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Abstract Satellite observations covering the last four decades reveal an ocean warming pattern resembling the negative phase of the Pacific Decadal Oscillation. This pattern has therefore been widely interpreted as a manifestation of natural climate variability. Here, we re-examine the observed warming pattern and find that the predominant warming over the subtropical oceans, while mild warming or even cooling over the subpolar ocean, is dynamically consistent with the convergence and divergence of surface water. By comparison of observations, paleo-reconstructions, and model simulations, we propose that the observed warming pattern is likely a short-term transient response to the increased CO2 forcing, which only emerges during the early stage of anthropogenic warming. On centennial to millennial timescales, the subpolar ocean warming is expected to exceed the temporally dominant warming of the subtropical ocean. This delayed but amplified subpolar ocean warming has the potential to reshape the ocean-atmosphere circulation and threaten the stability of marine-terminating ice sheets.

Abstract The Atlantic Meridional Overturning Circulation (AMOC) is a key feature of the North Atlantic with global ocean impacts. The AMOC's response to past changes in forcings during the Holocene provides important context for the coming centuries. Here, we investigate AMOC trends using an emerging set of transient simulations using multiple global climate models for the past 6,000 years. Although some models show changes, no consistent trend in overall AMOC strength during the mid‐to‐late Holocene emerges from the ensemble. We interpret this result to suggest no overall change in AMOC, which fits with our assessment of available proxy reconstructions. The decadal variability of the AMOC does not change in ensemble during the mid‐ and late‐Holocene. There are interesting AMOC changes seen in the early Holocene, but their nature depends a lot on which inputs are used to drive the experiment.

A wide range of evidence reveals that the tropical belt is expanding. Several mechanisms have been proposed to contribute to this expansion, some of which even contradict each other. The study of Yang et al. suggests that the poleward advancing mid-latitude meridional temperature gradient (MTG), originating from enhanced subtropical ocean warming, plays a leading role in driving tropical expansion. However, the abrupt4xCO2 experiment indicates that tropical expansion occurs at a faster rate than is indicated by changes related to ocean temperature rise. The idealized amip4K experiment illustrates that without introducing any ocean warming pattern, uniform ocean surface warming also drives tropical expansion. The results based on these idealized experiments seem to contradict the hypothesis proposed by Yang et al. In this study, we revisit these 2 experiments and show that both experiments actually support the hypothesis that MTG migration is driving tropical expansion. More specifically, in the abrupt4xCO2 experiment, although the rate of ocean warming is relatively slow, the poleward shift of the MTG is as rapid as tropical expansion. In the amip4K experiment, although ocean surface warming is uniform, the heating effect of the ocean on the atmosphere is nonuniform because of the nonlinear relationship between temperature, evaporation, and thermal radiation. The nonuniform oceanic heating to the atmosphere introduces a poleward shift of the MTG within the upper troposphere and drives a shift in the jet streams. By conducting an additional idealized experiment in which tropical expansion occurs under both a migrating MTG and a cooling climate, we argue that the migration of the MTG, rather than global warming, is the key mechanism in driving tropical expansion.

Using transient climate forcing based on simulations from the Alfred Wegener Institute Earth System Model (AWI-ESM), we simulate the evolution of the Greenland Ice Sheet (GrIS) from the last interglacial (125 ka, kiloyear before present) to 2100 AD with the Parallel Ice Sheet Model (PISM). The impact of paleoclimate, especially Holocene climate, on the present and future evolution of the GrIS is explored. Our simulations of the past show close agreement with reconstructions with respect to the recent timing of the peaks in ice volume and the climate of Greenland. The maximum and minimum ice volume at around 18–17 ka and 6–5 ka lag the respective extremes in climate by several thousand years, implying that the ice volume response of the GrIS strongly lags climatic changes. Given that Greenland’s climate was getting colder from the Holocene Thermal Maximum (i.e., 8 ka) to the Pre-Industrial era, our simulation implies that the GrIS experienced growth from the mid-Holocene to the industrial era. Due to this background trend, the GrIS still gains mass until the second half of the 20th century, even though anthropogenic warming begins around 1850 AD. This is also in agreement with observational evidence showing mass loss of the GrIS does not begin earlier than the late 20th century. Our results highlight that the present evolution of the GrIS is not only controlled by the recent climate changes, but is also affected by paleoclimate, especially the relatively warm Holocene climate. We propose that the GrIS was not in equilibrium throughout the entire Holocene and that the slow response to Holocene climate needs to be represented in ice sheet simulations in order to predict ice mass loss, and therefore sea level rise, accurately.

A Rapid-exploration Random Tree (RRT) autonomous detection algorithm based on the multi-guide-node deflection strategy andKarto Simultaneous Localization andMapping (SLAM) algorithmwas proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot. Firstly, an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward, which introduces the reference value of guide nodes' deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random probability. After that, a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT algorithm. The algorithm simulation platform based on the Gazebo platform was built. The simulation results show that compared with the traditional RRT algorithm, the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection, plan the length of detection trajectory under the condition of high average detection coverage, and complete the task of autonomous detection mapping more efficiently. Finally, with the help of the ROS-based mobile robot experimental platform, the performance of the proposed algorithm was verified in the real environment of different obstacles. The experimental results show that in the actual environment of simple and complex obstacles, the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection, length of detection trajectory, and average coverage, thus improving the efficiency and accuracy of autonomous detection. [ABSTRACT FROM AUTHOR]

In order to quantify the relative importance of individual boundary conditions and forcings, including greenhouse gases, ice sheets, and Earth's orbital parameters, on determining Last Glacial Maximum (LGM) climate, we have performed a series of LGM experiments using a state-of-the-art climate model AWI-ESM, in which different combinations of boundary conditions and forcings have been applied following the protocol of Paleoclimate Modelling Intercomparison Project phase 4 (PMIP4). In good agreement with observational proxy records, a general colder and drier climate is simulated in our full-forced LGM experiment as compared to the present-day simulation. Our modeled results from non-full-forced sensitivity simulations reveal that both the greenhouse gases and ice sheets play a major role on defining the anomalous LGM surface temperature compared to today. Decreased greenhouse gases in LGM as compared to present-day leads to a non-uniform global cooling with polar amplification effect. The presence of LGM ice sheets favors a warming over Arctic Ocean and North Atlantic in boreal winter, as well as a cooling over regions with the presence of ice sheets. The former is induced by a strengthening in the Atlantic meridional overturning circulation (AMOC) transporting more heat to high-latitudes, whilst the latter owing to the increased surface albedo and elevation of ice sheets. We find that the Northern Hemisphere monsoon precipitation is influenced by the opposing effects of LGM greenhouse gases and ice sheets. Specifically, the presence of ice sheets leads to significant drying in the Northern Hemisphere monsoon regions, while a reduction in greenhouse gases results in increased monsoon rainfall. Based on our model results, continental ice sheets exert a major control on atmospheric dynamics and the variability of El Ni~no-Southern Oscillation (ENSO). Moreover, our analysis also implies a nonlinearity in climate response to LGM boundary conditions and forcings. [ABSTRACT FROM AUTHOR]

Numerical simulations employing prognostic stable water isotopes can not only facilitate our understanding of hydrological processes and climate change but also allow for a straightforward comparison between isotope signals obtained from models and various archives. In the current work, we describe the performance and explore the potential of a new version of the Earth system model AWI-ESM, labeled AWI-ESM-wiso, in which we incorporated three isotope tracers into all relevant components of the water cycle. We present here the results of pre-industrial (PI) and mid-Holocene (MH) simulations. The model well reproduces the observed PI isotope compositions in both precipitation and sea water, and captures their major differences from the MH condition. The simulated relationship between the isotope composition in precipitation (δ18Op) and surface air temperature is very similar between the PI and MH conditions, and largely consistent with modern observations despite some regional model biases. The ratio of the MH-PI difference in δ18Op to the MH-PI difference in surface air temperature is reasonable over Greenland and Antarctica only when summertime air temperature is considered. An amount effect is evident over the North Africa monsoon domain, where a negative correlation between δ18Op and the amount of precipitation is simulated. As an example of model applications, we studied the onset date of MH West Africa summer monsoon (WASM) using daily variables. We find that defining the WASM onset based on precipitation alone may yield erroneous results due to the substantial daily variations of precipitation, which may obscure the distinction between pre-monsoon and monsoon seasons. Combining precipitation and isotope indicators, we suggest in this work a novel method for identifying the commencement of the WASM. Moreover, we do not find obvious difference between the MH and PI in terms of the mean onset date of WASM. [ABSTRACT FROM AUTHOR]

Numerical modelling enables a comprehensive understanding not only of the Earth's system today, but also of the past. To date, a significant amount of time and effort has been devoted to paleoclimate modeling and analysis, which involves the latest and most advanced Paleoclimate Modelling Intercomparison Project phase 4 (PMIP4). The definition of seasonality, which is influenced by slow variations in the Earth's orbital parameters, plays a key role in determining the calculated seasonal cycle of the climate. In contrast to the classical calendar used today, where the lengths of the months and seasons are fixed, the angular calendar calculates the lengths of the months and seasons according to a fixed number of degrees along the Earth's orbit. When comparing simulation results for different time intervals, it is essential to account for the angular calendar to ensure that the data for comparison is from the same position along the Earth's orbit. Most models use the classical "fixed-length" calendar, which can lead to strong distortions of the monthly and seasonal values, especially for the climate of the past. Here, by analyzing daily outputs from multiple PMIP4 model simulations, we examine calendar effects on surface air temperature and precipitation under mid-Holocene, last interglacial, and pre-industrial climate conditions. We conclude that: (a) The largest cooling bias occurs in autumn when the classical calendar is applied for the mid-Holocene and last interglacial. (b) The sign of the temperature anomalies between the Last Interglacial and pre-industrial in boreal autumn can be reversed after the switch from classical to angular calendar, particularly over the Northern Hemisphere continents. (c) Precipitation over West Africa is overestimated in boreal summer and underestimated in boreal autumn when the "fixed-length" seasonal cycle is applied. (d) Finally, correcting the calendar based on the monthly model results can reduce the biases to a large extent, but not completely eliminate them. In addition, we examine the calendar effects in 3 transient simulations for 6-0 ka by AWI-ESM, MPI-ESM, and IPSL. We find significant discrepancies between adjusted and unadjusted temperature values over ice-free continents for both hemispheres in boreal autumn. While for other seasons the deviations are relatively small. A drying bias can be found in the summer monsoon precipitation in Africa (in the "fixed-length" calendar), whereby the magnitude of bias becomes smaller over time. Overall, our study underlines the importance of the application of calendar transformation in the analysis of climate simulations. Neglecting the calendar effects could lead to a profound artificial distortion of the calculated seasonal cycle of surface air temperature and precipitation. One important fact to be noted here is that the discrepancy in seasonality under different calendars is an analysis bias and is highly depends on the choice of the reference position/date (usually the vernal equinox, which is set to 31th March) on the Earth's ellipse around the sun. Different model groups may apply different reference dates, so ensuring a consistent reference date and seasonal definition is key when we compare results across multiple models. [ABSTRACT FROM AUTHOR]