Adaptive fuzzy neural network control of wastewater treatment process with multiobjective operation

Indicator based multi-criteria decision support systems for wastewater treatment plants

Wastewater treatment plant decision makers face stricter regulations regarding human health protection, environmental preservation, and emissions reduction, meaning they must improve process sustainability and circularity, whilst maintaining economic performance. This creates complex multi-objective problems when operating and selecting technologies to meet these demands, resulting in the development of many decision support systems for the water sector. European Commission publications highlight their ambition for greater levels of sustainability, circularity, and environmental and human health protection, which decision support system implementation should align with to be successful in this region. Following the review of 57 wastewater treatment plant decision support systems, the main function of multi-criteria decision-making tools are technology selection and the optimisation of process operation. A large contrast regarding their aims is found, as process optimisation tools clearly define their goals and indicators used, whilst technology selection procedures often use vague language making it difficult for decision makers to connect selected indicators and resultant outcomes. Several recommendations are made to improve decision support system usage, such as more rigorous indicator selection protocols including participatory selection approaches and expansion of indicators sets, as well as more structured investigation of results including the use of sensitivity or uncertainty analysis, and error quantification.

Review of Latest Advances in Nature-Inspired Algorithms for Optimization of Activated Sludge Processes

The activated sludge process (ASP) is the most widely used biological wastewater treatment system. Advances in research have led to the adoption of Artificial Intelligence (AI), in particular, Nature-Inspired Algorithm (NIA) techniques such as Genetic Algorithms (GAs) and Particle Swarm Optimization (PSO) to optimize treatment systems. This has aided in reducing the complexity and computational time of ASP modelling. This paper covers the latest NIAs used in ASP and discusses the advantages and limitations of each algorithm compared to more traditional algorithms that have been utilized over the last few decades. Algorithms were assessed based on whether they looked at real/ideal treatment plant (WWTP) data (and efficiency) and whether they outperformed the traditional algorithms in optimizing the ASP. While conventional algorithms such as Genetic Algorithms (GAs), Particle Swarm Optimization (PSO), and Ant Colony Optimization (ACO) were found to be successfully employed in optimization techniques, newer algorithms such as Whale Optimization Algorithm (WOA), Bat Algorithm (BA), and Intensive Weed Optimization Algorithm (IWO) achieved similar results in the optimization of the ASP, while also having certain unique advantages.

Autonomous learning for fuzzy systems: a review

As one of the three pillars in computational intelligence, fuzzy systems are a powerful mathematical tool widely used for modelling nonlinear problems with uncertainties. Fuzzy systems take the form of linguistic IF-THEN fuzzy rules that are easy to understand for human. In this sense, fuzzy inference mechanisms have been developed to mimic human reasoning and decision-making. From a data analytic perspective, fuzzy systems provide an effective solution to build precise predictive models from imprecise data with great transparency and interpretability, thus facilitating a wide range of real-world applications. This paper presents a systematic review of modern methods for autonomously learning fuzzy systems from data, with an emphasis on the structure and parameter learning schemes of mainstream evolving, evolutionary, reinforcement learning-based fuzzy systems. The main purpose of this paper is to introduce the underlying concepts, underpinning methodologies, as well as outstanding performances of the state-of-the-art methods. It serves as a one-stop guide for readers learning the representative methodologies and foundations of fuzzy systems or who desire to apply fuzzy-based autonomous learning in other scientific disciplines and applied fields.

A Scalable-Bandwidth Extended State Observer-Based Adaptive Sliding-Mode Control for the Dissolved Oxygen in a Wastewater Treatment Process

Strong nonlinearities, uncertainties, and disturbances present great challenges to the control of the dissolved oxygen (DO) in a wastewater treatment process (WWTP). To deal with those undesired issues, in this article, a scalable-bandwidth extended state observer (SESO) is proposed, and the SESO-based adaptive sliding-mode control (ASMC) is designed. By the SESO, the time-varying total disturbance can be estimated more accurately and compensated more effectively. For the disturbances that are not addressed completely, an ASMC is employed to suppress them. Due to the advantages of both SESO and ASMC, the DO can be regulated more desirably. The benchmark simulation model Number 1 is taken to verify the proposed SESO-based ASMC. Comparative simulation results highlight the advantages of the proposed approach.

An effective dynamic immune optimization control for the wastewater treatment process

To resolve the conflict between multiple performance indicators in the complicated wastewater treatment process (WWTP), an effective optimization control scheme based on a dynamic multi-objective immune system (DMOIA-OC) is designed. A dynamic optimization control scheme is first developed in which the control process is divided into a dynamic layer and a tracking control layer. Based on the analysis of the WWTP performance, the energy consumption and effluent quality models are next established adaptively in response to the environment by an optimization layer. An adaptive dynamic immune optimization algorithm is then proposed to optimize the complex and conflicting performance indicators. In addition, a suitable preferred solution is selected from the numerous Pareto solutions to obtain the best set of values for the dissolved oxygen and nitrate nitrogen. Finally, the solution is evaluated on the benchmark simulation platform (BSM1). The results show that the DMOIA-OC method can solve the complex optimization problem for multiple performance indicators in WWTPs and has a competitive advantage in its control effect.

Adaptive Biological Neural Network Control and Virtual Realization for Engineering Manipulator

By analyzing the feasibility of the digital twin technology in the assembly of construction machinery, the assembly process of the construction manipulator in the engineering environment is discussed. According to the application criteria and modeling requirements of digital twin, the overall framework of digital twin engineering manipulator assembly modeling and simulation is constructed from three aspects: model layer, data layer, and application layer. According to the operation task characteristics of space engineering manipulator, the feasibility of the control method based on joint angular velocity is analyzed, and the task environment of space engineering manipulator based on Markov model is defined. Aiming at the application of the algorithm in the control task of the space engineering manipulator, a reward function with the addition of the angular velocity soft bound term is designed, which improves the strategy optimization process of the algorithm and obtains a better control effect of the engineering manipulator. The motion trajectory of the end of the engineering manipulator is directly given on the simulation platform, and the expected motion of each joint of the engineering manipulator is calculated through the kinematics of the engineering manipulator. It can be seen from the simulation results that the controllers designed in this study can achieve ideal control effects. With the help of Baxter robot platform, the control algorithm designed in this study is applied to the actual engineering manipulator control, and the effectiveness of the control algorithm is further proved by the actual control effect.

New approach for regulation of the internal recirculation flow rate by fuzzy logic in biological wastewater treatments

The internal recirculation plays an important role on the different biological processes of wastewater treatment plants because it has a great influence on the concentration of pollutants, especially nutrients. Usually, the internal recirculation flow rate is kept fixed or manipulated by control techniques to maintain a fixed nitrate set-point in the last anoxic tank. This work proposes a new control strategy to manipulate the internal recirculation flow rate by applying a fuzzy controller. The proposed controller takes into account the effects of the internal recirculation flow rate on the inlet of the biological treatment and on the denitrification and nitrification processes with the aim of reducing violations of legally established limits of nitrogen and ammonia and also reducing operational costs. The proposed fuzzy controller is tested by simulation with the internationally known benchmark simulation model no. 2. The objective is to apply the proposed fuzzy controller in any control strategy, only replacing the manipulation of the internal recirculation flow rate, to improve the plant operation.Therefore, it has been implemented in five operation strategies from the literature, replacing their original internal recirculation flow rate control, and simulation results are compared with those of the original strategies. Results show improvements with the application of the proposed fuzzy controller of between 2.25 and 57.94% in reduction of total nitrogen limit violations, between 55.22 and 79.69% in reduction of ammonia limit violations and between 0.84 and 38.06% in cost reduction of pumping energy.

Adaptive Fuzzy Neural Network PID Algorithm for BLDCM Speed Control System

Because of its simple structure, high efficiency, low noise, and high reliability, the brushless direct current motor (BLDCM) has an irreplaceable role compared with other types of motors in many aspects. The traditional proportional integral derivative (PID) control algorithm has been widely used in practical engineering because of its simple structure and convenient adjustment, but it has many shortcomings in control accuracy and other aspects. Therefore, in this paper, a fuzzy single neuron neural network (FSNNN) PID algorithm based on an automatic speed regulator (ASR) is designed and applied to a BLDCM control system. This paper introduces a BLDCM mathematical model and its control system and designs an FSNNN PID algorithm that takes speed deviation e at different sampling times as inputs of a neural network to adjust the PID parameters, and then it uses a fuzzy system to adjust gain K of the neural network. In addition, the frequency domain stability of a double closed loop PID control system is analyzed, and the control effect of traditional PID, fuzzy PID, and FSNNN PID algorithms are compared by setting different reference speeds, as well as the change rules of three-phase current, back electromotive force (EMF), electromagnetic torque, and rotor angle position. Finally, results show that a motor controlled by the FSNNN PID algorithm has certain superiority compared with traditional PID and fuzzy PID algorithms and also has better control effects.

Utilization of random vector functional link integrated with manta ray foraging optimization for effluent prediction of wastewater treatment plant

An innovative predictive model was employed to predict the key performance indicators of a full-scale wastewater treatment plant (WWTP) operated with an activated sludge treatment process. The data-driven model was obtained using data gathered from Cairo, Egypt. The proposed model consists of Random Vector Functional Link (RVFL) Networks incorporated with Manta Ray Foraging Optimizer (MRFO). RVFL is used as an advanced Artificial Neural Network (ANN) that avoids the common conventional ANN problems such as overfitting. MRFO is employed to determine the best RVFL parameters to maximize the prediction accuracy of the model. The developed MRFO-RVFL is compared with conventional RVFL to figure out the role of MRFO as an optimization tool to enhance model performance. Both models were trained and tested using experimental data measured during a long period of 222 days. This study aims to provide an accurate prediction of the most widely treated effluent indicators of BOD₅ and TSS in the wastewater treatment plants. In this study, ten well-known influent wastewater parameters, BOD₅, TSS, and VSS, influent flow rate, pH, ambient temperature, F/M ratio, SRT, WAS, and RAS, the output BOD₅ and TSS were modeled and predicted using the integrated MRFO-RVFL algorithms and compared with the standalone RVFL model. The performance of the models was evaluated using different assessment measures such as R², RMSE, and others. The obtained results of R² and RMSE for the MRFO-RVFL model were 0.924 and 3.528 for BOD₅ and 0.917 and 6.153 for TSS, which were much better than the results of conventional RVFL with 0.840 and 6.207 for BOD₅ and 0.717 and 10.05 for TSS. Based on the obtained results, the selective model (MRFO-RVFL) exhibited a higher performance and validity to predict the TSS and optimal BOD₅.

Cooperative Optimal Controller and Its Application to Activated Sludge Process

With the increasing complexity and scale of activated sludge process (ASP), it is quite challenging to coordinate the performance indices with different time scales. To address this problem, a cooperative optimal controller (COC) is proposed to improve the operation performance in this paper. First, a cooperative optimal scheme is developed for designing the control system, where the different time-scale performance indices are formulated by two levels. Second, a data-driven surrogate-assisted optimization (DDSAO) algorithm is provided to optimize the cooperative objectives, where a surrogate model is established for evaluating the feasibility of optimal solutions based on the minimum squared error. Third, an adaptive predictive control strategy is investigated to derive the control laws for improving the tracking control performance. Finally, the proposed COC is tested on benchmark simulation model No. 1 (BSM1). The results demonstrate that the proposed COC is able to coordinate the multiple time-scale performance indices and achieve the competitive optimal control performance.

Dairy wastewater processing and automatic control for waste recovery at the municipal wastewater treatment plant based on modelling investigations

Based on the calibrated model for an Anaerobic-Anoxic-Oxic (A²O) municipal wastewater treatment plant (WWTP), this research investigated and proposed feasible solutions, control system configurations and optimal operating conditions for the dairy wastewater processing. The steady state study on adding different daily amounts of dairy wastewater in the WWTP water line revealed the most efficient amount to be treated by finding a minimum of the total nitrogen concentration in the water effluent. The dynamic investigations on adding different daily amounts of diary wastewater demonstrated the incentives of the proposed cascade control system configurations, based on the ammonia or nitrates concentration control in the aerated reactors, associated to nitrates and nitrites concentration control in the anoxic reactor. The best periods of time and duration for scheduling the dairy wastewater processing were searched and found. Preliminary results showed the incentives of the additional dairy wastewater distribution during 2 h, at the highest influent concentration moments. Further investigations, relying on the genetic algorithm optimization method revealed that better daily scheduling of the dairy wastewater addition may be obtained. Compared to normal operation, the optimal scheduling program of the dairy wastewater treatment showed an overall performance index improvement of 13.36%, when the daily 1:52 p.m. moment of time and the duration of about 1 h program, found by optimization, were applied. Results demonstrate the dual incentives of the carbon and nutrients recovery, associated to the energy and effluent quality benefits on WWTP operation.

Dynamic MOPSO-Based Optimal Control for Wastewater Treatment Process

To achieve excellent treatment performance of complex and time-varying characteristics, the operation of wastewater treatment process (WWTP) has been considered as a dynamic multiobjective control problem. In this paper, an optimal controller, based on a dynamic multiobjective particle swarm optimization (DMOPSO) algorithm, is developed to deal with the dynamic multiple conflicting criteria [i.e., effluent quality (EQ), operation cost, and operation stability]. The novelties and advantages of this proposed DMOPSO-based optimal controller (DMOPSO-OC) include the following two aspects. First, an integrated optimization framework, where the multiple objectives not only conflict with each other but also change over time, is able to catch more characteristics of WWTP than the existing works. Second, a DMOPSO algorithm, with an adaptive global best selection mechanism, is designed to solve the multiobjective optimization problem (MOP) for the proposed optimal controller, thus leading to a significant improvement of optimal synthesis for performance. Finally, the proposed DMOPSO-OC is tested in the benchmark simulation model No. 1 (BSM1) and implemented in a real WWTP to evaluate its effectiveness. The experimental results demonstrate that this proposed DMOPSO-OC can achieve a significant improvement in optimal control performance and obey the requirement of multiple conflicting criteria.

Industrial Control under Non-Ideal Measurements: Data-Based Signal Processing as an Alternative to Controller Retuning

Industrial environments are characterised by the non-lineal and highly complex processes they perform. Different control strategies are considered to assure that these processes are correctly performed. Nevertheless, these strategies are sensible to noise-corrupted and delayed measurements. For that reason, denoising techniques and delay correction methodologies should be considered but, most of these techniques require a complex design and optimisation process as a function of the scenario where they are applied. To alleviate this, a complete data-based approach devoted to denoising and correcting the delay of measurements is proposed here with a two-fold objective: simplify the solution design process and achieve its decoupling from the considered control strategy as well as from the scenario. Here it corresponds to a Wastewater Treatment Plant (WWTP). However, the proposed solution can be adopted at any industrial environment since neither an optimization nor a design focused on the scenario is required, only pairs of input and output data. Results show that a minimum Root Mean Squared Error (RMSE) improvement of a 63.87% is achieved when the new proposed data-based denoising approach is considered. In addition, the whole system performance show that similar and even better results are obtained when compared to scenario-optimised methodologies.

Global Internal Recirculation Alternative Operation to Reduce Nitrogen and Ammonia Limit Violations and Pumping Energy Costs in Wastewater Treatment Plants

The internal recirculation plays an important role in different areas of the biological treatment of wastewater treatment plants because it has a great influence on the concentration of pollutants, especially nutrients. A usual manipulation of the internal recirculation flow rate is based on the target of controlling the nitrate concentration in the last anoxic tank. This work proposes an alternative for the manipulation of the internal recirculation flow rate instead of nitrate control, with the objective of avoiding limit violations of nitrogen and ammonia concentrations and reducing operational costs. A fuzzy controller is proposed to achieve it based on the effects of the internal recirculation flow rate in different areas of the biological treatment. The proposed manipulation of the internal recirculation flow rate is compared to the application of the usual nitrate control in an already established and published operation strategy by using the internationally known benchmark simulation model no. 2 as a working scenario. The results show improvements with reductions of 59.40% in ammonia limit violations, 2.35% in total nitrogen limit violations, and 38% in pumping energy costs.

Denoising Autoencoders and LSTM-Based Artificial Neural Networks Data Processing for Its Application to Internal Model Control in Industrial Environments-The Wastewater Treatment Plant Control Case

The evolution of industry towards the Industry 4.0 paradigm has become a reality where different data-driven methods are adopted to support industrial processes. One of them corresponds to Artificial Neural Networks (ANNs), which are able to model highly complex and non-linear processes. This motivates their adoption as part of new data-driven based control strategies. The ANN-based Internal Model Controller (ANN-based IMC) is an example which takes advantage of the ANNs characteristics by modelling the direct and inverse relationships of the process under control with them. This approach has been implemented in Wastewater Treatment Plants (WWTP), where results show a significant improvement on control performance metrics with respect to (w.r.t.) the WWTP default control strategy. However, this structure is very sensible to non-desired effects in the measurements-when a real scenario showing noise-corrupted data is considered, the control performance drops. To solve this, a new ANN-based IMC approach is designed with a two-fold objective, improve the control performance and denoise the noise-corrupted measurements to reduce the performance degradation. Results show that the proposed structure improves the control metrics, (the Integrated Absolute Error (IAE) and the Integrated Squared Error (ISE)), around a 21.25% and a 54.64%, respectively.

Real-time model predictive control of a wastewater treatment plant based on machine learning

Two separate goals should be jointly pursued in wastewater treatment: nutrient removal and energy conservation. An efficient controller performance should cope with process uncertainties, seasonal variations and process nonlinearities. This paper describes the design and testing of a model predictive controller (MPC) based on neuro-fuzzy techniques that is capable of estimating the main process variables and providing the right amount of aeration to achieve an efficient and economical operation. This algorithm has been field tested on a large-scale municipal wastewater treatment plant of about 500,000 PE, with encouraging results in terms of better effluent quality and energy savings.

Tackling environmental challenges in pollution controls using artificial intelligence: A review

This review presents the developments in artificial intelligence technologies for environmental pollution controls. A number of AI approaches, which start with the reliable mapping of nonlinear behavior between inputs and outputs in chemical and biological processes in terms of prediction models to the emerging optimization and control algorithms that study the pollutants removal processes and intelligent control systems, have been developed for environmental clean-ups. The characteristics, advantages and limitations of AI methods, including single and hybrid AI methods, were overviewed. Hybrid AI methods exhibited synergistic effects, but with computational heaviness. The up-to-date review summarizes i) Various artificial neural networks employed in wastewater degradation process for the prediction of removal efficiency of pollutants and the search of optimizing experimental conditions; ii) Evaluation of fuzzy logic used for intelligent control of aerobic stage of wastewater treatment process; iii) AI-aided soft-sensors for precisely on-line/off-line estimation of hard-to-measure parameters in wastewater treatment plants; iv) Single and hybrid AI methods applied to estimate pollutants concentrations and design monitoring and early-warning systems for both aquatic and atmospheric environments; v) AI modelings of short-term, mid-term and long-term solid waste generations, and various ANNs for solid waste recycling and reduction. Finally, the future challenges of AI-based models employed in the environmental fields are discussed and proposed.

Data-driven prediction and control of wastewater treatment process through the combination of convolutional neural network and recurrent neural network

It is widely believed that effective prediction of wastewater treatment results (WTR) is conducive to precise control of aeration amount in the wastewater treatment process (WTP). Conventional biochemical mechanism-driven approaches are highly dependent on complicated and redundant model parameters, resulting in low efficiency. Besides, sharp increase in business volume of wastewater treatment requires automatic operation technologies for this purpose. Under this background, researchers started to introduce the idea of data mining to model the WTP, in order to automatically predict WTR given inlet conditions and aeration amount. However, existing data-driven approaches for this purpose focus on modelling of the WTP at independent timestamps, neglecting sequential characteristics of timestamps during the long-term treatment process. To tackle the challenge, in this paper, a novel prediction and control framework through combination of convolutional neural network (CNN) and recurrent neural network (RNN) is proposed for prediction of the WTR. Firstly, the CNN model is utilized to automatically extract the local features of each independent timestamp in the WTP and make them encoded. Next, the RNN model is employed to represent global sequential features of the WTP on the basis of local feature encoding. Finally, we conduct a large number of experiments to verify efficiency and stability of the proposed prediction framework.

This work proposes a novel data-driven mechanism for prediction of wastewater treatment results through mixture of two neural network models.

A Comparison of Clustering and Prediction Methods for Identifying Key Chemical–Biological Features Affecting Bioreactor Performance

Chemical–biological systems, such as bioreactors, contain stochastic and non-linear interactions which are difficult to characterize. The highly complex interactions between microbial species and communities may not be sufficiently captured using first-principles, stationary, or low-dimensional models. This paper compares and contrasts multiple data analysis strategies, which include three predictive models (random forests, support vector machines, and neural networks), three clustering models (hierarchical, Gaussian mixtures, and Dirichlet mixtures), and two feature selection approaches (mean decrease in accuracy and its conditional variant). These methods not only predict the bioreactor outcome with sufficient accuracy, but the important features correlated with said outcome are also identified. The novelty of this work lies in the extensive exploration and critique of a wide arsenal of methods instead of single methods, as observed in many papers of similar nature. The results show that random forest models predict the test set outcomes with the highest accuracy. The identified contributory features include process features which agree with domain knowledge, as well as several different biomarker operational taxonomic units (OTUs). The results reinforce the notion that both chemical and biological features significantly affect bioreactor performance. However, they also indicate that the quality of the biological features can be improved by considering non-clustering methods, which may better represent the true behaviour within the OTU communities.

Predicting wastewater treatment plant quality parameters using a novel hybrid linear-nonlinear methodology

Biochemical oxygen demand (BOD), chemical oxygen demand (COD), total dissolved solids (TDS) and total suspended solids (TSS) are the most commonly regulated wastewater effluent parameters. The measurement and prediction of these parameters are essential for assessing the performance and upgrade of wastewater treatment facilities. In this study, a new methodology, combining a linear stochastic model (ARIMA) and nonlinear outlier robust extreme learning machine technique (ORELM) with various preprocesses, is presented to model the quality parameters of effluent wastewater (ARIMA-ORELM). For each of the studied parameters, 144 different (144 × 8 models) linear models (ARIMA) are presented, with the superior model of each parameter being selected based on statistical indices. Moreover, 48 nonlinear models (ORELM) and 48 hybrid models (ARIMA-ORELM) were considered. The use of linear and nonlinear approaches to model the linear and nonlinear terms (respectively) of each time series in the hybrid model increased the efficiency and accuracy of the predictions for all of the time series. The influent wastewater nonlinear TSS model and the effluent COD and BOD models attained the best performance with a high correlation coefficient of 0.95. The use of hybrid models improved the prediction capability of all quality parameters with the best performance being achieved for the effluent BOD model (R² = 0.99).