 10,000 seconds:

Histograms for 10,000 seconds

Figure 2We can see they are similar but not identical (note the different scales on the y-axis).

That might be due to the shortness of the run, so here are the results over 100,000 seconds:

Histogram for 100,000 seconds

Figure 3

As we increase the timespan of the simulation the statistics of two slightly different initial conditions become more alike.

So if we want to know the

stateof a chaotic system at some point in the future, very small changes in the initial conditions will amplify over time, making the result unknowable – or no different from picking the state from a random time in the future. But if we look at thestatisticsof the results we might find that they are very predictable. This is typical of many (but not all) chaotic systems.## Orbits of the Planets

The orbits of the planets in the solar system are chaotic. In fact, even 3-body systems moving under gravitational attraction have chaotic behavior. So how did we land a man on the moon? This raises the interesting questions of timescales and amount of variation. Planetary movement – for our purposes – is extremely predictable over a few million years. But over 10s of millions of years we might have trouble predicting exactly the shape of the earth’s orbit – eccentricity, time of closest approach to the sun, obliquity.

However, it seems that even over a much longer time period the planets will still continue in their orbits – they won’t crash into the sun or escape the solar system. So here we see another important aspect of some chaotic systems – the “chaotic region” can be quite restricted. So chaos doesn’t mean unbounded.

According to Cencini, Cecconi & Vulpiani (2010):

And bad luck, Pluto.

## Deterministic, non-Chaotic, Systems with Uncertainty

Just to round out the picture a little, even if a system is not chaotic and is deterministic we might lack sufficient knowledge to be able to make useful predictions. If you take a look at figure 3 in Ensemble Forecasting you can see that with some uncertainty of the initial velocity and a key parameter the resulting velocity of an extremely simple system has quite a large uncertainty associated with it.

This case is quantitively different of course. By obtaining more accurate values of the starting conditions and the key parameters we can reduce our uncertainty. Small disturbances don’t grow over time to the point where our calculation of a future condition might as well just be selected from a randomly time in the future.

## Transitive, Intransitive and “Almost Intransitive” Systems

Many chaotic systems have deterministic statistics. So we don’t know the future state beyond a certain time. But we do know that a particular position, or other “state” of the system, will be between a given range for x% of the time, taken over a “long enough” timescale. These are

transitivesystems.Other chaotic systems can be

intransitive. That is, for a very slight change in initial conditions we can have a different set of long term statistics. So the system has no “statistical” predictability. Lorenz 1968 gives a good example.Lorenz introduces the concept of

almost intransitivesystems. This is where, strictly speaking, the statistics over infinite time are independent of the initial conditions, but the statistics over “long time periods” are dependent on the initial conditions. And so he also looks at the interesting case (Lorenz 1990) of moving between states of the system (seasons), where we can think of the precise starting conditions each time we move into a new season moving us into a different set of long term statistics. I find it hard to explain this clearly in one paragraph, but Lorenz’s papers are very readable.## Conclusion?

This is just a brief look at some of the basic ideas.

## Other Articles in the Series

Part Two – Lorenz 1963

## References

Chaos: From Simple Models to Complex Systems, Cencini, Cecconi & Vulpiani,Series on Advances in Statistical Mechanics – Vol. 17(2010)Climatic Determinism, Edward Lorenz (1968) – free paper

Can chaos and intransivity lead to interannual variation, Edward Lorenz,

Tellus(1990) – free paper## Notes

Note 1– The equation is easiest to “manage” after the original parameters are transformed so that tω->t. That is, the period of external driving, T0=2π under the transformed time base.Then:

where θ = angle, γ’ = γ/ω, α = g/Lω², β =h0/L;

these parameters based on γ = viscous drag coefficient, ω = angular speed of driving, g = acceleration due to gravity = 9.8m/s², L = length of pendulum, h0=amplitude of driving of pivot point

Note 2– This is true for continuous systems. Discrete systems can be chaotic with less parametersNote 3– The results were calculated numerically using Matlab’s ODE (ordinary differential equation) solver, ode45.Note 4– Force = k(v-w)^{2}where k is a constant, v=velocity, w=wind speed. Work done = Force x distance moved so Power, P = Force x velocity.Therefore:

P = kv(v-w)

^{2}If we know k, v & w we can find P. If we have P, k & w and want to find v it is a cubic equation that needs solving.

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