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The active control of stormwater systems is a potential solution to increased street flooding in low-lying, low-relief coastal cities due to climate change and accompanying sea level rise. Model predictive control (MPC) has been shown to be a successful control strategy generally and as well as for managing urban drainage specifically. This research describes and demonstrates the implementation of MPC for urban drainage systems using open source software (Python and The United States Environmental Protection Agency (EPA) Storm Water Management Model (SWMM5). The system was demonstrated using a simplified use case in which an actively-controlled outlet of a detention pond is simulated. The control of the pond’s outlet influences the flood risk of a downstream node. For each step in the SWMM5 model, a series of policies for controlling the outlet are evaluated. The best policy is then selected using an evolutionary algorithm. The policies are evaluated against an objective function that penalizes primarily flooding and secondarily deviation of the detention pond level from a target level. Freely available Python libraries provide the key functionality for the MPC workflow: step-by-step running of the SWMM5 simulation, evolutionary algorithm implementation, and leveraging parallel computing. For perspective, the MPC results were compared to results from a rule-based approach and a scenario with no active control. The MPC approach produced a control policy that largely eliminated flooding (unlike the scenario with no active control) and maintained the detention pond’s water level closer to a target level (unlike the rule-based approach).more » « less
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Dendritic, i.e., tree-like, river networks are ubiquitous features on Earth’s landscapes; however, how and why river networks organize themselves into this form are incompletely understood. A branching pattern has been argued to be an optimal state. Therefore, we should expect models of river evolution to drastically reorganize (suboptimal) purely nondendritic networks into (more optimal) dendritic networks. To date, current physically based models of river basin evolution are incapable of achieving this result without substantial allogenic forcing. Here, we present a model that does indeed accomplish massive drainage reorganization. The key feature in our model is basin-wide lateral incision of bedrock channels. The addition of this submodel allows for channels to laterally migrate, which generates river capture events and drainage migration. An important factor in the model that dictates the rate and frequency of drainage network reorganization is the ratio of two parameters, the lateral and vertical rock erodibility constants. In addition, our model is unique from others because its simulations approach a dynamic steady state. At a dynamic steady state, drainage networks persistently reorganize instead of approaching a stable configuration. Our model results suggest that lateral bedrock incision processes can drive major drainage reorganization and explain apparent long-lived transience in landscapes on Earth.
