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Current global warming results in an uptake of heat by the Earth system, which is distributed among the different components of the climate system. However, current-generation climate models deliver heat inventory and partitioning estimates of Earth system components that differ from recent observations. Here we investigate the global heat distribution under warming by using fully-coupled CMIP6 Earth system model experiments, including a version of the MPI-ESM with a deep land model component, accommodating the required space for more realistic terrestrial heat storage. The results show that sufficiently deep land models exert increased subsurface land heat uptake, leading to a heat uptake partitioning among the Earth system components that is closer to observational estimates. The results are relevant for the understanding of Earth's heat partitioning and highlight the importance of the land heat sink in the Earth heat inventory.

Current global warming results in an uptake of heat by the Earth system, which is distributed among the different components of the climate system. However, current-generation climate models deliver heat inventory and partitioning estimates of Earth system components that differ from recent observations. Here we investigate the global heat distribution under warming by using fully-coupled CMIP6 Earth system model experiments, including a version of the MPI-ESM with a deep land model component, accommodating the required space for more realistic terrestrial heat storage. The results show that sufficiently deep land models exert increased subsurface land heat uptake, leading to a heat uptake partitioning among the Earth system components that is closer to observational estimates. The results are relevant for the understanding of Earth's heat partitioning and highlight the importance of the land heat sink in the Earth heat inventory.

Serie de podcast jurídicos con un fin divulgativo. En los últimos tiempos se ha hecho patente la necesidad de explicar el Derecho de una manera más cercana, imparcial y accesible: el qué y el porqué de algunas las leyes, la función de los jueces, la explicación de ciertas penas, etc… Es necesario explicar el Derecho de manera que todos puedan entenderlo, empezando por nuestras y nuestros estudiantes, aunque no exclusivamente. Hemos optado por el formato podcast porque nos parece una manera actual, accesible e inclusiva de enseñar. Se trata de enseñar Derecho de una manera amena. Hay más proyectos de este tipo (por ejemplo: Café Jurídico: https://cafejuridico.es/; Tertulia jurídica: https://open.spotify.com/show/2B4wGYx5rVulH2BLvQhvOG?si=5f72b8b98ed147ab; Almacén de Derecho: https://almacendederecho.org/podcasts, entre otros), pero todos adolecen –desde nuestro punto vista- del mismo problema: Son demasiado teóricos y el lenguaje es demasiado técnico. Nuestro objetivo es acercar el mundo del derecho al público en general. A todas aquellas personas que son legas en Derecho pero que se interesan por los temas jurídicos de actualidad. Que quieren entender el porqué de lo que pasa, que tiene curiosidad por comprender todo lo que ocurre en el Parlamento o en los Juzgados, qué hace que se imponga una pena u otra, etc. Así, para poder hacer un producto de calidad y accesible a todo el mundo, en nuestro equipo contamos no solo con juristas y profesores de reconocido prestigio, sino también con periodistas, alumnos y alumnas de comunicación (grado y doctorado) y personas de la sociedad civil que actuarán como asesores temáticos. Creemos que es necesario que existan todos estos perfiles (junto con el de técnicos, obviamente) porque a veces desde la Academia perdemos la perspectiva social y es una “pata” esencial si queremos que el resultado de nuestro proyecto tenga realmente un carácter divulgativo. Se plantea una serie de podcasts. Cada podcast tendrá una duración de 20-30 m

An assessment of the soil and bedrock thermal structure of the Sierra de Guadarrama, in central Spain, is provided using subsurface and ground surface temperature data coming from four deep (20 m) monitoring profiles belonging to the Guadarrama Monitoring Network (GuMNet) and two shallow profiles (1 m) from the Spanish Meteorology Service (Agencia Estatal de Meteorología, AEMET) covering the time spans of 2015–2021 and 1989–2018, respectively. An evaluation of air and ground surface temperature coupling showed that soil insulation due to snow cover is the main source of seasonal decoupling, being especially relevant in winter at high-altitude sites. Temperature propagation in the subsurface was characterized by assuming a heat conductive regime by considering apparent thermal diffusivity values derived from the amplitude attenuation and phase shift of the annual cycle with depth. This methodology was further extended to consider the attenuation of all harmonics in the spectral domain, which allowed for analysis of thermal diffusivity from high-frequency changes in the soil near the surface at short timescales. For the deep profiles, the apparent thermal diffusivity ranges from 1 to 1.3 x 10-6 m2 s−1, which is consistent with values for gneiss and granite, the major bedrock components in the Sierra de Guadarrama. However, thermal diffusivity is lower and more heterogeneous in the soil layers close to the surface (0.4–0.8 x 10-6 m2 s−1). An increase in diffusivity with depth was observed that was generally larger in the soil–bedrock transition at 4–8 m depth. The outcomes are relevant for the understanding of soil thermodynamics in relation to other soil properties. Results with the spectral method suggest that changes in near-surface thermal diffusivity are related to changes in soil moisture content, which makes it a potential tool to gain information about soil drought and water resource availability from soil temperature data.

The anthropogenically intensified greenhouse effect has caused a radiative imbalance at the top of the atmosphere during the industrial period. This, in turn, has led to an energy surplus in various components of the Earth system, with the ocean storing the largest part. The land contribution ranks second with the latest observational estimates based on borehole temperature profiles, which quantify the terrestrial energy surplus to be 6 % in the last 5 decades, whereas studies based on state-of-the-art climate models scale it down to 2 %. This underestimation stems from land surface models (LSMs) having a subsurface that is too shallow, which severely constrains the land heat uptake simulated by Earth system models (ESMs). A forced simulation of the last 2000 years with the Max Planck Institute ESM (MPI-ESM) using a deep LSM captures 4 times more heat than the standard shallow MPI-ESM simulations in the historical period, well above the estimates provided by other ESMs. However, deepening the LSM does not remarkably affect the simulated surface temperature. It is shown that the heat stored during the historical period by an ESM using a deep LSM component can be accurately estimated by considering the surface temperatures simulated by the ESM using a shallow LSM and propagating them with a standalone forward model. This result is used to derive estimates of land heat uptake using all available observational datasets, reanalysis products, and state-of-the-art ESM experiments. This approach yields values of 10.5–16.0 ZJ for 1971–2018, which are 12 %–42 % smaller than the latest borehole-based estimates (18.2 ZJ).

This paper aims to develop an approach for the reconfiguration of a parallel kinematic manipulator (PKM) with four degrees of freedom (DoF) designed to tackle tasks of diagnosis and rehabilitation in an injured knee. The original layout of the 4-DoF manipulator presents Type-II singular configurations within its workspace. Thus, we proposed to reconfigure the manipulator to avoid such singularities (owing to the Forward Jacobian of the PKM) during typical rehabilitation trajectories. We achieve the reconfiguration of the PKM through a minimization problem where the design variables correspond to the anchoring points of the robot limbs on fixed and mobile platforms. The objective function relies on the minimization of the forces exerted by the actuators for a specific trajectory. The minimization problem considers constraint equations to avoid Type-II singularities, which guarantee the feasibility of the active generalized coordinates for a particular path. To evaluate the proposed conceptual strategy, we build a prototype where reconfiguration occurs by moving the position of the anchoring points to holes bored in the fixed and mobile platforms. Simulations and experiments of several study cases enable testing the strategy performance. The results show that the reconfiguration strategy allows obtaining trajectories having minimum actuation forces without Type-II singularities.