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Optical flow models as an open benchmark for radar-based precipitation nowcasting (rainymotion v0.1)
(2019)
Quantitative precipitation nowcasting (QPN) has become an essential technique in various application contexts, such as early warning or urban sewage control. A common heuristic prediction approach is to track the motion of precipitation features from a sequence of weather radar images and then to displace the precipitation field to the imminent future (minutes to hours) based on that motion, assuming that the intensity of the features remains constant (“Lagrangian persistence”). In that context, “optical flow” has become one of the most popular tracking techniques. Yet the present landscape of computational QPN models still struggles with producing open software implementations. Focusing on this gap, we have developed and extensively benchmarked a stack of models based on different optical flow algorithms for the tracking step and a set of parsimonious extrapolation procedures based on image warping and advection. We demonstrate that these models provide skillful predictions comparable with or even superior to state-of-the-art operational software. Our software library (“rainymotion”) for precipitation nowcasting is written in the Python programming language and openly available at GitHub (https://github.com/hydrogo/rainymotion, Ayzel et al., 2019). That way, the library may serve as a tool for providing fast, free, and transparent solutions that could serve as a benchmark for further model development and hypothesis testing – a benchmark that is far more advanced than the conventional benchmark of Eulerian persistence commonly used in QPN verification experiments.
Planetary research is often user-based and requires considerable skill, time, and effort. Unfortunately, self-defined boundary conditions, definitions, and rules are often not documented or not easy to comprehend due to the complexity of research. This makes a comparison to other studies, or an extension of the already existing research, complicated. Comparisons are often distorted, because results rely on different, not well defined, or even unknown boundary conditions. The purpose of this research is to develop a standardized analysis method for planetary surfaces, which is adaptable to several research topics. The method provides a consistent quality of results. This also includes achieving reliable and comparable results and reducing the time and effort of conducting such studies. A standardized analysis method is provided by automated analysis tools that focus on statistical parameters. Specific key parameters and boundary conditions are defined for the tool application. The analysis relies on a database in which all key parameters are stored. These databases can be easily updated and adapted to various research questions. This increases the flexibility, reproducibility, and comparability of the research. However, the quality of the database and reliability of definitions directly influence the results. To ensure a high quality of results, the rules and definitions need to be well defined and based on previously conducted case studies. The tools then produce parameters, which are obtained by defined geostatistical techniques (measurements, calculations, classifications). The idea of an automated statistical analysis is tested to proof benefits but also potential problems of this method. In this study, I adapt automated tools for floor-fractured craters (FFCs) on Mars. These impact craters show a variety of surface features, occurring in different Martian environments, and having different fracturing origins. They provide a complex morphological and geological field of application. 433 FFCs are classified by the analysis tools due to their fracturing process. Spatial data, environmental context, and crater interior data are analyzed to distinguish between the processes involved in floor fracturing. Related geologic processes, such as glacial and fluvial activity, are too similar to be separately classified by the automated tools. Glacial and fluvial fracturing processes are merged together for the classification. The automated tools provide probability values for each origin model. To guarantee the quality and reliability of the results, classification tools need to achieve an origin probability above 50 %. This analysis method shows that 15 % of the FFCs are fractured by intrusive volcanism, 20 % by tectonic activity, and 43 % by water & ice related processes. In total, 75 % of the FFCs are classified to an origin type. This can be explained by a combination of origin models, superposition or erosion of key parameters, or an unknown fracturing model. Those features have to be manually analyzed in detail. Another possibility would be the improvement of key parameters and rules for the classification. This research shows that it is possible to conduct an automated statistical analysis of morphologic and geologic features based on analysis tools. Analysis tools provide additional information to the user and are therefore considered assistance systems.
Studies on the unsustainable use of groundwater resources are still considered incipient since it is frequently a poorly understood and managed, devalued and inadequately protected natural resource. Groundwater Recharge (GWR) is one of the most challenging elements to estimate since it can rarely be measured directly and cannot easily be derived from existing data. To overcome these limitations, many hydro(geo)logists have combined different approaches to estimate large-scale GWR, namely: remote sensing products, such as IMERG product; Water Budget Equation, also in combination with hydrological models, and; Geographic Information System (GIS), using estimation formulas. For intermediary-scale GWR estimation, there exist: Non-invasive Cosmic-Ray Neutron Sensing (CRNS); wireless networks from local soil probes; and soil hydrological models, such as HYDRUS. Accordingly, this PhD thesis aims, on the one hand, to demonstrate a GIS-based model coupling for estimating the GWR distribution on a large scale in tropical wet basins. On the other hand, it aims to use the time series from CRNS and invasive soil moisture probes to inversely calibrate the soil hydraulic properties, and based on this, estimating the intermediary-scale GWR using a soil hydrological model. For such purpose, two tropical wet basins located in a complex sedimentary aquifer in the coastal Northeast region of Brazil were selected. These are the João Pessoa Case Study Area and the Guaraíra Experimental Basin. Several satellite products in the first area were used as input to the GIS-based water budget equation model for estimating the water balance components and GWR in 2016 and 2017. In addition, the point-scale measurement and CRNS data were used in the second area to determine the soil hydraulic properties, and to estimate the GWR in the 2017-2018 and 2018-2019 hydrological years. The resulting values of GWR on large- and intermediary-scale were then compared and validated by the estimates obtained by groundwater table fluctuations. The GWR rates for IMERG- and rain-gauge-based scenarios showed similar coefficients between 68% and 89%, similar mean errors between 30% and 34%, and slightly-different bias between -13% and 11%. The results of GWR rates for soil probes and CRNS soil moisture scenarios ranged from -5.87 to -61.81 cm yr-1, which corresponds to 5% and 38% of the precipitation. The calculations of the mean GWR rates on large-scale, based on remote sensing data, and on intermediary-scale, based on CRNS data, held similar results for the Podzol soil type, namely 17.87% and 17% of the precipitation. It is then concluded that the proposed methodologies allowed for estimating realistically the GWR over the study areas, which can be a ground-breaking step towards improving the water management and decision-making in the Northeast of Brazil.
Exploring elections features from a geographical perspective is the focus of this study. Its primary objective is to develop a scientific approach based on geoinformation technology (GIT) that promotes deeper understanding how geographical settings affect the spatial and temporal variations of voting behaviour and election outcomes. For this purpose, the five parliamentary elections (1991-2005) following the political turnaround in 1990 in the South East European reform country Albania have been selected as a case study. Elections, like other social phenomena that do not develop uniformly over a territory, inherit a spatial dimension. Despite of fact that elections have been researched by various scientific disciplines ranging from political science to geography, studies that incorporate their spatial dimension are still limited in number and approaches. Consequently, the methodologies needed to generate an integrated knowledge on many facets that constitute election features are lacking. This study addresses characteristics and interactions of the essential elements involved in an election process. Thus, the baseline of the approach presented here is the exploration of relations between three entities: electorate (political and sociodemographic features), election process (electoral system and code) and place (environment where voters reside). To express this interaction the concept of electoral pattern is introduced. Electoral patterns are defined by the study as the final view of election results, chiefly in tabular and/or map form, generated by the complex interaction of social, economic, juridical, and spatial features of the electorate, which has occurred at a specific time and in a particular geographical location. GIT methods of geoanalysis and geovisualization are used to investigate the characteristics of electoral patterns in their spatial and temporal distribution. Aggregate-level data modelled in map form were used to analyse and visualize the spatial distribution of election patterns components and relations. The spatial dimension of the study is addressed in the following three main relations: One, the relation between place and electorate and its expression through the social, demographic and economic features of the electorate resulting in the profile of the electorate’s context; second, the electorate-election interaction which forms the baseline to explore the perspective of local contextual effects in voting behaviour and election results; third, the relation between geographical location and election outcomes reflecting the implication of determining constituency boundaries on election results. To address the above relations, three types of variables: geo, independent and dependent, have been elaborated and two models have been created. The Data Model, developed in a GIS environment, facilitates structuring of election data in order to perform spatial analysis. The peculiarity of electoral patterns – a multidimensional array that contains information on three variables, stored in data layers of dissimilar spatial units of reference and scales of value measurement – prohibit spatial analysis based on the original source data. To perform a joint spatial analysis it is therefore mandatory to restructure the spatial units of reference while preserving their semantic content. In this operation, all relevant electoral as well as socio-demographic data referenced to different administrative spatial entities are re-referenced to uniform grid cells as virtual spatial units of reference. Depending on the scale of data acquisition and map presentation, a cell width of 0.5 km has been determined. The resulting fine grid forms the basis of subsequent data analyses and correlations. Conversion of the original vector data layers into target raster layers allows for unification of spatial units, at the same time retaining the existing level of detail of the data (variables, uniform distribution over space). This in turn facilitates the integration of the variables studied and the performance of GIS-based spatial analysis. In addition, conversion to raster format makes it possible to assign new values to the original data, which are based on a common scale eliminating existing differences in scale of measurement. Raster format operations of the type described are well-established data analysis techniques in GIT, yet they have rarely been employed to process and analyse electoral data. The Geovisualization Model, developed in a cartographic environment, complements the Data Model. As an analog graphic model it facilitates efficient communication and exploration of geographical information through cartographic visualization. Based on this model, 52 choropleth maps have been generated. They represent the outcome of the GIS-based electoral data analysis. The analog map form allows for in-depth visual analysis and interpretation of the distribution and correlation of the electoral data studied. For researchers, decision makers and a wider public the maps provide easy-to-access information on and promote easy-to-understand insight into the spatial dimension, regional variation and resulting structures of the electoral patterns defined.
Submerged sequences of marine terraces potentially provide crucial information of past sea-level positions. However, the distribution and characteristics of drowned marine terrace sequences are poorly known at a global scale. Using bathymetric data and novel mapping and modeling techniques, we studied a submerged sequence of marine terraces in the Bay of Biscay with the objective to identify the distribution and morphologies of submerged marine terraces and the timing and conditions that allowed their formation and preservation. To accomplish the objectives a high-resolution bathymetry (5 m) was analyzed using Geographic Information Systems and TerraceM(R). The successive submerged terraces were identified using a Surface Classification Model, which linearly combines the slope and the roughness of the surface to extract fossil sea-cliffs and fossil rocky shore platforms. For that purpose, contour and hillshaded maps were also analyzed. Then, shoreline angles, a geomorphic marker located at the intersection between the fossil sea-cliff and platform, were mapped analyzing swath profiles perpendicular to the isobaths. Most of the submerged strandlines are irregularly preserved throughout the continental shelf. In summary, 12 submerged terraces with their shoreline angles between approximately: -13 m (T1), -30 and -32 m (T2), -34 and 41 m (T3), -44 and -47 m (T4), -49 and 53 m (T5), -55 and 58 m (T6), -59 and 62 m (T7), -65 and 67 m (T8), -68 and 70 m (T9), -74 and -77 m (T10), -83 and -86 m (T11) and -89 and 92 m (T12). Nevertheless, the ones showing the best lateral continuity and preservation in the central part of the shelf are T3, T4, T5, T7, T8, and T10. The age of the terraces has been estimated using a landscape evolution model. To simulate the formation and preservation of submerged terraces three different scenarios: (i) 20-0 ka; (ii) 128-0 ka; and (iii) 128-20 ka, were compared. The best scenario for terrace generation was between 128 and 20 Ka, where T3, T5, and T7 could have been formed.
Streamflow dynamics in mountainous environments are controlled by runoff generation processes in the basin upstream. Runoff generation processes are thus a major control of the terrestrial part of the water cycle, influencing both, water quality and water quantity as well as their dynamics. The understanding of these processes becomes especially important for the prediction of floods, erosion, and dangerous mass movements, in particular as hydrological systems often show threshold behavior. In case of extensive environmental changes, be it in climate or in landuse, the understanding of runoff generation processes will allow us to better anticipate the consequences and can thus lead to a more responsible management of resources as well as risks. In this study the runoff generation processes in a small undisturbed catchment in the Chilean Andes were investigated. The research area is characterized by steep hillslopes, volcanic ash soils, undisturbed old growth forest and high rainfall amounts. The investigation of runoff generation processes in this data scarce area is of special interest as a) little is known on the hydrological functioning of the young volcanic ash soils, which are characterized by extremely high porosities and hydraulic conductivities, b) no process studies have been carried out in this area at either slope or catchment scale, and c) understanding the hydrological processes in undisturbed catchments will provide a basis to improve our understanding of disturbed systems, the shift in processes that followed the disturbance and maybe also future process evolution necessary for the achievement of a new steady state. The here studied catchment has thus the potential to serve as a reference catchment for future investigations. As no long term data of rainfall and runoff exists, it was necessary to replace long time series of data with a multitude of experimental methods, using the so called "multi-method approach". These methods cover as many aspects of runoff generation as possible and include not only the measurement of time series such as discharge, rainfall, soil water dynamics and groundwater dynamics, but also various short term measurements and experiments such as determination of throughfall amounts and variability, water chemistry, soil physical parameters, soil mineralogy, geo-electrical soundings and tracer techniques. Assembling the results like pieces of a puzzle produces a maybe not complete but nevertheless useful picture of the dynamic ensemble of runoff generation processes in this catchment. The employed methods were then evaluated for their usefulness vs. expenditures (labour and financial costs). Finally, the hypotheses - the perceptual model of runoff generation generated from the experimental findings - were tested with the physically based model Catflow. Additionally the process-based model Wasim-ETH was used to investigate the influence of landuse on runoff generation at the catchment scale. An initial assessment of hydrologic response of the catchment was achieved with a linear statistical model for the prediction of event runoff coefficients. The parameters identified as best predictors give a first indication of important processes. Various results acquired with the "multi-method approach" show that response to rainfall is generally fast. Preferential vertical flow is of major importance and is reinforced by hydrophobicity during the summer months. Rapid lateral water transport is necessary to produce the fast response signal, however, while lateral subsurface flow was observed at several soil moisture profiles, the location and type of structures causing fast lateral flow on the hillslope scale is still not clear and needs to be investigated in more detail. Surface runoff has not been observed and is unlikely due to the high hydraulic conductivities of the volcanic ash soils. Additionally, a large subsurface storage retains most of the incident rainfall amount during events (>90%, often even >95%) and produces streamflow even after several weeks of drought. Several findings suggest a shift in processes from summer to winter causing changes in flow patterns, changes in response of stream chemistry to rainfall events and also in groundwater-surface water interactions. The results of the modelling study confirm the importance of rapid and preferential flow processes. However, due to the limited knowledge on subsurface structures the model still does not fully capture runoff response. Investigating the importance of landuse on runoff generation showed that while peak runoff generally increased with deforested area, the location of these areas also had an effect. Overall, the "multi-method approach" of replacing long time series with a multitude of experimental methods was successful in the identification of dominant hydrological processes and thus proved its applicability for data scarce catchments under the constraint of limited resources.
Spatial patterns as well as temporal dynamics of soil moisture have a major influence on runoff generation. The investigation of these dynamics and patterns can thus yield valuable information on hydrological processes, especially in data scarce or previously ungauged catchments. The combination of spatially scarce but temporally high resolution soil moisture profiles with episodic and thus temporally scarce moisture profiles at additional locations provides information on spatial as well as temporal patterns of soil moisture at the hillslope transect scale. This approach is better suited to difficult terrain (dense forest, steep slopes) than geophysical techniques and at the same time less cost-intensive than a high resolution grid of continuously measuring sensors. Rainfall simulation experiments with dye tracers while continuously monitoring soil moisture response allows for visualization of flow processes in the unsaturated zone at these locations. Data was analyzed at different spacio-temporal scales using various graphical methods, such as space-time colour maps (for the event and plot scale) and binary indicator maps (for the long-term and hillslope scale). Annual dynamics of soil moisture and decimeterscale variability were also investigated. The proposed approach proved to be successful in the investigation of flow processes in the unsaturated zone and showed the importance of preferential flow in the Malalcahuello Catchment, a datascarce catchment in the Andes of Southern Chile. Fast response times of stream flow indicate that preferential flow observed at the plot scale might also be of importance at the hillslope or catchment scale. Flow patterns were highly variable in space but persistent in time. The most likely explanation for preferential flow in this catchment is a combination of hydrophobicity, small scale heterogeneity in rainfall due to redistribution in the canopy and strong gradients in unsaturated conductivities leading to self-reinforcing flow paths.
The sea level rise induced intensification of coastal floods is a serious threat to many regions in proximity to the ocean. Although severe flood events are rare they can entail enormous damage costs, especially when built-up areas are inundated. Fortunately, the mean sea level advances slowly and there is enough time for society to adapt to the changing environment. Most commonly, this is achieved by the construction or reinforcement of flood defence measures such as dykes or sea walls but also land use and disaster management are widely discussed options. Overall, albeit the projection of sea level rise impacts and the elaboration of adequate response strategies is amongst the most prominent topics in climate impact research, global damage estimates are vague and mostly rely on the same assessment models. The thesis at hand contributes to this issue by presenting a distinctive approach which facilitates large scale assessments as well as the comparability of results across regions. Moreover, we aim to improve the general understanding of the interplay between mean sea level rise, adaptation, and coastal flood damage.
Our undertaking is based on two basic building blocks. Firstly, we make use of macroscopic flood-damage functions, i.e. damage functions that provide the total monetary damage within a delineated region (e.g. a city) caused by a flood of certain magnitude. After introducing a systematic methodology for the automatised derivation of such functions, we apply it to a total of 140 European cities and obtain a large set of damage curves utilisable for individual as well as comparative damage assessments. By scrutinising the resulting curves, we are further able to characterise the slope of the damage functions by means of a functional model. The proposed function has in general a sigmoidal shape but exhibits a power law increase for the relevant range of flood levels and we detect an average exponent of 3.4 for the considered cities. This finding represents an essential input for subsequent elaborations on the general interrelations of involved quantities.
The second basic element of this work is extreme value theory which is employed to characterise the occurrence of flood events and in conjunction with a damage function provides the probability distribution of the annual damage in the area under study. The resulting approach is highly flexible as it assumes non-stationarity in all relevant parameters and can be easily applied to arbitrary regions, sea level, and adaptation scenarios. For instance, we find a doubling of expected flood damage in the city of Copenhagen for a rise in mean sea levels of only 11 cm. By following more general considerations, we succeed in deducing surprisingly simple functional expressions to describe the damage behaviour in a given region for varying mean sea levels, changing storm intensities, and supposed protection levels. We are thus able to project future flood damage by means of a reduced set of parameters, namely the aforementioned damage function exponent and the extreme value parameters. Similar examinations are carried out to quantify the aleatory uncertainty involved in these projections. In this regard, a decrease of (relative) uncertainty with rising mean sea levels is detected. Beyond that, we demonstrate how potential adaptation measures can be assessed in terms of a Cost-Benefit Analysis. This is exemplified by the Danish case study of Kalundborg, where amortisation times for a planned investment are estimated for several sea level scenarios and discount rates.
For three small, mountainous catchments in Germany two medium-range forecast systems are compared that predict precipitation for up to 5 days in advance. One system is composed of the global German weather service (DWD) model, GME, which is dynamically downscaled using the COSMO-EU regional model. The other system is an empirical (expanded) downscaling of the ECMWF model IFS. Forecasts are verified against multi-year daily observations, by applying standard skill scores to events of specified intensity. All event classes are skillfully predicted by the empirical system for up to five days lead time. For the available prediction range of one to two days it is superior to the dynamical system.
A digital filter is introduced which treats the problem of predictability versus time averaging in a continuous, seamless manner. This seamless filter (SF) is characterized by a unique smoothing rule that determines the strength of smoothing in dependence on lead time. The rule needs to be specified beforehand, either by expert knowledge or by user demand. As a result, skill curves are obtained that allow a predictability assessment across a whole range of time-scales, from daily to seasonal, in a uniform manner. The SF is applied to downscaled SEAS5 ensemble forecasts for two focus regions in or near the tropical belt, the river basins of the Karun in Iran and the Sao Francisco in Brazil. Both are characterized by strong seasonality and semi-aridity, so that predictability across various time-scales is in high demand. Among other things, it is found that from the start of the water year (autumn), areal precipitation is predictable with good skill for the Karun basin two and a half months ahead; for the Sao Francisco it is only one month, longer-term prediction skill is just above the critical level.