Model choice: An Operational Comparison of Stochastic Streamflow Models for Droughts

The rapid development of stochastic or operational hydrology over the past 10 years has led to the need for some comparative analyses of the currently available long-term persistence models. Five annual stochastic streamflow generation models (autoregressive, autoregressive-moving-average (ARMA), ARMA-Markov, fast fractional Gaussian noise, and broken line) are compared on their ability to preserve drought-related time series properties and annual statistics. Using Monte Carlo generation procedures and comparing the average generated statistics and drought or water supply properties, a basis is established to evalute model performance on four different Utah study streams. A seasonal disaggregation model is applied to each of the generated annual models for each of the four study streams at a monthly disaggregation level. A model choice strategy is presented for the water resources engineer to select an annual stochastic streamflow model based on values of the historic time series\u27 lag-one serial correlation and Hurst coefficient. Procedures are presented for annual and seasonal model parameter estimatino, calibration, and generation. Techniques are included such as normality, trend-analysis, and choice of model. User oriented model parameter estimation techniques that are easy and efficient to use are presented in a systematic manner. The ARMA-Markov and ARMA models are judged to be the best overall models in terms of preserving the short and long term persistence statistics for the four historic time series studied. The broken line model is judged to be the best model in terms of minimizing the evonomic regret as determined by an agricultural crop production function. Documentation and listings of the computer programs that were used for the stochastic models\u27 parameter estimation, generation, and camparison techniques are presented in a supplementary appendix

Probabilistic Models for Droughts: Applications in Trigger Identification, Predictor Selection and Index Development

The current practice of drought declaration (US Drought Monitor) provides a hard classification of droughts using various hydrologic variables. However, this method does not yield model uncertainty, and is very limited for forecasting upcoming droughts. The primary goal of this thesis is to develop and implement methods that incorporate uncertainty estimation into drought characterization, thereby enabling more informed and better decision making by water users and managers. Probabilistic models using hydrologic variables are developed, yielding new insights into drought characterization enabling fundamental applications in droughts

Flood Forecasting Using Machine Learning Methods

This book is a printed edition of the Special Issue Flood Forecasting Using Machine Learning Methods that was published in Wate

Multisensor Fusion Remote Sensing Technology For Assessing Multitemporal Responses In Ecohydrological Systems

Earth ecosystems and environment have been changing rapidly due to the advanced technologies and developments of humans. Impacts caused by human activities and developments are difficult to acquire for evaluations due to the rapid changes. Remote sensing (RS) technology has been implemented for environmental managements. A new and promising trend in remote sensing for environment is widely used to measure and monitor the earth environment and its changes. RS allows large-scaled measurements over a large region within a very short period of time. Continuous and repeatable measurements are the very indispensable features of RS. Soil moisture is a critical element in the hydrological cycle especially in a semiarid or arid region. Point measurement to comprehend the soil moisture distribution contiguously in a vast watershed is difficult because the soil moisture patterns might greatly vary temporally and spatially. Space-borne radar imaging satellites have been popular because they have the capability to exhibit all weather observations. Yet the estimation methods of soil moisture based on the active or passive satellite imageries remain uncertain. This study aims at presenting a systematic soil moisture estimation method for the Choke Canyon Reservoir Watershed (CCRW), a semiarid watershed with an area of over 14,200 km2 in south Texas. With the aid of five corner reflectors, the RADARSAT-1 Synthetic Aperture Radar (SAR) imageries of the study area acquired in April and September 2004 were processed by both radiometric and geometric calibrations at first. New soil moisture estimation models derived by genetic programming (GP) technique were then developed and applied to support the soil moisture distribution analysis. The GP-based nonlinear function derived in the evolutionary process uniquely links a series of crucial topographic and geographic features. Included in this process are slope, aspect, vegetation cover, and soil permeability to compliment the well-calibrated SAR data. Research indicates that the novel application of GP proved useful for generating a highly nonlinear structure in regression regime, which exhibits very strong correlations statistically between the model estimates and the ground truth measurements (volumetric water content) on the basis of the unseen data sets. In an effort to produce the soil moisture distributions over seasons, it eventually leads to characterizing local- to regional-scale soil moisture variability and performing the possible estimation of water storages of the terrestrial hydrosphere. A new evolutionary computational, supervised classification scheme (Riparian Classification Algorithm, RICAL) was developed and used to identify the change of riparian zones in a semi-arid watershed temporally and spatially. The case study uniquely demonstrates an effort to incorporating both vegetation index and soil moisture estimates based on Landsat 5 TM and RADARSAT-1 imageries while trying to improve the riparian classification in the Choke Canyon Reservoir Watershed (CCRW), South Texas. The CCRW was selected as the study area contributing to the reservoir, which is mostly agricultural and range land in a semi-arid coastal environment. This makes the change detection of riparian buffers significant due to their interception capability of non-point source impacts within the riparian buffer zones and the maintenance of ecosystem integrity region wide. The estimation of soil moisture based on RADARSAT-1 Synthetic Aperture Radar (SAR) satellite imagery as previously developed was used. Eight commonly used vegetation indices were calculated from the reflectance obtained from Landsat 5 TM satellite images. The vegetation indices were individually used to classify vegetation cover in association with genetic programming algorithm. The soil moisture and vegetation indices were integrated into Landsat TM images based on a pre-pixel channel approach for riparian classification. Two different classification algorithms were used including genetic programming, and a combination of ISODATA and maximum likelihood supervised classification. The white box feature of genetic programming revealed the comparative advantage of all input parameters. The GP algorithm yielded more than 90% accuracy, based on unseen ground data, using vegetation index and Landsat reflectance band 1, 2, 3, and 4. The detection of changes in the buffer zone was proved to be technically feasible with high accuracy. Overall, the development of the RICAL algorithm may lead to the formulation of more effective management strategies for the handling of non-point source pollution control, bird habitat monitoring, and grazing and live stock management in the future. Soil properties, landscapes, channels, fault lines, erosion/deposition patches, and bedload transport history show geologic and geomorphologic features in a variety of watersheds. In response to these unique watershed characteristics, the hydrology of large-scale watersheds is often very complex. Precipitation, infiltration and percolation, stream flow, plant transpiration, soil moisture changes, and groundwater recharge are intimately related with each other to form water balance dynamics on the surface of these watersheds. Within this chapter, depicted is an optimal site selection technology using a grey integer programming (GIP) model to assimilate remote sensing-based geo-environmental patterns in an uncertain environment with respect to some technical and resources constraints. It enables us to retrieve the hydrological trends and pinpoint the most critical locations for the deployment of monitoring stations in a vast watershed. Geo-environmental information amassed in this study includes soil permeability, surface temperature, soil moisture, precipitation, leaf area index (LAI) and normalized difference vegetation index (NDVI). With the aid of a remote sensing-based GIP analysis, only five locations out of more than 800 candidate sites were selected by the spatial analysis, and then confirmed by a field investigation. The methodology developed in this remote sensing-based GIP analysis will significantly advance the state-of-the-art technology in optimum arrangement/distribution of water sensor platforms for maximum sensing coverage and information-extraction capacity. Effective water resources management is a critically important priority across the globe. While water scarcity limits the uses of water in many ways, floods also have caused so many damages and lives. To more efficiently use the limited amount of water or to resourcefully provide adequate time for flood warning, the results have led us to seek advanced techniques for improving streamflow forecasting. The objective of this section of research is to incorporate sea surface temperature (SST), Next Generation Radar (NEXRAD) and meteorological characteristics with historical stream data to forecast the actual streamflow using genetic programming. This study case concerns the forecasting of stream discharge of a complex-terrain, semi-arid watershed. This study elicits microclimatological factors and the resultant stream flow rate in river system given the influence of dynamic basin features such as soil moisture, soil temperature, ambient relative humidity, air temperature, sea surface temperature, and precipitation. Evaluations of the forecasting results are expressed in terms of the percentage error (PE), the root-mean-square error (RMSE), and the square of the Pearson product moment correlation coefficient (r-squared value). The developed models can predict streamflow with very good accuracy with an r-square of 0.84 and PE of 1% for a 30-day prediction

Application of Fractional Calculus to Rainfall-Streamflow Modelling

There is evidence that hydrologic systems exhibit memory processes that may be represented by fractional order systems. A new theory is developed in this work that generalises the classical unit hydrograph technique for the rainfall-runoff transformation. The theory is based upon a fractional order linear deterministic systems approach subject to an initial condition and is taken to apply to the entire rainfallstreamflow transformation (i.e. including baseflow). The general equation for a cascade of time-lagged linear reservoirs of fractional order subject to a constant initialisation function is derived, and is shown to be a form of fractional relaxation model. Dooge's (1959) general theory of the instantaneous unit hydrograph is shown to fit within the new theoretical framework. Similarly the relationship to the general storage equation of Chow and Kulandaiswamy (1971) is demonstrated. It is shown that the correct initialisation of cascade models requires a substantial number of initial conditions which may limit the viability of applying them in practice. Consequently, the differential formulation of the classical Nash cascade has been corrected and reinterpreted. The unbounded nature of the solution to the convolution integral form of the single fractional relaxation model is overcome by application of the Laplace transform of the pulse rainfall hyetograph following Wang and Wu (1983). The model parameters are fitted using the genetic algorithm. The fractional order cascade equations are tested for classical rainfall-runoff modelling using a set of 22 events for the River Nenagh. The cascade of 2 unequal fractionalorder reservoirs is shown to converge to that of the integer order case, whilst the cascade of equal reservoirs shows some differences. For the modelling of the total rainfall-streamflow process the single fractional order reservoir model with a constant initialisation function is tested on a selection of events for a range of UK catchment scales (22km^ to 510km ). A rainfall loss model is incorporated to account for infiltration and evapotranspiration. The results show that the new approach is viable for modelling the rainfall-streamflow transformation at the lumped catchment scale, although the parameter values are not constant for a given catchment. Further work is recommended on determining the nature of the initialisation function using field studies to improve the identification of the model parameters on an event-by-event basis

Reduced Order Models and Data Assimilation for Hydrological Applications

The present thesis work concerns the study of Monte Carlo (MC)-based data assimilation methods applied to the numerical simulation of complex hydrological models with stochastic parameters. The ensemble Kalman filter (EnKF) and the sequential importance resampling (SIR) are implemented in the CATHY model, a solver that couples the subsurface water flow in porous media with the surface water dynamics. A detailed comparison of the results given by the two filters in a synthetic test case highlights the main benefits and drawbacks associated to these techniques. A modification of the SIR update is suggested to improve the performance of the filter in case of small ensemble sizes and small variances of the measurement errors. With this modification, both filters are able to assimilate pressure head and streamflow measurements and correct model errors, such as biased initial and boundary conditions. SIR technique seems to be better suited for the simulations at hand as they do not make use of the Gaussian approximation inherent the EnKF method. Further research is needed, however, to assess the robustness of the particle filters methods in particular to ensure accuracy of the results even when relatively small ensemble sizes are employed. In the second part of the thesis the focus is shifted to reducing the computational burden associated with the construction of the MC realizations (which constitutes the core of the EnKF and SIR). With this goal, we analyze the computational saving associated to the use of reduced order models (RM) for the generation of the ensemble of solutions. The proper orthogonal decomposition (POD) is applied to the linear equations of the groundwater flow in saturated porous media with a randomly distributed recharge and random heterogeneous hydraulic conductivity. Several test cases are used to assess the errors on the ensemble statistics caused by the RM approximation. Particular attention is given to the efficient computation of the principal components that are needed to project the model equations in the reduced space. The greedy algorithm selects the snapshots in the set of the MC realizations in such a way that the final principal components are parameter independent. An innovative residual-based estimation of the error associated to the RM solution is used to assess the precision of the RM and to stop the iterations of the greedy algorithm. By way of numerical applications in synthetic and real scenarios, we demonstrate that this modified greedy algorithm determines the minimum number of principal components to use in the reduction and, thus, leads to important computational savings

Classification of hydro-meteorological conditions and multiple artificial neural networks for streamflow forecasting

Abstract. This paper presents the application of a modular approach for real-time streamflow forecasting that uses different system-theoretic rainfall-runoff models according to the situation characterising the forecast instant. For each forecast instant, a specific model is applied, parameterised on the basis of the data of the similar hydrological and meteorological conditions observed in the past. In particular, the hydro-meteorological conditions are here classified with a clustering technique based on Self-Organising Maps (SOM) and, in correspondence of each specific case, different feed-forward artificial neural networks issue the streamflow forecasts one to six hours ahead, for a mid-sized case study watershed. The SOM method allows a consistent identification of the different parts of the hydrograph, representing current and near-future hydrological conditions, on the basis of the most relevant information available in the forecast instant, that is, the last values of streamflow and areal-averaged rainfall. The results show that an adequate distinction of the hydro-meteorological conditions characterising the basin, hence including additional knowledge on the forthcoming dominant hydrological processes, may considerably improve the rainfall-runoff modelling performance

Application of machine learning in operational flood forecasting and mapping

Considering the computational effort and expertise required to simulate 2D hydrodynamic models, it is widely understood that it is practically impossible to run these types of models during a real-time flood event. To allow for real-time flood forecasting and mapping, an automated, computationally efficient and robust data driven modelling engine - as an alternative to the traditional 2D hydraulic models - has been proposed. The concept of computationally efficient model relies heavily on replacing time consuming 2D hydrodynamic software packages with a simplified model structure that is fast, reliable and can robustly retains sufficient accuracy for applications in real-time flood forecasting, mapping and sequential updating. This thesis presents a novel data-driven modelling framework that uses rainfall data from meteorological stations to forecast flood inundation maps. The proposed framework takes advantage of the highly efficient machine learning (ML) algorithms and also utilities the state-of-the-art hydraulic models as a system component. The aim of this research has been to develop an integrated system, where a data-driven rainfall-streamflow forecasting model sets up the upstream boundary conditions for the machine learning based classifiers, which then maps out multi-step ahead flood extents during an extreme flood event. To achieve the aim and objectives of this research, firstly, a comprehensive investigation was undertaken to search for a robust ML-based multi-step ahead rainfall-streamflow forecasting model. Three potential models were tested (Support Vector Regression (SVR), Deep Belief Network (DBN) and Wavelet decomposed Artificial Neural Network (WANN)). The analysis revealed that SVR-based models perform most efficiently in forecasting streamflow for shorter lead time. This study also tested the portability of model parameters and performance deterioration rates. Secondly, multiple ML-based models (SVR, Random Forest (RF) and Multi-layer Perceptron (MLP)) were deployed to simulate flood inundation extents. These models were trained and tested for two geomorphologically distinct case study areas. In the first case of study, of the models trained using the outputs from LISFLOOD-FP hydraulic model and upstream flow data for a large rural catchment (Niger Inland Delta, Mali). For the second case of study similar approach was adopted, though 2D Flood Modeller software package was used to generate target data for the machine learning algorithms and to model inundation extent for a semi-urban floodplain (Upton-Upon-Severn, UK). In both cases, machine learning algorithms performed comparatively in simulating seasonal and event based fluvial flooding. Finally, a framework was developed to generate flood extent maps from rainfall data using the knowledge learned from the case studies. The research activity focused on the town of Upton-Upon-Severn and the analysis time frame covers the flooding event of October-November 2000. RF-based models were trained to forecast the upstream boundary conditions, which were systematically fed into MLP-based classifiers. The classifiers detected states (wet/dry) of the randomly selected locations within a floodplain at every time step (e.g. one hour in this study). The forecasted states of the sampled locations were then spatially interpolated using regression kriging method to produce high resolution probabilistic inundation (9m) maps. Results show that the proposed data centric modelling engine can efficiently emulate the outcomes of the hydraulic model with considerably high accuracy, measured in terms of flood arrival time error, and classification accuracy during flood growing, peak, and receding periods. The key feature of the proposed modelling framework is that, it can substantially reduce computational time, i.e. ~14 seconds for generating flood maps for a flood plain of ~4 km2 at 9m spatial resolution (which is significantly low compared to a fully 2D hydrodynamic model run time)

Forecasting seasonal hydrologic response in major river basins.

Seasonal precipitation variation due to natural climate variation influences stream flow and the apparent frequency and severity of extreme hydrological conditions such as flood and drought. To study hydrologic response and understand the occurrence of extreme hydrological events, the relevant forcing variables must be identified. This study attempts to assess and quantify the historical occurrence and context of extreme hydrologic flow events and quantify the relation between relevant climate variables. Once identified, the flow data and climate variables are evaluated to identify the primary relationship indicators of hydrologic extreme event occurrence. Existing studies focus on developing basin-scale forecasting techniques based on climate anomalies in El Nino/La Nina episodes linked to global climate. Building on earlier work, the goal of this research is to quantify variations in historical river flows at seasonal temporal-scale, and regional to continental spatial-scale. The work identifies and quantifies runoff variability of major river basins and correlates flow with environmental forcing variables such as El Nino, La Nina, sunspot cycle. These variables are expected to be the primary external natural indicators of inter-annual and inter-seasonal patterns of regional precipitation and river flow. Relations between continental-scale hydrologic flows and external climate variables are evaluated through direct correlations in a seasonal context with environmental phenomenon such as sun spot numbers (SSN), Southern Oscillation Index (SOI), and Pacific Decadal Oscillation (PDO). Methods including stochastic time series analysis and artificial neural networks are developed to represent the seasonal variability evident in the historical records of river flows. River flows are categorized into low, average and high flow levels to evaluate and simulate flow variations under associated climate variable variations. Results demonstrated not any particular method is suited to represent scenarios leading to extreme flow conditions. For selected flow scenarios, the persistence model performance may be comparable to more complex multivariate approaches, and complex methods did not always improve flow estimation. Overall model performance indicates inclusion of river flows and forcing variables on average improve model extreme event forecasting skills. As a means to further refine the flow estimation, an ensemble forecast method is implemented to provide a likelihood-based indication of expected river flow magnitude and variability. Results indicate seasonal flow variations are well-captured in the ensemble range, therefore the ensemble approach can often prove efficient in estimating extreme river flow conditions. The discriminant prediction approach, a probabilistic measure to forecast streamflow, is also adopted to derive model performance. Results show the efficiency of the method in terms of representing uncertainties in the forecasts