Benchmark Simulation Model No. 1 Research Articles

Modeling key intermediates during anaerobic digestion of lipid rich kitchen waste with an extended ADM1.

Quantitative dynamics of the key intermediates, gases and carbohydrates during anaerobic digestion of different lipid rich kitchen waste and lipid rich model kitchen waste were modeled. Six batch reactors loaded with 25g l ( 39 l ) kitchen waste and model kitchen waste during a batch experiment were considered in simulation. Observed dynamics of carbohydrates, volatile organic acids and gases were described by an extended benchmark simulation model no. 2 (BSM2). In this study the extended BSM2 included a more detailed -oxidation for prediction of caproic acid. Furthermore, the extensions included carbohydrate digestion with an additional intermediate before propionic acid was released. In addition, a novel simplification approach for initial pH estimation was successfully applied. For parameter estimation a Markov Chain Monte Carlo method was used to obtain parameter distributions. With the presented model it was possible even with no calibrated data to predict point of times of intermediates maxima and propionic acid with relative stable concentration over several days for kitchen waste.

Enhancement of energy and cost efficiency in wastewater treatment plants using hybrid bio-inspired machine learning control techniques

Global population growth drives demand for clean water, energy, and wastewater production in urban areas. Most existing wastewater treatment plants (WWTPs) are energy- and cost-intensive. To achieve the UN Sustainable Development Goals (SDGs) by 2030, many regions have implemented strict policies for energy consumption and contaminated water discharge, promoting environmental sustainability. This paper attempts to enhance the achievement of SDGs in the wastewater treatment industry by proposing a novel method for hierarchical control of wastewater treatment plants to ensure energy and cost efficiency with less knowledge of the process model, fewer measurements, and fewer control loops. This controller is the combination of a machine learning control technique with a bio-inspired computational algorithm. To evaluate and validate the performance of the proposed controller on the WWTP, the benchmark simulation model no. 1 (BSM1) has been used. The most significant contributions of this paper show that 488.96 KWh/d, 3620.08 Kg/d, and 3454.55 KWh/d of aeration energy cost index, sludge production cost index, and operational cost index are respectively saved when compared to the default control strategy (DCS). Also, 893.69 Kg pollution units per day of effluent fine-related costs have been successfully recovered when compared to the DCS. The experimental results illustrate that the proposed control yields significant amelioration of the energy and cost profile of the WWTP with no effluent violation in dry, rain, and storm weather conditions.

Modeling greenhouse gas emissions from biological wastewater treatment process with experimental verification: A case study of paper mill

Wastewater treatment plants (WWTPs) have been regarded as the main sources of greenhouse gas (GHG) emissions. This study compares the influent characteristics of industrial wastewater represented by the WWTP of paper mill and that of domestic sewage represented by the Benchmark Simulation Model No. 1 (BSM1) under stormy weather. The various sources of GHG emissions from the two processes are calculated, and the contribution of each source to the total GHG emissions is assessed. Firstly, based on the mass balance analysis and the recognized emission factors, a GHG emission calculation model was established for the on-site and off-site GHG emission sources from the WWTP of paper mill. Simultaneously, a GHG emission experimental model was established by determining the dissolved concentrations of carbon dioxide (CO2) and nitrous oxide (N2O) in the papermaking wastewater, to verify the accuracy of the developed GHG calculation model. Subsequently, an optimum aeration rate for the paper mill was investigated to comply with the discharging norms. Under the optimum aeration rate of 10 h−1, the obtained calculation accuracies of CO2 and N2O emissions were 94.6 % and 91.1 %, respectively. The mean total GHG emission in the WWTP of paper mill was 550 kg CO2-eq·h−1, of which 44.6 % came from the on-site emission sources and 55.4 % from the off-site emission sources. It was also uncovered that the electrical consumption for aeration was the largest contributor to the total GHG emissions with a proportion of 25.2 %, revealing that the control strategy of the aeration rate is highly significant in reducing GHG emissions in WWTP of paper mills.

Hybrid supervised hierarchical control of a biological wastewater treatment plant.

In wastewater treatment intensification, hierarchical control structures are developed to improve the plant's performance. This paper proposes two novel hybrid supervised hierarchical control structures for specifying the dissolved oxygen concentration in the last aerobic reactor of the wastewater treatment plant (WWTP) based on the nitrification rate and the ammonia level in this reactor. These structures combine the optimum disturbance rejection PI control (OPI), adaptive neuro-fuzzy inference system (ANFIS), and genetic algorithms (GA) to reduce energy consumption and operational costs, improve effluent quality, and reduce the number and percentage of times the established maximum concentration of pollutants in the effluent of the WWTP is violated. The proposed control strategy is implemented and evaluated using benchmark simulation model no. 1 (BSM1). The OPI-ANFIS-GA configuration significantly enhances effluent quality in dry, rainy, and stormy weather conditions, reducing total nitrogen violations by 50.17%, 63.35%, and 47.35%, respectively. Then, 6.79% and 7.12% of aeration energy and 1.44% and 1.46% of operational costs are reduced in dry and rain weather conditions. The OPI-ANFIS configuration enhanced significant energy savings and a cost reduction in storm weather conditions. Both configurations led to a 49.89% decrease in total suspended sludge (TSS) during stormy weather conditions. The proposed controller significantly improves the performance of the WWTP in all weather scenarios compared to the default controller and similar controllers found in the literature.

A multi-subsystem collaborative Bi-LSTM-based adaptive soft sensor for global prediction of ammonia-nitrogen concentration in wastewater treatment processes

Ammonia-nitrogen concentration is a key water quality indicator, which reflects changes in pollutant components during wastewater treatment processes. The timely and accurate detection results contribute to optimizing control and operational management of wastewater treatment plants (WWTPs), but current detection methods only focus on the effluent location. This paper proposes a multi-subsystem collaborative Bi-LSTM-based adaptive soft sensor to achieve the global prediction of ammonia-nitrogen concentration. Firstly, the wastewater treatment process is divided into several independent subsystems depending on the reaction mechanism, and the variable selection is performed using mutual information. Subsequently, the bidirectional long short-term memory network (Bi-LSTM) is employed to construct a model for predicting ammonia-nitrogen concentration within each subsystem, and the outputs between neighboring subsystems are incorporated as a set of new variables added into the training dataset to strengthen their connection. Finally, to address performance degradation caused by environmental factors, a probability density function (PDF)-based dynamic moving window method is proposed to enhance the robustness. The effectiveness and superiority of the proposed soft sensor are validated in the Benchmark Simulation Model no. 1 (BSM1). The experimental results demonstrate that the proposed soft sensor can accurately predict the global ammonia-nitrogen concentration in the face of different weather conditions including sunny, rainy, and stormy days. This study contributes to the stable operation of WWTPs with higher treatment efficiency and lower economic costs.

Data-Driven Robust Adaptive Control With Deep Learning for Wastewater Treatment Process

Due to high complexity and time-variant operation, as well as increasingly requirements for water quality, stability and reliability, wastewater treatment process (WWTP) is regarded as an adaptive control problem. In this study, a data-driven adaptive control with deep learning (DRAC-DL) is developed to improve the operational performance of WWTP. First, a feedback controller is designed to construct the closed-loop control scheme. Second, an adaptive deep belief network (ADBN), based on the data-driven self-incremental learning strategy, is proposed to approximate the ideal control law. Third, the stability of DRAC-DL scheme is analyzed in detail. The main advantage of DRAC-DL lies in its improved robustness and efficiency, which benefit from Lyapunov-based closed-loop strategy and efficient ADBN controller. Finally, the feasibility and applicability of DRAC-DL are verified by two parts: 1) Simulation on nonlinear system; and 2) Application to WWTP on the benchmark simulation model No.1 (BSM1). The experimental results show the applicability and effectiveness, among which DRAC-DL reduces the output fluctuation (Var) by no less than 82% and realizes the better stability and robustness.

Towards low-carbon papermaking wastewater treatment process based on Kriging surrogate predictive model

Papermaking wastewater contains a diverse range of organic carbon, nitrogen and other pollutants, which could lead to the emission of greenhouse gases (GHG) during biochemical treatment process. Despite the importance of decarbonizing the papermaking wastewater treatment process, the mechanisms underlying the generation of greenhouse gases remain elusive and no models currently exist to describe the process. To address this issue, this study employed benchmark simulation model No. 1 (BSM1) to simulate, the papermaking wastewater treatment process, and applied the steady-state output value of simulation to calculate the GHG emissions. Kriging surrogate model was applied to establish the emission model for GHG in the papermaking wastewater treatment process. The model provides a reference for the control and optimization of GHG emission reduction and a high accuracy was achieved with determination coefficient (R2) of above 96%. Further analysis of the parameter impact of process control on GHG emissions and the optimization effects of controllable variables contributes to the goal of reducing GHG emissions in the papermaking wastewater treatment process.

Static calibration of wastewater treatment plant models: Investigating calibration processes and objective functions

Mathematical modeling provides a reliable tool for optimal management and operation of wastewater treatment plants (WWTPs). Accurate calibration is crucial for producing reliable results, and static calibration is a critical initial step for this purpose, ensuring enough accuracy and minimizing later difficulties. The two main areas to investigate in static calibration are the appropriate calibration process and objective function. This study proposes a three-stage methodology for static calibration of model parameters. Nine different calibration objective functions considering various target variables are investigated to evaluate how different objective functions can affect the calibration process accuracy. The proposed approach is applied in a real WWTP with a carousel oxidation ditch for secondary treatment. Benchmark Simulation Model No.2 (BSM2) is modified to be used for oxidation ditch modeling. The calibration results show less than 3 % prediction error for COD, TN, and TSS, and 6.7 % mean overall error. The validation resulted in 22.5 %, 10.6 %, and 31.5 % MARE (Mean Absolute Relative Error) for effluent COD, TN, and, TSS, respectively, indicating successful calibration. Comparing different objective functions indicates that in static calibration, the objective functions that consider more targets usually yield more accurate results in a relatively acceptable time.

Systematic Performance Evaluation of Reinforcement Learning Algorithms Applied to Wastewater Treatment Control Optimization.

Treatment of wastewater using activated sludge relies on several complex, nonlinear processes. While activated sludge systems can provide high levels of treatment, including nutrient removal, operating these systems is often challenging and energy intensive. Significant research investment has been made in recent years into improving control optimization of such systems, through both domain knowledge and, more recently, machine learning. This study leverages a novel interface between a common process modeling software and a Python reinforcement learning environment to evaluate four common reinforcement learning algorithms for their ability to minimize treatment energy use while maintaining effluent compliance within the Benchmark Simulation Model No. 1 (BSM1) simulation. Three of the algorithms tested, deep Q-learning, proximal policy optimization, and synchronous advantage actor critic, generally performed poorly over the scenarios tested in this study. In contrast, the twin delayed deep deterministic policy gradient (TD3) algorithm consistently produced a high level of control optimization while maintaining the treatment requirements. Under the best selection of state observation features, TD3 control optimization reduced aeration and pumping energy requirements by 14.3% compared to the BSM1 benchmark control, outperforming the advanced domain-based control strategy of ammonia-based aeration control, although future work is necessary to improve robustness of RL implementation.

Machine learning approaches for data-driven process monitoring of biological wastewater treatment plant: A review of research works on benchmark simulation model No.1(BSM1).

In the past decade, machine learning techniques have seen wide industrial applications for design of data-based process monitoring systems with an aim to improve industrial productivity. An efficient process monitoring system for wastewater treatment process (WWTP) ensures increased efficiency and effluents meeting stringent emission norms. Benchmark simulation model No. 1 (BSM1) provides a simulation platform to researchers for developing efficient data-based process monitoring, quality monitoring, and process control systems for WWTPs. The present article presents a review of all research works reporting applications of various machine learning techniques for sensor and process fault detection of BSM1. The review focuses on process monitoring of biological wastewater treatment process, which uses a series of aerobic and anaerobic reactions followed by secondary settling process. Detailed information on various parameters monitored, different machine learning techniques explored, and results obtained by different researchers are presented in tabular and graphical format. In the review, it was observed that principal component analysis(PCA) and its variants account for the maximum number of research works for process monitoring in WWTPs and there are very few applications of recently developed deep learning techniques. Following the review and analysis, various future scopes of research (such as techniques yet to be explored or improvement of results for a particular fault) are also presented. These information will assist prospective researchers working on BSM1 to take forward the research.

Techno-Economic Assessment of PEM Electrolysis for O2 Supply in Activated Sludge Systems—A Simulation Study Based on the BSM2 Wastewater Treatment Plant

The conversion of renewable energy into hydrogen (H2) by power-to-gas technologies involving electrolysis is seen today as a key element in the transition to a sustainable energy sector. Wastewater treatment plants (WWTP) could be integrated into future green H2 networks as users of oxygen (O2) produced alongside H2 in water electrolysis. In WWTPs, O2 is required for biological treatment steps, e.g., in activated sludge (AS) systems. However, the production costs of electrolysis O2 should be competitive with those of conventional O2 production processes. In this study, mathematical models of a polymer electrolyte membrane electrolyser (PEME) plant and the WWTP of the Benchmark Simulation Model No. 2 (BSM2) were used to simulate electrolysis O2 supply to an AS system and estimate net costs of production (NCP) for produced O2 via a techno-economic assessment (TEA). Assuming that produced H2 is sold to a nearby industry, NCPs for O2 were calculated for two different PEME plant dimensions, four alternatives regarding electricity supply and costs, and three sets of assumptions regarding system performance and market conditions. The analyses were performed for 2020 as a reference year and 2030 based on forecasts of relevant data. Results of the dimensioning of the PEME show the O2 demand of a municipal WWTP with an installed capacity of 80,000 population equivalents (PE), such as the one of the BSM2, can be covered for more than 99% of the simulated period by either a 6.4 MW PEME operated for 4073 full load hours or a 4.8 MW PEME operated for 6259 full load hours. Investment costs for the PEME stacks and the operational costs for electricity make up most of the NCP of electrolysis O2. The projected decrease in PEME stack costs and renewable energy prices in favourable market conditions can result in a competitive NCP for electrolysis O2 in 2030. The approach described in this study can be applied to analyse O2 supply to biological wastewater treatment in WWTPs with different characteristics, in processes different from AS, and under different assumptions regarding economic conditions.

Event-Driven Model Predictive Control With Deep Learning for Wastewater Treatment Process

Wastewater treatment processes (WWTPs) have been considered as complex control problems, because effluent water standard, stability and multi-operational conditions need to be taken into account. In this work, an event-driven model predictive control with deep learning (EMPC-DL) is proposed for the control problems to improve the running performance of WWTPs. First, several events are defined based on different operational conditions reflected by operational data. Then, an event-driven deep belief network (EDBN) is developed based on deep learning to approximate the nonlinear characteristics of the WWTPs. Second, a quadratic optimization is designed to solve the control law of MPC based on the predictive output of the EDBN. The major advantage of quadratic optimization is its efficiency, which is achieved by an efficient strategy that only needs one-step prediction of EDBN during one-time rolling optimization. Third, this paper gives convergence and stability analysis of EMPC-DL. Finally, the feasibility and applicability of EMPC-DL are demonstrated on the benchmark simulation model No. 1 (BSM1). The experimental results show that EMPC-DL achieves the more satisfactory performance in modeling, controlling, and tracking water quality parameters than its peers.

Design of Broad Learning-Based Self-Healing Predictive Control for Sludge Bulking in Wastewater Treatment Process

Self-healing control plays a crucial role in taking remedial action to minimize the adverse impacts of sludge bulking in wastewater treatment process (WWTP). However, since sludge bulking is a strong nonlinear and complex process with multiple fault conditions, the conventional self-healing control is difficult to obtain reliable performance. Thus, the purpose of this paper is to design a broad learning-based self-healing predictive controller (BL-SHPC) for sludge bulking in WWTP. The main innovations of the proposed controller are threefold. First, a dynamic fuzzy broad learning system (DFBLS) with an adaptive expansion strategy (AES) is used to identify the fault conditions of sludge bulking. Then, the fault features of sludge bulking can be comprehensively extracted with desirable performance. Second, a prioritized multi-objective optimization algorithm (PMOOA)-based predictive control, which considers the objective correlation and preference of fault conditions, is presented to obtain the optimal solutions to achieve self-healing. Then, the proposed controller can feasibly and precisely readjust manipulated variables to eliminate the sludge bulking. Third, the stability of the developed controller is proved by the Lyapunov stability theorem. Then, the stability analysis can ensure the successful application of BL-SHPC. Finally, the proposed BL-SHPC is tested on the Benchmark Simulation Model No.2 (BSM2) to validate its merits. The simulation results indicate that the proposed controller can obtain superior self-healing ability for sludge bulking in WWTP.

Heterogeneous multi-population competitive algorithm and its application in ASM1 parameter estimation.

Activated sludge model 1 (ASM1) is a biokinetic model of the activated sludge wastewater treatment process, which has several uncertain parameters and complex chemical reaction processes. This model is often used in simulations to assess whether the effluent quality of wastewater meets discharge standards. Accurate and rapid estimation of the parameters of ASM1 is a necessary prerequisite for its successful application in industrial practice. However, ASM1-based parameter estimation is difficult to implement in practical operations due to the slow convergence rate and low convergence accuracy of most parameter estimation algorithms as well as the non-uniqueness of parameter estimation. In view of this, a novel metaheuristic optimization algorithm combining Legendre function network and dynamic partitioning strategy, named heterogeneous multi-group competitive algorithm (HMCA), is proposed to overcome the problem of low algorithmic efficiency and poor practicality in parameter estimation. The performance of the algorithm in terms of convergence speed, convergence accuracy and applicability is verified by two sets of test functions and eight state-of-the-art comparison algorithms. The superior performance of the algorithm in parameter estimation is then validated in conjunction with Benchmark Simulation Model no. 1 (BSM1) and four sets of operational data.

Economic Oriented Dynamic Matrix Control of Wastewater Treatment Plants

Wastewater Treatment Plants (WWTPs) are industrial facilities, which are important for the protection of the environment, because they remove pollutants from wastewater, before it reaches natural bodies of water. WWTPs consist of complex physical, chemical, and biological energy-intensive processes, which are subject to significant disturbances and uncertainties, due to large variations in the load and quality of the influent. Rising energy prices and increasingly stringent effluent requirements have amplified the need of developing more efficient control schemes for WWTPs. In this paper a novel Economic Dynamic Matrix Control (EDMC) configuration is proposed for WWTPs, where the objective is to minimize the plant’s operating costs in terms of energy savings, while maintaining the effluent quality within acceptable regulatory limits. The novelty of the proposed scheme lies in the combination of the standard Dynamic Matrix Control (DMC) methodology, with economic oriented control strategies. The EDMC predictive models are derived from the application of step tests on the COST/IWA Benchmark Simulation Model No. 1 (BSM1). Based on the BSM1 model, the proposed method is compared to standard Multiple Input–Multiple Output (MIMO) DMC controllers, to the default BSM1 control strategy and to other economic control methods, which have been proposed in the literature. The results illustrate that the proposed EDMC scheme is superior to alternative control strategies in terms of minimizing the energy consumption while, the effluent quality of the plant is maintained at acceptable levels.

Data-based robust model predictive control for wastewater treatment process

Data-driven methods are widely used in wastewater treatment processes (WWTPs). However, disturbances are not fully considered during the control process, which may affect the stable operation of WWTPs. To address this issue, a data-driven robust model predictive control (DRMPC) method is proposed for WWTPs with disturbances. First, an interval type-2 fuzzy neural network (IT2FNN), which has high robust performance to disturbances, is used to identify dynamic behavior of WWTPs. Second, based on IT2FNN, a robust stabilizing controller is developed to weaken the influence of disturbances on control performance and stability. Third, the proposed controller ensures constraint satisfaction and input-to-state stability (ISS). Finally, the feasibility of DRMPC strategy is verified on the benchmark simulation model No. 1 (BSM1). The experimental studies indicate that the proposed DRMPC is capable of running stably and tracking accurately.

Modelling and techno-economic assessment of (bio)electrochemical nitrogen removal and recovery from reject water at full WWTP scale

At conventional wastewater treatment plants (WWTPs), reject waters originating from the dewatering of anaerobically digested sludge contain the highest nitrogen concentrations within the plant and thereby have potential for realising nitrogen recovery in a reusable form. At the same time, nitrogen removal from reject waters has potential to reduce the energetic and chemical demands of the WWTP due to a reduced nutrient load to the activated sludge process. In recent years, (bio)electrochemical methods have been extensively studied for nitrogen recovery from reject waters in laboratory-scale but not yet implemented in real WWTP environments, particularly due to concerns about the need for large capital investments. This study assessed the techno-economic feasibility of retrofitting a (bio)electrochemical nitrogen removal and recovery (NRR) unit into the reject water circulation line of a full-scale WWTP through modelling. Data from laboratory-scale (bio)electroconcentration ((B)EC) experiments was used to construct a simple, semi-empirical model block integrated into the Benchmark Simulation Model No. 2 (BSM2) simulating a generalised WWTP. The effects of nitrogen removal from the reject water on both the effluent quality and operational costs of the WWTP were assessed and compared to the BSM2 performance without an NRR unit. In all studied scenarios, the effluent quality index was improved by 4–11%, while both the aeration (7–19% decrease) and carbon (24–71%) requirements were reduced. The additional energy consumed by the NRR unit increased the total operational cost index by >18%, but the revenue assumed for the generated nutrient product (20 EUR kgN−1) was enough to make the BEC-NRR scenarios at realistically low current densities (1 and 5 A m−2) economically attractive compared to the control. A sensitivity analysis revealed that electricity price and nutrient product value had the most notable effects on the feasibility of the NRR unit. The results suggest a key factor in making (bio)electrochemical NRR economically viable is to reduce its electricity consumption further, while the anticipated increases in nitrogen fertiliser prices can help accelerate the adoption of these methods in larger scale.

Fractional order-based hierarchical controller design and evaluation with Bürger-Diehl settler model in a total nitrogen removal wastewater treatment process.

The primary objective of this study was to establish two-level structured control techniques based on the globally known benchmark simulation model no. 1 (BSM1) and the Bürger-Diehl settler model in order to improve effluent quality. The latter was based on the activated sludge model no. 1 (ASM1), while the classic Takacs model was superseded by the more recent Bürger-Diehl settler model with enhanced predictive potential. A two-level hierarchical control structure was considered to maintain the dissolved oxygen concentration basing on the ammonia levels and also a nitrate controller was considered to improve nitrogen removal efficiency. Fractional order PI controllers were considered at the secondary level and advanced control techniques, namely, MPC and fuzzy, were implemented at the primary level. Two advance control schemes, being, FPI-MPC and FPI-fuzzy were designed in the present work. The controllers were designed based on the plant model which was identified using prediction-error minimization method. It was observed that the implemented control strategies in consideration with the plant modifications showed a profound impact in improving the plant performance in terms of the effluent quality. FPI-fuzzy resulted in noticeable 60% and 53% reduction in total nitrogen violations for dry and storm climatic conditions, respectively.

About the classical and structural controllability and observability of a common class of activated sludge plants

In this work, the stability, controllability and observability properties of a class of activated sludge plants are analysed. Specifically, the five biological reactors and the secondary settler in the Benchmark Simulation Model no. 1 (BSM1) are studied. For the task, we represented the plant as a dynamical system consisting of 145 state variables, 13 controls, 14 disturbances and 15 outputs and as a complex networks to study its full-state controllability and observability properties from a structural and a classical point of view. By analysing the topology of the network, we show how this class of systems is controllable but not observable in a structural sense, and thus how it is controllable but not observable in a classical sense for almost all possible realisations. We also show how a linearisation commonly used in the literature is neither full-state controllable nor full-state observable in the classical sense. The control and observation efforts are quantified in terms of energy- and centrality-based based metrics.

A supervisory fuzzy logic control scheme to improve effluent quality of a wastewater treatment plant.

The application of control strategies in wastewater treatment plants has increased to improve their performance for treating influent. The fuzzy logic controller plays a vital role in this work and simulation work was carried out in a benchmark simulation model no.1 (BSM1) framework. The attempted work proposes two control schemes with the objectives of improving the effluent quality and minimizing the number of measurements taken from the plant. The design of fuzzy control schemes is based on five inputs and six outputs in order to accomplish the objectives. Experimental results show improvement in the effluent quality and increase in the efficacy of the control system. The proposed design is implemented using MATLAB with the adaptation in 2014a.