SICOPOLIS-AD v1: an open-source adjoint modeling framework for ice sheet simulation enabled by the algorithmic differentiation tool OpenAD
Abstract
We present a new capability of the ice sheet model SICOPOLIS that enables flexible adjoint code generation via source transformation using the open-source algorithmic differentiation (AD) tool OpenAD.The adjoint code enables efficient calculation of the sensitivities of a scalar-valued objective function or quantity of interest (QoI) to a range of important, often spatially varying and uncertain model input variables, including initial and boundary conditions, as well as model parameters.Compared to earlier work on the adjoint code generation of SICOPOLIS, our work makes several important advances:(i) it is embedded within the up-to-date trunk of the SICOPOLIS repository – accounting for 1.5 decades of code development and improvements – and is readily available to the wider community;(ii) the AD tool used, OpenAD, is an open-source tool;(iii) the adjoint code developed is applicable to both Greenland and Antarctica, including grounded ice as well as floating ice shelves, with an extended choice of thermodynamical representations.A number of code refactorization steps were required. They are discussed in detail in an Appendix as they hold lessons for the application of AD to legacy codes at large.As an example application, we examine the sensitivity of the total Antarctic Ice Sheet volume to changes in initial ice thickness, austral summer precipitation, andmore »
- Authors:
-
[2];
[3];
[1]
- Univ. of Texas, Austin, TX (United States)
- Argonne National Lab. (ANL), Argonne, IL (United States)
- Hokkaido Univ., Sapporo (Japan)
- Publication Date:
- Research Org.:
- Argonne National Lab. (ANL), Argonne, IL (United States)
- Sponsoring Org.:
- USDOE Office of Science (SC); National Science Foundation (NSF); Japan Society for the Promotion of Science (JSPS); Ministry of Education, Culture, Sports, Science and Technology (MEXT) of Japan
- OSTI Identifier:
- 1632866
- Grant/Contract Number:
- AC02-06CH11357; SC0008060; 1750035; JP16H02224; JP17H06104; JP17H06323
- Resource Type:
- Accepted Manuscript
- Journal Name:
- Geoscientific Model Development (Online)
- Additional Journal Information:
- Journal Name: Geoscientific Model Development (Online); Journal Volume: 13; Journal Issue: 4; Journal ID: ISSN 1991-9603
- Publisher:
- European Geosciences Union
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 58 GEOSCIENCES
Citation Formats
Logan, Liz C., Narayanan, Sri Hari Krishna, Greve, Ralf, and Heimbach, Patrick. SICOPOLIS-AD v1: an open-source adjoint modeling framework for ice sheet simulation enabled by the algorithmic differentiation tool OpenAD. United States: N. p., 2020.
Web. doi:10.5194/gmd-13-1845-2020.
Logan, Liz C., Narayanan, Sri Hari Krishna, Greve, Ralf, & Heimbach, Patrick. SICOPOLIS-AD v1: an open-source adjoint modeling framework for ice sheet simulation enabled by the algorithmic differentiation tool OpenAD. United States. https://doi.org/10.5194/gmd-13-1845-2020
Logan, Liz C., Narayanan, Sri Hari Krishna, Greve, Ralf, and Heimbach, Patrick. Thu .
"SICOPOLIS-AD v1: an open-source adjoint modeling framework for ice sheet simulation enabled by the algorithmic differentiation tool OpenAD". United States. https://doi.org/10.5194/gmd-13-1845-2020. https://www.osti.gov/servlets/purl/1632866.
@article{osti_1632866,
title = {SICOPOLIS-AD v1: an open-source adjoint modeling framework for ice sheet simulation enabled by the algorithmic differentiation tool OpenAD},
author = {Logan, Liz C. and Narayanan, Sri Hari Krishna and Greve, Ralf and Heimbach, Patrick},
abstractNote = {We present a new capability of the ice sheet model SICOPOLIS that enables flexible adjoint code generation via source transformation using the open-source algorithmic differentiation (AD) tool OpenAD.The adjoint code enables efficient calculation of the sensitivities of a scalar-valued objective function or quantity of interest (QoI) to a range of important, often spatially varying and uncertain model input variables, including initial and boundary conditions, as well as model parameters.Compared to earlier work on the adjoint code generation of SICOPOLIS, our work makes several important advances:(i) it is embedded within the up-to-date trunk of the SICOPOLIS repository – accounting for 1.5 decades of code development and improvements – and is readily available to the wider community;(ii) the AD tool used, OpenAD, is an open-source tool;(iii) the adjoint code developed is applicable to both Greenland and Antarctica, including grounded ice as well as floating ice shelves, with an extended choice of thermodynamical representations.A number of code refactorization steps were required. They are discussed in detail in an Appendix as they hold lessons for the application of AD to legacy codes at large.As an example application, we examine the sensitivity of the total Antarctic Ice Sheet volume to changes in initial ice thickness, austral summer precipitation, and basal and surface temperatures across the ice sheet.Simulations of Antarctica with floating ice shelves show that over 100 years of simulation the sensitivity of total ice sheet volume to the initial ice thickness and precipitation is almost uniformly positive, while the sensitivities to surface and basal temperature are almost uniformly negative. Sensitivity to austral summer precipitation is largest on floating ice shelves from Queen Maud to Queen Mary Land. The largest sensitivity to initial ice thickness is at outlet glaciers around Antarctica. Comparison between total ice sheet volume sensitivities to surface and basal temperature shows that surface temperature sensitivities are higher broadly across the floating ice shelves, while basal temperature sensitivities are highest at the grounding lines of floating ice shelves and outlet glaciers. A uniformly perturbed region of East Antarctica reveals that, among the four control variables tested here, total ice sheet volume is the most sensitive to variations in austral summer precipitation as formulated in SICOPOLIS.Comparison between adjoint- and finite-difference-derived sensitivities shows good agreement, lending confidence that the AD tool is producing correct adjoint code.The new modeling infrastructure is freely available at http://www.sicopolis.net (last access: 2 April 2020) under the development trunk.},
doi = {10.5194/gmd-13-1845-2020},
journal = {Geoscientific Model Development (Online)},
number = 4,
volume = 13,
place = {United States},
year = {2020},
month = {4}
}
Free Publicly Available Full Text
Publisher's Version of Record
Other availability
Search WorldCat to find libraries that may hold this journalFigures / Tables:
Figure 1: Schematic of AD applied to a simple function, $\mathcal{F}$(a,b,c) = y = sin(a · b)c (see top figure). Intermediate results of the function evaluation are stored in the intermediate variables t1 and t2. We wish to determine the gradient of $\mathcal{F}$ with respect to all inputs a,b,c, symbolicallymore »
All figures and tables
(6 total)
Save to My Library
You must Sign In or Create an Account in order to save documents to your library.
Works referenced in this record:
Rheology of the Ronne Ice Shelf, Antarctica, inferred from satellite radar interferometry data using an inverse control method
journal, January 2005
- Larour, E.
- Geophysical Research Letters, Vol. 32, Issue 5
Bedmap2: improved ice bed, surface and thickness datasets for Antarctica
journal, January 2013
- Fretwell, P.; Pritchard, H. D.; Vaughan, D. G.
- The Cryosphere, Vol. 7, Issue 1
Generating efficient derivative code with TAF
journal, October 2005
- Giering, R.; Kaminski, T.; Slawig, T.
- Future Generation Computer Systems, Vol. 21, Issue 8
The Theory of Glacier Sliding
journal, January 1964
- Weertman, J.
- Journal of Glaciology, Vol. 5, Issue 39
Greenland ice-sheet volume sensitivity to basal, surface and initial conditions derived from an adjoint model
journal, January 2009
- Heimbach, Patrick; Bugnion, Véronique
- Annals of Glaciology, Vol. 50, Issue 52
Climate Model Intercomparisons: Preparing for the Next Phase
journal, March 2014
- Meehl, Gerald A.; Moss, Richard; Taylor, Karl E.
- Eos, Transactions American Geophysical Union, Vol. 95, Issue 9
Practical global oceanic state estimation
journal, June 2007
- Wunsch, Carl; Heimbach, Patrick
- Physica D: Nonlinear Phenomena, Vol. 230, Issue 1-2
Comparison of Numerical Schemes for the Solution of the Ice-Thickness Equation in a Dynamic/Thermodynamic Ice-Sheet Model
journal, July 2002
- Greve, Ralf; Calov, Reinhard
- Journal of Computational Physics, Vol. 179, Issue 2
Comparison of hybrid schemes for the combination of shallow approximations in numerical simulations of the Antarctic Ice Sheet
journal, January 2017
- Bernales, Jorge; Rogozhina, Irina; Greve, Ralf
- The Cryosphere, Vol. 11, Issue 1
A Three-Dimensional Time-Dependent Model of the West Antarctic Ice Sheet
journal, January 1984
- Budd, W. F.; Jenssen, D.; Smith, I. N.
- Annals of Glaciology, Vol. 5
Theory of shallow ice shelves
journal, February 1999
- Weis, M.; Greve, R.; Hutter, K.
- Continuum Mechanics and Thermodynamics, Vol. 11, Issue 1
Comparison of adjoint and nudging methods to initialise ice sheet model basal conditions
journal, January 2016
- Mosbeux, Cyrille; Gillet-Chaulet, Fabien; Gagliardini, Olivier
- Geoscientific Model Development, Vol. 9, Issue 7
initMIP-Antarctica: an ice sheet model initialization experiment of ISMIP6
journal, January 2019
- Seroussi, Hélène; Nowicki, Sophie; Simon, Erika
- The Cryosphere, Vol. 13, Issue 5
Spatial patterns of basal drag inferred using control methods from a full-Stokes and simpler models for Pine Island Glacier, West Antarctica: SPATIAL PATTERNS OF BASAL DRAG
journal, July 2010
- Morlighem, M.; Rignot, E.; Seroussi, H.
- Geophysical Research Letters, Vol. 37, Issue 14
A structural glaciological analysis of the 2002 Larsen B ice-shelf collapse
journal, January 2008
- Glasser, N. F.; Scambos, T. A.
- Journal of Glaciology, Vol. 54, Issue 184
Greenland ice sheet contribution to sea-level rise from a new-generation ice-sheet model
journal, January 2012
- Gillet-Chaulet, F.; Gagliardini, O.; Seddik, H.
- The Cryosphere, Vol. 6, Issue 6
Solution of Nonlinear Stokes Equations Discretized By High-Order Finite Elements on Nonconforming and Anisotropic Meshes, with Application to Ice Sheet Dynamics
journal, January 2015
- Isaac, Tobin; Stadler, Georg; Ghattas, Omar
- SIAM Journal on Scientific Computing, Vol. 37, Issue 6
ECCO version 4: an integrated framework for non-linear inverse modeling and global ocean state estimation
journal, January 2015
- Forget, G.; Campin, J. -M.; Heimbach, P.
- Geoscientific Model Development, Vol. 8, Issue 10
Inferred basal friction and surface mass balance of the Northeast Greenland Ice Stream using data assimilation of ICESat (Ice Cloud and land Elevation Satellite) surface altimetry and ISSM (Ice Sheet System Model)
journal, January 2014
- Larour, E.; Utke, J.; Csatho, B.
- The Cryosphere, Vol. 8, Issue 6
An efficient regional energy-moisture balance model for simulation of the Greenland Ice Sheet response to climate change
journal, January 2010
- Robinson, A.; Calov, R.; Ganopolski, A.
- The Cryosphere, Vol. 4, Issue 2
An efficient exact adjoint of the parallel MIT General Circulation Model, generated via automatic differentiation
journal, October 2005
- Heimbach, Patrick; Hill, Chris; Giering, Ralf
- Future Generation Computer Systems, Vol. 21, Issue 8
Inference of accumulation-rate patterns from deep layers in glaciers and ice sheets
journal, January 2007
- Waddington, Edwin D.; Neumann, Thomas A.; Koutnik, Michelle R.
- Journal of Glaciology, Vol. 53, Issue 183
Data assimilation using a hybrid ice flow model
journal, January 2011
- Goldberg, D. N.; Sergienko, O. V.
- The Cryosphere, Vol. 5, Issue 2
Algorithm 799: revolve: an implementation of checkpointing for the reverse or adjoint mode of computational differentiation
journal, March 2000
- Griewank, Andreas; Walther, Andrea
- ACM Transactions on Mathematical Software, Vol. 26, Issue 1
An inexact Gauss-Newton method for inversion of basal sliding and rheology parameters in a nonlinear Stokes ice sheet model
journal, January 2012
- Petrat, Noemi; Zhu, Hongyu; Stadler, Georg
- Journal of Glaciology, Vol. 58, Issue 211
Differentiable Programming Tensor Networks
journal, September 2019
- Liao, Hai-Jun; Liu, Jin-Guo; Wang, Lei
- Physical Review X, Vol. 9, Issue 3
An optimized treatment for algorithmic differentiation of an important glaciological fixed-point problem
journal, January 2016
- Goldberg, Daniel N.; Narayanan, Sri Hari Krishna; Hascoet, Laurent
- Geoscientific Model Development, Vol. 9, Issue 5
Parameter and state estimation with a time-dependent adjoint marine ice sheet model
journal, January 2013
- Goldberg, D. N.; Heimbach, P.
- The Cryosphere, Vol. 7, Issue 6
Optimal initial conditions for coupling ice sheet models to Earth system models: PEREGO ET AL.
journal, September 2014
- Perego, Mauro; Price, Stephen; Stadler, Georg
- Journal of Geophysical Research: Earth Surface, Vol. 119, Issue 9
Editorial for Ocean Reanalysis Intercomparison Special Issue: ORAIP-v1: the ocean reanalyses intercomparison project version 1
journal, August 2017
- Balmaseda, Magdalena Alonso
- Climate Dynamics, Vol. 49, Issue 3
Source-to-source adjoint Algorithmic Differentiation of an ice sheet model written in C
journal, November 2017
- Hascoët, L.; Morlighem, M.
- Optimization Methods and Software, Vol. 33, Issue 4-6
Variational Assimilation of Meteorological Observations With the Adjoint Vorticity Equation. I: Theory
journal, October 1987
- Talagrand, Olivier; Courtier, Philippe
- Quarterly Journal of the Royal Meteorological Society, Vol. 113, Issue 478
Programming language features, usage patterns, and the efficiency of generated adjoint code
journal, February 2016
- Hascoët, Laurent; Utke, Jean
- Optimization Methods and Software, Vol. 31, Issue 5
Fitting dynamics to data
journal, January 1988
- Thacker, William Carlisle; Long, Robert Bryan
- Journal of Geophysical Research, Vol. 93, Issue C2
Various isotropic and anisotropic ices found in glaciers and polar ice caps and their corresponding rheologies
journal, December 1985
- Lliboutry, L.; Duval, P.
- International Journal of Rock Mechanics and Mining Sciences & Geomechanics Abstracts, Vol. 22, Issue 6
Ice-Shelf Response to Ice-stream Discharge Fluctuations: III. The Effects of Ice-stream Imbalance on the Ross Ice Shelf, Antarctica
journal, January 1989
- Macayeal, Douglas R.
- Journal of Glaciology, Vol. 35, Issue 119
Construction of the adjoint MIT ocean general circulation model and application to Atlantic heat transport sensitivity
journal, December 1999
- Marotzke, Jochem; Giering, Ralf; Zhang, Kate Q.
- Journal of Geophysical Research: Oceans, Vol. 104, Issue C12
Paleothermometry by control methods
journal, January 1991
- MacAyeal, Douglas R.; Firestone, John; Waddington, Edwin
- Journal of Glaciology, Vol. 37, Issue 127
The ERA-40 re-analysis
journal, October 2005
- Uppala, S. M.; KÅllberg, P. W.; Simmons, A. J.
- Quarterly Journal of the Royal Meteorological Society, Vol. 131, Issue 612
Comparison of thermodynamics solvers in the polythermal ice sheet model SICOPOLIS
journal, March 2016
- Greve, Ralf; Blatter, Heinz
- Polar Science, Vol. 10, Issue 1
Basal conditions for Pine Island and Thwaites Glaciers, West Antarctica, determined using satellite and airborne data
journal, January 2009
- Joughin, Ian; Tulaczyk, Slawek; Bamber, Jonathan L.
- Journal of Glaciology, Vol. 55, Issue 190
Inversion of basal friction in Antarctica using exact and incomplete adjoints of a higher-order model: ANTARCTIC BASAL FRICTION INVERSION
journal, September 2013
- Morlighem, M.; Seroussi, H.; Larour, E.
- Journal of Geophysical Research: Earth Surface, Vol. 118, Issue 3
Thermomechanical balances of ice sheet flows
journal, May 1984
- Morland, L. W.
- Geophysical & Astrophysical Fluid Dynamics, Vol. 29, Issue 1-4
An improved Antarctic dataset for high resolution numerical ice sheet models (ALBMAP v1)
journal, January 2010
- Le Brocq, A. M.; Payne, A. J.; Vieli, A.
- Earth System Science Data, Vol. 2, Issue 2
Application of control methods for modelling the flow of Pine Island Glacier, West Antarctica
journal, January 2003
- Vieli, Andreas; Payne, Antony J.
- Annals of Glaciology, Vol. 36
A new bed elevation dataset for Greenland
journal, January 2013
- Bamber, J. L.; Griggs, J. A.; Hurkmans, R. T. W. L.
- The Cryosphere, Vol. 7, Issue 2
Committed retreat of Smith, Pope, and Kohler Glaciers over the next 30 years inferred by transient model calibration
journal, January 2015
- Goldberg, D. N.; Heimbach, P.; Joughin, I.
- The Cryosphere, Vol. 9, Issue 6
Comparative simulations of the evolution of the Greenland ice sheet under simplified Paris Agreement scenarios with the models SICOPOLIS and ISSM
journal, September 2019
- Rückamp, Martin; Greve, Ralf; Humbert, Angelika
- Polar Science, Vol. 21
A continuum–mechanical formulation for shallow polythermal ice sheets
journal, May 1997
- Greve, Ralf
- Philosophical Transactions of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences, Vol. 355, Issue 1726
Design and results of the ice sheet model initialisation experiments initMIP-Greenland: an ISMIP6 intercomparison
journal, January 2018
- Goelzer, Heiko; Nowicki, Sophie; Edwards, Tamsin
- The Cryosphere, Vol. 12, Issue 4
A new ice thickness and bed data set for the Greenland ice sheet: 1. Measurement, data reduction, and errors
journal, December 2001
- Bamber, J. L.; Layberry, R. L.; Gogineni, S. P.
- Journal of Geophysical Research: Atmospheres, Vol. 106, Issue D24
Antarctic snow accumulation mapped using polarization of 4.3-cm wavelength microwave emission
journal, January 2006
- Arthern, Robert J.; Winebrenner, Dale P.; Vaughan, David G.
- Journal of Geophysical Research, Vol. 111, Issue D6
MPAS-Albany Land Ice (MALI): a variable-resolution ice sheet model for Earth system modeling using Voronoi grids
journal, January 2018
- Hoffman, Matthew J.; Perego, Mauro; Price, Stephen F.
- Geoscientific Model Development, Vol. 11, Issue 9
Larsen B Ice Shelf rheology preceding its disintegration inferred by a control method
journal, January 2007
- Khazendar, A.; Rignot, E.; Larour, E.
- Geophysical Research Letters, Vol. 34, Issue 19
OpenAD/F: A Modular Open-Source Tool for Automatic Differentiation of Fortran Codes
journal, July 2008
- Utke, Jean; Naumann, Uwe; Fagan, Mike
- ACM Transactions on Mathematical Software, Vol. 34, Issue 4
Data assimilation and prognostic whole ice sheet modelling with the variationally derived, higher order, open source, and fully parallel ice sheet model VarGlaS
journal, January 2013
- Brinkerhoff, D. J.; Johnson, J. V.
- The Cryosphere, Vol. 7, Issue 4
Parameterization of the Annual Surface Temperature and Mass Balance of Antarctica
journal, January 1990
- Fortuin, J. P. F.; Oerlemans, J.
- Annals of Glaciology, Vol. 14
An enthalpy formulation for glaciers and ice sheets
journal, January 2012
- Aschwanden, Andy; Bueler, Ed; Khroulev, Constantine
- Journal of Glaciology, Vol. 58, Issue 209
The Theory of Glacier Sliding
journal, January 1964
- Weertman, J.
- Journal of Glaciology, Vol. 5, Issue 39
An improved Antarctic dataset for high resolution numerical ice sheet models (ALBMAP v1)
journal, January 2010
- Le Brocq, A. M.; Payne, A. J.; Vieli, A.
- Earth System Science Data Discussions, Vol. 3, Issue 1
Greenland Ice Sheet contribution to sea-level rise from a new-generation ice-sheet model
journal, January 2012
- Gillet-Chaulet, F.; Gagliardini, O.; Seddik, H.
- The Cryosphere Discussions, Vol. 6, Issue 4
Application of control methods for modelling the flow of Pine Island Glacier, West Antarctica
text, January 2003
- Vieli, Andreas; Payne, Antony J.
- International Glaciological Society
An improved Antarctic dataset for high resolution numerical ice sheet models (ALBMAP v1)
text, January 2010
- Le Brocq, A. M.; Payne, Antony J.; Vieli, Andreas
- Copernicus Publications
Paleothermometry by control methods
journal, January 1991
- MacAyeal, Douglas R.; Firestone, John; Waddington, Edwin
- Journal of Glaciology, Vol. 37, Issue 127
A Three-Dimensional Time-Dependent Model of the West Antarctic Ice Sheet
journal, January 1984
- Budd, W. F.; Jenssen, D.; Smith, I. N.
- Annals of Glaciology, Vol. 5
Geothermal heat flux distribution for the Greenland ice sheet, derived by combining a global representation and information from deep ice cores
dataset, January 2018
- Greve, Ralf
- Arctic Data archive System (ADS), Japan
Solution of nonlinear Stokes equations discretized by high-order finite elements on nonconforming and anisotropic meshes, with application to ice sheet dynamics
text, January 2014
- Isaac, Tobin; Stadler, Georg; Ghattas, Omar
- arXiv
Comparison of thermodynamics solvers in the polythermal ice sheet model SICOPOLIS
text, January 2015
- Greve, Ralf; Blatter, Heinz
- arXiv
Figures / Tables found in this record:
Figures/Tables have been extracted from DOE-funded journal article accepted manuscripts.