Computational Intelligence Techniques for Control and Optimization of Wastewater Treatment Plants

The development of novel, practice-oriented and reliable instrumentation and control strategies for wastewater treatment plants in order to improve energy efficiency, while guaranteeing process stability and maintenance of high cleaning capacity, has become a priority for WWTP operators due to increasing treatment costs. To achieve these ambitious and even contradictory objectives, this thesis investigates a combination of online measurement systems, computational intelligence and machine learning methods as well as dynamic simulation models. Introducing the state-of-the-art in the fields of WWTP operation, process monitoring and control, three novel computational intelligence enabled instrumentation, control and automation (ICA) methods are developed and presented. Furthermore, their potential for practical implementation is assessed. The methods are, on the one hand, the automated calibration of a simulation model for the Rospe WWTP that provides a basis for the development and evaluation of the subsequent methods, and on the other hand, the development of soft sensors for the WWTP inflow which estimate the crucial process variables COD and NH4-N, and the estimation of WWTP operating states using Self- Organising Maps (SOM) that are used to determine the optimal control parameters for each state. These collectively, provide the basis for achieving comprehensive WWTP optimization. Results show that energy consumption and cleaning capacity can be improved by more than 50%

ESTIMATION OF GREENHOUSE GAS AND ODOUR EMISSIONS FROM COLD REGION MUNICIPAL BIOLOGICAL NUTRIENT REMOVAL WASTEWATER TREATMENT PROCESSES

Rising human populations and ever-increasing demand for potable water result in increased municipal wastewater production. The collection, treatment, and management of municipal wastewaters include energy-intensive processes leading to the generation and emission of greenhouse, potentially toxic, and odorous gases. The main goal of this thesis was to advance knowledge of greenhouse gas (including carbon dioxide, CO2; methane, CH4; and nitrous oxide, N2O) and smelly compound (including ammonia, NH3; and hydrogen sulphide, H2S) emissions from typical municipal wastewater treatment plants (MWTPs) to accurately describe their emission rate estimates (EREs) using operating parameters. This research included laboratory and field assessments of greenhouse gas (GHG) and odour emissions in conjunction with monitored operating parameters. Laboratory-scale reactors simulating open-to-air treatment processes including primary and secondary clarifiers and anaerobic, anoxic, and aerobic reactors, were used to monitor gas EREs using wastewater samples taken from the analogous MWTP processes in winter and summer seasons. The Saskatoon Wastewater Treatment plan (SWTP) is a state-of-the-art biological nutrient removal (BNR) type MWTP and a Class IV treatment facility in Canada which was selected as a case study given its highly variable seasonal temperatures from −40 °C to 30 °C and its geographic location near the University of Saskatchewan. The experimental results were then used to develop a variety of novel machine learning models describing gas EREs with further optimization of operating parameters using genetic algorithm (GA). Studied machine learning models were artificial data generation algorithms (including generative adversarial network, GAN) and data-driven models (including artificial neural network, ANN; adaptive network-based fuzzy inference systems, ANFIS; and linear/non-linear regression models). To my knowledge, this is the first application of GAN used for MWTP modelling purposes. Results indicated that anaerobic digestion EREs averagely reached 4,443 kg CH4/d, 9,145 kg CO2/d, and 59.7 kg H2S/d. In contrast, GHG and odour ERE variabilities given ambient temperature changes were more noticeable for open-to-air treatment processes such that the winter EREs were 45,129 kg CO2/d, 21.9 kg CH4/d, 3.20 kg N2O/d, and insignificant for H2S and NH3. The higher temperature for the summer samples resulted in increased EREs for CH4, N2O, and H2S EREs of 33.0 kg CH4/d, 3.87 kg N2O/d, and 2.29 kg H2S/d, respectively, and still insignificant NH3 emissions. However, the CO2 EREs were reduced to 37,794 kg CO2/d, and interestingly, NH3 emissions were still negligible. Overall, the aerobic reactor was the dominant source of GHG emissions for both seasons, and changes in the aerobic reactor aeration rates (in reactor) and BNR treatment configurations (from site) further impacted the EREs. The integration of field monitoring data with data-driven models showed that the ANN, ANFIS, and regression models provided reasonable EREs using: (1) volatile fatty acids, total/fixed/volatile solids, pH, and inflow rate for anaerobic digestion biogas generations; and (2) hydraulic retention time, temperature, total organic carbon, dissolved oxygen, phosphate, and nitrogen concentrations for aerobic GHG emissions. However, when both model accuracy and uncertainty were considered there appears to be a compromise between these parameters with no model having simultaneously both high accuracy and low uncertainty. Additionally, and interestingly, virtual data augmentation using GAN was found to be a valuable resource in supplementation of limited data for improved modelling outcomes. GA was also coupled with the data-driven models to determine optimal operating parameters resulting in either GHG emission maximization given biogas could be beneficial for energy generation or GHG emission minimization given the aerobic reactor is an open-to-air process that can impact nearby residential neighbourhood air quality. The current study provides a hybrid methodology of mathematical modelling and experiments that can be used to accurately estimate and optimize the GHG and odour EREs from other MWTPs in Canada and worldwide

Influent generator : towards realistic modelling of wastewater flowrate and water quality using machine-learning methods

Depuis que l'assainissement des eaux usées est reconnu comme un des objectifs de développement durable des Nations Unies, le traitement et la gestion des eaux usées sont devenus plus importants que jamais. La modélisation et la digitalisation des stations de récupération des ressources de l'eau (StaRRE) jouent un rôle important depuis des décennies, cependant, le manque de données disponibles sur les affluents entrave le développement de la modélisation de StaRRE. Cette thèse vis e à faire progresser la modélisation des systèmes d'assainissement en général, et en particulier en ce qui concerne la génération dynamique des affluents. Dans cette étude, différents générateurs d'affluent (GA), qui peuvent fournir un profil d'affluent dynamique, ont été proposés, optimisés et discutés. Les GA développés ne se concentrent pas seulement sur le débit, les solides en suspension et la matière organique, mais également sur les substances nutritives telles que l'azote et le phosphore. En outre, cette étude vise à adapter les GA à différentes applications en fonction des différentes exigences de modélisation. Afin d'évaluer les performances des GA d'un point de vue général, une série de critères d'évaluation de la qualité du modèle est décrite. Premièrement, pour comprendre la dynamique des affluents, une procédure de caractérisation des affluents a été développée et testée pour une étude de cas à l'échelle pilote. Ensuite, pour générer différentes séries temporelles d'affluent, un premier GA a été développé. La méthodologie de modélisation est basée sur l'apprentissage automatique en raison de ses calculs rapides, de sa précision et de sa capacité à traiter les mégadonnées. De plus, diverses versions de ce GA ont été appliquées pour différents cas optimisées en fonction des disponibilités d'études et ont été des données (la fréquence et l'horizon temporel), des objectifs et des exigences de précision. Les résultats démontrent que : i) le modèle GA proposé peut être utilisé pour générer d'affluents dynamiques réalistes pour différents objectifs, et les séries temporelles résultantes incluent à la fois le débit et la concentration de polluants avec une bonne précision et distribution statistique; ii) les GA sont flexibles, ce qui permet de les améliorer selon différents objectifs d'optimisation; iii) les GA ont été développés en considérant l'équilibre entre les efforts de modélisation, la collecte de données requise et les performances du modèle. Basé sur les perspectives de modélisation des StaRRE, l'analyse des procédés et la modélisation prévisionnelle, les modèles de GA dynamiques peuvent fournir aux concepteurs et aux modélisateurs un profil d'affluent complet et réaliste, ce qui permet de surmonter les obstacles liés au manque de données d'affluent. Par conséquent, cette étude a démontré l'utilité des GA et a fait avancer la modélisation des StaRRE en focalisant sur l'application de méthodologies d'exploration de données et d'apprentissage automatique. Les GA peuvent donc être utilisés comme outil puissant pour la modélisation des StaRRE, avec des applications pour l'amélioration de la configuration de traitement, la conception de procédés, ainsi que la gestion et la prise de décision stratégique. Les GA peuvent ainsi contribuer au développement de jumeaux numériques pour les StaRRE, soit des système intelligent et automatisé de décision et de contrôle.Since wastewater sanitation is acknowledged as one of the sustainable development goals of the United Nations, wastewater treatment and management have been more important then ever. Water Resource Recovery Facility (WRRF) modelling and digitalization have been playing an important role since decades, however, the lack of available influent data still hampers WRRF model development. This dissertation aims at advancing the field of wastewater systems modelling in general, and in particular with respect to the dynamic influent generation. In this study, different WRRF influent generators (IG), that can provide a dynamic influent flow and pollutant concentration profile, have been proposed, optimized and discussed. The developed IGs are not only focusing on flowrate, suspended solids, and organic matter, but also on nutrients such as nitrogen and phosphorus. The study further aimed at adapting the IGs to different case studies, so that future users feel comfortable to apply different IG versions according to different modelling requirements. In order to evaluate the IG performance from a general perspective, a series of criteria for evaluating the model quality were evaluated. Firstly, to understand the influent dynamics, a procedure of influent characterization has been developed and experimented at pilot scale. Then, to generate different realizations of the influent time series, the first IG was developed and a data-driven modelling approach chosen, because of its fast calculations, its precision and its capacity of handling big data. Furthermore, different realizations of IGs were applied to different case studies and were optimized for different data availabilities (frequency and time horizon), objectives, and modelling precision requirements. The overall results indicate that: i) the proposed IG model can be used to generate realistic dynamic influent time series for different case studies, including both flowrate and pollutant concentrations with good precision and statistical distribution; ii) the proposed IG is flexible and can be improved for different optimization objectives; iii) the IG model has been developed by considering the balance between modelling efforts, data collection requirements and model performance. Based on future perspectives of WRRF process modelling, process analysis, and forecasting, the dynamic IG model can provide designers and modellers with a complete and realistic influent profile and this overcomes the often-occurring barrier of shortage of influent data for modelling. Therefore, this study demonstrated the IGs' usefulness for advanced WRRF modelling focusing on the application of data mining and machine learning methodologies. It is expected to be widely used as a powerful tool for WRRF modelling, improving treatment configurations and process designs, management and strategic decision-making, such as when transforming a conventional WRRF to a digital twin that can be used as an intelligent and automated system

Simulation, optimization and instrumentation of agricultural biogas plants

During the last two decades, the production of renewable energy by anaerobic digestion (AD) in biogas plants has become increasingly popular due to its applicability to a great variety of organic material from energy crops and animal waste to the organic fraction of Municipal Solid Waste (MSW), and to the relative simplicity of AD plant designs. Thus, a whole new biogas market emerged in Europe, which is strongly supported by European and national funding and remuneration schemes. Nevertheless, stable and efficient operation and control of biogas plants can be challenging, due to the high complexity of the biochemical AD process, varying substrate quality and a lack of reliable online instrumentation. In addition, governmental support for biogas plants will decrease in the long run and the substrate market will become highly competitive. The principal aim of the research presented in this thesis is to achieve a substantial improvement in the operation of biogas plants. At first, a methodology for substrate inflow optimization of full-scale biogas plants is developed based on commonly measured process variables and using dynamic simulation models as well as computational intelligence (CI) methods. This methodology which is appliquable to a broad range of different biogas plants is then followed by an evaluation of existing online instrumentation for biogas plants and the development of a novel UV/vis spectroscopic online measurement system for volatile fatty acids. This new measurement system, which uses powerful machine learning techniques, provides a substantial improvement in online process monitoring for biogas plants. The methodologies developed and results achieved in the areas of simulation and optimization were validated at a full-scale agricultural biogas plant showing that global optimization of the substrate inflow based on dynamic simulation models is able to improve the yearly profit of a biogas plant by up to 70%. Furthermore, the validation of the newly developed online measurement for VFA concentration at an industrial biogas plant showed that a measurement accuracy of 88% is possible using UV/vis spectroscopic probes

Application of data mining techniques to predict the performance of matured Vertical Flow Constructed Wetlands Systems treating urban wastewater

The rapid urbanisation and industrialisation, due to technological advancement, led to severe environmental pollution. The environmental pollution in the last few decades resulted in an adverse impact on the environment causing massive accumulation of wastewater. Wastewater is one of the closest sources of environmental problems, at the same time water scarcity is becoming alarming due to its high demand as the global population is increasing. Hence, the application for managing available water resources becomes crucial. The ever-increasing demand for water brings the need for wastewater treatment as an alternative source of water. Constructed Wetlands (CW) have gained broader research attention due to their environmental and safety benefits for wastewater treatment. In this study, over three years of monitoring performance data from 03rd December 2014 to 28th March 2018 (thirty-nine months) of the vertical flow vertical wetlands system, receiving and treating domestic wastewater, were collected and utilised to assess and investigate the treatment performance efficiency of the Vertical Flow Constructed Wetland Systems (VFCWs) for removing pollutants from wastewater. Different laboratory-scale vertical-flow constructed wetlands filters filled with gravel and planted with common reed were built to remove removal from wastewater. The overall evaluation of the system treatment performance was calculated using percentage removal efficiency. The results were recorded it was observed that all vertical flow constructed wetland filters had recorded high removal performance for the water quality parameters, irrespective of filter set-up and operation. The system was discovered to be very useful in pollutants removal (water quality parameters) with significant efficiency. However, the high cost of analysis laboratory tests, time-consuming parameters couple with uncertainties associated with an analysis of water quality variables, lead to the development of two data mining technique models Multiple Linear Regressions (MLR) and Multilayer Perceptron (MLP). To predict the wastewater treatment performance of CW by predicting selected output water quality parameters these include Chemical Oxygen Demand (COD), Biological Oxygen Demand (BOD), orthophosphate phosphorous (PO4-P), ammonium nitrogen (NH4-N) and suspended solids (SS) with respect to other known input parameters that will provide comfortable, reliable and cost-effective methods. Correlation analysis was conducted to select the most highly correlated input parameters to be used for the model development (prediction of output parameter). The monitoring dataset of all the parameters used was divided into training dataset to build prediction models (MLR and MLP) and testing dataset to validate the models constructed. In this current work, 70% of the whole data was used as a training dataset while the remaining 30% of the data set was used as a testing dataset. The prediction models built were evaluated and compared using two model evaluation criteria: graphical model evaluation (scatter plot and hydrograph) and numerical model error evaluation criteria using five model evaluation criteria, these include: Root Mean Square Error (RMSE), regression coefficient (r), Relative Absolute Error (RAE), mean absolute error (MAE) and root relative squared error (RRSE). The results obtained indicated that the predicted values of output parameters were in good agreement and relationship with their respective measured parameters. Thus, this showed that the two models built yielded satisfactory predictions and both models had performed reasonably well in predicting output variables concentrations accurately given the value of input dependent variable. Furthermore, the comparison between the model's outcomes showed that MLP model prediction performance was discovered to be better than the MLR model in a majority of water quality parameters. Both models built could be effectively used as a tool for predicting removal of water quality parameters efficiency of vertical flow constructed wetlands treating domestic wastewater and in predicting constructed wetland performance in wastewater treatment process in term of pollutants removal. The results demonstrated the potentiality of vertical flow constructed wetlands to treat domestic wastewater and remove pollutants for future reuse

Modelling activated sludge wastewater treatment plants using artificial intelligence techniques (fuzzy logic and neural networks)

Activated sludge process (ASP) is the most commonly used biological wastewater treatment system. Mathematical modelling of this process is important for improving its treatment efficiency and thus the quality of the effluent released into the receiving water body. This is because the models can help the operator to predict the performance of the plant in order to take cost-effective and timely remedial actions that would ensure consistent treatment efficiency and meeting discharge consents. However, due to the highly complex and non-linear characteristics of this biological system, traditional mathematical modelling of this treatment process has remained a challenge. This thesis presents the applications of Artificial Intelligence (AI) techniques for modelling the ASP. These include the Kohonen Self Organising Map (KSOM), backpropagation artificial neural networks (BPANN), and adaptive network based fuzzy inference system (ANFIS). A comparison between these techniques has been made and the possibility of the hybrids between them was also investigated and tested. The study demonstrated that AI techniques offer viable, flexible and effective modelling methodology alternative for the activated sludge system. The KSOM was found to be an attractive tool for data preparation because it can easily accommodate missing data and outliers and because of its power in extracting salient features from raw data. As a consequence of the latter, the KSOM offers an excellent tool for the visualisation of high dimensional data. In addition, the KSOM was used to develop a software sensor to predict biological oxygen demand. This soft-sensor represents a significant advance in real-time BOD operational control by offering a very fast estimation of this important wastewater parameter when compared to the traditional 5-days bio-essay BOD test procedure. Furthermore, hybrids of KSOM-ANN and KSOM-ANFIS were shown to result much more improved model performance than using the respective modelling paradigms on their own.Damascus Universit

Optimal control towards sustainable wastewater treatment plants based on multi-agent reinforcement learning

Wastewater treatment plants are designed to eliminate pollutants and alleviate environmental pollution. However, the construction and operation of WWTPs consume resources, emit greenhouse gases (GHGs) and produce residual sludge, thus require further optimization. WWTPs are complex to control and optimize because of high nonlinearity and variation. This study used a novel technique, multi-agent deep reinforcement learning, to simultaneously optimize dissolved oxygen and chemical dosage in a WWTP. The reward function was specially designed from life cycle perspective to achieve sustainable optimization. Five scenarios were considered: baseline, three different effluent quality and cost-oriented scenarios. The result shows that optimization based on LCA has lower environmental impacts compared to baseline scenario, as cost, energy consumption and greenhouse gas emissions reduce to 0.890 CNY/m3-ww, 0.530 kWh/m3-ww, 2.491 kg CO2-eq/m3-ww respectively. The cost-oriented control strategy exhibits comparable overall performance to the LCA driven strategy since it sacrifices environmental bene ts but has lower cost as 0.873 CNY/m3-ww. It is worth mentioning that the retrofitting of WWTPs based on resources should be implemented with the consideration of impact transfer. Specifically, LCA SW scenario decreases 10 kg PO4-eq in eutrophication potential compared to the baseline within 10 days, while significantly increases other indicators. The major contributors of each indicator are identified for future study and improvement. Last, the author discussed that novel dynamic control strategies required advanced sensors or a large amount of data, so the selection of control strategies should also consider economic and ecological conditions

Measurement and Prediction of Oxygen Transfer in Activated Sludge based on Ex Situ Off-gas Monitoring

This dissertation examines oxygen transfer dynamics of activated sludge aeration systems in wastewater treatment plants (WWTP). The method of ex situ off-gas testing and its measurement uncertainty when determining the α-factor were studied. The variation of the α-factor was measured in conventional activated sludge (CAS) and two-stage systems with pilot-scale long-term ex situ off-gas testing. A data-driven approach to predict oxygen transfer based on supervised machine learning is presented. The key results of this cumulative dissertation and its three papers (P1-P3) are as follows: - ASCE 18-18 describes the ex situ off-gas method as an alternative to in situ off-gas testing with off-gas hoods on the activated sludge surface. P1 showed that results from ex situ and in situ tests cannot be compared because sludge inflow into an ex situ bubble column systematically increased the α-factor. Still, ex situ off-gas testing offers unique advantages for piloting and research of oxygen transfer because operation of an external bubble column is more flexible than in situ off-gas testing. - By comparing ex situ off-gas measurements under the same conditions, P1 demonstrated that α-factors can be quantified at a relative standard deviation of about ± 2.8 %. This is significantly more accurate than previously reported uncertainties between ± 5 to 15 %. A sensitivity analysis in P1 revealed that recording the oxygen concentration in the off-gas was the most important parameter to conduct reliable oxygen transfer tests, exceeding the relevance of dissolved oxygen (DO) and airflow rate measurement by far. - α-factors are generally higher in the second stage of a two-stage WWTP because oxygen transfer inhibiting substances, e.g., surfactants and TOC, are partially removed in the first stage. In P2, α-factors for design load cases were determined as 0.45 for αmean and 0.33/0.54 for αmin/αmax in the first stage (HRAS), and as 0.80 for αmean and 0.69/0.91 for αmin/αmax in the second stage. α-factors in situ would be lower because these values were recorded with ex situ off-gas tests. - The α0-factor was introduced in P3 to compare oxygen transfer in activated sludge from aerated and non-aerated zones. It considers differences of in situ and ex situ DO under non-steady state DO conditions. An increase of the α0-factor along an upstream anoxic tank of a CAS process was observed, thus suggesting biosorption and/or biodegradation of oxygen transfer inhibiting substances. - The α0-factor was predicted by Random Forest models for different activated sludge stages within an RMSE (root-mean-square error) of 0.024 and 0.033 (R2 between 0.84 and 0.92). Models were trained with 17 predictor variables based on WWTP operating data. The data-driven approach can consider potential interactions of influences on oxygen transfer, but the final models are typically unable to generalize for conditions not included in training data