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Abstract The hyperspectral camera for auroral imaging (HySCAI), which can provide a two-dimensional (2D) aurora image with full spectrum, was developed to study auroral physics. HySCAI consists of an all-sky lens, monitor camera, galvanometer scanner, grating spectrograph, and electron multiplying charge coupled device (EM-CCD). The galvanometer scanner can scan a slit image of the spectrograph on the all-sky image plane in the direction perpendicular to the slit. HySCAI has two gratings; one is 500 grooves/mm for a wide spectral coverage of 400–800 nm with a spectral resolution (FWHM) of 2.1 nm, and the other is 1500 grooves/mm for a higher spectral resolution of 0.73 nm with a narrower spectral coverage of 123 nm. The absolute sensitivity is 2.1 count/s/R with 4 × 4 binning (256 × 340 image) at 557.7 nm. The exposure time depends on the brightness of the aurora emission and is typically 64 s for a 2D image (0.2 s per line scan). This system has been installed at the KEOPS (Kiruna Esrange Optical Platform Site) of the SSC (Swedish Space Corporation) in Kiruna, Sweden. All-sky images with a liquid crystal filter and a sky color camera have also been installed to compensate for the poor time resolution of HySCAI. 2D aurora monochromatic images for given wavelength are obtained by reconstructing the EM-CCD image over the scan period. HySCAI has the advantage of providing a 2D image of intensity for a weak emission line, which appears on top of a high background emission without the contamination from other emissions, which is usually difficult in a system with a bandpass filter. As the first light results, monochromatic images of $$\hbox {N}_2^+$$ N 2 + 1NG (0, 1) (427.8 nm), $$\hbox {N}_2^+$$ N 2 + 1NG (0, 2) (470.9 nm), $$\hbox {H}_{\beta }$$ H β (486.1 nm), N II (500.1 nm), N I ( $$^2$$ 2 D) (520.0 nm), O I ( $$^1$$ 1 S) (557.7 nm,), NaD (589.3 nm), O I ( $$^1$$ 1 D) (630.0 nm), and $$\hbox {N}_2^+$$ N 2 + 1NG (670.5 nm) emission intensity were measured. We estimated the precipitating electron energy from a ratio of I(630.0 nm)/I(427.8 nm) to be 1.6 keV. Graphical Abstract

Abstract We notice that the important early decreasing part of the main phase (MP) from the positive main phase onset (MPO) to 0-level of Dst and SymH indices is missed in the treatment of the main phase (MP) of geomagnetic storms. We correct this inconsistency in 848 storms having positive MPO (out of 1164 storms) in SymH during 1981–2019 by raising the 0-level of SymH to the MPO-level. The correction considers the full range of the main phase, increases the corrected (revised) storm intensity (SymHMin*) and impulsive strength (IpsSymH*) by up to − 149 nT and − 134 nT, respectively, and seems important for all aspects of global space weather. For example, the corrected SymHMin* changes the conventional storm identification and classification and corrected IpsSymH* clearly identifies all 3 severe space weather (SvSW) events from over 1100 normal space weather (NSW) events with a separation of 52 nT; it also identifies all 8 minor-system-damage space weather (MSW) events from the NSW events.

In this study, we focus on the $ l_q/l_p $ Hankel norms of linear time-invariant (LTI) discrete-time positive systems across a single switching. The $ l_q/l_p $ Hankel norms are defined as the induced norms from vector-valued $ l_p $ past inputs to vector-valued $ l_q $ future outputs across a system switching and a state transition at the time instant zero. A closed-form characterization of the $ l_2/l_2 $ Hankel norm in this switching setting for general LTI systems can readily be derived as the natural extension of the standard $ l_2/l_2 $ Hankel norm. Thanks to the strong positivity property, we show that we can successfully characterize the $ l_q/l_p $ Hankel norms for the positive system switching case even in some combinations of p, q being $ 1, 2, \infty $ . In particular, some of them are given in the form of linear programming (LP) and semidefinite programming (SDP). These LP- and SDP-based characterizations are particularly useful for the analysis of the $ l_q/l_p $ Hankel norms where the systems of interest are affected by parametric uncertainties.

Ion escape is of particular interest for studying the evolution of the atmosphere on geological timescales. Previously, using Cluster-CODIF data, we investigated the oxygen ion outflow from the plasma mantle for different solar wind conditions and geomagnetic activity. We found significant correlations between solar wind parameters, geomagnetic activity (Kp index), and the O+ outflow. From these studies, we suggested that O+ ions observed in the plasma mantle and cusp have enough energy and velocity to escape the magnetosphere and be lost into the solar wind or in the distant magnetotail. Thus, this study aims to investigate where the ions observed in the plasma mantle end up. In order to answer this question, we numerically calculate the trajectories of O+ ions using a tracing code to further test this assumption and determine the fate of the observed ions. Our code consists of a magnetic field model (Tsyganenko T96) and an ionospheric potential model (Weimer 2001) in which particles initiated in the plasma mantle region are launched and traced forward in time. We analysed 131 observations of plasma mantle events in Cluster data between 2001 and 2007, and for each event 200 O+ particles were launched with an initial thermal and parallel bulk velocity corresponding to the velocities observed by Cluster. After the tracing, we found that 98 % of the particles are lost into the solar wind or in the distant tail. Out of these 98 %, 20 % escape via the dayside magnetosphere.

While low-latitude auroral displays are normally considered to be a manifestation of magnetic storms of considerable size, Silverman (2003, JGR, 108, A4) reported numerous sporadic auroras which appear locally at relatively low magnetic latitude during times of just moderate magnetic activity. Here, a case study is presented of an aurora near the geomagnetic equator based on a report from the Philippine islands on 27 October 1856. An analysis of this report shows it to be consistent with the known cases of sporadic auroras, except for its appearance at considerably low magnetic latitude. The record also suggests that an extremely low-latitude aurora is not always accompanied by large magnetic storms. The description of its brief appearance leads to a possible physical explanation based on an ephemeral magnetospheric disturbance provoking this sporadic aurora.

The sourcing locations and mechanisms for short-period, upward-propagating gravity waves at high polar latitudes remain largely unknown. Using all-sky imager data from the Amundsen–Scott South Pole Station, we determine the spatial and temporal characteristics of 94 observed small-scale waves in 3 austral winter months in 2003 and 2004. These data, together with background atmospheres from synoptic and/or climatological empirical models, are used to model gravity wave propagation from the polar mesosphere to each wave's source using a ray-tracing model. Our results provide a compelling case that a significant proportion of the observed waves are launched in several discrete layers in the tropopause and/or stratosphere. Analyses of synoptic geopotentials and temperatures indicate that wave formation is a result of baroclinic instability processes in the stratosphere and the interaction of planetary waves with the background wind fields in the tropopause. These results are significant for defining the influences of the polar vortex on the production of these small-scale, upward-propagating gravity waves at the highest polar latitudes.

We performed 100 fps stereoscopic imaging of aurora for the first time. Two identical sCMOS cameras equipped with narrow field-of-view lenses (15° by 15°) were directed at magnetic zenith with the north–south base distance of 8.1 km. Here we show the best example that a rapidly pulsating diffuse patch and a streaming discrete arc were observed at the same time with different parallaxes, and the emission altitudes were estimated as 85–95 km and > 100 km, respectively. The estimated emission altitudes are consistent with those estimated in previous studies, and it is suggested that high-speed stereoscopy is useful to directly measure the emission altitudes of various types of rapidly varying aurora. It is also found that variation of emission altitude is gradual (e.g., 10 km increase over 5 s) for pulsating patches and is fast (e.g., 10 km increase within 0.5 s) for streaming arcs.

Electric currents flowing through near-Earth space (R ≤ 12 RE) can support a highly distorted magnetic field topology, changing particle drift paths and therefore having a nonlinear feedback on the currents themselves. A number of current systems exist in the magnetosphere, most commonly defined as (1) the dayside magnetopause Chapman–Ferraro currents, (2) the Birkeland field-aligned currents with high-latitude "region 1" and lower-latitude "region 2" currents connected to the partial ring current, (3) the magnetotail currents, and (4) the symmetric ring current. In the near-Earth nightside region, however, several of these current systems flow in close proximity to each other. Moreover, the existence of other temporal current systems, such as the substorm current wedge or "banana" current, has been reported. It is very difficult to identify a local measurement as belonging to a specific system. Such identification is important, however, because how the current closes and how these loops change in space and time governs the magnetic topology of the magnetosphere and therefore controls the physical processes of geospace. Furthermore, many methods exist for identifying the regions of near-Earth space carrying each type of current. This study presents a robust collection of these definitions of current systems in geospace, particularly in the near-Earth nightside magnetosphere, as viewed from a variety of observational and computational analysis techniques. The influence of definitional choice on the resulting interpretation of physical processes governing geospace dynamics is presented and discussed.

Energy–latitude dispersed structured sub-keV ions in the inner magnetosphere often show significant development or intensification (by more than factor of 3) within 1–2 h near noon or afternoon where the azimuthal ion drift velocity at the sub-keV range is expected to be near zero. To examine whether such sudden appearances in the dayside can be explained by the drift motion of ions that are formed during substorm-related injections, we numerically simulated two such examples, one at noon and the other in the afternoon, based on the ion drift model. For both cases, the ion drift model with finite duration of proton source in the nightside can explain the observed large inbound–outbound differences in the sub-keV proton population without any new sources. Ion drift motion can thus cause rapid changes of complicated ion populations, at remote places from the source a long time after the substorm activities.

We present the results of a statistical study using optical images from ALIS (Auroral Large Imaging System) to investigate the spatial and temporal variations of structures in diffuse aurora. Analysis of conjugate Reimei data shows that such fine structures are a result of modulation of high-energy precipitating electrons. Pitch angle diffusion into the loss cone due to interaction of whistler mode waves with plasma sheet electrons is the most feasible mechanism leading to high-energy electron precipitation. This suggests that the fine structure is an indication of modulations of the efficiency of the wave–particle interaction. The scale sizes and variations of these structures, mapped to the magnetosphere, can give us information about the characteristics of the modulating wave activity. We found the scale size of the auroral stripes and the spacing between them to be on average 13–14 km, which corresponds to 3–4 ion gyro radii for protons with an energy of 7 keV. The structures move southward with a speed close to zero in the plasma convection frame.

In the evening equatorial magnetosphere at about 4 RE geocentric distance and 19 MLT, the four Cluster spacecraft observed a solitary structure with a width of about 1000~2000 km in the propagation direction. The solitary structure propagates sunward with about 5~10 km/s carrying sunward electric field (in the propagation direction) of up to about 10 mV/m (total potential drop of about 5~10 kV), depletion of magnetic field of about 25%, and a duskward E×B convection up to 50 km/s of He+ rich cold plasma without O+. At the same time, auroral images from the IMAGE satellite together with ground based geomagnetic field data showed a westward (sunward at this location) propagating auroral bulge at the magnetically conjugate ionosphere with the solitary structure. The solitary structure is maintained by flux enhancement of selectively 3000 km/s ions (about 50 keV for H+, 200 keV for He+, and 750 keV for O+). These ions are the main carrier of the diamagnetic current causing the magnetic depletion, whereas the polarization is maintained by different behavior of energetic ions and electrons. Corresponding to aurora, field-aligned accelerated ionospheric plasma of several keV appeared at Cluster from both hemispheres simultaneously. Together with good correspondence in location and propagation velocity between the auroral bulge and the solitary structure, this indicates that the sunward moving auroral bulge is caused by the sunward propagation of the solitary structure which is maintained by energetic ions. The solitary structure might also be the cause of Pi2-like magnetic variation that started simultaneously at Cluster location.

Sources of low-energy ring current ions in the early morning sector (eastward drifting energy domain of about 6/m3) is slightly less than that of the hot component (0.5×106/m3), while Cluster observation shows slightly higher density for the wedge-like part than the low-energy band-like part. The hot source component also explains the observed high-energy (>10 keV) ions drifting westward after adiabatic energization in the nightside under time-varying electric field. The wedge-like part has much shorter elapsed time, i.e., less charge-exchange loss, than the band-like part.

Data from the Cluster CIS instrument have been used for studying proton and heavy ion (O+ and He+) characteristics of the sub-keV ring current. Thirteen events with dispersed heavy ions (O+ and He+) were identified out of two years (2001 and 2002) of Cluster data. All events took place during rather geomagnetically quiet periods. Three of those events have been investigated in detail: 21 August 2001, 26 November 2001 and 20 February 2002. These events were chosen from varying magnetic local times (MLT), and they showed different characteristics. In this article, we discuss the potential source for sub-keV ring current ions. We show that: (1) outflows of terrestrial sub-keV ions are supplied to the ring current also during quiet geomagnetic conditions; (2) the composition of the outflow implies an origin that covers an altitude interval from the low-altitude ionosphere to the plasmasphere, and (3) terrestrial ions are moving upward along magnetic field lines, at times forming narrow collimated beams, but frequently also as broad beams. Over time, the ion beams are expected to gradually become isotropised as a result of wave-particle interaction, eventually taking the form of isotropic drifting sub-keV ion signatures. We argue that the sub-keV energy-time dispersed signatures originate from field-aligned terrestrial ion energising and outflow, which may occur at all local times and persist also during quiet times.

The newly installed SuperDARN Hokkaido HF radar monitors ionospheric plasma flow between magnetic latitudes of 45° and 65° and thus has a great potential for studies of subauroral polarization streams (SAPS) in combination with another SuperDARN radar located at King Salmon, Alaska as well as the DMSP satellites and ground-based instruments in the Alaskan sector of the Arctic. Preliminary survey shows that although SAPS are often detected with the Hokkaido radar, their velocities are rather low, to the order of 150 m/s in its most suitable central beams. In this study, observations of unusually fast Hokkaido flows of up to 800 m/s are presented. The event of 1 April 2007 is investigated in detail. It is shown that high-velocity echoes appear after substorm onsets over North America with a delay of ~30 min. In terms of latitude, the velocity peaks just outside the auroral oval; signatures of a detached polarization jet are occasional and not pronounced. The King Salmon radar operating concurrently detects SAPS signatures as well but at different times and locations. Simulation with the Comprehensive Ring Current Model for the 1 April event reasonably identifies the period of fast flow occurrence but the velocity is underestimated. The event studied suggests that substorm-injected particle populations may intensify the pre-existing SAPS flow and lead to a mismatch of the predictions and observations.

We present results from co-ordinated measurements with the low altitude REIMEI satellite and the ESR (EISCAT Svalbard Radar), together with other ground-based instruments carried out in February 2006. The results mainly relate to the dayside cusp where clear signatures of so-called ion-dispersion are seen in the satellite data. The cusp ion-dispersion is important for helping to understand the temporal and spatial structure of magnetopause reconnection. Whenever a satellite crosses boundaries of flux tubes or convection cells, cusp structures such as ion-dispersion will always be encountered. In our case we observed 3 distinct steps in the ion energy, but it includes at least 2 more steps as well, which we interpret as temporal features in relation to pulsed reconnection at the magnetopause. In addition, fast variations of the electron flux and energy occurring during these events have been studied in detail. The variations of the electron population, if interpreted as structures crossed by the REIMEI satellite, would map near the magnetopause to similar features as observed previously with the Cluster satellites. These were explained as Alfvén waves originating from an X-line of magnetic reconnection.

We combine in situ measurements from Cluster with high-resolution 557.7 nm all-sky images from South Pole to investigate the spatial and temporal evolution of merging on the dayside magnetopause. Variations of 557.7 nm emissions were observed at a 6 s cadence at South Pole on 29 April 2003 while significant changes in the Interplanetary Magnetic Field (IMF) clock angle were reaching the magnetopause. Electrons energized at merging sites are the probable sources for 557.7 nm cusp emissions. At the same time Cluster was crossing the pre-noon cusp in the Northern Hemisphere. The combined observations confirm results of a previous study that merging events can occur at multiple sites simultaneously and vary asynchronously on time scales of 10 s to 3 min (Maynard et al., 2004). The intensity of the emissions and the merging rate appear to vary with changes in the IMF clock angle, IMF BX and the dynamic pressure of the solar wind. Most poleward moving auroral forms (PMAFs) reflect responses to changes in interplanetary medium rather than to local processes. The changes in magnetopause position required by increases in dynamic pressure are mediated by merging and result in the generation of PMAFs. Small (15–20%) variations in dynamic pressure of the solar wind are sufficient to launch PMAFs. Changes in IMF BX create magnetic flux compressions and rarefactions in the solar wind. Increases (decreases) in IMF BX strengthens |B| near northern (southern) hemisphere merging sites thereby enhancing merging rates and triggering PMAFs. When correlating responses in the two hemispheres, the presence of significant IMF BX also requires that different lag-times be applied to ACE measurements acquired ~0.1 AU upstream of Earth. Cluster observations set lag times for merging at Northern Hemisphere sites; post-noon optical emissions set times of Southern Hemisphere merging. All-sky images and magnetohydrodynamic simulations indicate that merging occurs in multiple discrete locations, rather than continuously, across the dayside for southward IMF conditions in the presence of dipole tilt. Matching optical signatures with clock-angle, BX, and dynamic pressure variations provides new insights about interplanetary control of dayside merging and associated auroral dynamics.

A combination of EISCAT CP-3 (latitude scans) and satellite (DMSP) data have been used to study the structure of the quiet-time evening-sector auroral and subauroral ionosphere, in particular the mid-latitude trough. The main mechanism behind trough formation in the quiet-time evening sector ionosphere is believed to be flow stagnation in a region where convection and corotation counteract each other. However, there is also the possibility that field-aligned currents (FAC) more directly modify the ionospheric density if the current is carried by thermal ionospheric electrons. A quantitative test of the flow-stagnation scenario and an estimate of the possible direct effects caused by field-aligned currents have been performed. We found that the electron densities observed can indeed be explained by the flow-stagnation scenario, but the electron density altitude profiles in the trough sometimes differ from what should be expected from flow stagnation. The effect of a downward field-aligned current cannot be identified in the data, but a simple estimate shows that it can affect the ionospheric plasma density, causing decreased ionospheric densities. In the quiet-time region 2 current/trough region there is typically a significant ion production resulting from proton precipitation which may counteract this effect. Charge exchange of the precipitating protons causes a lateral spread and a smooth associated conductance enhancement. Thus, whereas the proton number flux is insufficient to directly carry the evening sector region 2 current, the precipitation in practice produces the necessary charge carriers. We suggest that precipitating protons do play a crucial role in the electrodynamics of the dark evening sector ionosphere by causing a small but smooth conductance enhancement and producing the charge carriers necessary to carry the trough-associated downward field-aligned current.

Two event studies are presented in this paper where intense convergent electric fields, with mapped intensities up to 1350 mV/m, are measured in the auroral upward current region by the Cluster spacecraft, at altitudes between 3 and 5 Earth radii. Both events are from May 2003, Southern Hemisphere, with equatorward crossings by the Cluster spacecraft of the pre-midnight auroral oval. Event 1 occurs during the end of the recovery phase of a strong substorm. A system of auroral arcs associated with convergent electric field structures, with a maximum perpendicular potential drop of about ~10 kV, and upflowing field-aligned currents with densities of 3 µA/m2 (mapped to the ionosphere), was detected at the boundary between the Plasma Sheet Boundary Layer (PSBL) and the Plasma Sheet (PS). The auroral arc structures evolve in shape and in magnitude on a timescale of tens of minutes, merging, broadening and intensifying, until finally fading away after about 50 min. Throughout this time, both the PS region and the auroral arc structure in its poleward part remain relatively fixed in space, reflecting the rather quiet auroral conditions during the end of the substorm. The auroral upward acceleration region is shown for this event to extend beyond 3.9 Earth radii altitude. Event 2 occurs during a more active period associated with the expansion phase of a moderate substorm. Images from the Defense Meteorological Satellite Program (DMSP) F13 spacecraft show that the Cluster spacecraft crossed the horn region of a surge-type aurora. Conjugated with the Cluster spacecraft crossing above the surge horn, the South Pole All Sky Imager recorded the motion and the temporal evolution of an east-west aligned auroral arc, 30 to 50 km wide. Intense electric field variations are measured by the Cluster spacecraft when crossing above the auroral arc structure, collocated with the density gradient at the PS poleward boundary, and coupled to intense upflowing field-aligned currents with mapped densities of up to 20 µA/m2. The surge horn consists of multiple arc structures which later merge into one structure and intensify at the PS poleward boundary. The surge horn and the associated PS region moved poleward with a velocity at the ionospheric level of 0.5 km/s, following the large-scale poleward expansion of the auroral oval associated with the substorm expansion phase. Keywords. Ionosphere (Ionosphere-magnetosphere interacctions; Electric fields and currents; Particle acceleration)

Multiple discrete-energy ion bands observed by the Polar satellite in the inner magnetosphere on 9 February 1998 were investigated by means of particle simulation with a realistic model of the convection electric field. The multiple bands appeared in the energy vs. L spectrum in the 1–100 keV range when Polar traveled in the heart of the ring current along the outbound and inbound paths. We performed particle tracing, and simulated the energy vs. L spectra of proton fluxes under the dipole magnetic field, the corotation electric field, and the realistic convection electric field model with its parameters depending on the solar wind data. Simulated spectra are shown to agree well with the observed ones. A better agreement is achieved when we rotate the convection electric potential eastward by 2h inMLT and we change the distribution function in time in the near-Earth magnetotail. It is concluded that the multiple bands are likely produced by two processes for this particular event, that is, changes in the convection electric field (for >3keV protons) and changes in the distribution function in the near-Earth magnetotail (for Key words. Magnetospheric physics (energetic particles, trapped; electric field) – Space plasma physics (numerical simulation studies)

Data from the Astrid-2 satellite taken between April and July 1999 show several examples of dense ion clouds in the 0.1–2 keV energy range inside the inner mag-netosphere, both in the northern and southern hemispheres. These inner magnetospheric ion clouds are found predomi-nantly in the early morning sector, suggesting that they could have originated from substorm-related ion injections on the night side. However, their location and density show no cor-relation with Kp, and their energy-latitude dispersion is not easily reproduced by a simple particle drift model. There-fore, these ion clouds are not necessarily caused by substorm-related ion injections. Alternative explanations for the ion clouds are the direct solar wind injections and up-welling ions from the other hemisphere. These explanations do not, however, account for all of the observations.Key words. Magnetospheric physics (energetic particles, trapped; magnetospheric configuration and dynamics; storm and substorms)

In this paper we establish the existence and uniqueness of global classical solutions for the equation which arises in the study of the extensional vibrations of thin rod, or torsional vibrations of thin rod.