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Seon Ki Park · Liang Xu
Editors Data Assimilation for Atmospheric, Oceanic and Hydrologic Applications (Vol. III) DataAssimilationforAtmospheric,Oceanic andHydrologicApplications(Vol.III)
SeonKiPark ⋅ LiangXu Editors DataAssimilation forAtmospheric,Oceanic andHydrologicApplications (Vol.III) Editors
SeonKiPark
EnvironmentalScienceandEngineering
EwhaWomansUniversity
Seoul RepublicofKorea
LiangXu MarineMeteorologyDivision NavalResearchLaboratory Monterey,CA USA
ISBN978-3-319-43414-8ISBN978-3-319-43415-5(eBook) DOI10.1007/978-3-319-43415-5
LibraryofCongressControlNumber:2016950903
©SpringerInternationalPublishingSwitzerland2017
Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart ofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations, recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped.
Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthis publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.
Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthis bookarebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernorthe authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor foranyerrorsoromissionsthatmayhavebeenmade.
Printedonacid-freepaper
ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerInternationalPublishingAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland
ToYoshiK.Sasaki
Preface Sincethe2007AnnualMeetinginBangkok,theAsiaOceaniaGeosciencesSociety (AOGS)hashostedaseriesofsessionsondataassimilation(DA),named “Yoshi K.SasakiSymposiumonDataAssimilationforAtmospheric,Oceanicand HydrologicApplications. ” Westartedthissymposiumafterthe firstDAsessionin the2005AOGSmeetinginSingaporetohonorDr.YoshiKazuSasaki,theformer GeorgeLynnCrossProfessoroftheSchoolofMeteorologyatUniversityof Oklahoma,forhislifelongcontributionstoDA.Yoshiwasapioneerinbroaching theuseofvariationalmethodtoproduceoptimalinitialconditionsfornumerical prediction.Hisapproachisfurtherdevelopedandnowadayswidelyadoptedin variouspredictionsystemsingeosciences.Unfortunatelyandsadlywelostthis greatscientistonMarch12,2015,andwedecidedtomakethisvolumebea memorialtoDr.Sasaki.Yoshihadcontributedsuperiorchapterstotheprevioustwo volumes bothfrontlineworksontornadoDA.
The firstvolumeofthisbookwaspublishedinMarch2009with27chapters a collectionofnotableinvitedpapersalongwiththoseselectedfromtheprevious symposiums.Amongmanyimportantchaptersinthevolume,JohnM.Lewis,one ofYoshi’sPh.D.students,contributedachaptertitled “Sasaki’sPathwayto DeterministicDataAssimilation.” Milija Županski,thelastPh.D.studentofYoshi, discussedtheoreticalandpracticalissuesofensembleDA.François-XavierLe Dimet,whowasapostdoctoralscientistunderYoshi’ssupervision,described applicationofthevariationalapproachtohydrologicDA.Yoshihimselfproposeda newtheorybasedontheentropicbalance,titled “RealChallengeofDataAssimilationforTornadogenesis.” I.MichaelNavonprovidedathoroughreviewofDA fornumericalweatherprediction,especiallyon4D-Var,whichbecamethemost citedchapterinthisseries(66timesasofApril2016fromGoogleScholar).
ThesecondvolumewaspublishedinMay2013,againwith27chapters,by collectingbothinvitedpapersandselectedpapersfromtheprevioussymposiums heldin2009(Singapore),2010(Hyderabad)and2011(Taipei).VolumeIIincluded excellentoverviewsofestimationtheory,nudgingandvariationalmethods,and MarkovchainMonteCarlomethods.Mostprominently,Yoshiextendedhis entropybalancetheoryfortornadoDAfromthepreviousvolume,andcontributeda
chaptertitled “EntropicBalanceTheoryandRadarObservationforProspective TornadoDataAssimilation.”
Wehavefeltaneedtopublishanothervolumebecausesomenewresearch resultshadbeenpresentedatthesymposiumssincepublicationofthelastvolume. WhenweheardaboutYoshi’spassing,weimmediatelydecidedtopublisha memorialvolumeforhim.Hereweincludeaspecialdedicationsection,titled “In MemoryofYoshi,” bycollectingmemoriesonandphotosofYoshifromsome authors.ThisvolumeincludesexcellentoverviewsofvariationalDA(FrançoisXavierLeDimetetal.),coupledsystemDA(Milija Županski),representer-based variationalDA(BoonChuaandLiangXu),andsoilmoistureDA(VivianaMaggioniandPaulHouser).
Inthisvolume,theoreticalandmethodologicalaspectsencompassinversetheory,variationalmethodswith/withoutadjointmodel,representer-basedvariational method,quanti ficationofinformationandforecastuncertainty,sensitivitytools, errorrepresentationmodeling,themaximumlikelihoodensemble filter,ensemble forecast,conditionalnonlinearoptimalperturbationapproach,etc.,withapplicationstooceanic,atmospheric,andlandsurfaceDA;coupledatmosphere-chemistry DA;stratosphericandmesosphericDA;terrestrialecosystem;bottomtopography mapping;radar/lidar/satelliteassimilation;adjointsensitivity;andtargetingobservations.Operational4D-VarapplicationsarealsoincludedfortheJMANonhydrostaticModel(NHM)andtheUSNavyCoastalOceanModel(NCOM).
Thisbookwillbeusefultoindividualresearchersaswellasgraduatestudentsas areferencetothemostrecentprogressesinthe fieldofdataassimilation.The publicationispartlysupportedbytheKoreaEnvironmentalIndustry&Technology InstitutethroughtheEcoInnovationProgram(ARQ201204015).Weappreciate BoonChuaatNavalResearchLaboratory,TakeshiEnomotoatKyotoUniversity, andFrançois-XavierLeDimetatUniversityofJoshepFourier,whohaveservedas theco-convenersoftheSasakiSymposium.Weareveryhonoredtodedicatethis booktothelateYoshiSasaki ourfriendandmentor,forhismonumentalcontributionstotheadvanceofdataassimilation.
Seoul,RepublicofKoreaSeonKiPark Monterey,USALiangXu April2016
InMemoryofYoshi JohnM.Lewis
Yoshi,MyTeacher
IcametoUniversityofOklahoma(OU)inAugust1963toworkononeofProfessorYoshikazuSasaki’sNationalScienceFoundation(NSF)researchprojects. IhadnointensiontoworkforadegreebeyondM.Sc.ingeophysics,Ijustreceived fromUniversityofChicago.AphonecallfromProfessorGeorgePlatzmanto ProfessorWalterSauciersealedthedeal.
ItaughtarefreshercourseinmathfortheAFIT[AirForceInstituteofTechnology]studentsinAugustandthenstartedtheresearch.Insteadofgrindingout somedataanalysis,ProfessorSasakigavemeaproblembasedoncurrentworkby twoofhiscolleagues,ProfessorPlatzmanatUofCandProfessorAkioArakawaat UCLA.Itwasaprobleminnumericalweatherprediction(NWP).Hetookthe spectralformofBurgers’ nonlinearadvectionequation(Burgers1939),asurrogate forthebarotropicvorticityequation,andintroducedmetotheyetunknownformof Arakawa’sinnovativephysicallybased finitedifferencingscheme.Bothworksyet unpublished(Platzman1964;Arakawa1966).HetoldmetogotoBizzellMemorial Libraryandcheckout MethodsofMathematicalPhysics,Volume2 (Courantand Hilbert1962).Hesaid: “withthefollowinglongwaveinitialcondition, findthe analyticsolutiontothisproblembythemethodofcharacteristics.” Allnewtome spectralformofsolution,truncationofthebasisfunctions,anovelformof finite differencingappliedtothegrid-pointversionofthemodel,andanalyticsolutionvia themethodofcharacteristics.Wow!Iwasexcited.Thenhelaidtheproblembefore me: “You’ll findthatthebarotropicwavebreaksanditwillbeyourjobtodeterminethelimitationsofArakawa’sschemenearthepointofbreaking.Whenyouget someresultcomebackandwe’lltalk.” Whatajoyfulfeeling filledme:Iamfree,I understandtheproblem,Ihavenoideaoftheresult,butitlooksinterestingand challenging,andifIcansolveit,I’llcontributetoProfessorSasaki’sNSFproject andlikelylearnsomethingmyself.
Ittookmeaboutthreeandahalfmonthstosolvetheproblem fromlate SeptembertoearlyJanuary.WhenIreturnedfrommyChristmasholidayinCalifornia,Ivisited “Doc” (asallofuscalledhimbasedonthereveredtermusedbyhis firstdoctoralstudent RexInman).Ilaidouttheanalyticsolutionwiththebeautiful breakingwaveandthedifficultyencounteredbyArakawa’sinnovativeschemenear thepointofbreaking(Lewis1964).Hewasecstatic.NeitherbeforenorsincehaveI everfeltso filledwithsuccess.
IneededabreakfromacademiaandtookajobwithShellOilCompany oil explorationintheGulfofMexicoviaseismicprospecting.IgotmarriedtoSherry McDowell,theMayoClinicnursewhotookpartofhertrainingatLying-In HospitalinChicago.AlthoughIwasmakingmoneybythebarrowful,Ikept contactwithProfessorSasaki.ImissedhimsomuchthatIaskedSherryifshe wouldconsiderleavingherjobinHoustonandmovingtoNormanwhereIcould workwithhimagain.SheencouragedmeandbackwewenttoOklahoma.Ilearned variationalanalysisfromDocandgotmydegreein1969.FleetNumericalWeather Central(FNWC)inMontereywantedtouseYoshi’svariationalmethodtodevelop anoperationalupperairanalysisoverthedata-sparsePacificOceantohelpdirect U.S.NavyshipsandplanesfromtheWestCoasttotheSouthChinaSeaduringthe VietnamWar.IgotthatjobandYoshibecameaheroinabsentiaafterTom Grayson,USAFColonelBobLong,andIgotthevariationalmethodtoworkover theentireglobe.Itremainedoperationalfornearly25years unheardofinoperations.Itranevery6hoursforallthoseyears sorobust,hardlyeverbrokedown, andsoefficient.Thisproduct,labeledtheGlobalBandAnalysis,wasafavorite oftheNavyforecastersinplaceslikeGuamandRota-Spain.Whenthisoperational analysiswasabouttobe “dethroned” intheearly1990s,EdBarker,aSasaki protégéandameteorologistatNavalResearchLaboratory(NRL),toldmethe forecastersinthe fieldbeggedtohavetheGlobalBandretained.Whatatributeto Yoshi.1
AsIlookbackatmyapprenticeshipunderProfessorSasaki,Iviewhimasa philosopheraswellasascientist,aSocraticscholar-teacherwhoknewhowtobring outthebestineverystudent.Questioning,nopreaching,nottelling,simplypresenting,andthenletthestudentgo.WhenIleftOU,Itrulyfelttherewasno problemIcouldnotsolve maybealittleovercon fident,butnotfullofmyself. Yoshiwasself-effacingandIliketothinkIinheritedsomeofthatfromhim.
OneofmygreatthrillswastogetaChristmascardfromProfessorSasakiayear ortwoafterIleftOU.Thewritinginsidethecardisattached(Fig. 1).Thespiritof Yoshi’swordsmakesitclearhowmuchweenjoyedlearningtogether.Itwas mostlya “one-waystreet” despiteYoshi’scompliments.ButIneverhesitatedto doubthisideaandhisderivationandheacceptedthat.Buthisacceptancecame
1SasakitooksabbaticalleavetoNEPRF(NavyEnvironmentalPredictionResearchFacility)in 1973.NEPRFwascollocatedwithFNWCandtheNavalPostgraduateSchool(NPS).Attheendof hissabbaticalyear,hewasofferedthepositionofDirectorofResearchatNEPRF.Hedeclinedand returnedtoOU.Nevertheless,hisinfluenceoftheU.S.Navy’sworkinNWPhasbeenlong lasting.
withtheadmonition, “OK,soyoudon’tacceptmyideaandderivation; fine,work onittonightandpresentyourideatometomorrow.” ThatwasSocraticandthatis howIlearnedinpartfromthemaster.Butmostofmylearning “cameathisfeet,” in hisoffice,andattheblackboard.IappreciatedUniversityofChicagoandUniversity ofOklahoma(Figs. 2–4)andtheirwonderfulgraduateprograms,butIalwaysfelt thatIhadsomespecialtrainingnotassociatedwitheitherinstitution;Iwastrained atUniversityofTokyo,secondgeneration,soIthoughtofmyselfasascienti fic Nisei.Forever,ThankYouDoc.
JohnM.Lewis
VisitingResearchProfessor,DesertResearchInstitute
Ph.D.inMeteorology,UniversityofOklahoma,1969 ProtégéofYoshikazuSasaki
References ArakawaA(1966)Computationaldesignforlong-termnumericalintegrationoftheequationsof fluidmotion:Two-dimensionalincompressible flow.PartIJCompPhys1:119–143
BurgersJM(1939)Mathematicalexamplesillustratingrelationsoccurringinthetheoryof turbulent fluidmotion.VerhandelingenderKonin-klijkeNederlandscheAkademievan Wetenschappen(EersteSectie),17(2):53p
CourantR,HilbertD(1962)Methodsofmathematicalphysics,Vol2.JohnWileyandSons, 830pp
LewisJM(1964)Computationalinstabilityarisingfromnumericalsolutionstothenon-linear advectionequation.Unpublishedmanuscript,24pp
PlatzmanGW(1964)Anexactintegralofcompletespectralequationsforunsteady one-dimensional flow.Tellus16:422–431
Fig.1 AChristmascardfromYoshi(ca1972)
Fig.2 YoshiathisofficeintheEngineeringLabin1970,takenbyJimHeimbach,oneofYoshi’s doctoralstudents
Fig.3 YoshioutsideFelgarHall,OUCampus(ca1965)
François-XavierLeDimet Inthe1980s,thenumericalmodelsforpredictingtheevolutionofgeophysical flowswereknowntohavespectacularimprovementsmainlyduetotheincreaseof computationalpower.Butamodel,whateverbeitsquality,isnotsufficienttocarry outaprediction:itismandatorytoprovideaninitialconditiondeducedfrom dynamicalobservationofthe flow. “Analysis” wasthetermusedtobuildupthe initialconditionandatthattimeitwastheweakpointofthepredictionprocess.
IhadreadsomepaperswrittenbyYoshiSasakiandespeciallythosepublishedin MonthlyWeatherReviewin1970,whichwerebasedontheCalculusofVariations tomixtheinformationprovidedbymodelsandtheinformationcontainedin observations.
IwasaformerstudentofJacques-LouisLionsandIhadattendedhiscourseson OptimalControlforPartialDifferentialEquationsatUniversitéPierreetMarie CurieinParis.OptimalControlisbasedonCalculusofVariations,ifdataassimilationisconsideredfromthisviewpointthenthedynamicsiseasilyintroducedby consideringtheinitialconditionasthecontrolvariable.Thepricetobepaidisto havetodealwithamorecomplexOptimalitySystem,becauseitwilltakeinto accounttheevolutionoftheadjointvariables(LagrangeMultipliers).In1981, IwroteareportonhowtouseOptimalControlforDataAssimilationandsentitto Yoshi.Severalweekslater(noe-mailatthattime!)Ireceivedaninvitationfrom YoshiSasaki.IarrivedinNormaninMay1982andIwasreceivedbyYoshiand KokoSasaki,theirwelcomewassowarmandfriendly!OnOUcampusIhadan officeattheCooperativeInstituteforMesoscaleMeteorologicalStudies(CIMMS), headedbyYoshi.Itwasasmallbuildingclosetotherailwaytrack.Istayedfor
Fig.4 RexInmanandYoshi(left)andYoshiandKoko(right)(ca.1965)
4monthsatOU,workingonsomedevelopmentsinapplicationsofVariational Methodsinmeteorology.IintroducedLutherWhitetoYoshi.Lutherwasatthe MathDepartmentandhehasbeenworkingwithLionsduringastayatINRIAnear Paris.HewasworkingoninverseproblemsaveryclosetopictoDA.Cooperation withLutherlastedmanyyearsandseveralpapershavebeenpublishedmainlyon applicationsofDAinhydrology.Duringmystay,YoshiinvitedRolandGlowinski fromUniversitéPierreetMarieCurieandfromtheUniversityofHoustonandalso aformerLionsstudenttogiveatalkatOUoninverseproblem.IvisitedOUfor manyyearseitheratCIMMSorattheMathdepartmentoratNSSLwithJohn Lewis.IalsohadastrongcooperationwithBaxterVieuxinhydrology;inthis domainthereisastrongdemandforDAandinversemodeling.ThankstoYoshia solidlinkwascreatedbetweenOUandtheuniversitiesofClermont-Ferrandwhere Ihadmyposition.MillieAudasinchargeoftheOfficeofInternationalAffairsat OUpushedforstudentexchangesandformorethanadecadesheinformedmeon thenumberofmarriagescelebratedbetweenstudentsofouruniversities,thencame the firstdivorce!
WithYoshiandLutherwediscussedaboutorganizingaSymposiumonVariationalMethodsinGeosciences:itwasheldatNormaninMay1985,withJacques LouisLionsasaninvitedspeaker.Itwasthe firstmeetingbetweenSasakiandLions andithasbeenfollowedbyseveralothermeetingsinUSA,France,andJapanwhen LionsbecamethechairmanoftheFrenchSpaceAgency(CNES).Afewyearslater LionsreceivedtheJapanPrize,averyhighdistinctioninJapan.Duringthestayat OUIwrotethe firstdraftofapaperpublishedin1986inTellus,basedonseveral CIMMSscienti ficreports.ThemeetinginNormanwasquitesuccessfuland30 yearsafteritremainsintheair.IamstillrememberingKokoplayingsomeJapanese musicinstrumentafterthebanquet.
ProbablybecauseofthiseventIwasaskedbyWorldMeteorologicalOrganizationtoco-organizethe firstWMOInternationalSymposiumontheAssimilation ofObservationsinMeteorologyandOceanography;itwasheldin Clermont-FerrandinJuly1990,andmorethan250scientistsattendedthismeeting, withLionsandSasakiasinvitedspeakers.Wetookadvantageofthemeetingto havesomesightseeingtourinAuvergnewithYoshi,hewasverygladtotastethe typicalcookingofAuvergnecheeseand “tripoux.” AdozenofpeoplefromOU cametotheWMOmeeting,wewerehelpedbyEmilyGlasgowfromOIPfor receivingourhosts(Fig. 5).YoshiandKokovisitedFranceseveraltimesandIhave beenhappyandproudtohostthemhome(Fig. 6).
AftermovingtoUniversitéJosephFourierinGrenoble,IvisitedOUlessfrequentlyneverthelessIhavealwaysbeenintouchwithYoshi,Luther,andBaxter.
ForthelasttimeImetYoshiandKokoattheAMSannualmeetingheldinNew Orleansin2012,YoshiwasaccompaniedbyKokoandtheirson,Yoshireceived thetitleofHonoraryMemberoftheAmericanMeteorologicalSocietyanddeliveredashorttalkonhisscientificachievements.
FormeYoshiwasagreatscientist,amentor,andafriend.Iwillalways rememberhiskindnessandwarmness.ThankstohimIwasopenedtoanewworld. AllthepeoplewhohadmetYoshiwillnotforgethim.
WritingtheselinesIfoundthatLionsandSasakiwerebothbornin1928,both hadtosufferfromWWII,SasakiinadestroyedJapanandLionsjoinedthe “Résistance” whenhewas15yearsold;neverthelessbothusedtheirscientificaura topromotepeaceandfriendshipintheworld.Maywefollowtheirpaths.
François-XavierLeDimet ProfesseurEmérite,Lab.Jean-Kuntzman,UniversitéJosephFourier PostdoctoralScientist,CIMMS/UniversityofOklahoma,1982
Fig.5 Yoshiatthe1stWMOSymposiumonDataAssimilationinClermont-Ferrand,Francein July1990. Left:Yoshionthe firstrow,AkiraKasaharaatthe leftend onthe secondrow,andRegis JuvanonduVachat,LucFillionandRichardMénard,from lefttoright,onthe thirdrow Right: From lefttoright ChristianPariset,Yoshi,andWernerWergen
Fig.6 François-XavierLe DimetandYoshiin Clermont-Ferrand,France(ca. 1988).Thecathedralof Clermont-Ferrandisinthe background,whichisblack becauseitwasbuiltwith volcanicstones
Milija Županski IhavefondmemoriesofProf.YoshiSasaki.Hewasmyprincipaladvisorforboth M.S.andPh.D.degreesatUniversityofOklahoma.Yoshiwasverygenerousin allowingmeto findmyownwayinresearch,andhelpingmewhenIneeded help.Igreatlyappreciatedthisfreedom.Yoshiwasalsoverysupportiveofmy desiretogobeyondstandardvariationalapplicationsinmeteorology,eventually leadingtoseveralone-to-onecourses.
Therewasatime,however,whichIrememberinmostvividdetail.Iwasatthe timeaPh.D.studentwithYoshiandworkedonAlpineleecyclogenesisusing variationalmethodstosolveasetofnonlinearequations.Aconferencerelatedto thissubjectwasheldinSestola,Italy(nearParma)thatweattended.Also,Koko joinedYoshionthistrip.WerentedacarfromtheairportinRome,andheletme driveareallyniceItaliancar.OnourwaytoSestola,wevisitedFlorenceandPisa,
andtalkedabouttheRenaissanceart,artisticdetailsofoldbuildings,andmany otherthings.Ienjoyedthistripverymuch,andstillcherishthetimeIhavegotto spendwithYoshiandKokoinarelaxedatmosphereoutsidethework.
Milija Županski SeniorResearchScientist,CIRA/ColoradoStateUniversity Ph.D.inMeteorology,UniversityofOklahoma,1990
JidongGao ThepaperinthisvolumeisdedicatedtothelateDr.YoshiSasakiwhoisthe foundingfatherofthevariationaldataassimilationinnumericalweatherprediction, anditsapplicationstoradarmeteorology.Healsohadagenuinepersonalityand treatedanyindividualhemetwithrespect.Heproposedtheinitialideaforthe applicationofvariationalcalculusinnumericalweatherpredictionin1955inhis Ph.D.study.Hepublishedthreeimportantpapersin1970whenhewasaprofessor attheSchoolofMeteorology,UniversityofOklahoma(OU).Oneofthem,titled “Somebasicformalismsinnumericalvariationalanalysis,” laidthefoundationfor thedevelopmentofthefour-dimensionalvariationaldataassimilationmethodin late1980s(so-called4DVAR)whichcontinuestobeusedoperationallyinthe world’smajormeteorologicalcenterstothisday.In1988,hewasfundedbyNASA foraprojecttitled “VariationalHigh-resolutionDataAssimilationandShort-Range WeatherForecasting” whichfocusedonapplicationofthevariationalanalysisto radardata stillaveryhotresearchtopicinthemeteorologicalcommunity.Personally,IlearnedagreatdealfromDr.Sasakiandhismanyimportantpublications. WhenIjoinedtheCooperativeInstituteofMesoscaleMeteorologicalStudies/OU asavisitingscholarin1995,IcouldbarelyspeakEnglish.ButIvisitedhisoffice manytimesfrom1995to2004inOUSarkeysEnergyCenterandaskedquestions abouthisresearchanddiscussedmyresearchwithhim.Hewasalwaysverykind andfriendly.Helistenedtomyquestionsverypatientlyandcarefullyandtriedhis besttomakesurethatIunderstoodhisanswers.Igainedalotofknowledgeabout variationaldataassimilationdirectlyfromhimduringthatperiodoftime.Iwill alwaysrememberhimasoneofthegreatestscientistsIevermetinmylife.
JidongGao ResearchMeteorologist,NationalSevereStormLaboratory/NOAA ResearchScientist,CIMMS/CAPS/UniversityofOklahoma,1995–2010
S.Lakshmivarahan
ReminiscencesonDr.YoshiSasaki MynameisS.LakshmivarahanandIjoinedthethenSchoolofElectricalEngineeringandComputerScience(EECS),UniversityofOklahoma(OU)inthefallof 1978.Sincedayone,IhadheardalotaboutProfessorYoshiSasakiandhis groundbreakingworkinvariationalmethodsfordataassimilation.Whileweshared officesindifferent floorsofthesamebuilding theoldEngineeringLab,itwas onlyinlate1980sIwasintroducedtohimbyoneofhisformerstudent,John M.Lewis,NationalSevereStormsLaboratory(NSSL)whenJohnandIstarted workinginthisarea.John,KelvinDrogemeierandIcollaboratedindesigningand offeringatwolevelsystemofcoursesinDynamicDataAssimilationforthe first timehereatOU.Itwasofferedasagraduate-levelcourseattheSchoolofMeteorologyforthe firsttwoyearsandbutthesecoursesweremovedovertothenewly formedSchoolofComputerSciencewithintheCollegeofEngineeringatOU whereithasbeenofferedasScientificComputingIandII.Thiseffortculminatedin thepublicationofourbook,Lewisetal.(2006).Dr.Sasakihasbeenourguiding lightandhehadgiventotalandunconditionalsupportforoureffortsandweshall remaineternallygratefultohim.
WhileallofDr.Sasaki’sworkweredeeplyentrenchedintheclassicaldeterministicapproach,hewascuriousto findouttheunderpinningsofstochastic modeling.Ihadthepleasureofhavinghimattendoneofmycourseson “Stochastic DifferentialEquationsandItsApplicationstoFinance.” Heattendedthe firsthalf dealingwiththeexpositionoftheStochasticCalculusasdevelopedbyK.Ito.He latersharedhisimmensejoyofmeetingProfessorK.ItoattheKyotoUniversity duringoneofhistripstoJapan.
ProfessorSasakisinglehandedlyconvincedthemightyHitachiCorporationto endowaProfessorship knownastheHitachiChair,onlythesecondofitskind (the firstofsuchchairwasestablishedattheStanfordUniversity)attheSchoolof ComputerScience,OU.AgainthankstogeneroussupportfromthelocalHitachi corporationofficeinNorman,Oklahoma,theHitachiDistinguishedLectureseries wasestablishedatourSchool.Dr.Sasakinevermissedalectureinthisseriesand hadalwaysinteractedwiththevisitingscholarswithhisviewsandquestions. Continuingourspiritofgreatregardandadmiration,wehavededicatedourrecent monograph(Lakshmivarahanetal.2016)tothememoryofProfessorYoshiSasaki.
S.Lakshmivarahan GeorgeLynnCrossResearchProfessor,ComputerScience, UniversityofOklahoma
References LewisJM,LakshmivarahanS,DhallSK(2006)DynamicDataAssimilation:ALeastSquares Approach,CambridgeUniversityPress
LakshmivarahanS,LewisJM,JabrzemskiR(2016)ForecastErrorCorrectionusingDynamic DataAssimilation,Springer(Toappear)
KazuoSaito
PhotoswithProf.SasakiandJMA’sCondolencestoHisWife IvisitedtheCenterforAnalysisandPredictionofStormofOklahomaUniversity andtheNationalWeatherCenterofNOAAinMarch2012subsequenttothe11th NationalSevereWeatherWorkshopheldinOklahomaCity(Fig. 7).OntheeveningofMarch6,aftermyseminar,IvisitedthelaboratoryofProf.Sasaki.Hewas very fineandheintroducedmehispost-doctoralstudentandhislatestworks.He regrettedthathewouldnotbeabletomeetMRI’srecentinvitationtovisitTsukuba forhealthconcernoverthephysicalconditionofhiswife,Koko,andexpressedhis hopetovisitJapanatthenextopportunity.Iwasimpressedbyhisactivityand enjoyeddiscussionwithProf.Sasakiforaboutonehour.
InApril2016,atthesadnewsoflossofProf.Sasaki,thethenDirector-General oftheJapanMeteorologicalAgency(JMA),NoritakeNishide,sentofficialcondolencestohiswiferegardinghistremendouscontributiontotheimprovementof Japanesemeteorologicalservice(Fig. 8).Prof.Sasakimentoredseveralvisiting scientistsfromJapanatOklahomaUniversity,andhisleadingcametofruitionat JMAastheoperationalmesoscalemodelanditsvariationaldataassimilation systems.HissupervisiontoJMAvisitorsaboutDopplerradarobservationsand tornadonowcastingsalsosignificantlypromotedtheirpracticalimplementation.
Fig.7 PhotostakenbyKazuoSaitoduringhisvisittoOUinMarch2012.KazuoandYoshiat Yoshi’sofficeatOU(right)
KazuoSaito SeniorDirectorforResearchAffairs MeteorologicalResearchInstitute,Japan
LiangXu
Yoshi’sNRLMontereyConnection OneoftheimportantpredecessorsoftheMarineMeteorologyDivision(MMD)at theNavalResearchLaboratory(NRL)inMonterey,California,USAistheNaval EnvironmentalPredictionResearchFacility(NEPRF).Thereisadeepconnection betweenthedataassimilationsystemsusedatMMDinNRLandthelateProfessor YoshiSasaki.ItisnotverywidelyknownthatYoshiwasinstrumentalinhelping layingthefoundationofthenumericalmodelinganddataassimilationfortheUS NavyinMonterey,CA,USA.Iwouldlliketotaketheopportunitytoprovidean excerptfrom “TheGenesisofNumericalModelingandDataAssimilation” by RosmondandBarker(http://www.nrlmry.navy.mil/MMD_History/text/index.htm).
Fig.8 OfficialcondolencesbyJMAtoYoshi’swife
In1975-1976,ProfessorYoshiSasakifromtheUniversityofOklahomaspentayearas actingdirectorofresearchofthenewNavalEnvironmentalPredictionResearchFacility (NEPRF).NEPRFwasnowco-locatedwithFleetNumericalWeatherCentral(FNWC)on theairportannex,andhadaccesstotheircomputersystemsanddatabases.Duringthis timeFNWCwasrunningtheKessel-WinninghoffhemisphericPEmodelastheirprimary NWPsystem.Itwasruninbothhemispheres,butleftamajorvoidinthetropics.Theyhad anin-houseefforttodevelopaglobalmodel,butwerestrugglingtosupportit.TheFNWC commandingofficeratthetime,Capt.RonHughes,realizedthattheycouldnotmaintain thelong-termcontinuityofresearcheffortneededtodevelopandmaintainalargeglobal NWPsystem.HecametoNEPRFandrequestedthatthelabassumeresponsibilityforNWP operationalforecastsystemdevelopmentinsupportofFNWC. Inresponse,Prof.Sasaki andtheNEPRFCommandingOfficer,Capt.CodySherar,formedtheNumerical ModelingDepartment(NUMOD),withTomRosmondasthedepartmenthead
TojumpstarttheNEPRFglobalmodelingeffort,in1976TomRosmondspent2weeksat UCLAgettingacrashcourseontheUCLAgeneralcirculationmodel,atthetimeconsideredoneofthebestglobalmodelsintheworld,undertheguidanceofProfessorAkio Arakawa.Thismodelwasthebasisforthe firstgenerationNEPRFglobalforecastsystem. TheothercomponentsofthesystemwereaBarnessuccessivecorrectionsobjective analysisandavariationalbalanceequationinitializationscheme,bothdevelopedbyEd Barker. ProfessorSasaki’sexpertisewithvariationalmethodswasacontributingfactor inthedevelopmentofthesesystems
Figure 9 isanexcerptfrom “AHistoryoftheU.S.Navy’sNumericalObjective AnalysisandDataAssimilationSystems” presentedbyDr.EdwardBarkeratthe Symposiumonthe50thAnniversaryofOperationalNumericalWeatherPrediction. I firstmetYoshiattheSIAMConferenceonMathematicalandComputational IssuesintheGeosciences(GS03)onMarch20,2003,inAustin,Texas.YoshiandI werebothinthesessionentitled “DataAssimilationintheOceanandAtmosphere.” Afteroursessionconcluded,Yoshi,hiswifeKoko,ProfessorAndrewBennett,and IstrolledthestreetsofdowntownAustin.Ienjoyedtheircompanyandhadagreat time.
ThelasttimeImetYoshiandKokowasinJune19,2008atthe 2ndSasaki SymposiuminDataAssimilationforAtmospheric,Oceanographic,andHydrologic Applications asaparticipantandaco-convener.IenjoyedYoshi’spresentations andscientificdiscussionsduringthesymposium,andIequallyenjoyedthetimethat YoshiandhiswifeKoko,ProfessorSeonK.ParkandhisPh.D.studentH.Kim, Dr.H.-S.Lee,andIspenttogetheratabeautifulKoreanrestaurantnottoofarfrom theconventioncenter.Figure 10 includestwopicturesthatItookattherestaurant. IstillvividlyrememberthatYoshiwasverygoodatencouragingMs.Kim,the youngPh.D.student,tokeepworkinginthedataassimilation field.Wealsohadthe opportunitytodiscussandappreciatetheChinese,Japanese,andKoreancultures amongotherinterestingtopicsattherestaurant.
LiangXu Meteorologist,NavalResearchLaboratory
Fig.9 The500hPavorticityanalysisbasedontheglobalvariationalnonlinearbalancingalgorithmsuggestedbyYoshi(Sasaki1958).ThepersonontherighttopofthepictureisDr.Edward Barkerwhowasresponsibletoimplementthevariantionalalgorithm.This figurewasprovided throughthecourtesyofDr.EdwardBarker
Fig.10 KokoandYoshi(left)and,from lefttoright,Dr.H.-S.Lee,Ms.H.Kim,and Prof.SeonK.Park(right)inarestaurantinJune2008atBusan,Korea
SasakiY(1958)Anobjectiveanalysisbasedonthevariationalmethod.JMeteorSocJapan, 36:738–742
Yoshi,MyMentor SeonKiPark
MymemorywithYoshidatesbacktotheFallSemester1990,whenI firstmethim asanewPh.D.studentatOUSchoolofMeteorology.Icametoknowhimthrough hiscourse, MesoscaleDynamics,duringthe firstsemesteratOU.OnedayYoshi tookmetoKelvinDroegemeierandaskedifhecouldserveasmyacademic advisor.IoweadebtofgratitudetoYoshithatallowedmetohavesuchawonderfuladvisorasKelvin.
Ialwaysenjoyedtakinghiscourses,especiallybecausehisclasseswerefullof discussionsbetweenhimandstudents.Healwaysencouragedmetoaskmany questionsandinitiatediscussionsintheclasses.Heinvitedmemanytimestothe teatimediscussionsinhisofficeafterclasses.Throughthoseteatimediscussions,I couldgrewupinmanyaspects.Yoshinotonlywasagoodinstructorbutalso becamemylifelongmentor.Healsohelpedmealotincompletingmydissertation asamemberoftheadvisorycommittee.
AfterIcamebacktoKoreawithafacultyjobattheEwhaWomansUniversity, I’veneverforgottenYoshi’spioneerspiritofestablishingtheMeteorologyprogram atOU.In2007,myuniversity’s firstmeteorology-relatedresearchinstitution,called theSevereStormResearchCenter,wasestablished.In2009,anotherinstitution, namedCenterforClimate/EnvironmentChangePredictionResearch,wasestablishedbasedonagrantfromtheKoreangovernment.FinallytheDepartmentof AtmosphericScienceandEngineeringwasfoundedin2012andhasaccepted studentsfrommeteorologicalcentersfromdevelopingcountriesthroughthe Ewha-WMOFellowshipProgram.AlltheseachievementswereinspiredbyYoshi’s pioneerspirit.
IstartedconveningasessionintheAsiaOceaniaGeosciencesSociety,titled YoshiK.SasakiSymposiumonDataAssimilationforAtmospheric,Oceanicand HydrologicApplications inhonorofYoshiforhislifelongcontributiontodata assimilationingeosciences.YoshiandKokoattendedthesecondsymposiumat Busan,Koreain2008,andgaveaspeciallecture.Ihavealsohostedaneventcalled “DinnerwithYoshi” underthesponsorshipofKMA,andwehadjoyfultimewith about50invitedscientistsandstudents(seethephotosFigs. 11–14).
LiangXuandIhavepublishedaseriesofeditorialbooksunderthesametitleas thesymposiumwiththeSpringer.The firstvolumewaspublishedin2009andwas dedicatedtoYoshiandKoko.Thesecondvolumewaspublishedin2013with dedicationtoYoshiandRogerDaley.Inthesetwovolumes,Yoshihimselfcontributedchaptersonnewdirectionsintornadodataassimilation.Nowatthesad newsofYoshi’spassing,weherebypublishthethirdvolumeasthememorial volumeforYoshi.Thesymposiumandthebookserieswillcontinueinmemoryof Yoshi.IdoappreciateeverythingthatIhavereceivedfromyou,Yoshi,andImiss youalot.
Fig.11 TheAOGSposterannouncingYoshi’sSpecialLectureonDataAssimilation(left),and Yoshi,KokoandSeonK.Parkinfrontoftheposter(right)atBusan,KoreainJune2008
Fig.12 AttheDinnerwithYoshico-hostedbytheKoreanMeteorologicalAdministrationand EwhaWomansUniversityatBEXCO,Busan,KoreaonJune18,2008
Fig.13 SeonK.Park,KokoandYoshi(left),andShigeoYoden,Tieh-YongKo,Yoshi,Koko, SeonK.ParkandHadiTriWahyuattheDinnerwithYoshi
KokoandYoshitalkingwithFrançois-XavierLeDimetandOliverTalagrand(left),and Yoshigivingaspeech(right)attheDinnerwithYoshi
SeonKiPark Professor,EnvironmentalScienceandEngineering Professor,AtmosphericScienceandEngineering EwhaWomansUniversity Ph.D.inMeteorology,UniversityofOklahoma,1996
Fig.14
VariationalDataAssimilation:OptimizationandOptimalControl 1
François-XavierLeDimet,IonelM.NavonandRăzvan Ştefănescu
DataAssimilationforCoupledModelingSystems 55 Milija Županski
Representer-BasedVariationalDataAssimilationSystems: AReview ................................................... 71 BoonS.ChuaandLiangXu
Adjoint-Free4DVariationalDataAssimilation intoRegionalModels .........................................
83 M.Yaremchuk,P.Martin,G.Panteleev,C.Beattie andA.Koch
ConvergenceofaClassofWeakSolutionstotheStrongSolution ofaLinearConstrainedQuadraticMinimizationProblem: ADirectProofUsingMatrixIdentities 115 S.Lakshmivarahan
InformationQuanti ficationforDataAssimilation 121 SarahKing,WeiKang,LiangXuandNancyL.Baker
Quanti ficationofForecastUncertaintyandDataAssimilation UsingWiener’sPolynomialChaosExpansion ...................... 141 JunjunHu,S.LakshmivarahanandJohnM.Lewis
TheTreatment,Estimation,andIssueswithRepresentation ErrorModelling .............................................
DanielHodyssandElizabethSatterfield
SoilMoistureDataAssimilation
VivianaMaggioniandPaulR.Houser
SurfaceDataAssimilationandNear-SurfaceWeatherPrediction overComplexTerrain ........................................ 219 ZhaoxiaPu
RecentDevelopmentsinBottomTopographyMapping UsingInverseMethods 241
EdwardD.Zaron
TheImpactofDopplerWindLidarMeasurementsonHigh-Impact WeatherForecasting:RegionalOSSEandData AssimilationStudies 259 ZhaoxiaPu,LeiZhang,ShixuanZhang,BruceGentry,DavidEmmitt, BelayDemozandRobertAtlas
AThree-DimensionalVariationalRadarDataAssimilation SchemeDevelopedforConvectiveScaleNWP ..................... 285 JidongGao
DataAssimilationExperimentsofRefractivityObservedbyJMA OperationalRadar ........................................... 327 HiromuSeko,Ei-ichiSato,HiroshiYamauchiandToshitakaTsuda AssessmentofRadiativeEffectofHydrometeorsinRapidRadiative TransferModelinSupportofSatelliteCloudandPrecipitation MicrowaveDataAssimilation 337 PeimingDong,WeiHan,WeiLiandShuanglongJin TowardNewApplicationsoftheAdjointSensitivityToolsinData Assimilation 361 DacianN.DaescuandRolfH.Langland
GPSPWVAssimilationwiththeJMANonhydrostatic4DVAR andCloudResolvingEnsembleForecastforthe2008AugustTokyo MetropolitanAreaLocalHeavyRainfalls ......................... 383 KazuoSaito,YoshinoriShoji,SeijiOriguchiandLeDuc ValidationandOperationalImplementationoftheNavyCoastal OceanModelFourDimensionalVariationalDataAssimilationSystem (NCOM4DVAR)intheOkinawaTrough ........................ 405 ScottSmith,HansNgodock,MatthewCarrier,JayShriver, PhilipMuscarellaandInnocentSouopgui
StratosphericandMesosphericDataAssimilation:TheRoleofMiddle AtmosphericDynamics 429 SarojaPolavarapuandManuelPulido
ACoupledAtmosphere-ChemistryDataAssimilation:Impact ofOzoneObservationonStructureofaTropicalCyclone
455 SeonKiPark,SujeongLimandMilija Županski
AdjointSensitivitywithaNestedLimitedAreaAtmosphericModel
ClarkAmerault
OntheImpactoftheDiabaticComponentintheForecastSensitivity ObservationImpactDiagnostics .................................
MartaJaniskováandCarlaCardinali
ApplicationofConditionalNonlinearOptimalPerturbationtoTarget ObservationsforHigh-ImpactOcean-AtmosphericEnvironmental Events
QiangWangandMuMu
ResponsesofTerrestrialEcosystemtoClimateChange:Results fromApproachofConditionalNonlinearOptimal PerturbationofParameters ....................................
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