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Abstract. Climate simulation uncertainties arise from internal variability, model structure, and external forcings. Model intercomparisons (such as the Coupled Model Intercomparison Project; CMIP) and single-model large ensembles have provided insight into uncertainty sources. Under the Community Earth System Model (CESM) project, large ensembles have been performed for CESM2 (a CMIP6-era model) and CESM1 (a CMIP5-era model). We refer to these as CESM2-LE and CESM1-LE. The external forcing used in these simulations has changed to be consistent with their CMIP generation. As a result, differences between CESM2-LE and CESM1-LE ensemble means arise from changes in both model structure and forcing. Here we present new ensemble simulations which allow us to separate the influences of these model structural and forcing differences. Our new CESM2 simulations are run with CMIP5 forcings equivalent to those used in the CESM1-LE. We find a strong influence of historical forcing uncertainty due to aerosol effects on simulated climate. For the historical period, forcing drives reduced global warming and ocean heat uptake in CESM2-LE relative to CESM1-LE that is counteracted by the influence of model structure. The influence of the model structure and forcing vary across the globe, and the Arctic exhibits a distinct signal that contrasts with the global mean. For the 21st century, the importance of scenario forcing differences (SSP3–7.0 for CESM2-LE and RCP8.5 for CESM1-LE) is evident. The new simulations presented here allow us to diagnose the influence of model structure on 21st century change, despite large scenario forcing differences, revealing that differences in the meridional distribution of warming are caused by model structure. Feedback analysis reveals that clouds and their impact on shortwave radiation explain many of these structural differences between CESM2 and CESM1. In the Arctic, albedo changes control transient climate evolution differences due to structural differences between CESM2 and CESM1. 

The sensitivity of sea ice to fire emissions highlights climate model uncertainty related to the accuracy of prescribed forcings. 

Abstract This study quantifies the state of the art in the rapidly growing field of seasonal Arctic sea ice prediction. A novel multimodel dataset of retrospective seasonal predictions of September Arctic sea ice is created and analyzed, consisting of community contributions from 17 statistical models and 17 dynamical models. Prediction skill is compared over the period 2001–20 for predictions of pan-Arctic sea ice extent (SIE), regional SIE, and local sea ice concentration (SIC) initialized on 1 June, 1 July, 1 August, and 1 September. This diverse set of statistical and dynamical models can individually predict linearly detrended pan-Arctic SIE anomalies with skill, and a multimodel median prediction has correlation coefficients of 0.79, 0.86, 0.92, and 0.99 at these respective initialization times. Regional SIE predictions have similar skill to pan-Arctic predictions in the Alaskan and Siberian regions, whereas regional skill is lower in the Canadian, Atlantic, and central Arctic sectors. The skill of dynamical and statistical models is generally comparable for pan-Arctic SIE, whereas dynamical models outperform their statistical counterparts for regional and local predictions. The prediction systems are found to provide the most value added relative to basic reference forecasts in the extreme SIE years of 1996, 2007, and 2012. SIE prediction errors do not show clear trends over time, suggesting that there has been minimal change in inherent sea ice predictability over the satellite era. Overall, this study demonstrates that there are bright prospects for skillful operational predictions of September sea ice at least 3 months in advance. 

The magnitude, spectral composition, and variability of the Arctic sea ice surface albedo are key to understanding and numerically simulating Earth’s shortwave energy budget. Spectral and broadband albedos of Arctic sea ice were spatially and temporally sampled by on-ice observers along individual survey lines throughout the sunlit season (April–September, 2020) during the Multidisciplinary drifting Observatory for the Study of Arctic Climate (MOSAiC) expedition. The seasonal evolution of albedo for the MOSAiC year was constructed from spatially averaged broadband albedo values for each line. Specific locations were identified as representative of individual ice surface types, including accumulated dry snow, melting snow, bare and melting ice, melting and refreezing ponded ice, and sediment-laden ice. The area-averaged seasonal progression of total albedo recorded during MOSAiC showed remarkable similarity to that recorded 22 years prior on multiyear sea ice during the Surface Heat Budget of the Arctic Ocean (SHEBA) expedition. In accord with these and other previous field efforts, the spectral albedo of relatively thick, snow-free, melting sea ice shows invariance across location, decade, and ice type. In particular, the albedo of snow-free, melting seasonal ice was indistinguishable from that of snow-free, melting second-year ice, suggesting that the highly scattering surface layer that forms on sea ice during the summer is robust and stabilizing. In contrast, the albedo of ponded ice was observed to be highly variable at visible wavelengths. Notable temporal changes in albedo were documented during melt and freeze onset, formation and deepening of melt ponds, and during melt evolution of sediment-laden ice. While model simulations show considerable agreement with the observed seasonal albedo progression, disparities suggest the need to improve how the albedo of both ponded ice and thin, melting ice are simulated. 

Abstract This paper presents the development of an origami-inspired support system (the OriGuide) that enables the insertion of flexible instruments using medical robots. Varying parameters of a triangulated cylindrical origami pattern were combined to create an effective highly compressible anti-buckling system that maintains a constant inner diameter for supporting an instrument and a constant outer diameter throughout actuation. The proposed origami pattern is composed of two repeated patterns: a bistable pattern to create support points to mitigate flexible shaft buckling and a monostable pattern to enable axial extension and compression of the support system. The origami-based portion of the device is combined with two rigid mounts for interfacing with the medical robot. The origami-based portion of the device is fabricated from a single sheet of polyethylene terephthalate. The length, outer diameter, and inner diameter that emerge from the fold pattern can be customized to accommodate various robot designs and flexible instrument geometries without increasing the part count. The support system also adds protection to the instrument from external contamination.