Sus ainable Ci ies and Socie y 104 (2024) 105283
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Coupled simula ion o u ban wa e ne wo ks and in e connec ed c i ical
u ban in as uc u e sys ems: A sys ema ic e iew and mul i-sec o esea ch
agenda
Siling Chen a,b,∗, Flo ian B okhausen c, Philipp Wiesne d, Dó a Hegyi e, Muza e Ci i ,b,
Ma gaux Hu h a,b, Sangyoung Pa k ,b, Jochen Rabe b, Lau i z Thamsen g,
F anz Tscheikne -G a l h, And ea Cas elle i i, Paul Uwe Thamsen c, And ea Cominola a,b
aChai o Sma Wa e Ne wo ks, Technische Uni e si ä Be lin, S aße des 17. Juni 135, 10623, Be lin, Ge many
bEins ein Cen e Digi al Fu u e, Wilhelms aße 67, 10117, Be lin, Ge many
cChai o Fluid Sys em Dynamics, Technische Uni e si ä Be lin, S aße des 17. Juni 135, 10623, Be lin, Ge many
dDis ibu ed and Ope a ing Sys ems, Technische Uni e si ä Be lin, S aße des 17. Juni 135, 10623, Be lin, Ge many
eUni ed Na ions Inno a ion Technology Accele a o o Ci ies (UNITAC), Ha enCi y Uni e si y Hambu g, Henning-Vosche au-Pla z 1, 20457, Hambu g, Ge many
Chai o Sma Mobili y Sys ems, Technische Uni e si ä Be lin, S aße des 17. Juni 135, 10623, Be lin, Ge many
gSchool o Compu ing Science, Uni e si y o Glasgow, 18 Lilybank Ga dens, G12 8RZ, Glasgow, Uni ed Kingdom
hDepa men o Ci il and En i onmen al Enginee ing, No wegian Uni e si y o Science and Technology, S.P. Ande sens eg 5, 7031, T ondheim, No way
iDepa men o Elec onics, In o ma ion, and Bioenginee ing, Poli ecnico di Milano, Piazza Leona do da Vinci, 32, 20133, Milano, I aly
ARTICLE INFO
Keywo ds:
In e connec ed c i ical u ban in as uc u e
C i ical In as uc u e Domain (CID)
U ban wa e ne wo ks
Simula ion
Re iew
Mul i-sec o dynamics
ABSTRACT
Adap i e planning o wa e in as uc u e sys ems is c ucial o bols e u ban esilience in he ace o clima e
change while mee ing he needs o apidly changing u ban me abolisms. U ban wa e sys ems main ain
in ica e in e connec ions wi h o he c i ical in as uc u e domains (CIDs). Mul i-sec o dependencies and
join managemen o di e en CIDs ha e gained in e es in ecen esea ch o mi iga e undesi ed cascading
e ec s ac oss domains. Ye , combined modeling and join simula ion o mul iple CIDs needs o o e come he
limi a ions o ools and so wa e o en siloed o indi idual in as uc u e domains. In his pape , we con ibu e
a sys ema ic e iew o 24 ecen pee - e iewed publica ions on coupled simula ion o u ban wa e sys ems
(wa e supply and d ainage ne wo ks) and o he CIDs, including ene gy g ids, mobili y ne wo ks, and IT
in as uc u e sys ems, ex ac ed om a la ge se o 222 publica ions. Fi s , we iden i y ends, modeling
amewo ks, and simula ion so wa e enabling he combined simula ion o in e linked CIDs. Then, we de ine
an agenda o p io i ies o u u e esea ch. Acknowledging he oppo uni ies p o ided by open-sou ce ools,
da a, and s anda dized e alua ion schemes, u u e esea ch os e ing coupled simula ion ac oss CIDs should
p io i ize knowledge ans e , add ess di e ences in spa ial and empo al dependencies, scale up simula ions
o a ne wo k le el, and explo e mul i-sec o in e connec ions beyond bila e al dependencies.
1. In oduc ion
The wo ld’s u ban popula ion has g own apidly in he las decades.
Only 30% o he wo ld’s popula ion (751 million) li ed in u ban a eas
in 1950. Since hen, his numbe has inc eased d as ically o 57% (4.5
billion) in 2022 and is expec ed o con inue o inc ease and ep esen
68% o he o al global popula ion by 2050 (The Wo ld Bank,2023;
∗Co esponding au ho a : Chai o Sma Wa e Ne wo ks, Technische Uni e si ä Be lin, S aße des 17. Juni 135, 10623, Be lin, Ge many.
E-mail add esses: [email p o ec ed] (S. Chen), [email p o ec ed] (F. B okhausen), [email p o ec ed] (P. Wiesne ),
[email p o ec ed] (D. Hegyi), [email p o ec ed] (M. Ci i ), [email p o ec ed] (M. Hu h),
[email p o ec ed] (S. Pa k), [email p o ec ed] (J. Rabe), [email p o ec ed] (L. Thamsen),
[email p o ec ed] (F. Tscheikne -G a l), [email p o ec ed] (A. Cas elle i), [email p o ec ed] (P.U. Thamsen),
[email p o ec ed] (A. Cominola).
Uni ed Na ions Depa men o Economic and Social A ai s,2018).
Mos economic and human ac i i ies occu in ci ies wi hin he u ban
me abolism (Chini & S illwell,2019), ansla ing in o mo e han 70%
o he global ene gy consump ion and he global g eenhouse gas emis-
sions being gene a ed in u ban en i onmen s (Uni ed Na ions Human
Se lemen s P og amme,2022).
h ps://doi.o g/10.1016/j.scs.2024.105283
Recei ed 10 Oc obe 2023; Recei ed in e ised o m 16 Feb ua y 2024; Accep ed 17 Feb ua y 2024
Sus ainable Ci ies and Socie y 104 (2024) 105283
2
S. Chen e al.
The compound e ec o global u baniza ion and changing clima e
is con on ing ci ies wi h g owing wa e demand, inc easing sewage
and s o mwa e uno , po en ial deple ion o wa e esou ces, and
de e io a ing wa e quali y (Koop, G ison, Eisen eich, Ho man, & an
Leeuwen,2022). Rema kable esea ch e o s ha e been pe o med
in he las decades o pu sue a be e unde s anding o he u ban
wa e sys ems and hei dynamics o ul ima ely suppo wa e esou ces
managemen , adap i e in as uc u e planning, ope a ion, and ehabil-
i a ion in he buil en i onmen unde cu en and unce ain clima e
and socio-economic u u es (S illwell, Cominola, & Beal,2023). U ban
wa e supply ne wo ks and d ainage ne wo ks a e especially in he
spo ligh o his endea o (Peña-Guzmán, Melga ejo, P a s, To es, &
Ma ínez,2017).
Howe e , hese u ban wa e sys ems a e no independen o each
o he o o o he c i ical in as uc u e domains (CIDs). In e dependen-
cies and mul i-sec o dynamics be ween hese CIDs should be ega ded
in he modeling and managemen o u ban sys ems h oughou hei
en i e li e cycle (Daula , Roks ad, Klein-Pas e, Lange eld, & Tscheikne -
G a l,2022;Ouyang,2014). CIDs o wa e , ene gy, mobili y, and
in o ma ion echnology (IT) p o ide essen ial se ices o suppo daily
li e and economic ac i i ies in ci ies (Rinaldi, Pee enboom, & Kelly,
2001). Al hough u ban wa e sys ems and o he CIDs exhibi di e en
spa ial cha ac e is ics and a e cons uc ed in di e se o ms (ei he
abo e o unde g ound, physically connec ed, o wi eless), hey a e
highly in e connec ed complex sys ems. Fo ins ance, a powe ou -
age inciden can lead o cascading e ec s in o he CIDs, e.g., he
ailu e o wa e supply sys ems (Pou na as e al.,2020;Zacha iadis
& Poullikkas,2012). Cybe a acks can cause he mal unc ioning o
u ban d ainage ne wo ks and hinde he collec ion and ea men o
was ewa e (Pou na as e al.,2020). In ac , hese in e dependencies
ha e been ound o be in insically in eg a ed h ough he opological
co-e olu ion o hese CIDs (Zischg, Klinkhame , Zhan, Rao, & Si zen ei,
2019).
Whils many mul i-sec o dependencies and in e connec ions exis
in u ban CIDs, mos esea ch o da e app oached he ask o modeling
u ban wa e sys ems as complex ye siloed en i ies (Peña-Guzmán
e al.,2017). The mos popula open-sou ce so wa e o simula ing wa-
e supply and d ainage ne wo ks (e.g., he En i onmen al P o ec ion
Agency Ne wo k E alua ion Tool, EPANET (Rossman,2000) and he
S o m Wa e Managemen Model, SWMM (Rossman,2010)) con o ms
o his obse a ion, as hese speci ically ca e o he simula ion o ei he
wa e supply o d ainage ne wo ks (Peña-Guzmán e al.,2017). Ye , he
coupled simula ion o in e dependencies be ween u ban wa e sys ems
and o he CIDs can enhance he unde s anding o he whole sys ems,
ade-o s, and cascading e ec s, hus acili a ing esilien planning
and managemen o u ban wa e sys ems and o he ela ed CIDs, and
ensu ing he well-being and sa e y o inhabi an s in ou ci ies (Laugé,
He nan es, & Sa iegi,2015;Ouyang,2014). Coo dina ed ope a ion
and managemen o u ban wa e sys ems and o he CIDs in a sys emic
manne le e ages esou ce conse a ion and sus ainable de elopmen ,
ensu ing adap i e ope a ion o CIDs unde u u e unce ain y. Fo
ins ance, Kammouh, Nogal, Binnekamp, and Wol e (2021) p opose o
op imize in e en ion measu es based on he in e dependency be ween
wa e pipes and anspo pa hs o educe 25% o he in e en ion cos s.
He e, we con ibu e a sys ema ic e iew o he li e a u e on e-
cen esea ch on he coupled simula ion o in e connec ed CIDs in
u ban a eas wi h a ocus on simula ion me hods and so wa e ools.
We i s selec 24 pee - e iewed pape s om a la ge sample o 222
publica ions. We hen c i ically analyze hem o iden i y ele an in-
e sec o dependencies and in e connec ions along wi h he modeling
amewo ks and so wa e so a de eloped o co-simula e hem. The
CIDs conside ed wi hin he scope o his e iew include coupled wa e
supply and u ban d ainage ne wo ks (including Blue–G een In as uc-
u e), and hei in e links wi h ene gy g ids, mobili y ne wo ks, and IT
in as uc u e sys ems. Fo simplici y, we e e o hese domains wi h
sho e labels, i.e., ene gy, mobili y, IT, wa e supply, and d ainage.
The h ee- old goal o his e iew is o:
•cap u e he mos up- o-da e applica ions and indings om cou-
pled simula ion o u ban wa e ne wo ks and o he CIDs;
•iden i y and cha ac e ize modeling amewo ks and so wa e o
coupled simula ion o u ban wa e ne wo ks and hei in e con-
nec ed CIDs;
•highligh cu en ends and esea ch gaps in modeling and cou-
pled simula ion o in e connec ed CIDs o sus ainable manage-
men o u ban in as uc u e sys ems.
Based on ou li e a u e e iew and analysis, his pape also con ibu es
a amewo k o analysis o he main in e connec ions in u ban CIDs
and an agenda o guide u u e esea ch p io i izing a be e unde -
s anding o cu en ly unde -explo ed mul i-sec o in e dependencies.
O e all, his e iew c ea es knowledge o he u u e de elopmen
o coupled simula ions o decision suppo and managemen o u -
ban wa e sys ems and ela ed c i ical in as uc u e domains. To he
au ho s’ knowledge, he e is cu en ly no sys ema ic e iew in pee -
e iewed li e a u e p o iding such a modeling- and simula ion-cen e ed
o e iew o ecen esea ch and ou comes as discussed. This wo k
ex ends and e ines exis ing e iews, which ocus mo e b oadly on he
iden i ica ion o in e connec ions in c i ical u ban in as uc u e (Pie o
e al.,2016;Rinaldi e al.,2001;Yus a, Co ea, & Lacal-A án egui,
2011).
This pape is s uc u ed as ollows: he li e a u e e iew me hods a e
p esen ed in Sec ion 2; an o e iew o he li e a u e sea ch ou comes
is p esen ed in Sec ion 3; Sec ion 4c i ically analyzes he e iewed
li e a u e wi h an in-dep h explo a ion o he coupled simula ion o
di e en sub-domains o u ban wa e sys ems in combina ion wi h
o he CIDs; Sec ions 5and 6discuss ecen ends and oppo uni ies
in he coupled simula ion o u ban CIDs, d aw inal ema ks, and
o mula e an agenda o p io i ies o ollow-up esea ch.
2. Li e a u e e iew me hods
In his sec ion, we desc ibe he s a egy and me hods we use in
his e iew o li e a u e sea ch, eligibili y check, selec ion, and ea u e
ex ac ion o pape agging. This e iew ollows he s anda ds o he
P e e ed Repo ing I ems o Sys ema ic Re iews and Me a-Analyses
(PRISMA) o os e ep oducibili y and anspa ency (Page e al.,2021).
2.1. Pape sea ch and selec ion
Sea ch da abases. We selec Web o Science1and IEEEXplo e2as
da abases o publica ion e ie al. Web o Science co e s a wide ange
o mul idisciplina y pee - e iewed pape s. IEEEXplo e p o ides pee -
e iewed con ibu ions, especially in echnical disciplines including
compu e science and elec ical enginee ing. We an he inal que ies
o pape sea ch in hese wo da abases in Janua y 2023 o e ie e sci-
en i ic pape s published un il Decembe 31s , 2022. No lowe cons ain
on he publica ion yea is applied.
Keywo ds and que ies. As wa e supply and u ban d ainage a e he wo
cen al se ices o u ban wa e sys ems (Peña-Guzmán e al.,2017;
Sun, Puig, & Cemb ano,2020), his e iew p esen s coupled simula ion
app oaches ha in ol e ei he o hese wo componen s in combina ion
wi h any o he h ee o he CIDs - ene gy,mobili y, and IT. Simula ions
ha indica e in e ac ions be ween wa e supply and d ainage a e also
explo ed.
We sea ch o combina ions o keywo d simula * and he domain-
speci ic keywo ds epo ed in Table 1 o accoun o all kinds o
coupled simula ion app oaches and ela ed so wa e ools a ailable in
1h ps://www.webo science.com.
2h ps://ieeexplo e.ieee.o g.
Sus ainable Ci ies and Socie y 104 (2024) 105283
3
S. Chen e al.
Table 1
Keywo ds o pape sea ch o ganized by CID. Li e a u e sea ch que ies combine
keywo ds o wa e supply and d ainage, o keywo ds om one o hese wo wa e
domains wi h keywo ds om any o he h ee o he CIDs (ene gy, mobili y, IT).
Wa e dis ibu ion Sys em(s) U ban
Mobili y
Wa e supply Sma
Wa e dis ibu ion Ne wo k(s) Indi idual
Wa e supply
Wa e supply Human
S o mwa e
Sys em(s)
Non-mo o ized
T anspo *
Sew* Mo o ized
Was ewa e Public
D ainage Vehic*
T a ic
S o mwa e
Ne wo k(s)
Ca
Sew* Pedes ian
Was ewa e
Mobili y
Road
D ainage
D ainage Fog Compu ing
Powe
G id(s)
Edge
Ene gy Senso Ne wo k(s)
Elec ic* communica ion
Sma Wi eless communica ion
Powe Dis ibu ion Cybe –physical sys em(s)
Ene gy In e ne o hings
Ene gy
Dis ibu ed ene gy
IT
IoT
he selec ed da abases. All keywo ds wi hin a sec o a e combined by a
logical ‘‘OR’’, while di e en sec o s a e combined in pai s by a logical
‘‘AND’’ o accoun o in e -domain in e ac ions. The expe -based se-
lec ion o keywo ds epo ed in Table 1 cap u es he mos impo an
and commonly-used e ms wi h ega d o each selec ed CID, wi h a
special ocus on a sys em pe spec i e and high-le el simula ion o com-
plex ne wo k sys ems. We choose he b oad sea ch e ms in en ionally
o include a comp ehensi e ange o esul s while abs ac ing om
loca ion o indus y-speci ic e ms. This pa icula ly applies o wa e
domains, whe e a ious e ms a e used in e changeably o desc ibe he
same basic concep s ound in he sea ch e ms (Fle che e al.,2015).
Fo he IT sec o , speci ic concep s such as in e ne o hings (IoT)
and cybe –physical sys em(s) a e included o be e di ec he pape
sea ch owa d IT concep s ha a e ele an o dis ibu ed u ban IT
in as uc u e.
Exclusion c i e ia and pape selec ion. All pape s e ie ed by ou ini ial
li e a u e sea ch on Web o Science and IEEEXplo e based on he abo e
keywo d combina ions a e au oma ically p ocessed o il e ou dupli-
ca es. Each pape is hen sc eened independen ly by wo o he au ho s
in h ee di e en ounds: i le-only, abs ac , and ull- ex sc eenings.
We o mula e he ollowing exclusion c i e ia (EC):
(EC1) No coupled simula ion combining mul iple CIDs is conduc ed
(e.g., he pape is a e iew a icle), o only one c i ical in as-
uc u e domain is ac ually simula ed.
(EC2) The pape ocuses on in as uc u e ypes ha di e om ‘‘ne -
wo k’’ sys ems o spa ial domains o he han ‘‘u ban’’.
(EC3) No mul i-sec o in e connec ion is explici ly explo ed in he
pape .
(EC4) The publica ion is no in English.
Based on he abo e exclusion c i e ia and h ee-s age e iew, he
wo e iewe s o each pape con e ged on a inal decision on pape
selec ion o exclusion. All selec ed publica ions a e hen e ained o
pape agging and subsequen analysis.
2.2. Fea u e ex ac ion o pape agging
We manually ex ac a se o desc ip i e ea u es om all selec ed
publica ions o enable consis en agging and analysis. Simila ly o he
pape selec ion/exclusion p ocess, he ex ac ion o ea u es is ca ied
ou independen ly by wo expe s and subsequen ly me ged o educe
subjec i e judgmen . We de ine wo main g oups o ea u es o pape
agging: gene al ea u es and simula ion cha ac e is ics.
Gene al ea u es. As pa o he gene al ea u es, we ex ac in o ma ion
on he publica ion yea alongside he ool name, a ge , and a ailabil-
i y.Tool name e e s o he speci ic name gi en o he ool/me hod/
app oach p esen ed o applied in a pape o CID simula ion. A ailabil-
i y desc ibes in a boolean ashion i he code, simula ions, o so wa e
ools iden i ied in ool name a e published and eleased o he public.
Finally, a ge indica es whe he he pape a ge s an academic o u ili y
managemen audience.
Simula ion cha ac e is ics. The simula ion cha ac e is ics a e he main
ocus o subsequen li e a u e analysis. Fi s , he simula ion so wa e lis s
he so wa e ools used o unning coupled simula ions. We ag he
simula ion as hyd aulic o hyd ological o u he iden i y he ype o
simula ions un in ela ion o he ocus domains o wa e supply and
d ainage. We label a simula ion as hyd aulic when he anspo o wa-
e h ough a ne wo k in as uc u e is conside ed, i.e., ia simula ion
o pipes, pumps, al es, and ne wo k nodes. A hyd ological simula ion
encompasses p ocesses in he hyd ological cycle, e.g., ain all- uno
p ocesses. The spa ial scale ca ego izes he spa ial ex en o he sys em
simula ed in a pape . Possible spa ial scales in ascending o de o size
a e household,municipali y,ci y and egion. The esolu ion and du a ion
ea u es ega d echnical de ails o he simula ion se up. Resolu ion
desc ibes he smalles ecu ing simula ion ime s ep, while du a ion
ep esen s he simula ion ho izon.3Las ly, we de ine he model ea u e
as he name(s) o he wa e supply o d ainage ne wo k modeled in a
s udy.
3. O e iew o li e a u e sea ch ou come
He e we p esen he syn hesis o ou an hology esul ing om he
applica ion o he me hods p esen ed abo e.
3.1. Pape selec ion ou come
Ou ini ial pape sea ch e u ns a se o 222 pape s published
be o e Decembe 31s , 2022 om Web o Science (n =129) and
IEEEXplo e (n =93). F om his se o pape s, we emo e 16 duplica es
and subsequen ly exclude 128 pape s a e manual i le and abs ac
sc eenings. The 78 emaining pape s a e assessed o eligibili y based
on ull- ex sc eening, yielding 24 pape s included in ou e iew o
de ailed agging and analysis (see de ails in he PRISMA diag am in
Fig. 1 (Page e al.,2021)).
Fig. 2 gi es a comple e o e iew o he numbe o pape s il e ed
in each s ep o he sc eening p ocess, wi h each in e -domain (i.e., a
combina ion o wo CIDs) illus a ed sepa a ely. Wa e supply ×ene gy
(n =10) and wa e supply ×IT (n =9) a e he mos ep esen ed in e -
domains in ou inal se o 24 pape s, co e ing almos 80% o i . Wa e
supply ×d ainage (n =3) and d ainage ×mobili y (n =2) a e also
ep esen ed, ye o a limi ed ex en , while no pape abou he emaining
in e -domains o wa e supply ×mobili y,d ainage ×ene gy, and d ainage
×IT is con ained in he inal se o u he e iew. This anking o
pape ep esen a ion is a he consis en wi h he one esul ing om he
ini ial pape sea ch be o e pape exclusion (a e emo al o duplica e
eco d), whe e he in e -domain wa e supply ×IT includes he la ges
amoun o iden i ied pape s (n =99), ollowed by wa e supply ×ene gy
(n =46), wa e supply ×d ainage (n =31), d ainage ×IT (n =16),
d ainage ×ene gy (n =7), d ainage ×mobili y (n =5), and wa e supply
×mobili y (n =2).
3The du a ion ea u e e e s only o he simula ion ho izon, bu i is no
linked o he compu a ional un ime o he execu ion o a simula ion un.
Sus ainable Ci ies and Socie y 104 (2024) 105283
4
S. Chen e al.
Fig. 1. Flow diag am wi h pape exclusion c i e ia. The low diag am epo s he exclusion c i e ia applied o he da ase o pape s e ie ed o e iew om Web o Science and
IEEEXplo e, adap ed om he P e e ed Repo ing I ems o Sys ema ic Re iews and Me a-Analyses guidelines (PRISMA Flow Diag am, Page e al. (2021)).
Fig. 2. Sankey diag am o he e iew pape selec ion low. The ou columns indica e he ou s a uses: ini ial pape se e ie ed om online da abases (a e emo al o duplica e
eco ds), and emaining pape s a e i le, abs ac , and ull- ex sc eenings. Each colo ep esen s an in e -domain combina ion. The numbe a e each in e -domain indica es he
numbe o emaining pape s in each s age, o be dis inguished om he numbe s o pape s being ejec ed om he an hology ( he g ay ba s on he bo om o he las h ee
columns). (Fo in e p e a ion o he e e ences o colou in his igu e legend, he eade is e e ed o he web e sion o his a icle.)
As Figs. 1 and 2sugges , he amoun o pape s we exclude om
inal agging and analysis is no negligible. The lack o coupled simu-
la ions combining mul iple CIDs accoun s o he la ges pe cen age o
pape s excluded a e ull- ex sc eening (n =44, 81.5%). These pape s
simula e ei he only one CID (e.g., wa e supply ne wo k simula ion
and ope a ion op imiza ion unde c i ical condi ions such as elec ici y
sho age, whe e ene gy g ids a e no simula ed (Kha a ka & Mays,
2019;Menke, Ab aham, Pa pas, & S oiano ,2016)) o none o he
domains (e.g., e iew a icles like (Zoh abian, Pla a, Kim, Child ess,
& Sande s,2021)). This g oup o pape s also includes: (i) explo a o y
s udies wi h lab expe imen s o ne wo k scale in es iga ions, no ye
p o iding a simula o o simula ion applica ion, such as in Dannie
Sus ainable Ci ies and Socie y 104 (2024) 105283
5
S. Chen e al.
e al. (2015); (ii) pape s p oposing amewo ks o me hodologies o
manage mul iple CIDs indi idually, hus no conside ing explici in-
e connec ions (Tellez-Cas o, Quijano, & Mojica-Na a,2016). The e-
qui emen on he coupled simula ion o a leas wo CIDs becomes
pa icula ly ele an when conside ing he mos ep esen ed in e -
domain wa e supply ×IT as well as d ainage ×IT. Se ups o senso
ne wo ks, including op imal senso placemen , and using senso da a
o de ec leaks o wa e quali y anomalies in wa e supply ne wo ks
ha e been explo ed widely (Hu e al.,2021;Pa ks & VanB iesen,2009;
Zhao, Schwa z, Salomons, Os eld, & Poo ,2016). Aspec s o de ec ing
cybe –physical a acks a e also discussed (Shin, Lee, Bu ian, Judi, &
McPhe son,2020). Chen, Lu, Hu, Lei, and Yang (2018) conduc ed
s udies on u ilizing pico-hyd opowe o gene a e elec ici y, which
can be used by senso ne wo ks o moni o wa e supply ne wo ks.
Al hough he di ec in e connec ion be ween wa e supply and IT is
o ocus among hese pape s, hei missing c oss-domain simula ions
(e.g., senso communica ion ne wo ks) disquali y hem om ou e iew
p ocess. Simila ly, pape s such as T ou man, Schambach, Lo e, and
Ke kez (2017), which p esen s a da a-d i en oolchain o conduc
simula ion and o ecas ing o d ainage ne wo ks, o Malik e al. (2018)
and Zaa ou , A es, Kandil, and Hakem (2020), which p opose com-
munica ion echnology o schemes o highe accu acy o e iciency o
d ainage moni o ing, a e no included in ou e iew as hey lack ei he
simula ions o he IT o d ainage ne wo ks.
Abou 11.1% o he pape s (n =6) a e excluded as hey do no
conside ne wo k sys ems o u ban scales. They pe o med simula ions,
e.g., a he scale o a single pumping s a ion, o egional subsu ace
wa e sys ems. Bi gisson and Robe son (2000), as an example, p opose
a senso ne wo k and da a collec ion sys em o measu e mois u e in
he pa emen . Howe e , his is no upscaled o d ainage ne wo ks,
esul ing in exclusion o his pape om u he e iew. Abou 5.6%
(n =3) o he pape s do no explici ly conside any in e connec ion
be ween sec o s, i.e., hey co e wo domains solely because hey
in oduce me hodologies o p opose amewo ks ha could be applied
o ans e ed o mo e han one ele an sec o . Las ly, one pape is no
w i en in English (excep o he i le and abs ac ).
3.2. Tempo al dis ibu ion o e iewed publica ions and in e -domain ends
Fig. 3 illus a es he empo al dis ibu ion o he e iewed publica-
ions in di e en in e -domains. All pape s a e published a e 2013.
Excep o he in e -domain wa e supply ×d ainage, all o he in e -
domains exhibi an inc easing o s able end o publica ions in he las
decade wi h no able g ow h a ound 2020. Wa e supply and d ainage
in as uc u e ha e been p ima ily modeled and simula ed as sepa a e
sys ems in all wo ks we e ie ed, aside om wo publica ions in
2013 on in eg a ed managemen o wa e supply and d ainage (Rozos &
Mak opoulos,2013;Si zen ei, Möde l, & Rauch,2013) and one mo e
ecen pape (Zhang, Zheng, Jia, Sa ic, & Kapelan,2021) ha aps
in o ad ances in sma me e ing and digi al echnology in wa e supply
ne wo ks o in o m and imp o e d ainage ne wo k managemen .
A e an ea ly publica ion connec ing he wa e supply and IT CIDs
o de elop a communica ion and con ol p o ocol o wa e supply
in as uc u e concei ed as a Cybe –Physical Sys em (CPS) (Su esh,
Manoha y, Ry, S ole u, & Sy,2014), he wa e supply ×IT in e -
domain has gained g owing a en ion in he li e a u e due o inc easing
conce ns owa ds he secu i y o such CPSs. Since 2015, he pape s
belonging o his in e -domain e alua e po en ial cybe –physical isks
and de elop s a egies o mi iga ion o cybe –physical a acks o im-
p o e he esilience o wa e supply. Some s udies in his domain also
con ibu e o imp o ing he sys em communica ion and compu a ion
e iciency.
The in e -domain o wa e supply ×ene gy exhibi s a mo e apid
inc ease in he empo al publica ion dis ibu ion. This sugges s an
inc easing in e es and awa eness o he in e connec ion be ween wa e
and ene gy supply sys ems. Mos publica ions in his in e -domain a e
a ge ed a u ili y manage s, likely acknowledging ha wa e dis i-
bu ion o en con ibu es he la ges sha e o ene gy consump ion o
wa e p o ision, wi h ene gy- ela ed cos s ha can cons i u e up o
65% o a u ili y’s ope a ing budge (Fiedle , Cominola, & Lucia,2020;
Spang & Loge,2015). Join managemen o wa e supply and ene gy
in as uc u e gene a es economic bene i s o wa e u ili ies and o e s
oppo uni ies o educe hei g eenhouse gas emissions (Daniel e al.,
2023).
Finally, al hough lash loods can in luence u ban mobili y sys ems,
he d ainage ×mobili y in e -domain only eme ges in ecen pape s
published a e 2018. The limi ed amoun o esea ch in his a ea
sugges s sca ce a ailabili y o consis en d ainage and mobili y sys em
models, o unce ain y in which bene i s can eme ge om ans e ing
in o ma ion om he d ainage o he mobili y sec o .
3.3. Re iew me hod cons ain s and ep oducibili y
The scope o his wo k encompasses esea ch on coupled, ne wo k-
scale simula ions o u ban wa e ne wo ks (wa e supply and u ban
d ainage) wi h h ee o he CIDs, namely ene gy, IT, and mobili y. As
indica ed in Sec ion 2, he keywo ds o his sys ema ic li e a u e e iew
a e delibe a ely b oadly de ined o e ain ne wo k-le el in es iga ions
o he en i e in as uc u e sys ems and simul aneously mi iga e he
isk o excluding ele an publica ions due o po en ially di e gen
Fig. 3. Yea ly coun o he 24 publica ions e iewed in his s udy, ca ego ized by ype o CID combina ion (in e -domain).

Sus ainable Ci ies and Socie y 104 (2024) 105283
6
S. Chen e al.
ye in e changeable e minology o he e iewed CIDs, while only
excluding esea ch ha is measu ed on a small o indi idual-sec o
scale. The subjec i e judgmen o e iewe s in he pape selec ion and
analysis p ocess p esen s an in insic limi a ion o any li e a u e e iew.
He e, we mi iga e his isk by ini ial independen inspec ions and only
subsequen join discussions.
In addi ion, he anspa en ly epo ed p ocess om Sec ion 2en-
hances he ep oducibili y o his esea ch. Based on he o e iew
and insigh s p o ided by his wo k, a speci ic e iew o one selec ed
sec o can be unde aken. Simila ly, an upda ed, modi ied, o mo e
exhaus i e sea ch on his opic, as well as ex ended esea ch co e ing
o he domains and/o scales can be es ablished.
4. In e sec o al analysis
In his sec ion, we p esen an in-dep h analysis o he e iew esul s
o each ele an CID combina ion. Fi s , we analyze he coupled
simula ion o wa e supply ×d ainage, as his in e -domain combines
wo wa e - ela ed in as uc u e ne wo ks. All o he in e -domains a e
hen p esen ed in descending o de o ep esen a ion in he se o 24
e iewed pape s as shown in Sec ion 3and Fig. 3. De ails abou all 24
publica ions and hei ex ac ed ea u es a e ep esen ed in Table 2.
4.1. Wa e supply ×d ainage
Wa e supply and d ainage ne wo ks a e wo o he mos c i ical
componen s o he u ban wa e cycle. Al hough he u ban wa e cycle
including hese wo p ocesses has been modeled and simula ed in
a ious s udies (Peña-Guzmán e al.,2017), we only e ie e h ee
s udies ha couple simula ions o hese wo componen s a he ne wo k
le el (Rozos & Mak opoulos,2013;Si zen ei e al.,2013;Zhang e al.,
2021). Thei in e dependency is mainly s udied wi h wo aims: (i) in-
eg a ing bo h sys ems in pu sui o combined ope a ion imp o emen ;
(ii) ans e ing in o ma ion om wa e supply ne wo ks o suppo
d ainage ne wo k managemen . This second goal is pa icula ly mo i-
a ed by he inc easing deploymen o digi al senso echnologies in
wa e supply ne wo ks, which collec wa e consump ion and supply
da a a highe spa ial and empo al esolu ions. Zhang e al. (2021)
de elop a me hod ha ans e s in o ma ion om wa e supply mea-
su emen s o eal- ime hyd aulic modeling o d ainage ne wo ks. Node
connec ions be ween wa e supply and d ainage ne wo k models a e
p e-con igu ed o accoun o he ac ion o wa e supply ha ends up
in he d ainage sys em and he addi ional ime delay o his ans e .
These ac o s a e app oxima ed by his o ical da a and op imized wi h
an e olu iona y algo i hm, wi h wo demons a i e case s udies in
China.
The empo al and spa ial span and esolu ion o simula ions di e
among he h ee e iewed s udies: Rozos and Mak opoulos (2013)
co e he scales o household, ci y, and egion and a simula ion ex en
o 100 yea s, bu only conside mon hly luc ua ions o wa e demand
and ese oi s o age, while he o he wo s udies adop sho e simula-
ion du a ions (1 mon h and 50 h) bu highe empo al esolu ions (0.5
and 1 h) (Si zen ei e al.,2013;Zhang e al.,2021).
In e ms o so wa e, he En i onmen al P o ec ion Agency Ne -
wo k E alua ion Tool (EPANET) (Rossman,2000) and S o m Wa e
Managemen Model (SWMM) (Rossman,2010) a e used o simula ion
wi hin wo o he e iewed s udies on wa e supply ×d ainage (Si zen ei
e al.,2013;Zhang e al.,2021). By combining EPANET and SWMM
simula ions, o ins ance, Si zen ei e al. (2013) de elop VIBe (Vi ual
In as uc u e Benchma king). VIBe enables s ochas ic gene a ion o
wa e supply and d ainage ne wo ks using a ious inpu da a including
land use, popula ion, and ne wo k opology. Si zen ei e al. (2013)
use VIBe o gene a e u ban wa e sys ems o 80 ic ional ci ies and
Innsb uck (Aus ia) and e alua e he impac s o decen alized wa e
managemen measu es unde wa e demand a ia ion.
The hi d s udy in ou sample de elops UWOT (U ban Wa e Op-
ionee ing Tool), an al e na i e modeling app oach ha aces wa-
e demand signals back om household wa e appliances o wa e
sou ces (Rozos & Mak opoulos,2013). Wa e demand om house-
holds is i s es ima ed acco ding o appliance ca ego ies and num-
be s, subsequen ly agg ega ed o a ne wo k le el, and ansmi ed o
he wa e sou ce, i.e., ese oi s. Was ewa e p oduc ion con e ed
om he wa e demand is d ained oge he wi h uno s wi hin he
sys em, ea ed a was ewa e ea men plan s, and disposed in o
na u al wa e bodies. By linking wa e supply, d ainage, and o he
componen s in he u ban wa e cycle, UWOT aims a p o iding an
en i onmen o simula e and op imize ope a ional s a egies o in e-
g a ed wa e sys ems (e.g., pu suing ene gy e iciency). UWOT is im-
plemen ed wi h a pa ame e iza ion–simula ion–op imiza ion algo i hm
and demons a ed in A hens, G eece, achie ing sa is ac o y esul s in
compa ison wi h his o ical ope a ions by he local wa e u ili y (Rozos
& Mak opoulos,2013).
Al hough all simula ions in he h ee e iewed s udies a e based on
eal-case s udies and EPANET and SWMM a e a ailable open-sou ce,
only UWOT is accessible as an open-sou ce co-simula o o wa e supply
and d ainage ne wo ks (Rozos & Mak opoulos,2013).
4.2. Wa e supply ×ene gy
Wa e supply ×ene gy is he mos ep esen ed in e -domain in ou
e iew. In o al, 10 pape s a e iden i ied o his in e -domain, mos
published a e 2020 (n =7). The main in e connec ion be ween he
wa e supply and ene gy CIDs esides in he ac ua o s o a wa e
supply ne wo k, e.g., pumps, as hey equi e ene gy p o ision. Mul iple
pape s analyze he ope a ion o hese in e connec ed ne wo ks unde
scena ios o limi ed a ailabili y o ei he wa e o ene gy, including
ex eme e en s like powe ou ages. In pa icula , Zuloaga e al. (2019)
and Zuloaga and Vi al (2021) p esen he o mula ion o esilience
me ics o e alua e he in as uc u e abili y o cope wi h hese ex eme
e en s. Some pape s also conside elec ici y p ices and in oduce eco-
nomic c i e ia in he op imiza ion p oblem (Li e al.,2018;Sui e al.,
2021). In Rasheed and Rod iguez-Mo eno (2021), he in e connec ion
be ween wa e and ene gy ne wo ks is ex ended o ood p oduc ion by
conside ing he ene gy-wa e - ood nexus.
A specialized applica ion is p esen ed in Li e al. (2018) and
Oikonomou and Pa ania (2020), whe e he wa e supply ne wo k
is le e aged o manage he ope a ion o he ene gy ne wo k. This is
acili a ed by in oducing lexibili y in wa e supply ne wo k ope a ions
by con olling wa e ea men p ocesses, pumping schedules, and
wa e s o age capabili ies. Li e al. (2018) go one s ep u he and apply
his lexibili y o maximize he use o enewable ene gy in wa e supply
ne wo ks.
Mos o he espec i e simula ions ha e a empo al esolu ion o one
hou , wi h only one special case (Abhyanka e al.,2020) ha ing a e y
high esolu ion o 0.1 s and ano he one lacking his in o ma ion (Li
e al.,2021). Fu he , he ime span o one day is analyzed as a common
planning schedule o ope a o s o wa e and ene gy ne wo ks in mos
pape s.
In e es ingly, all publica ions e iewed o his in e -domain include
a hyd aulic model o simula ion o he wa e supply ne wo k, bu only
h ee make use o he common simula o EPANET. All o he publi-
ca ions in oduce hei own ma hema ical o mula ion and hyd aulic
model. This migh be needed o he in eg a ion wi h op imiza ion
modules calcula ing op imal powe consump ion o sys em a ailabili y.
The majo i y o sol e s used in he s udies a e dis ibu ed by he AMPL
Op imiza ion Inc.,4making AMPL he p e alen choice o o mula e
he nume ical models o combined ene gy and wa e supply ne wo ks
simula ion and op imiza ion. Ano he ool used by wo o he pape s o
4A Ma hema ical P og amming Language (AMPL): ampl.com.
Sus ainable Ci ies and Socie y 104 (2024) 105283
7
S. Chen e al.
Table 2
Fea u e able o all publica ions in he an hology. The publica ions a e g ouped acco ding o he in e sec o al dependencies and signi ied in he able by he subdi isions. The
ea u e a ge is classi ied in o academic (A) o u ili y managemen (UM). Ca ego ies o ea u e Spa ial Scale include household (H), municipali y (M), ci y (C) and egion (R). Fea u es
Resolu ion and Du a ion ha e uni s o second (S), hou (H), day (D), mon h (M) and yea (Y). The symbol e e s o a ul illed cha ac e is ic, symbol o an un ul illed one.
The symbol – indica es he in o ma ion canno be e ie ed.
Gene al Simula ion Cha ac e is ics
Publica ion Yea
Tool Name
Ta ge
A ailabili y
Simula ion So wa e
Hyd aulic Simula ion
Hyd ological Simula ion
Spa ial Scale
Resolu ion
Du a ion
Model
Wa e supply ×d ainage
Zhang e al. (2021) 2021 – UM EPANET2, SWMM C 0.5H 1M Benk, Xiuzhou
Rozos and Mak opoulos (2013) 2013 UWOT UM a– H-C-R 1M 100Y A hens
Si zen ei e al. (2013) 2013 VIBe A EPANET2, SWMM C 1H 50H Innsb uck
Wa e supply ×ene gy
Sui, Wei, Lin, and Li (2021) 2021 – – GUROBI M 1H 1D Mashhad, I an
Zuloaga and Vi al (2021) 2021 – UM EPANET, PSLF C 1H 1M Unnamed
Li e al. (2021) 2021 – A YALMIP, GUROBI C – – Richmond
Rasheed and Rod iguez-Mo eno (2021) 2021 – – CONOPT, CPLEX M-R 1H 1D Hanoi, Vie nam
Oikonomou and Pa ania (2020) 2020 FlexPWF UM – C 1H 1D Unnamed
Abhyanka e al. (2020) 2020 DMNe wo k A bNA – 0.1S – Unnamed
Alhazmi, Dehghanian, Nazemi, and Mi olo (2020) 2020 – UM CPLEX C-R 1H 1D Unnamed
Zuloaga, Kha a ka , Mays, and Vi al (2019) 2019 – UM EPANET, PSLF C-R 1H 1M Unnamed
Li, Yu, Al-Sumai i, and Tu i syn (2018) 2019 – A BONMIN, GUROBI M-C-R 1H 1D Unnamed
Kha a ka and Mays (2018) 2018 – UM EPANET M-C-R 1H 26H Unnamed
Wa e supply ×IT
Bosco, Raspa i, Te e a, Risho d, and Uga elli (2022) 2022 RISKNOUGHT UM EPANET C 60S 1D Unnamed
Mi zaie and Busheh ian (2022) 2022 – A EPANET2, Wa e Ne Gen C 30S 13H Unnamed
Bha ia, Tomić, Fu, B eza, and Mccann (2021) 2021 – A Ma lab, OMNeT++ M 1S 15000S Unnamed
Nikolopoulos, Os eld, Salomons, and Mak opoulos (2021) 2021 RISKNOUGHT UM/A WNTR C 300S 1D C- own
Nikolopoulos and Mak opoulos (2022) 2021 RISKNOUGHT UM WNTR C 300S 1D C- own
Nikolopoulos and Mak opoulos (2022) 2020 RISKNOUGHT UM WNTR, Ne wo kX C 1S 2D C- own
Tao mina e al. (2019) 2019 epane CPA A cEPANET M
Tao mina, Galelli, Tippenhaue , Salomons, and Os eld (2017) 2017 epane CPA A cEPANET C 1H 7D C- own
Su esh e al. (2014) 2014 CPWDSim – EPANET C 1H 12H Mic opolis
D ainage ×mobili y
Knigh , Hou, Bhaska , and Chen (2021) 2021 – A PCSWMM, SUMO R 0.25S 8H Ha a d Gulch
Hussain, Ahmed, and Ali (2018) 2018 – A PCSWMM, VISSIM, GIS M – 1H Ka achi
ah ps://uwmh.eu/p oduc s/86-uwo .h ml.
bh ps://www.mcs.anl.go /pe sc/dmne wo k.
ch ps://gi hub.com/ ao mina/epane CPA.
he modeling o he powe dis ibu ion ne wo k is he Posi i e Sequence
Load Flow so wa e (PSLF) by GE.5The e is no hyd ological simula ion
in any o he pape s, as hyd ological p ocesses a e no inhe en ly
equi ed in u ban wa e supply ne wo ks.
The only pape ha published code open sou ce, Abhyanka e al.
(2020), is also he only one ha ocuses on he gene alizabili y o hei
p oposed app oach. The p esen ed ool DMNe wo k is packaged in o
he la ge lib a y o PETSc: Po able, Ex ensible Toolki o Scien i ic
Compu a ion.6DMNe wo k is buil o es ablish mul iphysics models
and pa allelize hei execu ion. These models a e cons uc ed as ne -
wo ks, which can ha e mul iple a ibu es o he main cons i uen s,
i.e., nodes and edges. One o he demons a i e examples showcases
DMNe wo k on combined wa e supply and ene gy ne wo ks (Ab-
hyanka e al.,2020). The in e connec ion is no explici ly de ailed,
bu me ely a p oxy o showcase he capabili ies o he app oach.
Ne e heless, wi h his example, DMNe wo k is a iable op ion o he
simula ion o coupled ne wo ks in any o he domains e e ed o in
his pape .
5h ps://www.geene gyconsul ing.com/p ac ice-a ea/so wa e-p oduc s/
psl .
6h ps://pe sc.o g.
4.3. Wa e supply ×IT
This in e -domain comp ises a simila amoun o publica ions (n =
9) as o wa e supply ×ene gy, mos ly published a e 2020 (n =6).
The main in e connec ion be ween wa e supply and IT is h ough CPSs
ha in eg a e physical p ocesses wi h compu ing sys ems (Lee,2008).
Wa e supply ne wo ks can be moni o ed and con olled by IT sys ems
h ough senso s, ac ua o s, ela ed p og ammable logic con olle s, and
supe iso y con ol and da a acquisi ion (SCADA) sys ems (Tao mina
e al.,2017). Howe e , ope a ing wa e supply ne wo ks as CPSs can
expose in as uc u e o cybe –physical a acks (Rasekh, Hassanzadeh,
Mulchandani, Modi, & Banks,2016). This indica es ano he in e con-
nec ion be ween wa e supply and IT: using IT o simula e he impac s
o cybe –physical a acks and o imp o e he esilience o wa e supply
CPSs (Nikolopoulos & Mak opoulos,2022).
All coupled simula ions o wa e supply and IT sys ems equi e
hyd aulic simula ions o wa e supply ne wo ks. EPANET o i s Py hon
ex ension WNTR (Wa e Ne wo k Tool o Resilience; Klise, Bynum,
Mo ia y, and Mu ay (2017)) a e equen ly used o his pu pose in
he e iewed s udies besides Ma lab/Simulink7and Ne wo kX (Hag-
be g, Swa , & S. Chul ,2008). Fo IT in as uc u e, Bha ia e al. (2021)
7h ps://uk.ma hwo ks.com/p oduc s/simulink.h ml.
Sus ainable Ci ies and Socie y 104 (2024) 105283
8
S. Chen e al.
use OMNeT++8 o simula e communica ion ne wo ks, and Mi zaie
and Busheh ian (2022) use Docke 9 o emula e ne wo ks wi h a ious
compu ing a chi ec u es. All e iewed simula ions ha e ine esolu ions
anging om 1 s o 1 h, and ela i ely sho du a ion (a ound 4 h o 1
week).
The i s g oup o publica ions in his in e -domain ocuses on
building mo e e icien CPSs. In 2014, CPWDSim was p oposed o con-
inuously moni o wa e supply ne wo ks using mobile senso s (Su esh
e al.,2014). The p oposed me hod consis s o h ee componen s. Fi s ,
mobile senso s mo e in he pipes o a wa e supply ne wo k wi h
he wa e low and ansmi da a o s a ic beacons ou side o he
pipes (communica ion componen ). This is ollowed by a compu a ion
componen , whe e he beacons execu e a global iew algo i hm o
p edic he pa hs o he senso s and b oadcas his in o ma ion o
hem. Las ly, al es and pumps a e ope a ed unde a con ol sys em o
ensu e ha senso s a eling wi h he wa e lows a e well-dis ibu ed
ac oss he main pipes o he wa e supply ne wo k. CPWDSim e ie es
simula ion esul s om EPANET (e.g., wa e low and eloci y) o
simula e senso mo emen s, and simula es communica ion wi h and
among senso s and beacons. They implemen a p o ocol ha enables
de ices o communica e wi hin a sha ed ne wo k.
Ano he example wi h a ocus on communica ion p o ocols in wide-
a ea CPSs is Bha ia e al. (2021). This wo k p esen s C l-MAC, a
Low-Powe , Wide-A ea ne wo k (LPWA) p o ocol, and i s associa ed
e en - igge ed con olle . Coupled simula ions o wa e supply and
CPSs a e un o e alua e he p oposed p o ocol, wi h he physical
wa e supply ne wo k simula ed by MATLAB/Simulink and he com-
munica ion ne wo k simula ed using OMNeT++. Resul s show ha o
la ge-scale sys ems, C l-MAC has a highe a e age packe deli e y
a io and less a e age end- o-end delay compa ed o he s a e-o - he-a
LPWA p o ocol LoRaWAN++.
Finally, Mi zaie and Busheh ian (2022) explo e he impac o di -
e en compu ing a chi ec u es on aul de ec ion capabili ies in a syn-
he ic wa e supply ne wo k. Fi s , a wa e supply ne wo k consis ing
o a household-s ee - egion s uc u e wi h 54 nodes and 3 s o age
anks is gene a ed by Wa e Ne Gen (Mu anho, Fe ei a, Sousa, Gomes,
& Sá Ma ques,2012). Nex , a simula ion based on Epane 2 (Rossman,
2000) is execu ed in i s basic con igu a ion o collec p essu e and
wa e head da a a nodes ( ep esen ing household senso s). Nodes
a e hen clus e ed wi h an algo i hm named HyCARCE (Mosh aghi,
Rajasega a , Leckie, & Ka unaseke a,2011). Simila ly, simula ions wi h
a ious aul y e en s (e.g., pipe b eaks) a e execu ed o 13 h wi h a
esolu ion o 30 s. The pape conside s h ee compu ing a chi ec u es,
which a y in how in o ma ion is p ocessed h ough a ious laye s. To
emula e he di e en a chi ec u es, he au ho s c ea e a Docke es bed
whe e nodes in he hie a chy a e execu ed as con aine s. Simula ion
da a a senso nodes a e ansmi ed o he uppe nodes a he end
o each 30-min window using he IoT p o ocol MQTT (Ligh ,2017).
The au ho s de ec aul y e en s by applying he Majo i y algo i hm,
which de e mines he weigh ed cen e o g a i y pa ame e s o all
clus e s and calcula es he dis ances o hese clus e s o hei cen e .
Thei esul s indica e ha he p oposed hie a chical a chi ec u e has a
highe accu acy in aul iden i ica ion and localiza ion han he o he
a chi ec u es, because a hie a chical hie a chy can be e emula e he
physical hie a chy o a wa e supply ne wo k.
While he abo e-lis ed applica ions ocus on building a mo e e i-
cien CPS o moni o and con ol wa e supply sys ems, wo ools, i.e.,
epane CPA (Tao mina e al.,2017) and RISKNOUGHT (Nikolopoulos
e al.,2020), conside isks associa ed wi h wa e supply CPSs, such as
cybe –physical a acks. Epane CPA and RISKNOUGHT a e conside ed
pionee ing ools o os e cybe secu i y o u ban wa e ne wo ks and
a e he basis o a second g oup o publica ions in his in e -domain.
8h ps://omne pp.o g.
9h ps://docs.docke .com/desk op/ins all/windows-ins all/.
Epane CPA is an open-sou ce Ma lab oolbox. Building on EPANET,
epane CPA enables simula ions o a ange o a acks on wa e sup-
ply CPSs, including a acks on physical componen s (such as senso s
and ac ua o s), a acks on p og ammable logic con olle s and SCADA
sys ems, and a acks on connec ion links be ween di e en compo-
nen s (Tao mina e al.,2019,2017). Epane CPA can be used o model
he hyd aulic esponse o a wa e supply ne wo k (e.g., ank wa e
le els) o a ious cybe –physical a acks and assess hei impac . Simu-
la ion esul s om Tao mina e al. (2017) indica e ha simila impac s
can be induced by a ious cybe –physical a acks and ha hyd aulic
esponses o a wa e supply ne wo k a e no only dependen on speci ic
a acks, bu also on sys em condi ions (e.g., ini ial wa e le els o wa e
demands a ne wo k nodes).
RISKNOUGHT is a Py hon-based s ess- es ing pla o m ha enables
simula ions o physical p ocesses wi hin a wa e supply ne wo k ia
WNTR (Klise e al.,2017) and cybe componen s ia Ne wo kX (Hag-
be g e al.,2008). Cybe laye s o wa e supply ne wo ks a e conside ed
as a di ec ed g aph, wi h nodes and edges being componen s (e.g., sen-
so s) and connec ions (wi eless communica ion) o cybe laye s, espec-
i ely. As a ool o low ideli y, RISKNOUGHT is sui able o simula e
in e ac ions be ween cybe laye s and wa e supply ne wo ks, ins ead
o ep esen ing de ailed unc ionali ies o ne wo k de ices and con ol
sys ems (Nikolopoulos e al.,2020).
In la e wo k, RISKNOUGHT is ex ended wi h complex wa e qual-
i y simula ion in a ious cybe and physical a ack scena ios whe e
con ol schemes can be implemen ed as con amina ion mi iga ion mea-
su es (Nikolopoulos & Mak opoulos,2022). RISKNOUGHT is also u -
he employed o es he esilience o a wa e supply ne wo k agains
cybe –physical a acks when implemen ing di e en senso placemen
schemes (Nikolopoulos e al.,2021). Simila o epane CPA, he C-Town
benchma k wa e supply ne wo k is used o es ing and demons a ion
o RISKNOUGHT. A esilience assessmen amewo k is p oposed o
e alua e he esilience and isk mi iga ion o wa e supply ne wo ks
unde cybe and physical con amina ion a acks.
As epo ed by Bosco e al. (2022), he EU- unded STOP-IT p ojec 10
also in eg a es RISKNOUGHT in o i s Risk Analysis and E alua ion
Toolki (RAET) o suppo he ope a ion and isk managemen o wa e
supply ne wo k CPSs. He e, RISKNOUGHT is adop ed o scena io plan-
ning and s ess es ing, which simula es he impac s o isk scena ios
(e.g., p essu e de iciency) on bo h he physical and cybe laye s o a
wa e supply ne wo k CPS. The RAET pla o m assesses di e en key
pe o mance indica o s o he sys em and isualizes hese esul s o
epo o he wa e u ili y. Wi hin STOP-IT, he RAET pla o m has
been applied o a selec ed pa o a eal case s udy and ull-scale
implemen a ions a e planned in he u u e.
Al hough some so wa e used o conduc simula ions in his in e -
domain is open-sou ce, none o he simula o s de eloped o codes
used o conduc simula ions om he ci ed publica ions a e accessible,
excep o epane CPA (Tao mina e al.,2019,2017).
4.4. D ainage ×mobili y
The las e iewed in e -domain combines he CIDs o d ainage and
mobili y and con ains only wo pape s (Hussain e al.,2018;Knigh
e al.,2021). Bo h con ibu ions a e p ima ily a ge ing an academic
audience. They bo h p esen a speci ic case s udy, showcasing join sim-
ula ions and highligh ing he in e connec ions o d ainage and mobili y
in as uc u e sys ems. The p ima y di e ence esides in hei objec-
i es. Hussain e al. (2018) examines he impac o con en ional u ban
d ainage ne wo ks on a ic, while Knigh e al. (2021) e alua es he
impac o al e na i e sys ems such as g een s o mwa e in as uc u e
on a ic pe o mance.
10 h ps://s op-i -p ojec .eu/.
Sus ainable Ci ies and Socie y 104 (2024) 105283
9
S. Chen e al.
Hussain e al. (2018) model and in es iga e d ainage and mobili y
aspec s o a sec ion o a six-lane, wo-way oad in Ka achi, Pakis an.
The au ho s de elop wo models, one o he su ace a ea and unde -
lying sewe sys em wi h PCSWMM and ano he wi h VISSIM o he
simula ion o a ic. Bo h models a e calib a ed wi h eal obse a ions
and measu emen s. The case s udy is analyzed o a eco ded his o ic
ain e en om 2013. The wo simula ions a e sequen ially connec ed,
whe e he PCSWMM simula ion deli e s he ex en o ponding on
he oad which in luences he simula ion o ehicula a ic in he
VISSIM simula ion. Howe e , physical in e ac ions when d i ing in
ainy condi ions, e.g., he g ip o he i e o he es ic ion o isibili y,
a e no explici ly simula ed.
Knigh e al. (2021) in es iga e he pe o mance o a simula ed
a ic sys em in he p esence o oadway looding caused by ain-
all. Mul iple scena ios a e conside ed, aking in o accoun he pa ial
con e sion o di ec ly connec ed impe ious a ea o g een s o mwa e
in as uc u e (GSI). Using dual d ainage modeling, he esea ch aims
o analyze he impac o GSI ne wo ks on oadway looding and iden-
i y op imal design limi s o GSI sys ems. The coupled simula ion is
pe o med wi h PCSWMM and SUMO (Simula ion o U ban MObili y),
ocusing on he case s udy a ea o Ha a d Gulch in Den e (Colo ado,
USA). Compa ed o he p e ious s udy, his esea ch has a la ge spa ial
ex en spanning an en i e egion, and ope a es wi h a longe simula ed
ime span and a highe empo al esolu ion o 0.25 s. The indings
e eal he e ec i eness o GSI ne wo ks in mi iga ing oadway looding.
As wi h many publica ions summa ized in he p e ious in e -
domains, he e is no speci ic name o he combined models o d ainage
and mobili y sys ems. In addi ion, while p o iding a de ailed case
s udy, he e is no ocus on le e aging he models o o he p ac ical
use cases. Finally, no code o model esou ces a e a ailable o he wo
s udies.
5. Coupled simula ion o u ban CIDs: Discussion and esea ch
agenda
In his discussion we syn hesize he o e a ching commonali ies,
ends, oppo uni ies, and challenges in he coupled simula ion o u ban
CIDs. We hen p opose a u u e esea ch agenda.
5.1. Ongoing ends and oppo uni ies in coupled simula ion o u ban CIDs
This e iew e eals ends and sho comings in he simula ion o
in e connec ions be ween wa e supply,d ainage, and u ban CIDs like
ene gy,mobili y, and IT sys ems. The diag am in Fig. 4 illus a es he
in e sec o al connec ions de i ed om he e iewed publica ions and
p o ides a amewo k o acili a e analysis o in e connec ed u ban
CIDs. The i s key insigh om Fig. 4 con i ms ou p e ious obse a-
ion (see Sec ion 3and Table 2): mos coupled simula ion e o s ha e
so a p io i ized in es iga ions in he wa e supply 𝑥ene gy and wa e
supply 𝑥IT in e -domains. The combined simula ion o wa e supply
and d ainage ne wo ks is much less esea ched, ollowed by d ainage
𝑥mobili y.
A mo e de ailed analysis o Fig. 4 also enables a syn hesis o speci ic
ends (T) beyond pape dis ibu ion ac oss in e -domains:
(T1) nea ly all coupled simula ion e o s a e unidi ec ional, i.e.,
hey look a he impac o one CID on ano he CID hie a chi-
cally, bu a ely conside bidi ec ional in e ac ions.
(T2) cu en esea ch almos exclusi ely conside s in e connec ions
be ween wo CIDs, while only a ew s udies conside a hi d
domain.
(T3) connec ions be ween he wo wa e sub-domains, wa e supply
and d ainage, a e less explo ed han in e sec o al connec ions
be ween he wa e cycle and he ene gy,mobili y, o IT CIDs.
Rega ding he unidi ec ional in e connec ions (T1), a clea -cu case
is ep esen ed by he wa e supply ×IT in e -domain. He e, he
in es iga ed scena ios a e all unidi ec ional, whe e he ope a ion o
an IT sys em in luences he wa e supply ne wo k in ended as a CPS.
The p e alen mo i is he need o p o ec ion agains cybe –physical
a acks, necessi a ed by he p og essing digi aliza ion in he wa e
domain. Simila ly, he ela ionship be ween wa e supply and ene gy
is p ima ily ega ded wi h wa e supply a he co e o simula ions
and ene gy g ids only p o iding elec ici y o ope a ions o ac ua o s
(e.g., pumps). The in e se ela ionship be ween wa e supply and
ene gy domains is only ega ded in wo publica ions (Li e al.,2018;
Oikonomou & Pa ania,2020), whe e he ope a ion o he ene gy g id
is op imized by le e aging lexibili y in he ope a ion o wa e supply
ne wo ks.
T end T1 is s ongly ela ed o T2 when conside ing he ole o
he IT domain. While he IT sec o is pe asi e ac oss all o he in as-
uc u e sys ems wi h senso s and da a communica ion, mos s udies
implici ly o explici ly assume da a communica ion ope a es unde
ideal condi ions, hus hey do no di ec ly simula e he IT componen
o a CPS. Fo ins ance, while explo ing he dependency o wa e supply
on ene gy supply sys ems, Kha a ka and Mays (2018) and Oikonomou
and Pa ania (2020) assume ha an IT a chi ec u e exis s o he
communica ion be ween wa e and ene gy supply sys ems and ha he
eal- ime da a exchange is lawless and ins an aneous. This leads o he
coupled simula ion o only wo CIDs, wi hou explici ep esen a ion
o he IT sec o . As poin ed ou by Bha ia e al. (2021), hough,
ene gy consump ion and e iciency o he p oposed communica ion
scheme o a cybe –physical wa e dis ibu ion sys em should be u -
he esea ched. This migh also apply o o he in as uc u e sec o s.
UWOT (Rozos & Mak opoulos,2013), o ins ance, also in eg a es
ene gy consump ion aspec s (e.g., ene gy consump ion om wa e
ex ac ion) o model he u ban wa e cycle (wa e supply ×d ainage),
ye wi hou simula ions o any ene gy ne wo k.
Finally, T3 is a he unexpec ed, since he wa e supply ×d ainage
connec ion is ai ly in ui i e. The e exis s esea ch p oposing in eg a ed
asse managemen o municipal in as uc u e including wa e supply
and d ainage sys ems (Abu-Sam a, Ahmed, & Amado ,2020). Ye
simula ion o such inhe en ly connec ed sys ems ha e seemingly no
been subjec o a heigh ened esea ch ocus and could be explo ed in
much mo e de ail, le e aging he po en ial o de ailed knowledge o
end-use wa e demands (S e elbaue , Hilleb and, & Blokke ,2022).
This migh be due o exis ing silos wi hin he s uc u e and ope a ions
o wa e u ili ies, which cu en ly limi s he possibili y o in e sec o al
app oaches wi h in eg a ed models (S ewa e al.,2018).
O e all, he ne wo k o connec ions among di e en CIDs ep e-
sen ed in Fig. 4 is an encou aging signal ha esea ch is being done
in pu sui o mo e coo dina ed u ban in as uc u e. Howe e , he e
a e u he aspec s o conside in ou e iew o he li e a u e. Fi s ,
he amoun o publica ions ha we ound o join ly simula e wo o
mo e u ban CIDs is much smalle han he amoun o publica ions we
e ie ed wi h ou ini ial pape sea ch. Hence, he e is a majo pa o
he li e a u e ha does no add ess join simula ion o CIDs, e en when
aluing mul i-sec o in e ac ions. Second, he e is a s ong imbalance
in how much esea ch e o is de o ed o he di e en in e -domains.
Thi d, he h ee ends T1–T3 indica e ha some in e connec ions a e
no ully explo ed e en in in e -domains whe e li e a u e is al eady
p esen .
Ou indings on aspec s ela ed o so wa e usabili y and de elop-
men , howe e , open up wo main oppo uni ies (O) o os e mo e and
be e coo dina ed de elopmen s in he coupled simula ion o u ban
CIDs, hus o e coming he abo e limi a ions:
(O1) a ailabili y o open-sou ce so wa e and open da a.
(O2) de elopmen o s anda dized pe o mance e alua ion
schemes.
Rega ding O1, many so wa e ools a e a ailable open sou ce o
simula ion o indi idual u ban in as uc u e domains and a e o en