Yes. An ice age is a period over tens of millions of years where the Earth is cold enough to produce permanent ice sheets. Since permanent ice sheets currently exist in Greenland and Antarctica, it qualifies the current age to be an ice age. This current ice age began 30 million years ago. Within an ice age there are warm periods referred to as "interglacial" and cold periods referred to as "glacial." We are in an interglacial period right now. Factor such as changes in the Earth's axis and orbit; tectonic plate shifting; volcanic matter explosions or meteoric impacts; and an increase in carbon dioxide emission from industrial pollution all contribute to changes in the Earth's climate.
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