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1 change ‘et al.’ to ‘and Gouzé’?
2 change ‘et al.’ to ‘and Gomez-Quintero’?
3 change ‘et al.’ to ‘and Olsson’?
4 change ‘et al.’ to ‘and Georgakakos’?
5 change ‘et al.’ to ‘and Olsson’?
6 not found in the References, but there is one Julien reference missing a date – is this the same
reference?
7 change ‘et al.’ to ‘and Barbu’?
8 insert (PSO) here, as it appears below?
9 change ‘et al.’ to ‘and Chowdhury’?
10 change ‘et al.’ to ‘and Abdelaziz’?
11 change ‘et al.’ to ‘and Zainal’?
12 change ‘et al.’ to ‘and Prabin’?
13 change ‘et al.’ to ‘and Antanassova’?
14 please give full definition of AG
15 see previous query, not found in text
16 change ‘et al.’ to ‘and Gomez-Quintero’?
17 please see previous query, not found in References
18 change ‘et al.’ to ‘and Gomez-Quintero’?
19 change ‘children’ to ‘offspring’?
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Article
Transactions of the Institute of
Measurement and Control
Parameter identification of a reduced 1–12
Ó The Author(s) 2019
algorithm
Abstract
Parameter identification plays a key role in systems’ modeling and control. This paper deals with a parameter identification problem for an activated
sludge process used in wastewater treatment. The considered model is a nonlinear one inspired from the well-known ASM1. Nature-inspired algo-
rithms have gained significant attention over the last years as useful means to solve parameter identification problem. The proposed approach in this
paper is the cuckoo search algorithm based on both the fascinating brood parasitic behavior and the lévy flights. The advantages of this method are its
simplicity and robustness, but it requires a good tuning of its parameters to have the best results. The comparison of the simulation results with the
Nelder-Mead method, genetic algorithm, and particle swarm optimization proves the capability of this method to identify the model’s parameters with
high precision.
Keywords
Activated sludge process, parameter identification, cuckoo search algorithm
Introduction All these models are useful and efficient for description,
design and modeling of the activated sludge processes
The majority of mathematical tools investigated in designing, (Gernaey et al., 2004; Hauduc et al., 2010, 2011; Rieger et al.,
solving practical control and identification problems stand in 2001; Wu et al., 2016) but at the same time are complicated
need of simplified models. These models must describe ade- and highly nonlinear for observation and control strategies
quately the system performance and they depend on their uti- that require creating more simpler and intelligible models
lization’s purposes. Thus, a compromise between accuracy (Gomez Quintero et al., 2000; Gonzalez-Miranda et al., 2009;
and simplicity is required. For activated sludge processes, Hadj-Sadok et al.[AQ: 1], 2001; Holenda et al., 2008; Julien
many models have been developed for design, control and et al., 1999; Queinnec et al.[AQ: 2], 2009; Vrečko et al., 2011;
specific analysis aims. Zhang et al., 2008).
All the developed models can be gathered in one class Over the years, many models have been created mainly
called the Activated Sludge Model (ASM) family. This latter is based on the ASM family to accomplish an effective control
proposed by the International Water Association (IWA). It plan while responding to the modifications in the operating
starts with the ASM1 developed in 1982 as the reference model conditions within the treatment system. The distinct reduction
for all the following works. This model presents a general methods are mainly based on: simplification of biomass
acceptance of biological plant modeling. It describes the dynamics, linear approximation of the nonlinear terms, utili-
removal of nitrogen and organic compounds accompanying zation of the available online measurements and so forth
the consumption of oxygen and nitrate (Henze et al., 1987). (Birs et al., 2016; Gomez Quintero et al., 2000; Holenda et al.,
Then, the ASM2 has been created in 1995 by extending the
capabilities of the ASM1 to the biological phosphorus removal
(Gujer et al., 1995). After that, the ASM2d has been built on
its ancestor the ASM2 by adding the denitrification activity in Research Unit: Industrial systems study and renewable energy (ESIER),
order to give a better description for the performance of phos- the National Engineering School of Monastir (ENIM), University of
phate and nitrate (Henze et al., 1999). In 1998, The ASM3 was Monastir, Tunisia
also developed for biological nitrogen removal, with basically
Corresponding author:
the same objective as the ASM1 (Gujer et al., 1999). The
Intissar Khoja, Research Unit: Industrial systems study and renewable
major difference between these two models is that the recent energy (ESIER), the National Engineering School of Monastir (ENIM),
one recognizes the influence of storage polymers in the hetero- University of Monastir, Av. Ibn El Jazzar Skanes (5019), Tunisia.
trophic activated sludge conversion (Mulas, 2006). Email: intissar_khoja@yahoo.com
2 Transactions of the Institute of Measurement and Control 00(0)
aerobic phase where the microorganisms consume the S_ s = Ds Ssin + Dc Ssc (Ds + Dc )Ss (1=YH )(r1 + r2 ) + r7
remaining oxygen after it has been shutting down. ð1Þ
The phases’ switching is ensured by the change of the oxy-
gen transfer coefficient’s value (kLa ). In the aeration phase, its S_ NO3 = (Ds + Dc )SNO3 ((1 YH )=(2:86YH ))r2 + r3 ð2Þ
value is different from 0 and in the anoxic phase, it is equal to
0. As a result, the aeration operation can be considered S_ NH4 = Ds SNH4 in (Ds + Dc )SNH4 iNBM (r1 + r2 ) r3 + r6
discontinuous. ð3Þ
The considered ASP in this paper is a pilot unit installed
in the Engineering Laboratory of Environmental Processes S_ O2 = (Ds + Dc )SO2 + kLa (SO2 sat SO2 )
ð4Þ
(ELEP) of the National Institution of Applied Sciences ((1 YH )=YH ) 4:57r3
(NIAS) in Toulouse, France. This process is fed by
Toulouse’s sewers’ waste water that has a low mass load. The Where Si, in are the input concentrations of variables and ri
oxygen concentration, which plays a key role in this kind of present the kinetics of the process. They can be written in
plant, cannot be regulated to a constant value. The only these forms
available measurements are the nitrate, the ammonium and
the oxygen concentrations so a reduced model containing r1 = a1 Ss (SO2 =(SO2 + KO2 H )) ð5Þ
these three variables is advisable.
As we mentioned before, many models have been estab- r2 = a1 Ss (SNO3 =(SNO3 + KNO3 ))(KO2 H =(SO2 + KO2 H )) ð6Þ
lished for the ASP but few of them consider the oxygen as a r3 = a2 (SNH4 =(SNH4 + KNH4 AUT ))(SO2 =(SO2 + KO2 AUT )) ð7Þ
state variable like our case. A variety of reduction techniques
have been studied and applied to update these complex mod- r 6 = a3 ð8Þ
els to real-time use. One of the most known methods is the
nonlinear method of regular and singular perturbations. In r7 = a4 ((SO2 =(SO2 + KO2 H ))
fact, it is very simply-used and provides reduced-order models + hNO3 h (SNO3 =(SNO3 + KNO3 ))(KO2 H =(SO2 + KO2 H )))
while preserving the models’ basic structures. Applied on the ð9Þ
reference model developed by Julien in 1997 and deducted
from the ASM (Julien, 1997[AQ: 15]), it divides its 11 state These five kinetics describe the aerobic growth of hetero-
variables into three classes: the fast (small time constant), the trophic biomass, the anoxic growth of heterotrophic biomass,
average and the slow (big time constant) variables and con- the aerobic growth of autotrophic biomass, ammonification
siders the following assumptions: of soluble organic nitrogen and, finally, hydrolysis of
entrapped organics. The different variables are defined in
The derivatives of the fast state variables became null Table 1 where (a1 , a2 , a3 , a4 ) is a set of specific parameters
because they reach the permanent regime very quickly. for the reduced model. They are to be identified while the
Thus, the fast sub-system will be transformed into a remaining parameters preserve their assigned values in the
set of algebraic equations. reference model since they do not require to be re-identified.
The derivatives of the slow state variables can be con- Actually, this nonlinear model is composed of two sub-mod-
sidered constants. els: one for nitrification the other one for denitrification.
The average state variables’ dynamics are irreducible. These two sub-models switch alternately.
The first six rows of Table 1 present the system’s variables
Standing on these hypotheses, the oxygen concentration can- while the remaining rows are for the constant parameters. Ss ,
not be considered as a state variable since it has slow SNO3 , SNH4 and SO2 are the state variables. The oxygen transfer
dynamics (Queinnec et al., 2009). Taking into account the coefficient kLa and the Dilution rate of the input Ds change
inadequacy of this method, the alternative reduction strategy their values in the two considered experiments.
is based on some biochemical considerations (observation of
variables behavior and their influence over kinetics reactions
and other variables) as well as the adjustment of the reduced
CSA
order model to ensure the conservation of controllability and CSA presents a new optimization method inspired by animal
observability properties (Queinnec et al.[AQ: 16], 2009). behavior in nature. It was developed by Yang and Deb in
2009 (Yang and Deb, 2009). This meta-heuristic stand on two
main concepts: firstly, the breeding behavior of cuckoo birds
Nonlinear model and, secondly, the characteristics of Lévy flights of some birds
The proposed reduced nonlinear model is composed of four and fruit flies.
state variables (the biodegradable substrate, the nitrate, the
ammonium and the oxygen) and 11 parameters that make the
manipulation of the ASP more accessible (Gomez Quintero,
Cuckoos’ behavior
2002; Gomez Quintero et al., 2000; Julien, 1997[AQ: 17]; Cuckoos are a family of birds that are well-known not only
Queinnec et al.[AQ: 18], 2009). It can be expressed by the fol- for their captivating voice but also for their fascinating repro-
lowing differential equations ductive strategy. Many researchers have studied and discussed
the aggressive brood parasitism of some cuckoo species.
4 Transactions of the Institute of Measurement and Control 00(0)
Notation Name
Choose a random population of n host where k is the Lévy multiplication coefficient fixed by users,
b = 1:5, u and v are deducted from the normal distribution
Get a cuckoo randomly by Lévy flights, curves
i and evaluate its fitness Fi
u ’ N (0, s2u ) v ’ N (0, s2v ) ð14Þ
ðt + 1 Þ
xi = xti + a Levy(l) ð11Þ with
2 3
where xti presents samples (eggs), i is the sample number and t 0 1 0 0
C=40 0 1 05 ð21Þ
is the number of iteration, while a 0 is the step size.
0 0 0 1
The value of the step size is related to the scale of the con-
sidered problem and controlled by its constraints. So, it is
In order to have measurements, we added a Gaussian noise
important to tune this value. The product means the entry-
only to our outputs as shown in the following figures. Thus,
wise multiplication. Levy(l) is drawn from Lévy distribution
there is no noise on state x1.
as follows In order to confirm the effectiveness of our method, we
have chosen two evaluation criteria that are the mean square
Levy(l)’y = ll ð12Þ error (MSE) and the Standard Deviation (SD). The first can
be written as follows
The Lévy distribution can be simplified by the following
equation X
n X
n
MSE = (1=n) e2 = (1=n) ( Ybi Yi )2 ð22Þ
i=1 i=1
6 Transactions of the Institute of Measurement and Control 00(0)
15 12
Model
GA
PSO 11
CSA
10 10
9
x1
x3
5 8
6
0
0 0.05 0.1 0.15 0.2 0.25
Time
5
0 0.05 0.1 0.15 0.2 0.25
Figure 4. The first state variable’s performance.[AQ: 20] Time
14
12
0.18
10 0.16
0.14
8
x2
0.12
6
0.1
4
x4
0.08
2 0.06
0.04
0
0 0.05 0.1 0.15 0.2 0.25
Time 0.02
0
Figure 5. The second state variable’s performance.
-0.02
0 0.05 0.1 0.15 0.2 0.25
Time
Run 15
1087.6
1113.7
1069.1
193.8
191.8
83.2
57.2
76.5
58.2
77.1
56.4
Biodegradable Substrate Concentration (g/m3)
188
18
Simplex
Calculated
16 GA
Run 14
1072.4
1074.3
1030.8
PSO
191.1
188.4
192.2
88.2
56.6
79.3
56.2
56.4
CSA
80
14
Run 13
188.77
999.08
1090.5
1145.1
Ss
12
73.67
52.74
195.7
75.9
56.9
87.3
60.1
190
10
Run 12
1024.8
1097.6
1127.7
187.7
191.6
195.4
76.3
53.7
83.7
57.5
93.2
59.6
8
6
0 0.05 0.1 0.15 0.2 0.25
Run 11
1294.2
1051.7
1089.1
196.5
184.4
190.6
Time(days)
62.8
65.3
72.7
79
55
57
1205.1
1086.8
1178.4
190.3
195.1
62.2
82.7
56.9
87.4
60.3
195
96
1098.3
1077.6
Run 9
195.4
193.3
188.3
GA
82.9
59.8
80.2
57.5
56.2
96
8 PSO
CSA
7
Measured
1139.1
1144.9
6
Run 8
194.6
191.4
193.4
1102
85.8
59.4
73.3
57.9
76.7
60.2
SNO3
4
1257.7
1125.4
1089.2
Run 7
3
191.6
196.1
189.3
85.6
60.5
72.5
59.2
57.2
83
1
1079.4
1087.8
1109.2
Run 6
187.2
193.6
191.5
0
56.3
63.4
57.4
80.4
58.9
Time(days)
1035.1
1150.3
Run 5
188.2
188.6
77.5
99.5
60.4
62.9
62.3
187
56
acquired results are given in Figures 8–15. The first four fig-
1123.8
1063.4
1110.7
Run 4
192.8
195.2
58.9
88.9
60.5
63.2
187
63
1025.9
1000.7
Run 3
188.2
186.4
188.8
72.2
55.9
93.1
57.3
77.3
58.3
1069.5
1018.1
190.1
189.6
91.9
53.9
83.2
187
59
59
1144.9
1000.2
Run 1
195.2
193.5
87.8
59.1
74.8
64.1
58.8
65
11
Ss
SNH4
6
10
9
4
8
2 7
6
0 0.05 0.1 0.15 0.2 0.25
0 Time(days)
0 0.05 0.1 0.15 0.2 0.25
Time(days)
3
SNO3
SO2
2
4
2
0
0
-1 0 0.05 0.1 0.15 0.2 0.25
0 0.05 0.1 0.15 0.2 0.25 Time(days)
Time(days)
interpretation concerning the estimated model accuracy for example, the MSE and the SD have been chosen as criteria to
this variable cannot be validated. In this way, the validation evaluate the performance of the distinct algorithms[AQ: 31].
of the estimated nonlinear model can only be made on the Results are shown in Table 8.
nitrate and ammonia responses. The performance of these Comparing the CSA’s values with the other methods –
two responses in the two experiments illustrates the outper- classical (Nelder-Mead) or intelligent (GA and PSO) – con-
formance of the CSA in providing an estimated model that firms its ability to provide a reduced-order model that has the
successfully predict the real system responses. same dynamic as the real one that is very complicated to be
To further prove how close the estimated model using the useful. This can be clearly seen in the minimum value of MSE
CSA with the real measurements and like our numerical and the maximum value of SD given by the CSA.
10 Transactions of the Institute of Measurement and Control 00(0)
3 Conclusion
2 In this paper, the parameter identification has been formu-
1
lated as a CSA-based optimization problem. The considered
model to be identified is a reduced-order nonlinear model for
0
0 0.05 0.1 0.15 0.2 0.25 an activated sludge wastewater treatment process. The experi-
Time(days) mental data are collected from two experiments conducted in
different aeration conditions. These data are compared with
Figure 14. Ammonia concentration.[AQ: 29] different model’s responses obtained by using the distinct
optimization techniques that can be classified into two cate-
gories: classical (Nelder-Mead) and intelligent (GA, PSO, and
CSA). Since the CSA provides the smallest error, it is the ade-
Dissolved Oxygen Concentration (g/m3)
2 quate technique for parameter identification with a fine preci-
Simplex
Calculated sion. Simulation results also reveal the validity and the
1.5
GA
PSO
effectiveness of the considered method showing the closeness
CSA between data and the model’s performance.
Measured
It is noteworthy that the obtained results can be further
1
improved using other meta-heuristic-based methods in order
SO2
0
Declaration of conflicting interests
-0.5 The author(s) declared no potential conflict of interests with
0 0.05 0.1 0.15 0.2 0.25
Time(days) respect to the research, authorship and/or publication of this
article.
Figure 15. Dissolved oxygen concentration.[AQ: 30]
Funding
Table 8. Evaluation criteria. This research received no specific grant from any funding
agency in the public, commercial, or not-for-profit sectors.
Simplex Calculated GA PSO CSA
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