Professional Documents
Culture Documents
A Review of Modeling Water Quality in Distribution Systems
A Review of Modeling Water Quality in Distribution Systems
To cite this article: A Ostfeld Senior Lecturer (2005) A review of modeling water quality in distribution systems, Urban Water
Journal, 2:2, 107-114, DOI: 10.1080/15730620500144266
Taylor & Francis makes every effort to ensure the accuracy of all the information (the “Content”) contained
in the publications on our platform. However, Taylor & Francis, our agents, and our licensors make no
representations or warranties whatsoever as to the accuracy, completeness, or suitability for any purpose of the
Content. Any opinions and views expressed in this publication are the opinions and views of the authors, and
are not the views of or endorsed by Taylor & Francis. The accuracy of the Content should not be relied upon and
should be independently verified with primary sources of information. Taylor and Francis shall not be liable for
any losses, actions, claims, proceedings, demands, costs, expenses, damages, and other liabilities whatsoever
or howsoever caused arising directly or indirectly in connection with, in relation to or arising out of the use of
the Content.
This article may be used for research, teaching, and private study purposes. Any substantial or systematic
reproduction, redistribution, reselling, loan, sub-licensing, systematic supply, or distribution in any
form to anyone is expressly forbidden. Terms & Conditions of access and use can be found at http://
www.tandfonline.com/page/terms-and-conditions
Urban Water Journal, Vol. 2, No. 2, June 2005, 107 – 114
A. OSTFELD*
Senior Lecturer, Faculty of Civil and Environmental Engineering, Technion – Israel Institute of Technology,
Haifa 32000, Israel
The objective of this paper is to review the state of the art knowledge in modeling water
quality in distribution systems and to suggest future research needs in this area.
Downloaded by [Massachusetts Institute of Technology] at 22:10 25 November 2014
Multiquality water distribution systems (MWDS) are systems in which waters from
different qualities are taken from sources, possibly treated, conveyed and supplied to the
consumers. In addition to the hydraulic laws which describe the system behavior,
equations that describe the water quality in the system are added. The consumers’
demands are for quantity, pressure, and quality. The review is focusing on simulation,
optimization, chlorine control, monitoring, and water security modeling in MWDS.
flow conditions in the network and the contaminant where: cki;j = the concentration in link (i,j) of quality
concentrations in the sources: (1) Steady flow – steady parameter k (note that cki;j is the concentration at node i
concentration. Occur in agriculture or industry; flows are of quality parameter k).
never steady in municipal water distribution systems, (2)
Steady flow – unsteady concentration. Appear when a pulse Dilution requirements.
of contamination is distributed within the distribution
cki;j ¼ cki;i 8 links ði; jÞ; quality parameters k; and qi;j 40
system under steady flow conditions, (3) Unsteady flow –
steady concentration. Contaminant concentrations in the cki;j ¼ ckj;j 8 links ði; jÞ; quality parameters k; and qi;j 50
sources remain constant while the flow regime is unsteady, ð4Þ
and (4) Unsteady flow – unsteady concentration. Occurs
when a pulse of contamination enters the system under The dilution requirements represent the condition that the
unsteady flow conditions. concentration in each link is that of its upstream node, for
The above classifications set the boundary conditions for steady flow–steady concentration.
the analysis of flow and quality in WDS. These involve four Further to (1) to (4) above, steady flow–steady concen-
major categories: simulation, optimization, chlorine con- tration models are restricted to: (1) conservative water
Downloaded by [Massachusetts Institute of Technology] at 22:10 25 November 2014
trol, and monitoring. Each of these is further described quality constituents (i.e. no decay or growth of the
below. constituents as a function of time); (2) no chemical
reactions among quality parameters; (3) complete and
instantaneous mixing at nodes; and (4) the water quality in
2. Simulation
the links have no influence on the hydraulic head losses.
Simulation modeling is aimed at studying the changes of Steady flow–steady concentration conditions are rarely
water quality substances in time and in space within the established in reality. To incorporate unsteady conditions
distribution system. (flow and/or quality), the following governing equations
The major parts of the methods allow the quality need to be incorporated:
model to ‘‘ride’’ on the hydraulic solution. These
techniques get as input the time series of the hydraulic Continuity of flow for each storage component (i.e. tanks,
simulation, and the contaminant concentrations of the reservoirs).
sources, which then serves as the starting point for the
quality analysis.
dhi;i 1 hX X i
¼ qin qout ð5Þ
The governing equations for simulating flow and quality dt ai;i
in WDS for steady flow–steady concentration are:
where: t = time; hi,i = water level; ai,i = reservoir storage
Continuity of flows at nodes (Kirchoff’s Law no. 1). component area; Sqin, Sqout = sum of inflows and out-
flows, to and from the storage component, respectively.
X
n
qi;j ¼ 0 8 nodes i ð1Þ
i¼1 Continuity of mass for each storage component and each
quality parameter k. For complete and instantaneous
where: q i, j = the flow from node i to node j, positive when mixing:
node i is the upstream node; n = the number of nodes in the
network. The summation is over all the nodes j connected dcki;i 1 hX X i
¼ qin ckin qout cki;i 8k ð6Þ
to node i, including node i. dt Vi;i
Continuity of energy (Kirchoff’s Law no. 2). where: ckin ; cki;i = the inlet and storage component concen-
trations for quality parameter k, respectively; Vi,i = storage
hi hj ¼ f qi;j 8 linksði; jÞ ð2Þ component volume.
Simulation is performed for a given discrete time series, generate the operating plans for a number of typical and/or
where equations (5), (6), and the water quality transporta- critical operating conditions. Real time (on-line) models are
tion lag connect mutual time steps. run continuously in real time, and generate an operating
Along the above lines the USEPA developed a public plan for the immediate coming period. The classification
sector model entitled EPANET in the early 1990s (Ross- with respect to the physical laws which are considered
man 1994), which became during the years the most explicitly as constraints is: (1) QH (discharge – head)
acceptable computational tool for simulating water quality models: quality is not considered, and the network is
in distribution systems. described only by its hydraulic behavior; (2) QC (discharge
EPANET performs extended period simulation of – quality) models: the physics of the system are included
hydraulic and water quality behavior within pressurized only as continuity of water and of pollutant mass at nodes.
pipe networks consisting of wells, tanks, pipes, consumer Quality is described essentially as a transportation problem
nodes, pumping units, and valves. EPANET tracks the in which pollutants are carried in the pipes, and mass
flow of water in each pipe, the pressure at each node, the conservation is maintained at nodes. Such a model can
level of water in each tank, and the concentration of account for decay of pollutants within the pipes and even
chemical constituents throughout the distribution net- chemical reactions, but does not satisfy the continuity of
Downloaded by [Massachusetts Institute of Technology] at 22:10 25 November 2014
work, during a simulation period. Following the energy law (i.e. Kirchoff’s Law no. 2), and thus there is no
EPANET development, commercial spins off EPANET guarantee of hydraulic feasibility and of maintaining head
became also available that even extended the EPANET constraints at nodes. QCH (discharge – quality – head)
capabilities. models: quality constraints, and the hydraulic laws, which
A different approach to simulate water quality in govern the system behavior, are all considered.
distribution networks has been developed by Shah (1985). The QH and QC problems are relatively easier to solve
Shah solved the hydraulics and the constituent quality than the full QCH. This paper concentrates on QCH
problem simultaneously. This formulation allowed the models.
definition of mixtures of unknowns – not just the water Ostfeld and Shamir (1993a) developed a QCH policy
quality concentrations. It thus permits solving inverse type model for optimal operation of undirected multi-quality
problem: for example, locating sources of contaminations, WDS under steady state conditions, which has been
given data from different points in the distribution system extended to the unsteady case in Ostfeld and Shamir
of flows, heads, or concentrations. (1993b). To overcome the nonsmoothness problems, an
An ‘‘input – output’’ analysis approach for simulating approximation of the quality equations has been used,
water quality in distribution networks, entirely different following Cohen (1992). In the unsteady case, instead of
from the ones listed above, has been proposed by Shamir dividing each pipe into segments and tracking the move-
and Howard (1991). Shamir and Howard suggested ment of the quality fronts, a single approximated equation
developing unit impulse response functions to approximate was developed, representing the average concentration of
the way in which an impulse input of a contaminant at one the water quality fronts in the pipes for a specific time
point of the network would appear at other selected points. increment. Both the steady and unsteady models were
This technique allows modeling the course of a contami- solved with GAMS (Brooke et al. 1988)/MINOS (Murtagh
nant plume by using linear theory which involves linear and Saunders 1982), an on-shelf non-linear optimization
superposition and convolution without having to simulate package.
the entire passage of the plume using the segments (parcels) Ostfeld and Shamir (1996) developed a QCH methodol-
approach. ogy which integrates optimal design and reliability of a
multi-quality WDS in a single framework. The system
designed is able to sustain prescribed failure scenarios, such
as any single random component failure, and still maintain
3. Optimization
a desired level of service in terms of the quantities, qualities,
The need for optimization exists whenever the solution to a and pressures supplied to the consumers. In formulating
problem is not unique. Common examples for optimization and solving the model, decomposition was used. The
needs in modeling water quality in WDS (i.e. multi-quality decomposition results in an ‘‘outer’’ nonsmooth problem
WDS) are: design, operation, chlorine control, monitoring, in the domain of the circular flows, and an ‘‘inner’’ convex
and calibration. quadratic problem. The method of solution included the
Optimization models of WDS can be classified according use of a nonsmooth optimization technique for minimizing
to their consideration of time and of the physical laws the ‘‘outer’’ problem (Shor 1985), for which a member of
which are included explicitly (Ostfeld and Shamir 1993a, b). the sub-gradient group was calculated in each iteration.
In time the distinction is between policy and real time The method allows reversal of flows in pipes, relative to the
models. Policy models are run off-line, in advance, and direction initially assigned. The methodology was applied
110 A. Ostfeld
constraints at the consumer nodes. Sakarya and Mays nodes for all times (Pool and Lansey 1997; Boccelli et al.
(2000) solved the same problem by linking the GRG2 1998). The decision variables in this problem are to identify
nonlinear code (Lasdon and Waren 1986) with EPANET. the amount of chlorine to inject at the in-place boosters.
In both models, treatment facilities, valves, and varying Locating booster stations is an extension of the booster
electrical energy tariffs throughout the simulation were not operation problem. Here, the decisions are the location of
considered. In addition, the unsteady water quality boosters and their injection rates for a typical day. The
constraints were applied only to the last operational time objective of the location/operation problem is to minimize
period, while in reality the problem of supplying adequate the mass of chlorine injected for a desired number of
water quality to consumers is a continuous operational satellite boosters or minimize the cost of new booster
time-dependent problem. stations while limiting the injected chlorine mass. This
Ostfeld et al. (2002) developed a QCH application of problem is the inverse of the monitoring location problem
stochastic simulation for the reliability assessment of single in that the sources of injected material are to be identified
and multi-quality WDS. The stochastic simulation frame- to satisfy desired levels at all locations. The monitoring
work was casted in a program entitled RAP (Reliability problem is to identify the source of contaminant from
Analysis Program), linking Monte Carlo replications with measurements throughout the system.
EPANET simulations. Three reliability measures were Pool (2002) formulated and solved the location problem
evaluated: the Fraction of Delivered Volume (FDV), the as a mixed integer linear programming problem using the
Fraction of Delivered Demand (FDD), and the Fraction of linear response functions. To avoid solving a mixed integer
Delivered Quality (FDQ). linear program, Tryby and Uber (2001) developed a set
Ostfeld and Salomons (2002) developed a genetic covering approach to locate satellite boosters. This
algorithm scheme tailor-made to EPANET, for optimiz- approach, however, does not optimize satellite operation.
ing the operation of a WDS under unsteady water The covering scheme begins by assuming a constant unit set
quality conditions. The WDS consists of sources of point injection is applied at a booster for all times. The
different qualities, treatment facilities, tanks, pipes, response can be determined at all nodes for all times using a
control valves, and pumping stations. The objective is water quality simulation model. The covering problem is
to minimize the total cost of pumping and treating the then to insure that the resulting nodal concentrations are
water for a selected operational time horizon, while greater than the requirement using the fewest possible
delivering the consumers the required quantities, at satellite boosters.
acceptable qualities and pressures. The decision variables,
for each of the time steps that encompass the total
5. Monitoring
operational time horizon, included: the scheduling of the
pumping units, settings of the control valves, and Efficient water quality monitoring is one of the most
treatment removal ratios at the treatment facilities. The important tools to guarantee a reliable potable water
constraints were: box heads and concentrations at the supply to consumers of drinking water distribution systems.
consumer nodes, maximum removal ratios at the treat- A drop in pressure at one or more of the system nodes can
ment facilities, maximum allowable amounts of water cause a reduction of the quantities supplied to the
withdraws at the sources, and returning at the end of the consumers, while an accidental entry of a contaminant, or
operational time horizon to a prescribed total volume in self deterioration of water quality within the network itself
the tanks. – a severe damage to public health (Geldreich 1991).
Modeling water quality in distribution systems 111
For a maximum protection of public health, one would in many systems. Secondly, the method does not consider
monitor every system node, which obviously leads to the the time water spends in the system and temporal variation
monitoring system of maximum cost. On the other hand, if of water quality. Finally, information is only considered in
one assumes that the water quality does not change as it the upstream direction and coverage does not extend in the
travels through the network, only the sources would be downstream direction. Harmant et al. (2001) modified the
needed to monitor. Since phenomena in the network itself objective function to introduce time dependence and water
(e.g. a deliberate terrorist intrusion of hazards, corrosion, quality into the demand coverage model. The new form
or THM formations) cause water quality to change, there is weighs the sampling toward bigger flows and ‘‘older’’
a need to monitor in the network, and not just at the water. To emphasize nodes with lower water quality, Woo
sources. et al. (2001) further modified the objective by applying
The goal of an Early Warning Monitoring System weights at each term by normalizing the concentrations by
(EWMS) with this respect is to reliably identify contamina- the source values. Thus, nodes with lower water quality
tion events (accidental or deliberate) in source water or received higher weights in the objective function.
distribution systems, in time to allow effective response that All of the above models used the notion that if
reduces or avoids adverse impacts that may result from downstream water quality is acceptable then water supplied
Downloaded by [Massachusetts Institute of Technology] at 22:10 25 November 2014
requires: (1) a mathematical quantity–quality model for monitor water quality within the system is a significant
conducting an accurate extended period hydraulic water concern and no formal procedure or guidelines exist at
quantity and quality simulation, and (2) the ability to present on where and how to locate water quality
monitor real time pollutants concentrations. The optimal monitoring stations for drinking water distribution
allocation problem of water quality monitoring stations systems security, subject to extended hydraulic and water
that provide a real time early warning detection system for quality unsteady conditions.
keeping the potable water supplied safe, with a given A model to enhance water distribution system security
budget, monitoring locations, level of service, and technol- that links extended period water quantity and quality
ogy constraints, ties (1) and (2) above. simulation with real time monitoring for providing a real
Looking at the above three mutually connected topics: time early warning detection system against deliberate
(1) a mathematical model for extended period hydraulic terrorist hazards intrusions – was presented by Ostfeld and
water quantity and quality simulation; (2) real time Salomons (2003, 2004).
monitoring; and (3) optimal allocation of monitoring The methodology developed and demonstrated in
stations, the following is stated: Ostfeld and Salomons (2003, 2004) involves linking
EPANET and a genetic algorithm in an overall framework
Downloaded by [Massachusetts Institute of Technology] at 22:10 25 November 2014
1. The USEPA promulgated rules of initiated the need for for optimally allocating monitoring stations, aimed at
water quality modeling in distribution systems, and the capturing deliberate external terrorist hazards intrusions
EPA to develop EPANET, as described in the through water distribution system nodes: sources, tanks,
simulation section of this paper. treatment plant intakes, consumers – subject to extended
2. Commercial activity, EPA, and independent research period unsteady hydraulics and water quality conditions,
groups are conducting intensive research into the for a given defending level of service to public health – a
development of sensors and monitoring systems for maximum volume of polluted water exposure at a
measuring, or providing ‘‘finger prints’’, in real time of concentration higher than a minimum hazard level.
contaminants intrusions into distribution systems – so
far with partial success. Monitoring stations/sensors
7. Research needs
exist for free chlorine, chloramines, dissolved oxygen,
pH, conductivity, Redox/ORP, temperature, and more. A list of research needs/scientific challenges in the major
For threats of bioweapons agents intrusions (e.g. areas related to water quality modeling in distribution
bacteria types like Anthrax, Salmonella, or biotoxin systems is listed below.
types like Botulinum toxins, Saxitoxin) commercial
sensors do not exist. However, this situation is Simulation: operational storage operation influences on
changing rapidly as of the high need for online water water quality in WDS; internal modeling of water quality
quality hazards monitoring equipment from one side, propagations in pipes (i.e. wall reactions involving disin-
and the advances of research technology prototype fectants, growth and decay of disinfection by-products,
products, from the other. transport of particulate and colloidal matter, growth of
3. Water distribution systems are spatially diverse. As biofilms); modeling of chemical reactions among non-
such, they are inherently vulnerable to physical, conservative water quality parameters.
chemical, or biological threats. In general, physical
disruptions can result in significant economic cost Optimization: QCH optimization models integrating the
inconvenience, but the direct threat to human health is design and operation phases in a single framework;
limited. Contrary to that is contamination intrusion – inclusion of reliability/risk in providing optimal strategies
chemical and/or biological, which is one of the most for design/operation of multi-quality WDS; optimal system
serious potentional threats to water distribution sampling and monitoring strategies.
systems.
Calibration: mathematical calibration is the process of
A contaminant can be dumped directly into tanks, wells, determining the coefficient values appearing in the equa-
water intakes, or treatment plants; or can be injected at tions of a model such that results produced by the model
any connection to a water distribution system using a with these coefficients agree closely with a set of measured
pump or a mobile pressurized tank, capable of over- data, in the context of a selected objective function(s).
coming the system pressure. Backflow preventers provide Calibration has been the subject of much discussions and
an obstacle. However, they do not exist at all connections; papers (e.g. Cesario et al. 1996; Walski 1995), focusing
and some may not be functional. Thus, identification of mainly on heuristic traditional methods. Research work on
an intrusion must be made with information acquired mathematical calibration models for water quality in WDS
within the distribution system itself. The ability to for QCH type models is still limited.
Modeling water quality in distribution systems 113
Pool, S., Optimal operation and location of chlorine boosters. Thesis Tryby, M. and Uber, J., Representative water quality sampling in water
submitted to the University of Arizona in partial fulfillment of the distribution systems. In Bridging the Gap: Meeting the World’s Water and
Masters degree in Civil Engineering, 2002. Environmental Resources Challenges, Proceedings of the ASCE annual
Pool, S. and Lansey, K., Locating and operating disinfection boosters in conference on Water Resources Planning and Management, Section 1,
water networks. Proceedings of the WRPLM annual conference, ASCE, Chapter 3, 2001 (American Society of Civil Engineers (ASCE): Orlando,
Chicago, Illinois, USA, pp. 738—743, 1997. Florida).
Rossman, L.A., EPANET User’s Manual, 1994 (USEPA: Cincinnati, USEPA, EPANET, 2003. http://www.epa.gov/ORD/NRMRL/wswrd/epa-
Ohio). net.html.
Sakarya, B.A. and Mays, L.W., Optimal operation of water distribution Walski, T.M. et al., Battle of the network models: epilogue. J. Water Res.
pumps considering water quality. J. Water Res. Plan. Manage. Div., Plan. Manage. Div., ASCE, 1987, 113, 191 – 203.
ASCE, 2000, 126, 210 – 220. Walski, T.M., Standards for model calibration. Proceedings of the 1995
Shah, M., A dynamic model for dilution in water distribution systems. AWWA Computer Conference, 1995 (American Water Works Associa-
M.Sc. Thesis, Faculty of Civil Engineering, Technion – Israel (in tion: Denver, Colorado).
English), 132 p, 1985. Woo, H-M., Yoon, J-H. and Choi, D-Y., Optimal monitoring sites based
Shamir, U. and Howard, C.D.D., Topics in modeling water quality in on water quality and quantity in water distribution systems. In Bridging
distribution systems. Proceedings of the AWWARF/EPA Conference on the Gap: Meeting the World’s Water and Environmental Resources
Water Quality Modeling in Distribution Systems, Cincinnati, Ohio, pp. Challenges, Proceedings of the ASCE annual conference on Water
Downloaded by [Massachusetts Institute of Technology] at 22:10 25 November 2014
183 – 192, 1991 (American Water Works Association: Cincinatti, Ohio). Resources Planning and Management, Section 1, Chapter 318, 2001
Shor, N.Z., Minimization methods for non-differentiable functions, 159p, (American Society of Civil Engineers (ASCE): Orlando, Florida).
1985 (Springer-Verlag: Berlin).
Sinai, G., Koch, E. and Farbman, M., Dilution of brackish waters in
irrigation networks—an analytic approach. Irrigat.Sci., 1985, 6, 191 –
200.