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Mathematics of Planet Earth Series 3
Boualem Khouider
Models for
Tropical Climate
Dynamics
Waves, Clouds, and Precipitation
Mathematics of Planet Earth
Volume 3
Series editors
Ken Golden, The University of Utah, USA
Mark Lewis, University of Alberta, Canada
Yasumasa Nishiura, Tohoku University, Japan
Joseph Tribbia, National Center for Atmospheric Research, USA
Jorge Passamani Zubelli, Instituto de Matemática Pura e Aplicada, Brazil
Springer’s Mathematics of Planet Earth collection provides a variety of well-written
books of a variety of levels and styles, highlighting the fundamental role played
by mathematics in a huge range of planetary contexts on a global scale. Climate,
ecology, sustainability, public health, diseases and epidemics, management of
resources and risk analysis are important elements. The mathematical sciences play
a key role in these and many other processes relevant to Planet Earth, both as a
fundamental discipline and as a key component of cross-disciplinary research. This
creates the need, both in education and research, for books that are introductory to
and abreast of these developments.
123
Boualem Khouider
Mathematics and Statistics
University of Victoria
Victoria, BC, Canada
Mathematics Subject Classification (2010): 34Lxx, 35-xx, 35Pxx, 35Q30, 35Q31, 35Q40, 45Jxx, 60Jxx,
62F15, 65Cxx, 65M06, 15A16, 15A18
This Springer imprint is published by the registered company Springer Nature Switzerland AG.
The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
To my wife, Aldjia, who supported and
tolerated my long hours in the office. To my
children, Ines and Mohand. To the memory of
my parents.
Preface
convective motions interact with synoptic and planetary-scale waves. Exposing this
subject to the wider audience, including mathematicians and physicists, will not
only increase our chances of getting there much quicker. Moreover, organized tropi-
cal convection and convectively coupled tropical waves offer many challenging sci-
entific and mathematical problems that deserve attention from some of the bright-
est minds. They involve a wide spectrum of physical phenomena ranging from the
phase change of water occurring at the micro-scale to the role of the change in sign
of the Coriolis force at the equator that drives very unique wave phenomena oc-
curring at various scales and to the direct interactions of clouds with atmospheric
dynamics and the climate system as a whole. Various teleconnections patterns vary-
ing on weekly to monthly time scales are known to exist between tropical wave
dynamics and mid to high-latitude weather and climate variability. As such, a good
understanding and better representation by climate models of these waves are very
important for weather predictions all over the globe on multiple time scales ranging
from days to seasons.
This volume and the contained research wouldn’t have been possible without the in-
volvement of many collaborators, students, and post-docs. I am especially grateful
to my longtime collaborator and post-doc mentor, Prof. Andrew Majda, who made
me discover this fascinating subject. I have been nourished through the years by
being able to interact and occasionally collaborate with some of the most famous
experts in the field such as George Kiladis, Mitch Moncrieff, and Joseph Tribbia,
I was standing on the shoulders of giants. Special thanks to the Banff International
Research Station for giving me the opportunity to organize workshops on these top-
ics which allowed me to broaden my horizons and interact with many people. The
Pacific Institute for the Mathematical Sciences CRG on mathematical problems in
climate modeling was one of the precursors for the success of this research. I ac-
knowledge the generous support from the Natural Sciences and Engineering Re-
search Council of Canada, the Canadian Foundation for Climate and Atmospheric
Research, and the Indian Institute for Tropical Meteorology, without which, many
projects in this research won’t have been even started.
ix
Contents
8.3.3
CMT Parameterization with a Third Baroclinic Feedback
and its Effect on an MJO like disturbance . . . . . . . . . . . . . . 146
8.4 Multiscale Waves in MJO Envelope and CMT Feedback . . . . . . . . 151
8.4.1 A Simple Multiscale Model with Features of CMT . . . . . . 151
8.4.2 Equatorial Waves in a Realistic MJO Background . . . . . . . 155
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
Acronyms
1.1 Introduction
The equations of motion that govern atmospheric (and also oceanic) flows are based
on the theory of fluid mechanics comprising the Euler and/or Navier Stokes equa-
tions which model conservation of mass, momentum, and energy [27, 11] of a
Newtonian fluid such as air and water. The so-known hydrostatic primitive equa-
tions are derived from these basic laws of physics after some major simplifications
or approximations taking into account the particular topology of planetary flows
[61, 216, 166]. Namely, the lower atmospheric layer, known as the troposphere,
where weather and important climatic systems take place, is very thin compared to
the extent of Earth’s surface and as such horizontal flows (parallel to Earth’s sur-
face) are much more important on the global scale than vertical motions. Vertical
motions are much weaker on planetary and synoptic scales (∼1000 km - 5000 km)
and strong vertical flows are more confined to smaller convective scales on the or-
der of the tropospheric depth. Thus, for the flows of interest for global climate and
medium- to long-range weather modelling, for instance, the vertical acceleration is
neglected in the momentum equations resulting in what is known as the hydrostatic
balance equation
ρ 1 ∂ p
g =− , (1.1)
ρ0 ρ0 ∂ z
where g is the gravity acceleration constant, ρ and p are density and pressure per-
turbations from fixed background values ρ0 and p0 . The hydrostatic approximation
can be derived by simple scaling arguments based on the above observations [48].
This equation should not be confused with the static pressure equation which states
that the vertical pressure gradient, at any given height, acts as a constant reaction
force balancing the weight of the air column above that point. Instead it expresses
the deviations from this background due to large-scale wave motions, for example.
The total air pressure and total air density satisfy,
∂ p0
ρ = ρ0 + ρ , p = p0 + p , gρ0 = − > 0.
∂z
Note the > inequality sign in this equation which contrasts with (1.1) where the
pressure gradient can have an arbitrary sign. The quantities ρ0 and p0 are often
referred to as a background stratification which is removed from (1.1) for conve-
nience.
Another important simplification, which also results from the small aspect ra-
tio of the tropospheric layer, amounts to neglecting the variations of density in the
momentum and mass conservation equations, except for the buoyancy term. This is
known as the Boussinesq approximation [48, 61, etc.]. Moreover, for the diabatic
flows of concern, density variations are due mostly to temperature variations except
for pressure changes due to adiabatic lifting and sinking. It is thus convenient to in-
troduce the potential temperature, θ , as the temperature a parcel of air would have
if it is displaced adiabatically (without exchange of heat with its environment) to a
reference pressure ps (usually the surface pressure). Using the equation of state for
an ideal gas, p = Rρ T , where T is temperature and R is the gas constant, and the
first law of thermodynamics, namely that the change in internal energy at constant
pressure is balanced by the work done by pressure, Cp dT = ρ −1 d p, we arrive at
[48, 285] κ
ps
θ= T, (1.2)
p
where κ = RC−1p ≈ 0.286 with C p is the heat capacity at constant pressure of dry air.
If we express the ideal gas law in terms of potential temperature for both the actual
environment and the background state, then we obtain
p ρ θ p
1+ = (1 + )(1 + )(1 + )κ
p0 ρ0 θ0 p0
or
ρ θ p
= − + (1 − κ ) + h.o.t
ρ0 θ0 p0
where h.o.t is the combination of all high order terms of the Taylor expansion, in
terms of ρ /ρ0 , p /p0 , θ /θ0 ,which are assumed to be relatively small. If, in addi-
tion, we ignore the term involving p /p0 under the grounds that pressure perturba-
tions adjust quickly due to fast sound waves, then to a first order approximation, the
hydrostatic balance in (1.1) can be rewritten as
θ 1 ∂p
g = . (1.3)
θ0 ρ0 ∂ z
We note that in (1.3) θ0 can be taking to be a constant independent of height, θ0 =
300 K, without aggravating the underlying approximation.
1.1 Introduction 5
θ0
The vertical gradient of the background stratification ddz defines the stability of
the background state for when it is positive it relates to a situation where lighter
(warmer) fluid lies on top of heavier (colder) fluid. In this case we have a stable
stratification. The normalized quantity
1 d θ0
N2 = g
θ0 dz
balanced flows, where this force is balanced by the horizontal pressure gradient, to-
wards which atmospheric and oceanic flows adjust relatively rapidly, especially in
mid- and high-latitudes where this force is significant. Similarly to the hydrostatic
balance, the so-called geostrophic balance relation is behind an important approx-
imation, known as quasi-geostrophic dynamics, leading to quasi-two-dimensional
flows where a single variable, known as the potential vorticity, is conserved and
plays the role of relative vorticity in 2D Euler equations and fully determines the
flow field [61, 166, 216]. Much like the hydrostatic balance induced oscillations,
deviation from geostrophy induces synoptic to planetary scale waves, the scales at
which Coriolis force is important, known by the generic name of Rossby waves,
which are responsible for most of the mid-latitudes weather patterns.
Because the Coriolis force vanishes at the equator, the quasi-geostrophic approx-
imation breaks down in the tropics and leads the way to much richer and more
complex dynamics. As we will see in the next sections and throughout this volume,
because of this property, the equator acts as a wave-guide to a large family of waves
that travel in both directions along the equator. These equatorially trapped waves in-
teract with moist convection and water vapour, nonlinearly with each other, and with
extra-tropical Rossby waves. During the early development of meteorology as a sci-
entific discipline, tropical dynamics and tropical weather were thought to be chaotic
and unpredictable but it is now widely accepted that most of tropical precipitation
is associated with synoptic and planetary scale waves coupled with convection, i.e.,
cloud systems. The two-way coupling between these waves and convection and their
contribution to global dynamics are the main topic of this volume.
∂v ∂v
+ v · ∇v + w + β yv⊥ = −∇p + Sv ,
∂t ∂z
∂ p gθ
= ,
∂z θ0
∂θ ∂θ ∂ θ̄
+ v · ∇θ + w +w = Sθ ,
∂t ∂z ∂z
∂w
∇·v+ = 0. (1.4)
∂z
1.2 The Primitive Equations 7
Here, v = (u, v)T is the horizontal velocity field, where u is the zonal (along the
equator) component, v is the meridional (North-South) component, and w is the
vertical velocity. The corresponding coordinates, x, y, z, which represent longitude,
latitude, and altitude, are directed from West to East, from South to North, and from
bottom to top, respectively, while t > 0 is time. We fix z = 0 at the surface or bottom
of the troposphere and z = H is at the top of the troposphere (H = 16 km). The
operator ∇ = (∂x , ∂y ) is the horizontal gradient and X · Y is the dot product of the
two-dimensional vectors X and Y . Also v⊥ = (−v, u) is the perpendicular velocity
vector—a rotation by 90 degrees to the left.
The scalars p and θ represent the pressure (per unit mass) and potential tempera-
ture perturbations, respectively. The equations in (1.4) have been normalized by the
density, which is assumed constant except when multiplied by the gravity acceler-
ation, according to the Boussinesq approximation. The total potential temperature,
including a background that depends only on height, is given by
where θ0 = 300 Kelvin is a reference constant temperature and θ̄ defines the vertical
profile-background stratification and satisfies N 2 = θg0 ∂∂θ̄z > 0 where N is the Brunt-
Väisälä buoyancy frequency.
The first equation in (1.4) represents the conservation of horizontal momentum
with β = 2Ω /R ≈ 2.2804 × 10−11 m−1 s−1 is the gradient of the Coriolis parame-
ter at the equator. Here, Ω = 2π /24 hr−1 is the frequency of Earth’s rotation and
R = 6378 km is its radius. The second equation expresses hydrostatic balance, and
the third one is the energy equation written in terms of the potential temperature.
The last one is the divergence free constraint which expresses conservation of mass,
often called the continuity equation, under the Boussinesq approximation. The terms
on the right-hand side, Sv and Sθ , are the sources and sinks of momentum and en-
ergy, respectively. In particular, Sθ represents convective heating from clouds and
radiative cooling (and heating), which constitute the main sources of energy input
in the tropics.
The equations in (1.4) are augmented with the rigid lid boundary conditions
w|z=0,H = 0. (1.5)
y = ±L for some distance L from the equator will be considered when dealing with
practical situations, case by case.
In this section we will derive some special solutions for the linearized version of
the primitive equations (1.4), on the form of plane waves along the equator. They
are known as the equatorially trapped waves because as they travel zonally, along
the equator, they are meridionally confined to the vicinity of the equator over some
distance set by a dimensional parameter known as the Rossby deformation radius.
Before we make a formal mode expansion in the vertical direction in order to devise
a systematic Galerkin truncation methodology expanding the equations (1.4) into
a set of vertical mode equations, we will first use a method developed in [187] of
transforming the primitive equations into a set of shallow water equations. Notice
that the intuition behind this transformation comes from the fact that the primitive
equations are meant to model planetary flows with horizontal scales of hundreds of
kilometres while their vertical scales are limited by the tropospheric height of up to
16 km. Indeed, from the perspective of these planetary motions, the troposphere is
a thin layer of fluid surrounding the solid Earth.
∂u ∂p
−βy v = −
∂t ∂x
∂v ∂p
+βy u = − (1.8)
∂t ∂y
∂p ∂ u ∂ v
+ c2 + = 0,
∂t ∂x ∂y
where for convenience the u and v equations were written separately and the last
equation is nothing but (1.6) combined with the continuity
√ equation. For a reason
to be clarified later, we also set c2 = gH ∗ , where c = gH ∗ is known as the gravity
wave speed, according to the standard theory of shallow water equations. We note
however that one of the main differences between (1.8) and the standard shallow
water equations resides in the physical meaning of the constant H ∗ . While in the
standard case, the equivalent of H ∗ is the mean water column height, around which
surface waves oscillate and propagate, here H ∗ is typically internal to the typical
tropospheric height, up to H ≈ 16 km, and only sets the vertical scale of the pressure
disturbances that may not be directly seen on top of the fluid column. The associated
waves are called internal waves as opposed to surface waves that are seen at the
beach, for example.
We now return to the eigenvalue problem (1.7) to express the value of the equiv-
alent depth H ∗ and the phase speed c. The general solution is
mπ z mπ √ 2
p(z) = cos( ), = N λ , m = 1, 2, · · · .
H H
This yields λ = π 2 m2 /(H 2 N 2 ) = (gH∗)−1 = c−2 . Thus, we have for m = 1, for
example, H ∗ = 259 m and c ≈ 50 m s−1 . The integer values of n define the various
internal modes also known as the baroclinic modes. More on this in the next section,
where we consider a more systematic mathematical treatment and thus justification
of the elliptic eigenvalue problem.
We begin by looking at the special case when the meridional velocity is zero, v = 0.
In particular, this reduces the system in (1.8) to a single equation for u alone, since p
and u become constrained by the v-equation. As we will see throughout this volume,
despite its simplicity the resulting solution plays a major role in tropical dynamics—
10 1 The Governing Equations and Dry Dynamics
it is perhaps the most important of all tropical waves observed in nature. The v-
equation yields a balance between the meridional pressure gradient and the zonal
velocity,
∂p
βy u = − .
∂y
The remaining equations for u and p suggest a travelling wave solution along the
equator. Through separation of zonal and meridional variables x and y, we let
The first and third equations suggest that φ and ψ are constant multiples of each
other and without loss of generality, we can assume ψ = φ . Thus, combining the
two equations leads to the wave equation,
ftt = c2 fxx ,
which has simple solutions consisting of both left going and right going waves of
the form f (x,t) = h(x ± ct) and g(x,t) = ∓c h(x ± ct). The second equation then
gives an equation for φ .
βy
φy = ± φ ,
c
whose elementary solution takes the form, φ (y) = exp ± β2cy . The plus sign corre-
2
The associated flow perturbation structure is displayed in Figure 1.1 when the
2π
function h takes a wave form h(z) = sin(kz), for a fixed wavenumber k = 8000
−1
km , or an 8000 km wavelength. Here, the gravity wave speed is set to c = 50
m s−1 , corresponding to the first baroclinic mode. As expected, the main charac-
teristics of the Kelvin wave include a perfect symmetry about the equator, eastery
winds (winds pointing to the West) are aligned with a low-pressure disturbance and
westerlies (winds pointing to the East) are on top of a high pressure ridge. And more
importantly, the wave is confined to the vicinity of the Equator (y = 0) with both the
winds and pressure anomalies being strongly attenuated as we move away from the
tropical region. The wave is said to be trapped in the vicinity of the equator. The dis-
tance by which the wave gets attenuated is determined by the dimensional parameter
1.3 Equatorially Trapped Waves 11
We now return to the general case with v = 0, and introduce the reference scales c =
√ ∗ −1
gH for velocity, Le = c/β for length, and Te = Le /c = cβ for time. When
written in these units the equation in (1.8) will remain unchanged except for the
constants β and c2 which will factor out leaving the same set of equations but with
β and c2 being both unity. In some sense, the chosen reference scales are the scales
at which the beta-effect and gravity wave dynamics have equal importance. It has
to be pointed out however that different equivalent depths can result in substantially
different gravity wave speeds and consequently different length and time scales.
Fig. 1.1 Pressure anomalies (contours, negative anomalies are dashed) and velocity profile (ar-
rows) for the Kelvin wave in (1.9). Here, c = 50 m s−1 , h(z) = sin(kz), k = 2π /8000 km−1 .
−iω û − β yv̂ + ik p̂ = 0
−iω v̂ + β yû + p̂ = 0 (1.10)
−iω p̂ + c (v̂ + ikû) = 0.
2
The primed variables denote y-derivatives. The three equations in (1.10) are com-
bined to obtain a standalone equation for v̂.
2
ω β 2 y2 kβ
v̂ + 2 − k − 2 −
2
v̂ = 0,
c c ω
ω û = iβ yv̂ + k p̂, (1.11)
(ω − c k ) p̂ = i c2 kβ yv̂ − ω c2 v̂ .
2 2 2
By the change of unknowns v̂(y) = cH( βc y) exp − β2cy , the first equation re-
2
duces to
H − 2ξ H + μ H = 0,
dn
Hn (ξ ) = (−1)n exp(ξ 2 ) exp(−ξ 2 )
dξ n
Hn+1 (ξ ) = 2ξ Hn (ξ ) − Hn (ξ ), n = 0, 1, 2, · · · ,
1.3 Equatorially Trapped Waves 13
H0 (ξ ) = 1, H1 (ξ ) = 2ξ , H2 (ξ ) = 4ξ 2 − 2, · · ·
tion in (1.9). Nonetheless, the Hermite polynomials modulated by exp(−ξ 2 /2) (the
functions defining the v̂n solutions in (1.12)) constitute a complete set for square
integrable functions, so in principle any other physically sound solution can be ex-
pressed as a (possibly infinite) sum of such solutions. The modulated Hermite poly-
nomials are called the parabolic cylinder functions and will be discussed in some
more details below.
The relationship between frequency and wavenumber in (1.12) is called the dis-
persion relation and it can be used to express, for instance the phase speed, cs = ω /k,
and the group velocity, cg = ddkω , of the waves as functions of the wavenumber. While
the phase speed determines the propagation speed of peaks and troughs of individual
waves, the group velocity merely determines the speed of wave packets or rather the
energy carried by the waves [61]. When the phase speed varies with k so that waves
of different wavelengths travel at different phase speeds, the associated waves are
said to be dispersive. For dispersive waves, the group velocity and the phase speed
are distinct. The integral parameter n in (1.12) fixes the mode of meridional structure
and the shape of the dispersion curves. It is often called the meridional index.
For fixed values of n and k, ω is determined by solving the cubic equation in
(1.12). There are three distinct solutions. For n ≥ 1, they are approximately given
by2
k
ωr ≈ − , ωge = k2 + 2n + 1, ωgw = − k2 + 2n + 1. (1.14)
k2 + 2n + 1
The first solution, ωr , corresponds to slowly (low-frequency) westward-moving
waves known as equatorial Rossby waves by analogy to the geostrophic Rossby
waves found in midlatidudes. The other two correspond, respectively, to eastward
and westward moving inertio-gravity waves, they are the equivalents of Poincaré
waves [61].
The case n = 0 is somewhat special. The corresponding dispersion relation
√ easily
factors out to yield the three solutions: ω0 = −k and ω± = 12 k + ± 12 k2 + 4. The
first solution yields a non-dispersive westward moving, Kelvin-like wave, which is
discarded [216]. In fact, if this solution is inserted back into (1.11), then it yields
v ≡ 0 which takes us back to the case of the Kelvin wave considered above. The
two other solutions corresponding to a westward moving and an eastward moving
waves, depending on the sign of k, behave like Rossby and eastward inertio-gravity
waves, respectively. They are often called Yanai waves [294, 229, 253] but they also
2 Consider the two cases when ω << 1 and when ω >> 1 separately to simplify the dispersion
relation to approximately −k2 − ωk = 2n + 1 and ω 2 − k2 = 2n + 1, respectively.
14 1 The Governing Equations and Dry Dynamics
bear the name mixed Rossby-gravity waves because they branch out accordingly
depending on the sign of k.
The dispersion relation for the Kelvin wave can be recovered from (1.12) by
setting n = −1 to yield the single solution ω = k. To help visualize the different
cases, the dispersion relation curves corresponding to the first few values of n (n =
−1, 0, 1, 2, 3) are plotted in Figure 1.2.
Once the meridional velocity v is fixed by the parabolic cylinder function corre-
sponding to a given meridional mode n ≥ 0, the pressure and zonal velocity fields
can be recovered through the last two equations in (1.11). The flow structure of the
Yanai and the n = 1 gravity and Rossby waves are displayed in Figure 1.3. They
should be compared with that of the Kelvin wave in Figure 1.1. It is worthwhile
Fig. 1.2 Dispersion relation curves of equatorially trapped waves corresponding to the first few
meridional indices, n = −1, 0, 1, 2, 3, comprising the Kelvin, the Yanai (or mixed Rossby-gravity),
Rossby, and inertio-gravity waves. Here, the equivalent depth H ∗ = 255 m and the frequency units
are in cycles per day (CPD) and k is expressed in terms of the planetary wavenumber corresponding
to a maximum wavelength P = 40000 km (k = 1), the Earth’s perimeter at the Equator.
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