Methods and applications for modeling and simulation of complex systems 19th asia simulation confere

Methods and Applications for Modeling and Simulation of Complex Systems

19th Asia Simulation Conference

AsiaSim 2019 Singapore October 30

November 1 2019 Proceedings Gary Tan

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Gary Tan Axel Lehmann

Yong Meng Teo Wentong Cai (Eds.)

Methods and Applications for Modeling and Simulation of Complex Systems

19th Asia Simulation Conference, AsiaSim 2019

Singapore, October 30 – November 1, 2019

Proceedings

Communications in Computer and Information Science 1094

Communications inComputerandInformationScience1094

CommencedPublicationin2007

FoundingandFormerSeriesEditors: PhoebeChen,AlfredoCuzzocrea,XiaoyongDu,OrhunKara,TingLiu, KrishnaM.Sivalingam,Dominik Ślęzak,TakashiWashio,XiaokangYang, andJunsongYuan

EditorialBoardMembers

SimoneDinizJunqueiraBarbosa

Ponti ﬁcalCatholicUniversityofRiodeJaneiro(PUC-Rio), RiodeJaneiro,Brazil

JoaquimFilipe

PolytechnicInstituteofSetúbal,Setúbal,Portugal

AshishGhosh

IndianStatisticalInstitute,Kolkata,India

IgorKotenko

St.PetersburgInstituteforInformaticsandAutomationoftheRussian AcademyofSciences,St.Petersburg,Russia

LizhuZhou

TsinghuaUniversity,Beijing,China

Moreinformationaboutthisseriesat http://www.springer.com/series/7899

GaryTan • AxelLehmann • YongMengTeo • WentongCai(Eds.)

MethodsandApplications forModelingandSimulation ofComplexSystems

19thAsiaSimulationConference,AsiaSim2019

Singapore,October30 – November1,2019

Proceedings

123

Editors GaryTan NationalUniversityofSingapore

Singapore,Singapore

YongMengTeo NationalUniversityofSingapore Singapore,Singapore

AxelLehmann UniversitätderBundeswehrMünchen Neubiberg,Germany

WentongCai NanyangTechnologicalUniversity Singapore,Singapore

ISSN1865-0929ISSN1865-0937(electronic) CommunicationsinComputerandInformationScience

ISBN978-981-15-1077-9ISBN978-981-15-1078-6(eBook) https://doi.org/10.1007/978-981-15-1078-6

Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthe materialisconcerned,speciﬁcallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicroﬁlmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynow knownorhereafterdeveloped.

Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspeciﬁcstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse.

Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbookare believedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsortheeditors giveawarranty,expressedorimplied,withrespecttothematerialcontainedhereinorforanyerrorsor omissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregardtojurisdictionalclaimsin publishedmapsandinstitutionalafﬁliations.

ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSingaporePteLtd. Theregisteredcompanyaddressis:152BeachRoad,#21-01/04GatewayEast,Singapore189721, Singapore

Preface

TheAsiaSimconferenceisanannualinternationalconferencethatstartedin1999,and hasprimarilybeenorganizedbythethreeAsiansimulationsocieties:Chinese AssociationforSystemSimulation(CASS),JapaneseSocietyforSimulation Technology(JSST),andKoreaSocietyforSimulation(KSS).In2011,theFederation ofAsiaSimulationSocieties(ASIASIM)wassetuptopromotetheadvancementof modelingandsimulationinindustry,research,anddevelopmentinAsiaandbeyond.In 2013,theAsiaSimseries ﬁnallyleftthe ‘GoldenTriangle’ ofChina,Japan,andKorea andwasheldinSingaporeforthe ﬁ rsttime.Thenin2017,itwasMalaysia’sturnto hosttheconference.

OnbehalfoftheOrganizingCommitteeofAsiaSim2019,weareproudtopresent the19theditionoftheAsiaSimconferenceseries(heldinSingaporeforthesecond time).

Asiasim2019isorganizedbytheSocietyofSimulationandGamingofSingapore, theNationalUniversityofSingapore,andNanyangTechnologicalUniversity.The SocietyofSimulationandGamingofSingaporeisanon-proﬁ tprofessional organizationsetuptocontributetothedevelopmentofsimulationandgamingin Singaporeandtheregion.Itisafocusedcommunityforresearchers,practitioners,and developerswhoarekeentofurthertheirprofessionalknowledgethroughlearningand workingtogetherandpromotingtheexperientialactivitiestothepublic.

WereceivedsubmissionsfromChina,Japan,SouthKorea,Indonesia,India,Italy, Pakistan,Philippines,Germany,Malaysia,Columbia,andofcourseSingapore.After anintensivereviewprocessbyacarefullyassembledinternationalProgramCommittee, whereeachpaperwasreviewedbynolessthan3reviewers,we ﬁ nallyaccepted19full papersand5shortpapers.Thefollowingthreepaperswereshortlistedforthebest paperaward:

–“DigitalTwinTechnologyforAquaponics:TowardsOptimizingFoodProduction withDynamicDataDrivenApplicationSystems” byAyyazAhmed,Shahid Zulﬁqar,AdamGhandar,YangChen,MasatoshiHanai,GeorgiosTheodoropoulos.

–“OnEvaluatingRustasaProgrammingLanguagefortheFutureofMassive Agent-basedSimulations” byAlessiaAntelmi,GennaroCordasco,MatteoD’Auria, DanieleDeVinco,AlbertoNegro,andCarmineSpagnuolo.

–“Conv-LSTM:PedestrianTrajectoryPredictioninCrowdedScenarios” by KaiChen,XiaoSong,andHangYu.

Theacceptedpapersareconsolidatedinthisvolumeofthe Communicationsin ComputerandInformationScience series,andaredividedintomanyrelevanttopics, includingAgentBasedSimulation,SimulationMethodsandTools,Visualization, ModelingMethodology,andSimulationApplicationsinScienceandEngineering.

Thediversityoftopicspresentedatthisconferencemadeforahealthyexchangeof researchideasandtechnicalexchanges.

WewouldliketotakethisopportunitytothanktheASIASIMFederationfor allowingustohostAsiaSim2019forthesecondtimeinSingapore,andwehopethat youfoundtheconferenceenrichingandmemorable.

WealsothankthemembersoftheProgramCommitteefortheirvaluableeffortin thereviewofthesubmittedpapers.Finally,wewouldalsoliketothankourtechnical co-sponsorsandsponsors.YourcontributionsandsupporthelpedtomakeAsiaSim 2019arealityandasuccess.

October2019GaryTan

YongMengTeo WentongCai

AxelLehmann

viPreface

AsiaSim2019Organisation

ConferenceChairs

GaryTanNationalUniversityofSingapore,Singapore

AxelLehmannUniversitätderBundeswehrMünchen,Germany

ProgramChairs

YongMengTeoNationalUniversityofSingapore,Singapore WentongCaiNanyangTechnologicalUniversity,Singapore

InternationalProgramCommittee

AnastasiaAnagnostouBrunelUniversity,UK

PhilippAndelﬁngerNanyangTechnologicalUniversity,Singapore AgostinoBruzzoneUniversityofGenoa,Italy GabrieleD’angeloUniversityofBologna,Italy

TerenceHungRollsRoyce,Singapore

DongJinIllinoisInstituteofTechnology,USA FarzadKamraniKTHRoyalInstituteofTechnology,Sweden HelenKaratzaAristotleUniversityofThessaloniki,Greece SyeLoongKeohUniversityofGlasgow,UK,andSingaporeCampus, Singapore

YunBaeKimSungkyunkwanUniversity,SouthKorea BohuLiBeijingUniversityofAeronauticsandAstronautics, China

GeLiNationalUniversityofDefenceTechnology,China LiangLiRitsumeikanUniversity,Japan ZengxiangLiInstituteofHighPerformanceComputing,A*STAR, Singapore

MalcolmLowSingaporeInstituteofTechnology,Singapore LinboLuoXidianUniversity,China ImranMahmoodNationalUniversityofScience&Technology,Pakistan YahayaMdSamUniversitiTeknologiMalaysia,Malaysia ZaharuddinMohamedUniversitiTeknologiMalaysia,Malaysia NavonilMustafeeUniversityofExeter,UK

viiiAsiaSim2019Organisation

BhaktiStephanOnggoUniversityofSouthampton,UK RaviSeshadriSingapore-MITAllianceforResearchandTechnology, Singapore

XiaoSongBeihangUniversity,China YuenJienSooNationalUniversityofSingapore,Singapore ClaudiaSzaboTheUniversityofAdelaide,Australia SunTeckTanNationalUniversityofSingapore,Singapore SatoshiTanakaRitsumeikanUniversity,Japan WenjieTangNationalUniversityofDefenseTechnology,China YifaTangChineseAcademyofSciences,China SimonTaylorBrunelUniversity,UK YongMengTeoNationalUniversityofSingapore,Singapore GeorgiosTheodoropoulosSouthernUniversityofScienceandTechnology,China StephenJohnTurnerVidyasirimedhiInstituteofScienceandTechnology, Thailand

BimleshWadhwaNationalUniversityofSingapore,Singapore YipingYaoNationalUniversityofDefenseTechnology,China AllanN.ZhangSingaporeInstituteofManufacturingTechnology, Singapore

LinZhangBeihangUniversity,China JinghuiZhongSouthChinaUniversityofTechnology,China

BestPaperChair

AxelLehmannUniversitätderBundeswehrMünchen,Germany

BestPaperSub-committee

Yun-BaeKimSungKyunKwanUniversity,SouthKorea YahayaMdSamUniversitiTeknologiMalaysia,Malaysia SatoshiTanakaRitsumeikanUniversity,Japan YongMengTeoNationalUniversityofSingapore,Singapore LinZhangBeihangUniversity,China

FinanceChair

SunTeckTanNationalUniversityofSingapore,Singapore

LocalArrangementChairs

BimleshWadhwaNationalUniversityofSingapore,Singapore YuenJienSooNationalUniversityofSingapore,Singapore

PublicationsChair

MuhammadShalihinbin Othman

WebMasters

NationalUniversityofSingapore,Singapore

ChengxinWangNationalUniversityofSingapore,Singapore

MuhammadShalihinbin Othman

ASIASIMCouncil2019

President

NationalUniversityofSingapore,Singapore

GaryTan(President)SSAGSG

CouncilMembers

BoHuLi(President)CSF

LinZhang(VicePresident)CSF

XiaoSong(BoardMember)CSF

SatoshiTanaka (ChairofForeign Affairs) JSST

KyokoHasegawa (BoardMember) JSST

LiangLi(BoardMember)JSST

Yun-BaeKimSKKU

KangSunLee(Vice President) KSS

Soo-HyunPark(Board Member) KSS

YongMengTeo(Board Member) SSAGSG

YahayaMdSam(President)MSS

RubiyahbinteYusofUTM

ZaharuddinMohamedUTM

HonoraryMember

AxelLehmannUniversitätderBundeswehrMünchen,Germany

KeynoteSpeakers

KeynoteI:TheChallengesofRepeatabilityandFidelityofCyber-PhysicalDigital Twins

DavidM.Nicol

FranklinW.WoeltgeProfessorofECE UniversityofIllinois,Urbana-Champaign

Director,InformationTrustInstitute Director,AdvancedDigitalSciencesCenter Director,CriticalInfrastructureResilienceInstitute

Abstract. Adigitaltwinofacyber-physicalsystemisasimulationwhoseexecution mimicsthebehaviorofboththephysicalandcybercomponentsofthesystem.While theideaofco-joiningorfederatingsimulationshasbeenconsideredforquitealong time,theriseininterestofcyber-physicalsystems,coupledwithincreasedcomputationalpowerhasbroughttheideatotheforefrontunderthelabelingof ‘digitaltwin’ . Usesincludeexplorationofhowcybermalfeasancemightnegativelyimpactthe physicalsystem,howthephysicalsystemmayreacttounusualinputsorboundary conditions,whetheraparticularcontrolappliedtothesystemwillpushitintoaregion ofunsafebehavior.Fidelityofdigitaltwinsisclearlyadesirableattribute,asis repeatability.Intheformercasewewantconﬁdencethatthedigitaltwinfaithfully (enough)capturesthebehaviorofinterest,inthelattercaseweneedtobeableto understand,byreplyingthesimulation,howaparticularbehaviorobservedinthe simulationcametooccur.Thistalkfocusesonthechallengesofrepeatabilityand ﬁdelityinacyber-physicaldigitaltwin,whenthattwincombinesclassicalsimulation withemulationofexecutingsoftware.

Biography

DavidM.NicolistheFranklinW.WoeltgeProfessorofElectricalandComputer EngineeringattheUniversityofIllinoisinUrbana-Champaign,wherehealsoservesas theDirectoroftheInformationTrustInstitute,andDirectoroftheAdvancedDigital SciencesCenter(Singapore).HehasaB.A.inMathematicsfromCarletonCollege (1979),andM.S.andPh.D.degreesinComputerScience(1985)fromtheUniversityof Virginia.ProfessorNicol’sresearchinterestsencompasshighperformancecomputing, discretesystemmodelingandsimulation,andend-to-endmodeling/analysisof

xiiKeynoteSpeakers

cyber-security,resilience,andtrustincomplexsystems.HeservedasEditor-in-Chief ofACMTransactionsonModelingandComputerSimulation(1997-2003)andsince 2018hasservedasEditor-in-ChiefofIEEE’s ﬂagshippublicationoncyber-security, IEEESecurityandPrivacy.HewaselectedFellowoftheIEEEin2003,Fellowofthe ACMin2006,andin2007wastheinauguralrecipientoftheACMSIGSIM DistinguishedContributionsaward.

KeynoteII:BlockchainSafetyandSmartContractSimulation

JunFuruse ChiefExecutiveOfﬁ cer(CEO) DaiLambda,Inc.

Scientiﬁ cDirector,

TezosJapan

Abstract. Blockchainisadistributeddatabaseinanopennetwork,whereanyonecan joinbyrunninganodewithoutpermission.Asfarasweknow,suchasystemcanbe maintainedonlybyincentivizingtheparticipantstobehavehonestlyatitsresolution oftheconﬂicts.Consequently,blockchainmusthandleahugeamountofrewardsas cryptocurrenciesandanybugsmaybecomeattackvectorsfortheft.Therefore,safetyis the ﬁ rstconcernforblockchaindevelopers.

Smartcontractsareprogramsassociatedwithblockchainaccountsandexecutedat transactions.Sincetheexecutionhappensonallthenodes,thecallermustpayafeeto thenetwork.Toestimatethecost,thecallermustsimulateeachtransactionbefore sendingittothenetwork.Thissimulationisalsoimportanttosecurethesmart contractsalongwithformallyverifyingtheirsafetyproperties,sinceanybugor misspeci ﬁcationmayturnthemtoautomaticstealingmachines.Severalexistingworks ofthissmartcontractsimulationinTezosblockchainanditsfuturedirectionswillbe discussed.

Biography

JunisworkingforTezosblockchaintechnologyasoneofthefewAsiancore developerssinceitsmainnetlaunchinSeptember2019.Heisalsoascienti ﬁcdirector ofTezosJapan,anNPOtopromoteTezostechnologyinJapantotheindustryandthe academia.Beingaresearcheroffunctionalprogramminganditsstatictypesystem(Ph. D.,Université ParisDiderot),hisinterestsarealwaysinapplyingprogramming languagetheoryandformalveri ﬁcationmethodstoprovidebettersecurityto mission-criticalsystems.HehasstartedhisowncompanyDaiLambdainthelastyear, after10yearsofcareerasaquantitativedeveloperforsystemsforderivativeproduct modeling(LexiFi,StandardCharteredBank)andhigh-frequencytrading(JaneStreet Capital).

KeynoteSpeakersxiii

BestPaperNominees

AyyazAhmed1,2 ,ShahidZulﬁqar2 ,AdamGhandar1(B) ,YangChen1 , MasatoshiHanai1 ,andGeorgiosTheodoropoulos1

1 SouthernUniversityofScienceandTechnology, Shenzhen,People’sRepublicofChina {aghandar,yajun,gtheodoropoulos}@sustc.edu.cn,aghandar@sustech.edu.cn, 11849250@mail.sustech.edu.cn

2 Al-KhawarizmiInstituteofComputerScience,UniversityofEngineering andTechnology(UET)-Lahore,Lahore,Pakistan {ayyaz.ahmed,shahid.zulfiqar}@kics.edu.pk

Abstract. Aquaponics,orrecirculatingaquacultureproductionsystems,harnessthesymbioticrelationshipbetweenplantsandfishforfood production.Alargequantityoffishcanberaisedinasmallvolumeof waterbytheeffectofplantsinremovingtoxicwasteproductsexcretedby fish;inturnthewasteisbrokendownbymicrobialactivitytoobtainconcentratednutrientsforintensiveplant/cropgrowing.Theconcentration ofnutrientsgeneratedissimilartohydroponicnutrientsolutions.Water isconservedintheintegratedprocessandmaybereused.Inthispaper weconsideranapproachcomprisingself-containedaquaponicsproductionunitseachofwhichisaclosedsystemwherethebalanceoffishstock andplantsismonitoredandcontrolledautomatically.Weprovideempiricalresultsofasimulationandaphysicalimplementation.Thedesign involvesanonlinevirtualproductionunitimplementedwithasimulation thatisupdatedwithdatafromtherealsystem(adynamicdatadriven applicationsystem).Thevirtualunitanticipatestheperformanceofthe realsystemandenablingwhatifanalysisandoptimizationofthebehaviorofthewholesystem:forexampletomaximizeproduction,minimize waste,conservewaterandotherresources,meetqualitystandards,and otherproductiongoals.

Keywords: DynamicDataDrivenApplicationSystem(DDDAS) · Simulationmodelling · Digitaltwin · Cyber-physicalsystem · Aquaponics

1Introduction

Humansocietyfaceschallengesinfoodsecurityandsustainabilityduetofactors suchasurbanization,naturalresourcedepletionandlossofbiodiversity[11].

c SpringerNatureSingaporePteLtd.2019 G.Tanetal.(Eds.):AsiaSim2019,CCIS1094,pp.3–14,2019. https://doi.org/10.1007/978-981-15-1078-6 1

DigitalTwinTechnologyforAquaponics:

TowardsOptimizingFoodProduction withDynamicDataDriven ApplicationSystems

Technologicalinnovationissignificantineffortstowardfoodsystemimprovementthatareguidedforinstancebyintergovernmentalorganizationssuchas theUnitedNationsFoodandAgricultureOrganization(FAO)[8]andtheG201 . Theseeffortsrecognizethatwhileinthepastafocuswasonboostingagriculture productionquantity(forasurveyofrecenttechnologicaladvancesinthisarea see[26])anewfocusisneededtotacklebasiccausesofhungerandmalnutrition.Effortstodayfocusontransformativechangesacrosstheentirevaluechain inthewayfoodisproduced,consumedanddistributed2 [25].Forexamplesof applicationsthatinvolveinnovationinagriculturalvaluechains,see[27]which proposesahydroponicplanterforurbanagriculturethatisdesignedtosupport anovelserviceindustryandvaluechainconfigurationthroughlocalproduction inanurbanenvironment;[9]looksatthelinkingproducersofdifferentscales, traditionalandnon-traditionalwithcustomersthroughanetworkinterfaceand gatewaysoastoattainnecessaryattributesofvolume,traceability,andconsistencythatareimportantinmassproductionfoodsystemsbutalsogainbenefits ofsmallscaleproductionsuchascustomizedproduceandlocalproduction.

AccordingtotheFAO,agriculturalinnovationneedstoencompassdiverse stakeholdersincludingsmallfamilyfarmersandlocalindustrytakinginto accountuniqueculturalandgeographicconstraints(technologicalaswellas policy,organizationalandsocialaspects).Aquaoponics[7],canprovidefishand freshproducethatisproduced,potentially,co-locatedwithconsumersinurban environmentssuchasrooftopsthusreducingnecessityfortransportationand storage.Itcanfacilitateintensivefarmingforhighyieldsinlimitedspacewith efficientuseofresources.Aquaponicshasbeenappliedtoproducefoodindifficultandconstrainedconditions,forinstancetheFAOdescribesapplication intheGazastrip[1]:anarid,urbanareainprotractedcrisis3 .Thepotential foraquaponicstoprovidefoodsecurityandsustenanceindifficultconstrained environmentssustainablywithlimitedresources,andtoformacomponentof aninnovativesustainablevaluechainwithdiversestakeholderparticipation,has resultedinrecentresearchinterest.

Aquaponicscombineshydroponics(growingplantswithoutsoil)andaquaculture(raisingfish).Fishexcretewaste,thesedissolvednutrientsaccumulatein thewaterandprovideplantswithnutrition[24].Waterisrecirculatedbetween fishandplantsresultinginamuchlowerrequirementforwaterthantraditional soilbasedagriculture.Ineffectaquaponicsisaholisticfarmingtechnologywhere acontrolledecosystemisformulatedwhereplantsandfishliveinsymbioticrelationsupportedbymicrobialactivity(tobreakdownwasteandgeneratenutrients)[16, 19].

Fromawholesystempointofview,aquaponicimplementationsarecomplex systems.Combiningnaturalandhumanelementsinteractingtogetherincomplex dynamicsthatresultfromfactorssuchasheterogeneityofplantsandﬁsh,non lineardynamicswiththresholdsrelatingtoparameters(suchasconcentrations

1 http://www.g20.utoronto.ca/2018/2018-07-28-agriculture.html

2 http://www.fao.org/3/CA2460EN/ca2460en.pdf .

3 http://www.fao.org/3/a-i5620e.pdf

4A.Ahmedetal.

DigitalTwinTechnologyforAquaponics5

ofnutrientsandwaterquality),feedbackloops,andotherfactorsresultingfrom combininghumanandnaturalsystemsthatarefundamentallyhighlychallengingtomodelaccurately[14].Duetothecomplexityoftheaquaponicsystem, itisverychallengingﬁrsttoaccuratelymodelandthentopredictoroptimizethewholesystemtowardsystemgoalssuchastomaximizeproduction, minimizewaste,conservewaterandotherresources,meetqualitystandards, orotherperformancecriteria.Possiblyasaresult,thecurrentstate-of-the-art cyber-physicalaquaponicsystemsproposedintheliteraturedonotattemptoptimizationofthewholesystem[23, 30].Rather,silosorcomponents,arecontrolled bylocaloptimizationprocessesordecisionrulesbasedonpriorassumptions.We investigateanewapproachusingadynamicdatadrivenapplicationsystem (DDDAS)[6, 15, 21].

Themaincontributionsofthepaperareasfollows:

Cyber-physicalAquaponicSystem. Wedescribeacyber-physicalaquaponicssystembasedonInternet-of-Things(IoT)sensorsformonitoringsystemand environmentalconditions.

– DigitalTwinofanAquaponicSystem. Avirtualaquaponicsystemis implementedasasimulationandvalidated.

Therestofthepaperisorganizedasfollows:technologicalinnovationsin aquaponicsarereviewedinSect. 2;Sect. 3 describesourIoTenabledphysical system;Sect. 4 describesthevirtualreplica;Sect. 5 evaluatesandvalidatesboth; Sect. 6 concludesthepaper.

2BackgroundandLiteratureReview

Digitizationhasbeenappliedtoobtainbenefitsinmanyspheresofsociety includingdevelopingstate-of-the-artproductionsystems,seeIndustry4.0[12]. Indigitaltwin,realtimedataacquisitionfromphysicalentitiesareconnected tosimulatedrepresentations.Theapproachwasanticipatedbytheconceptof DynamicDataDrivenApplicationSystems[4].Theuptakeofdigitaltwintechnologyhasbeenslowerinsmallenterprisesalthoughthepotentialbenefitsare verylarge[28].Inothersectorsapartfromagriculturerealtimedataacquisition combinedwithsimulationhasalsoprovenbeneficial.Foraselectionsee[5, 20, 22].

IoT-BasedAquaponicSystems. Forarecentsurveyofworkapplying automationandIoTtechnologyforaquaponicproductionsee[2].Realtime dataandIoTsensorsenabledatarelatingtovarioussystemparameterstobe obtainedandanalyzed.Acontrolloopiscompletedwhenbasedonthedata tasksintheoperationofthesystemareperformed,forexample:addfishfood, alterthewaterlevelinthefishtank,recirculatewaterbetweenfishtankand growbed,turnon/offthegrowlights,adjustthePHlevel,etc.Recentresearch reportsimplementationofnetworkedsensorstosupportmonitoringkeyvariables suchaswaterqualityinaquaponicsystemsthataredesignedtoprovidelocally grownorganicfoodinsmartcityconceptandreducerelianceontraditional agriculture[18].

–

Manyrecentapplicationshaveacontextofprovidinglocalhighqualityproduceinurbansettingsandcanimplementlowcostintegratedmonitoringand controlusingmicrodevicessuchastheArduino,RasberryPiandIntelEdison tocoordinatevariousnetworkcomponentsandsensorfeeds.Forinstance,in[17] animplementationusesRasberryPitomonitorsPH,temperatureanddissolved oxygenlevels.In[23]thereisafocusonthePHanditsapplicationtocontrol plantandﬁshgrowthrates.In[30]amobileapplicationtomonitortemperature andhumidityandonthebasisofreadingscontrolafan,waterpumpandmist makerisdescribed.AsomewhatrelatedimplementationwhichusesIntelEdison asaprocessorisdescribedin[29].

AnalyticsandSimulationEnhancedAquaponicSystems. Variousanalytictechniquescanbecombinedwithrealtimedatatoprovidedecisionsupport andautomatedmanagementcapabilities.Thereislimitedresearchinmodeling thebehaviorofaquaponicsasacomplexsystem.Thereishoweverworkthat describesdevelopmentofmathematicaltechniquestopredictimportantsystem variables.In[13]analyticssupportsamodelbasedmanagementstrategyand determinesoptimizednutrientmanagementstrategiesforproducingtomatoand Nileperch(Tilapia)ﬁshbypredictingandmitigatingexcessconcentrationof totalsuspendedsolidsandsodiumandammoniaconcentrationsandbalancethe concentrationofnutrientsforplantgrowthversusthewaterqualityrequiredfor raisingﬁsh.

3Cyber-PhysicalAquaponicSystem

Thissectionprovidesoverviewoftheaquaponicsystemandimplementationof sensorhardware.

3.1SystemOverview

Thecyber-physicalaquaponicsystemconsistsofhydroponics,aquacultureand anIoTsensorsystem.

Figure 1 showsthecompleteschematiccycleoftheaquaponicssystem.Water flowsfromthefishtankintoamechanicalfiltrationwheresolidwasteisremoved. Solidwasteisremovedbutammoniaisdissolvedinwater,waterthenentersa bio-filterwherenitrifyingbacteriaconvertammoniatonitrates.Ammoniais dangerousforbothfishandplants,thereforewehavetoconvertitintonitrates whichareafertilizerforplants.Nitraterichwateristhenmovedintogrowbed andplantsabsorbthenitrates.Cleanedwaterwithreducedamoniaandnitrates finallyreturnsbacktothefishtank.Growlightswereinstalledabovethegrow bedasthesystemisinstalledindoors.Multiplesensorswereinstalledinboth thefishtankandgrowbed.Airisintroducedinsystemforthefish.Italso helpsthenitrificationprocessinbio-filter.Detailsofthehardwareandsoftware componentsareprovidedinFig. 2.

6A.Ahmedetal.

Fig.1. Architectureofaquaponicssystem.

3.2HardwareImplementation

TheIoTsensorsystemthatwasimplementedconsistsof3maincomponentsor modules:sensorunits,networkingunits,andcomputationalunits,seeFig. 2.The sensordataiscommunicatedthroughthenetworkingunitstothecomputational unitsforanalysisincomputationalunits.

Sensorunitsmeasuretemperature,lightintensity,waterflow,dissolvedsalts (TDS/ECsensor),andPH.Thedatafeedistransferredthroughnetworking componentsforanalysisandactuation.NetworkingUnitsincludeanESP8266 devicefortransferringdataoverWiFitoMQQTbroker.A4channelmechanical coilrelayboardisusedtocontroltheairandwaterpumpsandthegrowthlights. Energysavingfeaturesincludeswitchingoffgrowthlightswhenambientlightis sufficientforgrowth(greaterthan50lumens).MQQTBroker4 isusedtogather topicssentbyESP8266,itisabletosendbackmessagesforcontrolandactuation.AsecureMQQTbrokerissituatedonthelocalIPonRasberryPi.ARaspberryPideviceprovidescomputation.ItcollectsdatafromESP8266viabroker andweuseNODE-REDtohandleresultsandperformlogging.Thingspeakis5 providesanalyticsfunctionalityandvisualization,italsoincludesfunctionality forbackstorage.FurtherdatastorageisthroughMangoDBandMyPHPfor back-endprocessingofdata.Otherphysicalunitsincludeawaterpump(15 L/min),airpump(3.5L/min).Asecondaryairpumpprovidesredundancyin caseoffailure(crucialcomponentforfishsurvival).Weplacedoursystemneara windowwhichprovidesnaturallightstillweneedgrowlightsasdirectsunlight isnotavailable.Weusedtwo12wattwhiteledpanellightandone30wattgrow light.Anautomaticfishfeederfordispensingfood(4times/day)isanimportant partasfisharesensitivetoovereating.

4 http://mqtt.org/.

5 https://thingspeak.com/

DigitalTwinTechnologyforAquaponics7

Implementationofthesensorsystem.

4Simulation

Thesimulationcodeisaccessibleatthefollowingurl: https://github.com/ Monsooooon/AquaponicSim.Themainsimulationmodulesinclude:fishfeed, TDS,fishweightgain,PH,Nitratesandplantgrowtharemodeled.Thefeed ratedependsonfeedconversionratio,fishweightandnumberoffish.Forthe typeoffishinthesystemwesettheFCRto0.6,thismeansthatiffisheats onekgoffeed,itwillconvert60%ofitinitsbodyweight.Figure 4 illustrates theinteractionbetweenthesystemvariablesasmodeled.Theconversionrate betweenthemaredeterminedbymultipleenvironmentfactors,includingpH, lightstrengthandtemperatures,andwillalsoinfluencethegrowthrateofthe plantsandfish.

Fr = Fcr wf Nf , (1)

where Fr isfishfeedrate, Fcr isfeedconservationratio, wf isfishweightgain and Nf isthenumberoffishinthesystempermetercubic(Fig. 3).

Fishweightgaindependsonfishinitialweight,watertemperature,thefish growthco-efficientisasprescribedbyGoddek[10]:

8A.Ahmedetal.

Fig.2.

Wf (t)i =[W 1 βf 0 +(1 βf )αf eγf Tw Δt] 1 1 βf (2)

Cyberphysicalaquaponicssystem

where Wf (g)isthefishweightataspecifictimeincreasing, W0 (g)isthe initialfishweight, Tw isthewatertemperature(◦ C),and αf , βf and γf are species-specificgrowth-coefficients(αf =0.0277, βf =0.4071and γf =0.0697), and i denotesforaccumulationof Wf intime(i.e.changingbiomasswitheach simulationstep).

TDSofwaterdependsonfishfeed,EC(electricalconductivity)andtheir co-relationfactorwhichisdifferentforeachfishspecies:

WaterPHdependsonhydronium HO3 ,nitratesandwatertemperature.

Nitrateswhichisessentialforplantsandnottoxicforﬁsh.Itismodeledbythe followingequation:

(ppm)= Ammonia(NH3 ) · NitrificationCoefficient (5)

Thecurrentassumptionistokeepwatertemperatureconstant.Theplant growthmodelcontainsfactorsof CO2 ,nutrients,sunlightandoxygendissolved inwater.WeapplyamodelpresentedbyAkyol[3]extendedwithfactorsfor BODandnitrates.

DigitalTwinTechnologyforAquaponics9

Fig.3. TDS = F.EC.KE (3)

pH

NO3 · Tw

= HO3 ·

(4)

Nitrates

X

new =(i,It +1)+ y + β + BODmg/L (6)

Fig.4. Thesimulationmodelsvariables

Waterisre-circulatedagainandagaininoursystemwithwaterlossbecause ofevaporationandsolidwasteremoval.Wemodeltotalwaterlossinfour-week timeasdescribedbyWetzel[31]

h = ΘA(ys y ),

where, gh:amountofevaporatedwaterperhour(kg/h), θ =(25+19v)evaporationcoeﬃcient(kg/m2 h), v :velocityofairabovethewatersurface(3m/s), A:watersurfacearea(1m2 ), S :Dissolvedsolidquantityremovedfromsystem kg/h, ys:maximumhumidityratioofsaturatedair(0.51),and y ishumidity ratioair(0.43kgH2OinkgDryAir).

5ResultsandEmpiricalAnalysis

Thissectionprovidesresultsofimplementationoftheaquaponicsystem describedintheprevioussections.Theresultsdiscussedinthissectionwere obtainedduringafour-weekexperimentwithphysicalsystem.

Thehumidityofoursystemrangesbetween32–51%,roomtemperaturevariedfrom24–30 ◦ C.Fishaquariumwatertemperaturewasalittlelowerthan roomtemperature.Watertemperaturewas24–29 ◦ C.Humidityandtemperaturelevelsarebothinagoodrangeforplantandﬁshgrowth.Wehavenot observedanysigniﬁcantproblemsduetotemperatureandhumiditychanges. Fishfeedwassetat20gramsperday.AsshowninFig. 5a,afteroneweek feedwasreducedastheTDSlevelincreases.Afteranotherweekthefeedwas increase10%againastheTDSandPHbecomestable.Afterthethirdweekthe

10A.Ahmedetal. Fish Weight Ammonia Produce Rate Ammonia Consume Rate Nitrate Consume Rate Ammonia Concentration Nitrate Concentration Plant Weight pH Ammonia/Nitrate Conversion Factor Fish Grow Rate Plant Grow Rate Temperature Light Strength Nitrate Produce Rate + +/+/+ + +/+/+/+ + + + +/+/+ + + +/Positive Influence Negative Influence Value-dependent Influence

g

(7)

feedwasdecreasedagainasthenitratesarehigh.Comparedwiththerealﬁsh weightwithsimulationasinFig. 5b,actualﬁshweightgainislower.Feedwas reducedtokeeptheammoniaandnitrateslevelstable.

ThereisverylittledifferencebetweenthePHofphysicalwithdigitaltwin,as showninFig. 6a.ActualPHincreasesinthefirsttwoweeks,becomesstableas thenitrifyingbacteriastartconvertingtheammoniaintonitrates.ThesimulationalsopredictedPHandTDSbothdependentonfishfeedandbio-filtration.

Thetotaldissolvedsolids(TDS)isshowninFig. 6.TDSdecreaseswhenthe plantsstarttogrowatfullspeed.TDSiscorrelatedwiththeamountoffood introducedtothesystem.Inthesimulation,TDSwasalineartrend,ranging from400to472in4-weektime.Fishcanthrivewithconditionsupto600ppm

DigitalTwinTechnologyforAquaponics11

(a)FishFeed(b)FishWeight Fig.5. FishFeedandﬁshweight. (a)WaterPH(b)WaterTDS Fig.6. WaterPHandTDS

(a)NitrateLevel(b)PlantGrowth

Fig.7. Nitratelevelandplantgrowth.

TDS.Figure 6bshowsmaximumTDSis550ppm,theminimumactualwas 389ppm.TDSalsodecreasesasweremovesolidwasteattheendoneachweek.

Thesimulationfailstopredictactualnitrates.Actualnitratesriseinweeks 3and4(Fig. 7a).Itreachesat32mg/lattheendofweek4.Twoplantsarenot sufficienttoabsorballnitratesfromwater.AsshowninFig. 7bactualplant growthisgreaterthanexpectedbythesimulatedoneasthenitrateslevels increasesunexpectedlyandtheplantgrowsfaster.Wehavealsocontrolledthe plantgrowthbychangingthefishfeedrates.Thisisaneffectivemethodto controlplantproductioninaquaponicssystem.

6Conclusion

ThispaperdescribedimplementationandvalidationofaphysicalIoTaquaponic systemandasimulatedrepresentation.Empiricalresultsshowedthatsomequantities(e.g.PHandtotaldissolvedsolids)wereabletobeeasilyestimatedinthe simulationbutothersweremorediﬃculttoanticipateaccuratelyintheapproachusedsuchasnitratelevelsandgrowthrateswhichwereunderestimated. Infutureworkcouplingthesimulationandrealsystemmorecloselywillenable thesimulationvariablestobeupdatedinordertoprovidemoreaccuratepredictionsofthebehaviorofthesystemandhencebettercontrolfunctionality.

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Methods and applications for modeling and simulation of complex systems 19th asia simulation confere

Methods and Applications for Modeling and Simulation of Complex Systems

Methods and Applications for Modeling and Simulation of Complex Systems

Communications inComputerandInformationScience1094

MethodsandApplications forModelingandSimulation ofComplexSystems

Preface

AsiaSim2019Organisation

InternationalProgramCommittee

KeynoteSpeakers

Biography

KeynoteII:BlockchainSafetyandSmartContractSimulation

Scientiﬁ cDirector,

Biography

Contents

BestPaperNominees

2BackgroundandLiteratureReview

3Cyber-PhysicalAquaponicSystem

3.2HardwareImplementation

4Simulation

5ResultsandEmpiricalAnalysis

6Conclusion