Benchmark simulation Model no 2 in Matlab-simulink: towards plant-wide WWTP control strategy evaluation

Modifications to the anaerobic digestion model no. 1 (ADM1) for enhanced understanding and application of the anaerobic treatment processes - A comprehensive review

Anaerobic digestion (AD) is a promising method for the recovery of resources and energy from organic wastes. Correspondingly, AD modelling has also been developed in recent years. The International Water Association (IWA) Anaerobic Digestion Model No. 1 (ADM1) is currently the most commonly used structured AD model. However, as substrates become more complex and our understanding of the AD mechanism grows, both systematic and specific modifications have been applied to the ADM1. Modified models have provided a diverse range of application besides AD processes, such as fermentation and biogas upgrading processes. This paper reviews research on the modification of the ADM1, with a particular focus on processes, kinetics, stoichiometry and parameters, which are the major elements of the model. The paper begins with a brief introduction to the ADM1, followed by a summary of modifications, including extensions to the model structure, modifications to kinetics (including inhibition functions) and stoichiometry, as well as simplifications to the model. The paper also covers kinetic parameter estimation and validation of the model, as well as practical applications of the model to a variety of scenarios. The review highlights the need for improvements in simulating AD and biogas upgrading processes, as well as the lack of full-scale applications to other substrates besides sludge (such as food waste and agricultural waste). Future research directions are suggested for model development based on detailed understanding of the anaerobic treatment mechanisms, and the need to recover of valuable products.

A Dimensionality-Reducible Operational Optimal Control for Wastewater Treatment Process

Operational optimal control (OOC) is an essential component of wastewater treatment process (WWTP). The control variables usually are high-dimensional, nonlinear, and strongly coupled, which can easily fail traditional optimization control methods. Mathematically, these operational variables usually are in the unknown low-dimensional space embedded in the high-dimensional space. Therefore, the OOC problem of WWTP can be resolved as an optimization challenge involving low-dimensional space, and the unknown low-dimensional space is presented in the form of a set of controlled variables in a high-dimensional space, which is normal in real-world industries. Here, a dimension-reducible data-driven optimization control framework for WWTP is proposed. Considering the difficulty in elucidating the whole space of set points, a neural network is designed to approximate the constraint relationship between control variables. The search process is based on optimization methods in low-dimensional space embedded into Euclidean spaces. Furthermore, the convergence of the process is ensured via mathematical analysis. Finally, the experimental simulation of wastewater treatment revealed that this approach is effective for an optimal solution in control systems.

Automatic control and optimal operation for greenhouse gas mitigation in sustainable wastewater treatment plants: A review

In order to promote low-carbon sustainable operational management of the wastewater treatment plants (WWTPs), automatic control and optimal operation technologies, which devote to improving effluent quality, operational costs and greenhouse gas (GHG) emissions, have flourished in recent years. There is no consensus on the design procedure for optimal control/operation of sustainable WWTPs. In this review, we summarize recent researches on developing control and optimization strategies for GHG mitigation in WWTPs. Faced with the fact that direct carbon dioxide (CO₂) emissions (considered biological origin) are generally not included in the carbon footprint of WWTPs, direct emissions (nitrous oxide (N₂O), methane (CH₄)) and indirect emissions are paid much attention. Firstly, the plant-wide models with GHG dynamic simulation, which are employed to design and evaluate the automatic control schemes as well as representative studies on identifying key factors affecting GHG emissions or comprehensive performance are outlined. Then, both traditional and advanced control methods commonly used in GHG mitigation are reviewed in detail, followed by the multi-objective optimization practices of control/operational parameters. Based on the mentioned control and (or) optimization strategies, a novel design framework for the optimal control/operation of sustainable WWTPs is proposed. The findings and design framework proposed in the paper will provide guidance for GHG mitigation and sustainable operation in WWTPs. It is foreseeable that more accurate and appropriate plant-wide models together with flexible control methods and intelligent optimization strategies will be developed to satisfy the upgrading requirements of WWTPs in the future.

Developing a practical model for the optimal operation of wastewater treatment plant considering influent characteristics

Wastewater treatment plants (WWTPs) play an important role in protecting the quality of water sources. The optimum operation of WWTPs in response to continuous changes in the characteristics of the influent of the WWTP is very important, and it can improve the quality of the effluent of the WWTP. In this study, an approach for optimal operation of the WWTP has been presented considering the quantitative and qualitative variables of influent. In the proposed method, first, the simulation model of WWTP is developed and calibrated using the recorded data of its influent and effluent characteristics as well as operation conditions. Then, the influent is classified into clusters quantitatively and qualitatively k-means clustering method. In the final step, after determining the effective operation parameters, the AMOEA-MAP optimization algorithm is used to determine the optimal values of operation parameters for each cluster of influents based on its quantitative and qualitative characteristics including flow rate, COD, ammonium, and temperature. The proposed approach was implemented on a WWTP in the South of Tehran, the capital of Iran. Dissolved oxygen (DO) in the aeration tank, waste-activated sludge flow rate (Q_WAS) and the ratio of the supernatant flow rate of the sludge dewatering unit to the effluent flow rate (Q_d/Q_e) were considered as operation parameters affecting the performance of the system in removing pollutants and their optimal values were obtained as DO, 0.25-1.7 mg/l, Q_WAS, 875-2000 m³/day, and Q_d/Q_e, 10-14%. Using this method, i.e., changing system operation conditions based on influent characteristics, has improved the performance of a system in reducing COD, ammonium, and nitrate in the effluent by 11-41, 17-20 and 15-34, respectively.

Exploring the use of water resource recovery facility instrument data to visualise dynamic resilience to environmental stressors

Water resource recovery facilities (WRRF) face increasingly dynamic stressors, such as higher rainfall intensity and extended dry periods, which can exert stress on ageing water infrastructure and processes. These events can generate process stresses, which lead to wastewater process failures which result in pollution events that could be identified from instrument data used for operational/compliance monitoring. This extraction can be performed on two levels (1) for discrete processes that generate data to monitor process control variables and (2) at the WRRF process boundary (global), which is mainly used for compliance. Both levels of data hold valuable information on the dynamic influence of environmental stressors (cause) and the resulting process stress or resilience (effect) as 'dynamic resilience'. This paper proposes a novel methodology that uses actual water company instrument data to evaluate the 'discrete' (unit processes) and 'global' (WRRF boundary) dynamic resilience of a WRRF in the south of the UK. Dynamic resilience is presented as a four-stage methodology, which; (1) cleans WRRF data and extracts a standard operating condition; (2) identifies dynamic high and low flow environmental stressor events (one in five years); (3) models the process stresses and resilience generated by the imposed dynamic stressor before; (4) generating a contoured heat map of process-related stresses or resilience as a self ordering window. These methods demonstrate the possibility of visualising the dynamics of WRRF resilience (dynamic stressors and process stresses/resilience) resulting from high and low flow dynamic environmental stressors. Despite some challenges experienced with self ordering window scaling, the results demonstrate the possibility of identifying zones of process stress and resilience. It may also be possible to expand the methods developed to incorporate storm flows and combined sewer discharges.

Decision support systems (DSS) for wastewater treatment plants - A review of the state of the art

The use of decision support systems (DSS) allows integrating all the issues related with sustainable development in view of providing a useful support to solve multi-scenario problems. In this work an extensive review on the DSSs applied to wastewater treatment plants (WWTPs) is presented. The main aim of the work is to provide an updated compendium on DSSs in view of supporting researchers and engineers on the selection of the most suitable method to address their management/operation/design problems. Results showed that DSSs were mostly used as a comprehensive tool that is capable of integrating several data and a multi-criteria perspective in order to provide more reliable results. Only one energy-focused DSS was found in literature, while DSSs based on quality and operational issues are very often applied to site-specific conditions. Finally, it would be important to encourage the development of more user-friendly DSSs to increase general interest and usability.

Dual-Control of Autothermal Thermophilic Aerobic Digestion Using Aeration and Solid Retention Time

Autothermal thermophilic aerobic digestion (ATAD) is an advanced sewage sludge treatment which allows compliance with increasingly demanding regulations. Concerning sludge pasteurization, a certain average temperature must be assured in the digester during batch treatment. Aeration flow is the variable most manipulated to regulate the digester temperature. Additionally, the manipulation of the batch sludge flow—which is related to the solid-retention-time—is considered to improve temperature regulation despite variations in air and sludge temperatures and the variability of raw sludge organic content. Thus, a dual-input control structure was provided where the aeration and solid-retention-time contributed as faster and slower inputs, respectively. Two controllers intervened, and the set-point for the batch average temperature was chosen to meet the minimum effluent quality established by the US regulations or European recommendations, considering that lower set point temperatures save aeration costs. A set-point for the aeration allowed us to achieve an extra goal, which aimed at either reducing operation costs or increasing production rates. The two feedback controllers were designed following the robust control methodology known as quantitative feedback theory (QFT). Improvements were compared with single-input (aeration-flow) control strategy and open-loop control strategy. Simulations were performed on a benchmark non-linear simulation model for ATAD.

ATAD control goals through the analysis of process variables and evaluation of quality, production and cost

The aim of this paper is to establish and quantify different operational goals and control strategies in autothermal thermophilic aerobic digestion (ATAD). This technology appears as an alternative to conventional sludge digestion systems. During the batch-mode reaction, high temperatures promote sludge stabilization and pasteurization. The digester temperature is usually the only online, robust, measurable variable. The average temperature can be regulated by manipulating both the air injection and the sludge retention time. An improved performance of diverse biochemical variables can be achieved through proper manipulation of these inputs. However, a better quality of treated sludge usually implies major operating costs or a lower production rate. Thus, quality, production and cost indices are defined to quantify the outcomes of the treatment. Based on these, tradeoff control strategies are proposed and illustrated through some examples. This paper's results are relevant to guide plant operators, to design automatic control systems and to compare or evaluate the control performance on ATAD systems.

Multiple-objective evaluation of wastewater treatment plant control alternatives

Besides the evaluation of the environmental issues, the correct assessment of wastewater treatment plants (WWTP) should take into account several objectives such as: economic e.g. operation costs; technical e.g. risk of suffering microbiology-related TSS separation problems; or legal e.g. accomplishment with the effluent standards in terms of the different pollution loads. For this reason, the main objective of this paper is to show the benefits of complementing the environmental assessment carried out by life cycle assessment with economical, technical and legal criteria. Using a preliminary version of the BSM2 as a case study, different combinations of controllers are implemented, simulated and evaluated. In the following step, the resulting multi-criteria matrix is mined using multivariate statistical techniques. The results showed that the presence of an external carbon source addition, the type of aeration system and the TSS controller are the key elements creating the differences amongst the alternatives. Also, it was possible to characterize the different control strategies according to a set of aggregated criteria. Additionally, the existing synergies amongst different objectives and their consequent trade-offs were identified. Finally, it was discovered that from the initial extensive list of evaluation criteria, only a small set of five are really discriminant, being useful to differentiate within the generated alternatives.

Including the effects of filamentous bulking sludge during the simulation of wastewater treatment plants using a risk assessment model

The main objective of this paper is to demonstrate how including the occurrence of filamentous bulking sludge in a secondary clarifier model will affect the predicted process performance during the simulation of WWTPs. The IWA Benchmark Simulation Model No. 2 (BSM2) is hereby used as a simulation case study. Practically, the proposed approach includes a risk assessment model based on a knowledge-based decision tree to detect favourable conditions for the development of filamentous bulking sludge. Once such conditions are detected, the settling characteristics of the secondary clarifier model are automatically changed during the simulation by modifying the settling model parameters to mimic the effect of growth of filamentous bacteria. The simulation results demonstrate that including effects of filamentous bulking in the secondary clarifier model results in a more realistic plant performance. Particularly, during the periods when the conditions for the development of filamentous bulking sludge are favourable--leading to poor activated sludge compaction, low return and waste TSS concentrations and difficulties in maintaining the biomass in the aeration basins--a subsequent reduction in overall pollution removal efficiency is observed. Also, a scenario analysis is conducted to examine i) the influence of sludge retention time (SRT), the external recirculation flow rate (Q(r)) and the air flow rate in the bioreactor (modelled as k(L)a) as factors promoting bulking sludge, and ii) the effect on the model predictions when the settling properties are changed due to a possible proliferation of filamentous microorganisms. Finally, the potentially adverse effects of certain operational procedures are highlighted, since such effects are normally not considered by state-of-the-art models that do not include microbiology-related solids separation problems.

Multi-criteria evaluation of wastewater treatment plant control strategies under uncertainty

The evaluation of activated sludge control strategies in wastewater treatment plants (WWTP) via mathematical modelling is a complex activity because several objectives; e.g. economic, environmental, technical and legal; must be taken into account at the same time, i.e. the evaluation of the alternatives is a multi-criteria problem. Activated sludge models are not well characterized and some of the parameters can present uncertainty, e.g. the influent fractions arriving to the facility and the effect of either temperature or toxic compounds on the kinetic parameters, having a strong influence in the model predictions used during the evaluation of the alternatives and affecting the resulting rank of preferences. Using a simplified version of the IWA Benchmark Simulation Model No. 2 as a case study, this article shows the variations in the decision making when the uncertainty in activated sludge model (ASM) parameters is either included or not during the evaluation of WWTP control strategies. This paper comprises two main sections. Firstly, there is the evaluation of six WWTP control strategies using multi-criteria decision analysis setting the ASM parameters at their default value. In the following section, the uncertainty is introduced, i.e. input uncertainty, which is characterized by probability distribution functions based on the available process knowledge. Next, Monte Carlo simulations are run to propagate input through the model and affect the different outcomes. Thus (i) the variation in the overall degree of satisfaction of the control objectives for the generated WWTP control strategies is quantified, (ii) the contributions of environmental, legal, technical and economic objectives to the existing variance are identified and finally (iii) the influence of the relative importance of the control objectives during the selection of alternatives is analyzed. The results show that the control strategies with an external carbon source reduce the output uncertainty in the criteria used to quantify the degree of satisfaction of environmental, technical and legal objectives, but increasing the economical costs and their variability as a trade-off. Also, it is shown how a preliminary selected alternative with cascade ammonium controller becomes less desirable when input uncertainty is included, having simpler alternatives more chance of success.