Inflow and infiltration (I&I) in urban sewer networks increase both the delivery loads and overflow risks, thereby compromising environmental safety. While sensor-based detection of I&I is promising, a key limitation in most current applications is their reliance on fixed, isolated detection thresholds derived from individual sensors. This approach prevents the synthesis of information from multiple sensors and inherently limits the detectability of I&I events. To bridge this gap, this study introduces a novel topology-derived flow inference (TDFI) method that quantifies the pipe-specific minimum detectable I&I flow by synthesizing data from upstream sensors in sewer networks. Based on this method, a new detection threshold metric is formulated for sensor placement strategy (SPS) optimization, accompanied by an efficient Sequential Backward Selection (SBS) approach that deterministically constructs hierarchical sensor subsets through an iterative removal of the least-contributing sensors. Evaluation across three case studies (one synthetic and two real-life) demonstrates that the TDFI-based optimization framework identifies robust SPSs, leading to significantly improved overall detection performance for minor I&I events. A key finding is that prioritizing sensor density in high building-density areas significantly enhances overall detection performance. Comparative analysis shows that SBS achieved performance close to that of the DE-based optimizer while providing deterministic layouts under various budgets, offering a computationally efficient complementary approach. The core contribution of this study is to propose a topology-informed framework for SPS optimization in support of I&I detection, integrating upstream flow inference to maximize the detection capability of sensor layouts.

Accurate calibration of hydraulic models of water distribution systems (WDSs) is essential for reliable simulations. After eliminating gross errors, including those in estimated demands, pipe roughness coefficients (PRCs) are the most often used calibration parameters. Although numerous PRC calibration methods exist to ensure model simulations align well with field observations, they typically assume error-free pressure gauge elevations and overlook the compensatory interactions between elevation errors and PRC uncertainties. This often results in biased PRC calibration outcomes. To overcome this limitation, this paper introduces a novel framework that decouples elevation errors by minimizing the standard deviation of pressure residual time series, rather than relying on traditional residual minimization techniques. Additionally, a clustering-based data preprocessing approach is employed to reduce the impact of uncertain nodal demands and measurement noise. Tests on three benchmark networks demonstrate that the proposed method accurately calibrates PRCs, even when accounting for elevation inaccuracies, nodal demand uncertainties and measurement noise simultaneously. This establishes a new paradigm that leverages the statistical characteristics of residual time series to enable error-decoupled model calibration. Crucially, the method also quantifies pressure gauge elevation errors through post-calibration residual analysis, eliminating the need for costly field surveys. This advancement is particularly valuable for regions with missing or erroneous elevation data, significantly improving WDS calibration practices.

Urban drainage network models (UDNMs) have been widely used to facilitate flood management. Typically, a UDNM is developed using data from Geographic Information Systems (GIS), and hence it consists of many short pipes and connection nodes or manholes. To improve modeling efficiency, a GIS-based model is generally skeletonized by removing many elements. However, there has been surprisingly a lack of knowledge on to what extent such skeletonization can affect the model's simulation accuracy, resulting in uncertainty in flood risk estimation. This paper makes the first attempt to quantitatively evaluate multidimensional impacts of different skeletonization levels on hydraulic properties of UDNMs. This goal is achieved by a new evaluation framework comprising of eight existing and new metrics that make use of hydrographs, main pipe hydraulics and flood distribution properties. A real-life UDNM is used to illustrate the new framework under various rainfall conditions and different skeletonization levels. The new framework is also used to compare the performance of two compensation methods in mitigating impacts caused by model skeletonization. Results obtained show that: (a) model skeletonization can significantly affect the magnitude of peak flow at the outfall, with a maximum overestimation of up to 20%, (b) hydraulics in main pipes can also be affected by model skeletonization with the maximum flow increasing up to 35%, and (c) model skeletonization may significantly alter the flood distribution properties which has been largely ignored in past studies. These findings provide guidance for UDNM skeletonization, where their associated impacts should be aware in engineering practice.

The inflow and infiltration (I&I) is an issue for many urban sewer networks (USNs), which can significantly affect system functioning. Placing sensors within the USNs is a typical approach to detect large I&I event, but deploying a limited number of sensors while achieving maximum detection reliability is challenging. While some methods are available for sensor placement, they are generally heuristic search-based methods (HSBMs) and hence the resultant sensor placement strategies (SPSs) are variable over different algorithm runs or parameterizations. This paper develops a new deterministic two-stage clustering method for SPS optimization based on information entropy. Within the first stage, the Spectral Clustering method is applied to assign USN nodes to different clusters according to their joint entropy. In the second stage, the topology structure property is considered to enable further clustering for improving detection reliability. Average I&I detection reliability is used to select clusters and the optimal SPS is identified by maximizing joint entropy of all possible solutions where a single sensor is assigned to each selected cluster. The proposed method and two existing HSBMs are applied to a real USN and their performance is compared. The results obtained show that: (i) a strong correlation coefficient R (R > 0.95) is observed between joint entropy and SPS's detection reliability, which has not been revealed before, (ii) the proposed method consistently outperforms the other two approaches in efficiently offering SPSs with about 7–15 % higher detection reliability, and (iii) the proposed method provides the optimal SPS in a deterministic manner, which makes it attractive for engineering applications.

Sewage pipe defects can significantly affect the urban water environment, like leakage of pollutants through pipe cracks to groundwater. Currently, sewage pipe defects are detected mainly through closed-circuit television inspection, which is conducted manually and is time-consuming. This study proposes an integrated deep-learning-based algorithm to detect and quantify pipe cracks from images, namely the Crack Detection and Characterization (CDC) method. The method is based on models created in two steps (i) crack detection by semantic segmentation, and (ii) crack length quantification using an innovative algorithm. The CDC algorithm is verified by images both artificially created in the laboratory and from actual inspection. For both laboratory and field cases, the CDC method is verified precisely. From the results, the CDC method exhibited a higher accuracy in crack identification and length quantification than other existing models. The results also show that the deblurring process can greatly improve accuracy. This study can contribute to decision-making in sewage pipe maintenance and water environment management by providing an innovative way of more efficient and accurate pipe defect assessment compared with traditional labor-intensive work.

Under global climate change, urban flooding occurs frequently, leading to huge economic losses and human casualties. Extreme rainfall is one of the direct and key causes of urban flooding, and accurate rainfall estimates at high spatiotemporal resolution are of great significance for real-time urban flood forecasting. Using existing rainfall intensity measurement technologies, including ground rainfall gauges, ground-based radar, and satellite remote sensing, it is challenging to obtain estimates of the desired quality and resolution. However, an approach based on processing distributed surveillance camera network imagery through machine learning algorithms to estimate rainfall intensities shows considerable promise. Here, we present a novel approach that first extracts raindrop information from the surveillance camera images (rather than using the raw imagery directly), followed by the use of convolutional neural networks to estimate rainfall intensity from the resulting raindrop information. Evaluation of the approach on 12 rainfall events under both daytime and nighttime conditions shows that generalization ability, and especially nighttime predictive performance, is significantly improved. This represents an important step toward achieving real-time, high spatiotemporal resolution, measurement of urban rainfall at relatively low cost.

Urban flooding is a major issue worldwide, causing huge economic losses and serious threats to public safety. One promising way to mitigate its impacts is to develop a real-time flood risk management system; however, building such a system is often challenging due to the lack of high spatiotemporal rainfall data. While some approaches (i.e., ground rainfall stations or radar and satellite techniques) are available to measure and/or predict rainfall intensity, it is difficult to obtain accurate rainfall data with a desirable spatiotemporal resolution using these methods. This paper proposes an image-based deep learning model to estimate urban rainfall intensity with high spatial and temporal resolution. More specifically, a convolutional neural network (CNN) model called the image-based rainfall CNN (irCNN) model is developed using rainfall images collected from existing dense sensors (i.e., smart phones or transportation cameras) and their corresponding measured rainfall intensity values. The trained irCNN model is subsequently employed to efficiently estimate rainfall intensity based on the sensors’ rainfall images. Synthetic rainfall data and real rainfall images are respectively utilized to explore the irCNN's accuracy in theoretically and practically simulating rainfall intensity. The results show that the irCNN model provides rainfall estimates with a mean absolute percentage error ranging between 13.5% and 21.9%, which exceeds the performance of other state-of-the-art modeling techniques in the literature. More importantly, the main feature of the proposed irCNN is its low cost in efficiently acquiring high spatiotemporal urban rainfall data. The irCNN model provides a promising alternative for estimating urban rainfall intensity, which can greatly facilitate the development of urban flood risk management in a real-time manner.

Urban drainage models (UDMs) are often used to manage urban flooding. However, these models generally involve many parameters to represent the underlying complex hydrodynamic processes. This results in significant challenges to achieving effective and robust model calibration especially with frequently limited observations, leading to unreliable model predictions. This paper makes the first attempt at UDM calibration using the Bayesian-based Ensemble Smoother (ES) method. Three ES variants are considered, that is, the primary ES, the versions with multiple data assimilation (ES-MDA) and iterative local update (ES-ILU). Two synthetic cases and one real-world application with up to 5,236 calibration parameters are tested. Results obtained show that: (a) both ES-MDA and ES-ILU can produce effective model calibration with ES-ILU outperforming ES-MDA in terms of both accuracy and uncertainty while ES exhibits limited performance; (b) for the real-world case, both the ES-MDA and ES-ILU methods provide better calibration results than the best-known solution manually obtained, (c) a minimum number of observations are required to enable an overall accurate model calibration (e.g., four and ten more monitoring sites are needed in the two synthetic cases); and (d) the model calibrated using an intense rainfall event is generally robust to make reliable predictions across different rainfall events while the model calibrated using less intense rainfall event does not perform well for more intense rainfall events. It was also found that ubiquitous parameter equifinality significantly hinders unique parameter identification even when overall accurate state estimates are obtained. This should be clearly understood in practical applications.

Most of the contamination source localization methods for water distribution systems (WDSs) assume the availability of accurate water quality models and multi-parameter online sensors, which are often out of reach of many water utilities. To address this, a novel manual grab-sampling method (MGSM) is developed to effectively and efficiently locate continuous contamination sources in a WDS using a dynamic and cyclical sampling strategy. The grab samples are collected at a pre-specified number of hydrants by the corresponding teams followed by laboratory tests. The MGSM optimizes the sampling plan at each cycle by making the probability of contamination source(s) in each sub-network as equal as possible, where sub-networks are determined by the selected hydrants and current flow pipe directions. The CS's size is reduced at each cycle by exploiting sample testing results obtained in the previous cycle until there are no further hydrants to sample from. Two real-world WDSs are used to demonstrate the effectiveness of the proposed MGSM. The results obtained show that the MGSM can significantly reduce the spatial range of the CS (to about 5% of the entire WDS) for a range of scenarios including multiple contamination sources and pipe flow direction changes. We found that an optimal number of sampling teams exists for a given WDS, representing a balanced trade-off between detection efficiency and sampling/testing budgets. Due to its relative simplicity, the proposed MGSM can be used in engineering practice straightaway and it represents a viable alternative to the methods associated with water quality models and sensors.

An early contamination warning system with deployed water quality sensors is often used to enhance the safety of a water distribution system (WDS). While algorithms have been developed to select an optimal water quality sensor placement strategy (WQSPS) for WDSs, many of them do not account for the influences caused by future uncertainties, such as sensor failures and system changes (e.g., demand variations and configuration/expansion changes in the WDS). To this end, this paper proposes a comprehensive framework to evaluate the robustness of WQSPSs to these possible uncertainties. This is achieved by considering five different performance objectives of WQSPSs as well as possible future demand and typology variations of WDSs under a wide range of sensor failure scenarios. More specifically, an optimization problem is formulated to evaluate the robustness of the WQSPSs, in which an evolutionary-based optimization approach coupled with an efficient data-archive method is used to solve this optimization problem. The framework is demonstrated on two real-world WDSs in China. The results show that: (1) the WQSPS's robustness can be highly dependent on the performance objectives considered, implying that an appropriate objective needs to be carefully selected for each case driven by practical needs, (2) the WDS's demand and configuration changes can have a significant influence on the WQSPS's robustness, in which the solution with more sensors in or close to the affected area is likely to better cope with these system changes, and (3) the proposed framework enables critical sensors to be identified, which can then be targeted for prioritizing maintenance actions.

Urban sewer networks (SNs) are increasingly facing water quality issues as a result of many challenges, such as population growth, urbanization and climate change. A promising way to addressing these issues is by developing and using water quality models. Many of these models have been developed in recent years to facilitate the management of SNs. Given the proliferation of different water quality models and the promise they have shown, it is timely to assess the state-of-the-art in this field, to identify potential challenges and suggest future research directions. In this review, model types, modeled quality parameters, modeling purpose, data availability, type of case studies and model performance evaluation are critically analyzed and discussed based on a review of 110 papers published between 2010 and 2019. The review identified that applications of empirical and kinetic models dominate those of data-driven models for addressing water quality issues. The majority of models are developed for prediction and process understanding using experimental or field sampled data. While many models have been applied to real problems, the corresponding prediction accuracies are overall moderate or, in some cases, low, especially when dealing with larger SNs. The review also identified the most common issues associated with water quality modeling of SNs and based on these proposed several future research directions. These include the identification of appropriate data resolutions for the development of different SN models, the need and opportunity to develop hybrid SN models and the improvement of SN model transferability.

Real-time hydraulic modelling can be used to address a wide range of issues in a foul sewer system and hence can help improve its daily operation and maintenance. However, the current bottleneck within real-time FSS modelling is the lack of spatio-temporal inflow data. To address the problem, this paper proposes a new method to develop real-time FSS models driven by water consumption data from associated water distribution systems (WDSs) as they often have a proportionally larger number of sensors. Within the proposed method, the relationship between FSS manholes and WDS water consumption nodes are determined based on their underlying physical connections. An optimization approach is subsequently proposed to identify the transfer factor k between nodal water consumption and FSS manhole inflows based on historical observations. These identified k values combined with the acquired real-time nodal water consumption data drive the FSS real-time modelling. The proposed method is applied to two real FSSs. The results obtained show that it can produce simulated sewer flows and manhole water depths matching well with observations at the monitoring locations. The proposed method achieved high R², NSE and KGE (Kling-Gupta efficiency) values of 0.99, 0.88 and 0.92 respectively. It is anticipated that real-time models developed by the proposed method can be used for improved FSS management and operation.

Hydraulic modeling of a foul sewer system (FSS) enables a better understanding of the behavior of the system and its effective management. However, there is generally a lack of sufficient field measurement data for FSS model development due to the low number of in-situ sensors for data collection. To this end, this study proposes a new method to develop FSS models based on geotagged information and water consumption data from smart water meters that are readily available. Within the proposed method, each sewer manhole is firstly associated with a particular population whose size is estimated from geotagged data. Subsequently, a two-stage optimization framework is developed to identify daily time-series inflows for each manhole based on physical connections between manholes and population as well as sewer sensor observations. Finally, a new uncertainty analysis method is developed by mapping the probability distributions of water consumption captured by smart meters to the stochastic variations of wastewater discharges. Two real-world FSSs are used to demonstrate the effectiveness of the proposed method. Results show that the proposed method can significantly outperform the traditional FSS model development approach in accurately simulating the values and uncertainty ranges of FSS hydraulic variables (manhole water depths and sewer flows). The proposed method is promising due to the easy availability of geotagged information as well as water consumption data from smart water meters in near future.

Improving the resilience of water distribution systems (WDSs) to handle natural disasters (e.g., earthquakes) is a critical step toward sustainable urban water management. This requires the water utility to be able to respond quickly to such disaster events, and in an organized manner, to prioritize the use of available resources to restore service rapidly while minimizing the negative impacts. Many methods have been developed to evaluate the WDS resilience, but few efforts are made so far to improve the resilience of a postdisaster WDS through identifying optimal sequencing of recovery actions. To address this gap, the authors propose a new dynamic optimization framework in this study in which the resilience of a postdisaster WDS is evaluated using six different metrics. A tailored genetic algorithm is developed to solve the complex optimization problem driven by these metrics. The proposed framework is demonstrated using a real-world WDS with 6,064 pipes. Results obtained show that the proposed framework successfully identifies near-optimal sequencing of recovery actions for this complex WDS. The gained insights, conditional on the specific attributes of the case study, include the following: (1) the near-optimal sequencing of a recovery strategy heavily depends on the damage properties of the WDS; (2) replacements of damaged elements tend to be scheduled at the intermediate-late stages of the recovery process due to their long operation time; and (3) interventions to damaged pipe elements near critical facilities (e.g., hospitals) should not be necessarily the first priority to recover due to complex hydraulic interactions within the WDS.

Water quality sensors are often spatially distributed in water distribution systems (WDSs) to detect contamination events and monitor quality parameters (e.g., chlorine residual levels), thereby ensuring safety of a WDS. The performance of a water quality sensor placement strategy (WQSPS) is not only affected by sensor spatial deployment that has been extensively analyzed in literature, but also by possible sensor failures that have been rarely explored so far. However, enumerating all possible sensor failure scenarios is computationally infeasible for a WQSPS with a large number of sensors. To this end, this paper proposes an evolutionary algorithm (EA) based method to systematically and efficiently investigate the WQSPS′ global resilience considering all likely sensor failures. First, new metrics are developed in the proposed method to assess the global resilience of a WQSPS. This is followed by a proposal of an efficient optimization approach based on an EA to identify the values of global resilience metrics. Finally, the sensors within the WQSPS are ranked to identify their relative importance in maintaining the WQSPS's detection performance. Two real-world WDSs with four WQSPSs for each case study are used to demonstrate the utility of the proposed method. Results show that: (i) compared to the traditional global resilience analysis method, the proposed EA-based approach identifies improved values of global resilience metrics, (ii) the WQSPSs that deploy sensors close to large demand users are overall more resilient in handling sensor failures relative to other design solutions, thus offering important insight to facilitate the selection of WQSPSs, and (iii) sensor rankings based on the global resilience can identify those sensors whose failure would significantly reduce the WQSPS's performance thereby providing guidance to enable effective water quality sensor management and maintenance.

This paper proposes a multistage method for burst leak localization through valve operations (VOs) and smart demand metering in district meter areas (DMAs) of water distribution systems (WDSs). Each stage includes partitioning of the DMA into two subregions using VOs and identification of potentially leaking pipes within the subregions through water balance analysis based on smart demand meters. Such a process is performed repeatedly (multiple stages) to narrow down the spatial range for pinpointing leak locations. To improve efficiency, a bisection optimization problem is formulated to localize the minimum leak areas using the lowest number of VOs, which is solved by a graph theory-based method. The utility of the proposed method is demonstrated using two DMAs (DMA1 and DMA2) of a real WDS with different topological properties. Results show that the proposed method can efficiently localize artificial burst leaks in DMA1 within 7–15% of the total pipe length, implying that the proposed method is theoretically effective in localizing pipe burst leaks. The real application to DMA2 has identified two leak regions with 2.3 and 4.2 km of pipe length (around 3–6% of the entire DMA2) using 18 VOs. These two burst leaks have been subsequently confirmed and pinpointed using listening rods by practitioners of the local water utility. These results indicate that the proposed multistage method is effective and efficient for burst leak localization, which can be promising for wide practical applications due to rapid developments of smart WDSs (e.g., smart demand meters or control valves).

This case study uses a long short-term memory (LSTM)-based model to predict short-term urban water demands for the Hefei City of China. The performance of the LSTM-based model is compared with the autoregressive integrated moving average (ARIMA) model, the support vector regression (SVR) model, and the random forests (RF) model based on data with time resolutions ranging from 15 min to 24 h. Additionally, this paper investigates the performance of the LSTM-based model in predicting multiple successive data points. Results show that the LSTM-based model can offer predictions with improved accuracy than the other models when dealing with data with high time resolutions, data points with abrupt changes, and data with a relatively high uncertainty level. It is also observed that the LSTM-based model exhibits the best performance in predicting multiple successive water demands with high time resolutions. In addition, the inclusion of external parameters (e.g., temperature) cannot enhance the performance of the LSTM-based model, but it can improve ARIMAX's prediction ability (ARIMAX is the ARIMA with variables). These observations provide additional and improved evaluations regarding the LSTM-based models used for short-term urban water demand forecasting, thereby enabling their wider adoption in practical applications.