Imprecise Probability Analysis for Integrated Assessment of Climate Change

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Imprecise Probability Analysis for Integrated Assessment of Climate Change Imprecise Probability Analysis for Integrated Assessment of Climate Change D I S S E R T A T I O N zur Erlangung des akademischen Grades \doctor rerum naturalium" (Dr. rer. nat.) in der Wissenschaftsdisziplin \Theoretische Physik" eingereicht an der Mathematisch-Naturwissenschaftlichen Fakult¨at der Universit¨at Potsdam vorgelegt von Elmar Kriegler Potsdam, im Februar 2005 When there is little information on which to base our conclusions, we cannot expect reasoning (no matter how clever or thorough) to reveal a most probable hypothesis or a uniquely reasonable course of action. There are limits to the power of reason. Peter Walley, 1991, in Statistical Reasoning with Imprecise Probabilities, London, pg. 2 In a predestinate world, decision would be illusory; in a world of perfect foreknowledge, empty; in a world without natural order, powerless. Our intuitive attitude to life implies non-illusory, non-empty, non-powerless decision... Since decision in this sense excludes both perfect foresight and anarchy in nature, it must be defined as choice in face of bounded uncertainty. George L.S. Shackle, 1961, in Decision, Order, and Time in Human Affairs, Cambridge, pg. 43 Abstract We present an application of imprecise probability theory to the quantification of uncertainty in the integrated assessment of climate change. Our work is motivated by the fact that uncertainty about climate change is pervasive, and therefore requires a thorough treatment in the integrated assessment process. Classical probability theory faces some severe difficulties in this respect, since it cannot capture very poor states of information in a satisfactory manner. A more general framework is provided by imprecise probability theory, which offers a similarly firm evidential and behavioural foundation, while at the same time allowing to capture more diverse states of information. An imprecise probability describes the information in terms of lower and upper bounds on probability. For the purpose of our imprecise probability analysis, we construct a diffusion ocean energy balance climate model that parameterises the global mean temperature response to secular trends in the radiative forcing in terms of climate sensitivity and effective vertical ocean heat diffusivity. We compare the model behaviour to the 20th century temperature record in order to derive a likelihood function for these two parameters and the forcing strength of anthropogenic sulphate aerosols. Results show a strong positive correlation between climate sensitivity and ocean heat diffusivity, and between climate sensitivity and absolute strength of the sulphate forcing. We have applied a series of statistical tests to the residual stochasticity, on the basis of which only values of climate sensitivity below 1:1 K, and a sulphate aerosol cooling above 2 1:75 W m− in the year 1990 could be rejected at the 5% significance level. We identify two suitable imprecise probability classes, probability boxes and "-contamination models, for an efficient representation of the uncertainty about the climate model parameters and provide an algorithm to combine the information content of these two classes into a single imprecise probability representation described by a belief function. We construct a belief func- tion for the prior parameter uncertainty from a set of probability estimates in the literature (climate sensitivity, sulphate aerosol cooling) and observational estimates of 20th century ocean heat uptake (ocean heat diffusivity). For the purpose of updating the prior with the likelihood function, we establish a methodological framework that allows us to perform the updating pro- cedure efficiently on the entire event space and for two different updating rules: Dempster's rule of conditioning and the Generalised Bayes' rule. Dempster's rule yields a posterior belief function in good qualitative agreement with previous studies that tried to constrain climate sensitivity and sulphate aerosol cooling. It allocates small weight to high values of climate sensitivity (upper 95% quantile: T 6:9 K) and excludes low values of climate sensitivity 2x ≈ T2x < 1:5 K with almost certainty. Moreover, the sulphate aerosol forcing in the year 1990 can 2 2 be constrained to [ 1:53 W m− ; 0:33 W m− ] with 99% lower confidence. In contrast, we are − − not able to produce meaningful imprecise posterior probability bounds from the application of the Generalised Bayes' Rule. We can attribute this result mainly to our choice of representing the prior uncertainty by a belief function. We project the Dempster-updated belief function for the climate model parameters onto es- timates of future global mean temperature change under several emissions scenarios for the 21st century, and several long-term stabilisation policies. The upper end of the warming estimates is dominated by the possibility of high values of climate sensitivity, and exceeds corresponding es- timates of the Intergovernmental Panel on Climate Change by more than 30%. At the low end, it is very unlikely that the warming in the 21st century will remain below 2 Kelvin in the absence of policy interventions. Within the limitations of our analysis we find that it requires a stringent stabilisation level of around 450 ppm CO2 equivalent to obtain a non-negligible lower proba- bility of limiting the warming to 2 Kelvin. We discuss several frameworks of decision-making iii under ambiguity and show that they can lead to a variety of, possibly imprecise, climate policy recommendations. We find, however, that poor states of information do not necessarily impede a useful policy advice. We conclude that imprecise probabilities constitute indeed a promising candidate for the adequate treatment of uncertainty in the integrated assessment of climate change. We have constructed prior belief functions that allow much weaker assumptions on the prior state of information than a prior probability would require and, nevertheless, can be propagated through the entire assessment process. As a caveat, the updating issue needs further investigation. Belief functions constitute only a sensible choice for the prior uncertainty representation if more restrictive updating rules than the Generalised Bayes' Rule are available. iv Zusammenfassung Diese Arbeit untersucht die Eignung der Theorie der unscharfen Wahrscheinlichkeiten fur¨ die Beschreibung der Unsicherheit in der integrierten Analyse des Klimawandels. Die wissenschaft- liche Unsicherheit bezuglic¨ h vieler Aspekte des Klimawandels ist betr¨achtlich, so dass ihre an- gemessene Beschreibung von großer Wichtigkeit ist. Die klassische Wahrscheinlichkeitstheorie weist in diesem Zusammenhang einige Probleme auf, da sie Zust¨ande sehr geringer Informa- tion nicht zufriedenstellend beschreiben kann. Die unscharfe Wahrscheinlichkeitstheorie bietet ein gleichermaßen fundiertes Theoriegeb¨aude, welches jedoch eine gr¨oßere Flexibilit¨at bei der Beschreibung verschiedenartiger Informationszust¨ande erlaubt. Unscharfe Wahrscheinlichkeiten erfassen solche Informationszust¨ande durch die Spezifizierung von unteren und oberen Grenzen an zul¨assige Werte der Wahrscheinlichkeit. Unsere Analyse des Klimawandels beruht auf einem Energiebilanzmodell mit diffusivem Ozean, welches die globale Temperaturantwort auf eine Anderung¨ der Strahlungsbilanz in Abh¨angigkeit von zwei Parametern beschreibt: die Klimasensitivit¨at, und die effektive vertikale W¨armediffusivit¨at im Ozean. Wir vergleichen das Modellverhalten mit den Temperaturmessun- gen des 20. Jahrhunderts, um eine sogenannte Likelihood-Funktion fur¨ die Hypothesen zu diesen beiden Parametern sowie dem kuhlenden¨ Einfluss der Sulfataerosole zu ermitteln. Im Ergebnis zeigt sich eine stark positive Korrelation zwischen Klimasensitivit¨at und W¨armediffusivit¨at im Ozean, und Klimasensitivit¨at und kuhlendem¨ Einfluss der Sulfataerosole. Wir haben eine Rei- he von statistischen Tests angewandt, um den Raum m¨oglicher Hypothesen einzuengen. Auf 2 diese Weise lassen sich lediglich eine Strahlungswirkung der Sulfataerosole, die 1:75 W m− − im Jahr 1990 unterschritten hat, und eine Klimasensitivit¨at unterhalb von 1:1 K mit einem Signifikanzniveau von 5% ausschließen. Fur¨ die effiziente Beschreibung der Parameterunsicherheit ziehen wir zwei geeignete Modell- typen aus der unscharfen Wahrscheinlichkeitstheorie heran: Wahrscheinlichkeitsverteilungsb¨an- der und sogenannte "-Kontaminationsmodelle. Wir formulieren einen Algorithmus, der den In- formationsgehalt beider Modelle vereint und durch eine sogenannte Belief-Funktion beschreibt. Mit Hilfe dieses Algorithmus konstruieren wir Belief-Funktionen fur¨ die A-priori-Parameter- unsicherheit auf der Grundlage von divergierenden Wahrscheinlichkeitssch¨atzungen in der Li- teratur (Klimasensitivit¨at, Strahlungswirkung des Sulfats) bzw. auf der Grundlage von auf Beobachtungsdaten beruhenden Sch¨atzungen der W¨armeaufnahme des Ozeans in der zweiten H¨alfte des 20. Jahrhunderts (W¨armediffusivit¨at im Ozean). Wir leiten eine Methode her, um die A-priori-Belief-Funktion im Lichte der Likelihood-Funktion zu aktualisieren. Dabei ziehen wir zwei verschiedene Regeln zur Durchfuhrung¨ des Lernprozesses in Betracht: die Dempster- sche Regel und die verallgemeinerte Bayessche Regel. Durch Anwendung der Dempsterschen Regel erhalten wir eine A-posteriori-Belief-Funktion, deren Informationsgehalt qualitativ mit den Ergebnissen bisheriger Studien ub¨ ereinstimmt, die eine Einschr¨ankung der Unsicherheit ub¨ er die Klimasensitivit¨at und die kuhlende¨ Wirkung der Sulfataerosole versucht haben. Ei-
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