Automatic calibration of HEC‐HMS using single‐objective and multi‐objective PSO algorithms

This study presents single‐objective and multi‐objective particle swarm optimization (PSO) algorithms for automatic calibration of Hydrologic Engineering Center‐ Hydrologic Modeling Systems rainfall‐runoff model of Tamar Sub‐basin of Gorganroud River Basin in north of Iran. Three flood events were used for calibration and one for verification. Four performance criteria (objective functions) were considered in multi‐objective calibration where different combinations of objective functions were examined. For comparison purposes, a fuzzy set‐based approach was used to determine the best compromise solutions from the Pareto fronts obtained by multi‐objective PSO. The candidate parameter sets determined from different single‐objective and multi‐objective calibration scenarios were tested against the fourth event in the verification stage, where the initial abstraction parameters were recalibrated. A step‐by‐step screening procedure was used in this stage while evaluating and comparing the candidate parameter sets, which resulted in a few promising sets that performed well with respect to at least three of four performance criteria. The promising sets were all from the multi‐objective calibration scenarios which revealed the outperformance of the multi‐objective calibration on the single‐objective one. However, the results indicated that an increase of the number of objective functions did not necessarily lead to a better performance as the results of bi‐objective function calibration with a proper combination of objective functions performed as satisfactorily as those of triple‐objective function calibration. This is important because handling multi‐objective optimization with an increased number of objective functions is challenging especially from a computational point of view. Copyright © 2012 John Wiley & Sons, Ltd.     

Impact of the numbers of observations and calibration parameters on equifinality,model performance,and output and parameter uncertainty

The level of model complexity that can be effectively supported by available information has long been a subject of many studies in hydrologic modelling. In particular, distributed parameter models tend to be regarded as overparameterized because of numerous parameters used to describe spatially heterogeneous hydrologic processes. However, it is not clear how parameters and observations influence the degree of overparameterization, equifinality of parameter values, and uncertainty. This study investigated the impact of the numbers of observations and parameters on calibration quality including equifinality among calibrated parameter values, model performance, and output/parameter uncertainty using the Soil and Water Assessment Tool model. In the experiments, the number of observations was increased by expanding the calibration period or by including measurements made at inner points of a watershed. Similarly, additional calibration parameters were included in the order of their sensitivity. Then, unique sets of parameters were calibrated with the same objective function, optimization algorithm, and stopping criteria but different numbers of observations. The calibration quality was quantified with statistics calculated based on the ‘behavioural’ parameter sets, identified using 1% and 5% cut‐off thresholds in a generalized likelihood uncertainty estimation framework. The study demonstrated that equifinality, model performance, and output/parameter uncertainty were responsive to the numbers of observations and calibration parameters; however, the relationship between the numbers, equifinality, and uncertainty was not always conclusive. Model performance improved with increased numbers of calibration parameters and observations, and substantial equifinality did neither necessarily mean bad model performance nor large uncertainty in the model outputs and parameters. Copyright © 2015 John Wiley & Sons, Ltd.     

Using genetic algorithm and TOPSIS for Xinanjiang model calibration with a single procedure

Genetic Algorithm (GA) is globally oriented in searching and thus useful in optimizing multiobjective problems, especially where the objective functions are ill-defined. Conceptual rainfall–runoff models that aim at predicting streamflow from the knowledge of precipitation over a catchment have become a basic tool for flood forecasting. The parameter calibration of a conceptual model usually involves the multiple criteria for judging the performances of observed data. However, it is often difficult to derive all objective functions for the parameter calibration problem of a conceptual model. Thus, a new method to the multiple criteria parameter calibration problem, which combines GA with TOPSIS (technique for order performance by similarity to ideal solution) for Xinanjiang model, is presented. This study is an immediate further development of authors' previous research (Cheng, C.T., Ou, C.P., Chau, K.W., 2002. Combining a fuzzy optimal model with a genetic algorithm to solve multi-objective rainfall–runoff model calibration. Journal of Hydrology, 268, 72–86), whose obvious disadvantages are to split the whole procedure into two parts and to become difficult to integrally grasp the best behaviors of model during the calibration procedure. The current method integrates the two parts of Xinanjiang rainfall–runoff model calibration together, simplifying the procedures of model calibration and validation and easily demonstrated the intrinsic phenomenon of observed data in integrity. Comparison of results with two-step procedure shows that the current methodology gives similar results to the previous method, is also feasible and robust, but simpler and easier to apply in practice.     

Constraining water table depth simulations in a land surface model using estimated baseflow

Several recent studies have shown the significance of representing groundwater in land surface hydrologic simulations. However, optimal methods for model parameter calibration in order to realistically simulate baseflow and groundwater depth have received little attention. Most studies still use globally constant groundwater parameters due to the lack of available datasets for calibration. Moreover, when models are calibrated, various parameter combinations are found to exhibit equifinality in simulated total runoff due to model parameter interactions. In this study, a simple lumped groundwater model is incorporated into the Community Land Model (CLM), in which the water table is interactively coupled to soil moisture through the groundwater recharge fluxes. The coupled model (CLMGW) is successfully validated in Illinois using a 22-year (1984–2005) monthly observational dataset. Baseflow estimates from the digital recursive filter technique are used to calibrate the CLMGW parameters. The advantage obtained from incorporating baseflow calibration in addition to traditional calibration based on measured streamflow alone is demonstrated by a Monte Carlo-type simulation analysis. Using the optimal parameter sets identified from baseflow calibration, flow partitioning and water table depth simulations using CLMGW are improved, and the equifinality problem is alleviated. For other regions that lack observations of water table depth, the baseflow calibration approach can be used to enhance parameter estimation and constrain water table depth simulations.     

Stochastic calibration of an orographic precipitation model

In this study a stochastic approach to calibration of an orographic precipitation model (Rhea, 1978) was applied in the Gunnison River Basin of south-western Colorado. The stochastic approach to model calibration was used to determine: (1) the model parameter uncertainty and sensitivity; (2) the grid-cell resolution to run the model (10 or 5 km grids); (3) the model grid rotation increment; and (4) the basin subdivision by elevation band for parameter definition. Results from the stochastic calibration are location and data dependent. Uncertainty, sensitivity and range in the final parameter sets were found to vary by grid-cell resolution and elevation. Ten km grids were found to be a more robust model configuration than 5 km grids. Grid rotation increment, tested using only 10 km grids, indicated increments of less than 10 degrees to be superior. Basin subdivision into two elevation bands was found to produce ‘optimal’ results for both 10 and 5 km grids. © 1998 John Wiley & Sons, Ltd.     

Multi‐objective framework for structural model identification

Structural identification based on measured dynamic data is formulated in a multi‐objective context that allows the simultaneous minimization of the various objectives related to the fit between measured and model predicted data. Thus, the need for using arbitrary weighting factors for weighting the relative importance of each objective is eliminated. For conflicting objectives there is no longer one solution but rather a whole set of acceptable compromise solutions, known as Pareto solutions, which are optimal in the sense that they cannot be improved in any objective without causing degradation in at least one other objective. The strength Pareto evolutionary algorithm is used to estimate the set of Pareto optimal structural models and the corresponding Pareto front. The multi‐objective structural identification framework is presented for linear models and measured data consisting of modal frequencies and modeshapes. The applicability of the framework to non‐linear model identification is also addressed. The framework is illustrated by identifying the Pareto optimal models for a scaled laboratory building structure using experimentally obtained modal data. A large variability in the Pareto optimal structural models is observed. It is demonstrated that the structural reliability predictions computed from the identified Pareto optimal models may vary considerably. The proposed methodology can be used to explore the variability in such predictions and provide updated structural safety assessments, taking into consideration all Pareto structural models that are consistent with the measured data. Copyright © 2005 John Wiley & Sons, Ltd.     

Using atmospheric tracers to reduce uncertainty in groundwater recharge areas

A Monte Carlo-based approach to assess uncertainty in recharge areas shows that incorporation of atmospheric tracer observations (in this case, tritium concentration) and prior information on model parameters leads to more precise predictions of recharge areas. Variance-covariance matrices, from model calibration and calculation of sensitivities, were used to generate parameter sets that account for parameter correlation and uncertainty. Constraining parameter sets to those that met acceptance criteria, which included a standard error criterion, did not appear to bias model results. Although the addition of atmospheric tracer observations and prior information produced similar changes in the extent of predicted recharge areas, prior information had the effect of increasing probabilities within the recharge area to a greater extent than atmospheric tracer observations. Uncertainty in the recharge area propagates into predictions that directly affect water quality, such as land cover in the recharge area associated with a well and the residence time associated with the well. Assessments of well vulnerability that depend on these factors should include an assessment of model parameter uncertainty. A formal simulation of parameter uncertainty can be used to delineate probabilistic recharge areas, and the results can be expressed in ways that can be useful to water-resource managers. Although no one model is the correct model, the results of multiple models can be evaluated in terms of the decision being made and the probability of a given outcome from each model.     

Incorporating multiple observations for distributed hydrologic model calibration: An approach using a multi-objective evolutionary algorithm and clustering

The use of distributed data for model calibration is becoming more popular in the advent of the availability of spatially distributed observations. Hydrological model calibration has traditionally been carried out using single objective optimisation and only recently has been extended to a multi-objective optimisation domain. By formulating the calibration problem with several objectives, each objective relating to a set of observations, the parameter sets can be constrained more effectively. However, many previous multi-objective calibration studies do not consider individual observations or catchment responses separately, but instead utilises some form of aggregation of objectives. This paper proposes a multi-objective calibration approach that can efficiently handle many objectives using both clustering and preference ordered ranking. The algorithm is applied to calibrate the MIKE SHE distributed hydrologic model and tested on the Karup catchment in Denmark. The results indicate that the preferred solutions selected using the proposed algorithm are good compromise solutions and the parameter values are well defined. Clustering with Kohonen mapping was able to reduce the number of objective functions from 18 to 5. Calibration using the standard deviation of groundwater level residuals enabled us to identify a group of wells that may not be simulated properly, thus highlighting potential problems with the model parameterisation.     

Development of a real-time forecasting model for turbidity current arrival time to improve reservoir desilting operation

ABSTRACT

Among various strategies for sediment reduction, venting turbidity currents through dam outlets can be an efficient way to reduce suspended sediment deposition. The accuracy of turbidity current arrival time forecasts is crucial for the operation of reservoir desiltation. A turbidity current arrival time (TCAT) model is proposed. A multi-objective genetic algorithm (MOGA), a support vector machine (SVM) and a two-stage forecasting technique are integrated to obtain more effective long lead-time forecasts of inflow discharge and inflow sediment concentration. The multi-objective genetic algorithm (MOGA) is applied for determining the optimal inputs of the forecasting model, support vector machine (SVM). The two-stage forecasting technique is implemented by adding the forecasted values to candidate inputs for improving the long lead-time forecasting. Then, the turbidity current arrival time from the inflow boundary to the reservoir outlet is calculated. To demonstrate the effectiveness of the TCAT model, it is applied to Shihmen Reservoir in northern Taiwan. The results confirm that the TCAT model forecasts are in good agreement with the observed data. The proposed TCAT model can provide useful information for reservoir sedimentation management during desilting operations.     

Improving the calibration strategy of the physically-based model WaSiM-ETH using critical events

Abstract

The use of a physically-based hydrological model for streamflow forecasting is limited by the complexity in the model structure and the data requirements for model calibration. The calibration of such models is a difficult task, and running a complex model for a single simulation can take up to several days, depending on the simulation period and model complexity. The information contained in a time series is not uniformly distributed. Therefore, if we can find the critical events that are important for identification of model parameters, we can facilitate the calibration process. The aim of this study is to test the applicability of the Identification of Critical Events (ICE) algorithm for physically-based models and to test whether ICE algorithm-based calibration depends on any optimization algorithm. The ICE algorithm, which uses the data depth function, was used herein to identify the critical events from a time series. Low depth in multivariate data is an unusual combination and this concept was used to identify the critical events on which the model was then calibrated. The concept is demonstrated by applying the physically-based hydrological model WaSiM-ETH on the Rems catchment, Germany. The model was calibrated on the whole available data, and on critical events selected by the ICE algorithm. In both calibration cases, three different optimization algorithms, shuffled complex evolution (SCE-UA), parameter estimation (PEST) and robust parameter estimation (ROPE), were used. It was found that, for all the optimization algorithms, calibration using only critical events gave very similar performance to that using the whole time series. Hence, the ICE algorithm-based calibration is suitable for physically-based models; it does not depend much on the kind of optimization algorithm. These findings may be useful for calibrating physically-based models on much fewer data.

Editor D. Koutsoyiannis; Associate editor A. Montanari

Citation Singh, S.K., Liang, J.Y., and Bárdossy, A., 2012. Improving calibration strategy of physically-based model WaSiM-ETH using critical events. Hydrological Sciences Journal, 57 (8), 1487–1505.     

CDP mapping in tilted transversely isotropic (TTI) media. Part II: Velocity analysis by combining CDP mapping with a genetic algorithm

This paper presents a method for velocity analysis in tilted transversely isotropic (TTI) media by combining CDP mapping with a genetic algorithm. CDP mapping is a velocity analysis method for determining anisotropic velocity but has difficulties due to the following factors: (i) it involves a non-linear and multimodal objective function; (ii) it is prohibitively expensive in the evaluation of candidate solutions, which often involves the calculation of images in the depth domain; (iii) there is often a very large parameter space. Recognizing the global and multimodal nature of the problem, a genetic algorithm is employed to search for the optimal velocity model. The efficiency of the method contributes to two critical processes: rapid model evaluation, achieved by generating CDP mapping only in the neighbourhood of specific reflectors, and fast computation, based on Fermat's principle, of the CDP points and traveltimes in TTI media. The method produces subsurface structure images in the depth domain, and can also solve for Thomsen's anisotropic parameters (ɛ and δ), the vertical velocity and the dip of the symmetry axis in the model space, simultaneously.     

Development of an automatic calibration scheme for the HBV hydrological model

An automatic calibration scheme for the HBV model (ACSH) was developed. The ACSH was based on the physical significance of the model parameters and structure. The inference of hydrologists in the manual calibration was adopted as the guideline. A slight modification of the model structure of the soil routine was suggested to avoid interdependence of the parameters. In total nine parameters, except the snow routine, Fc and MAXBAS, were calibrated automatically in two stages; first the soil moisture routine and then the others. There are six sets in two stages in total. Using the Powell method, the parameters in each step were calibrated simultaneously with carefully selected objective functions, and in particular a powerful objective function for the soil moisture routine. The steps were in a fixed order in the ACSH according to the model structure. The optimal values of the model parameters were stable, with the different initial values varying in considerable ranges. The automatic calibration gave the same model performance as the manual calibration when the ACSH was tested in two basins. The automatic calibration can thus be used as a reference or as an alternative solution of the model. © 1997 John Wiley & Sons, Ltd.     

Multiple criteria rainfall–runoff model calibration using a parallel genetic algorithm in a cluster of computers / Calage multi-critères en modélisation pluie–débit par un algorithme génétique parallèle mis en œuvre par une grappe d'ordinateurs

Abstract

Genetic algorithms are among of the global optimization schemes that have gained popularity as a means to calibrate rainfall–runoff models. However, a conceptual rainfall–runoff model usually includes 10 or more parameters and these are interdependent, which makes the optimization procedure very time-consuming. This may result in the premature termination of the optimization process which will prejudice the quality of the results. Therefore, the speed of optimization procedure is crucial in order to improve the calibration quality and efficiency. A hybrid method that combines a parallel genetic algorithm with a fuzzy optimal model in a cluster of computers is proposed. The method uses the fuzzy optimal model to evaluate multiple alternatives with multiple criteria where chromosomes are the alternatives, whilst the criteria are flood performance measures. In order to easily distinguish the performance of different alternatives and to address the problem of non-uniqueness of optimum, two fuzzy ratios are defined. The new approach has been tested and compared with results obtained by using a two-stage calibration procedure. The current single procedure produces similar results, but is simpler and automatic. Comparison of results between the serial and parallel genetic algorithms showed that the current methodology can significantly reduce the overall optimization time and simultaneously improve the solution quality.     

Application of a land surface model for simulating rainfall streamflow hydrograph: 1. Model calibration

Different variants of parameters’ calibration of land surface model SWAP were examined with the aim to maximize the accuracy of reproducing rainfall runoff hydrograph. The optimization of parameter values was automated based on two different algorithms for the search of the global optimum of an objective function: a random search technique and a shuffled complex evolution method SCE-UA. In both cases, two objective functions, based on the mean systematic error and the Nash and Sutcliffe coefficient of efficiency, were used. The number of calibrated parameters varied from 10 to 15, and their values were within the reasonable range so as not to contradict the physical meaning and to ensure the best agreement between the simulated and observed daily river runoff. The streamflow hydrographs for some rivers in USA simulated with the use of different sets of optimized parameters were compared with observation data.     

Tuned mass dampers for response control of torsional buildings

This paper presents an approach for optimum design of tuned mass dampers for response control of torsional building systems subjected to bi‐directional seismic inputs. Four dampers with fourteen distinct design parameters, installed in pairs along two orthogonal directions, are optimally designed. A genetic algorithm is used to search for the optimum parameter values for the four dampers. This approach is quite versatile as it can be used with different design criteria and definitions of seismic inputs. It usually provides a globally optimum solution. Several optimal design criteria, expressed in terms of performance functions that depend on the structural response, are used. Several sets of numerical results for a torsional system excited by random and response spectrum models of seismic inputs are presented to show the effectiveness of the optimum designs in reducing the system response. Copyright © 2002 John Wiley & Sons, Ltd.     

REPORTS ON MEETINGS

Abstract

This paper examines the efficiency of various methods of calibrating a rainfall-runoff model. The model used is a 12 parameter version of the Boughton model which has been developed for large tropical basins. Attempts were made to improve the efficiency of calibration in three areas: selection of the best nonlinear programming algorithms; reduction of the number of objective functions required for calibration; and simplification of the model structure. The best algorithms were found to be those of Powell, Rosenbrock, and the simplex method of Nelder and Mead. The Davidon method did not perform well. The number of objective function evaluations can be reduced by performing a sensitivity analysis on the model and selecting a small group of parameters which are not interdependent and which the objective function is sensitive to. This may yield a substantial reduction in the computer time required to calibrate the model. Simplification of the model structure can also yield substantial savings, especially where it removes calculations which are redundant and reduces the number of model parameters.     

Towards a simple dynamic process conceptualization in rainfall–runoff models using multi‐criteria calibration and tracers in temperate,upland catchments

Empirically based understanding of streamflow generation dynamics in a montane headwater catchment formed the basis for the development of simple, low‐parameterized, rainfall–runoff models. This study was based in the Girnock catchment in the Cairngorm Mountains of Scotland, where runoff generation is dominated by overland flow from peaty soils in valley bottom areas that are characterized by dynamic expansion and contraction of saturation zones. A stepwise procedure was used to select the level of model complexity that could be supported by field data. This facilitated the assessment of the way the dynamic process representation improved model performance. Model performance was evaluated using a multi‐criteria calibration procedure which applied a time series of hydrochemical tracers as an additional objective function. Flow simulations comparing a static against the dynamic saturation area model (SAM) substantially improved several evaluation criteria. Multi‐criteria evaluation using ensembles of performance measures provided a much more comprehensive assessment of the model performance than single efficiency statistics, which alone, could be misleading. Simulation of conservative source area tracers (Gran alkalinity) as part of the calibration procedure showed that a simple two‐storage model is the minimum complexity needed to capture the dominant processes governing catchment response. Additionally, calibration was improved by the integration of tracers into the flow model, which constrained model uncertainty and improved the hydrodynamics of simulations in a way that plausibly captured the contribution of different source areas to streamflow. This approach contributes to the quest for low‐parameter models that can achieve process‐based simulation of hydrological response. Copyright © 2009 John Wiley & Sons, Ltd.     

Joint parameter estimation from magnetic resonance and vertical electric soundings using a multi‐objective genetic algorithm

Magnetic resonance sounding (MRS) has increasingly become an important method in hydrogeophysics because it allows for estimations of essential hydraulic properties such as porosity and hydraulic conductivity. A resistivity model is required for magnetic resonance sounding modelling and inversion. Therefore, joint interpretation or inversion is favourable to reduce the ambiguities that arise in separate magnetic resonance sounding and vertical electrical sounding (VES) inversions. A new method is suggested for the joint inversion of magnetic resonance sounding and vertical electrical sounding data. A one‐dimensional blocky model with varying layer thicknesses is used for the subsurface discretization. Instead of conventional derivative‐based inversion schemes that are strongly dependent on initial models, a global multi‐objective optimization scheme (a genetic algorithm [GA] in this case) is preferred to examine a set of possible solutions in a predefined search space. Multi‐objective joint optimization avoids the domination of one objective over the other without applying a weighting scheme. The outcome is a group of non‐dominated optimal solutions referred to as the Pareto‐optimal set. Tests conducted using synthetic data show that the multi‐objective joint optimization approximates the joint model parameters within the experimental error level and illustrates the range of trade‐off solutions, which is useful for understanding the consistency and conflicts between two models and objectives. Overall, the Levenberg‐Marquardt inversion of field data measured during a survey on a North Sea island presents similar solutions. However, the multi‐objective genetic algorithm method presents an efficient method for exploring the search space by producing a set of non‐dominated solutions. Borehole data were used to provide a verification of the inversion outcomes and indicate that the suggested genetic algorithm method is complementary for derivative‐based inversions.