Enhancing Deep Learning Soil Moisture Forecasting Models by Integrating Physics-based Models

Accurate soil moisture(SM)prediction is critical for understanding hydrological processes.Physics-based(PB)models exhibit large uncertainties in SM predictions arising from uncertain parameterizations and insufficient representation of land-surface processes.In addition to PB models,deep learning(DL)models have been widely used in SM predictions recently.However,few pure DL models have notably high success rates due to lacking physical information.Thus,we developed hybrid models to effectively integrate the outputs of PB models into DL models to improve SM predictions.To this end,we first developed a hybrid model based on the attention mechanism to take advantage of PB models at each forecast time scale(attention model).We further built an ensemble model that combined the advantages of different hybrid schemes(ensemble model).We utilized SM forecasts from the Global Forecast System to enhance the convolutional long short-term memory(ConvLSTM)model for 1–16 days of SM predictions.The performances of the proposed hybrid models were investigated and compared with two existing hybrid models.The results showed that the attention model could leverage benefits of PB models and achieved the best predictability of drought events among the different hybrid models.Moreover,the ensemble model performed best among all hybrid models at all forecast time scales and different soil conditions.It is highlighted that the ensemble model outperformed the pure DL model over 79.5%of in situ stations for 16-day predictions.These findings suggest that our proposed hybrid models can adequately exploit the benefits of PB model outputs to aid DL models in making SM predictions.

A Deep Learning Approach for Forecasting Thunderstorm Gusts in the Beijing–Tianjin–Hebei Region

Thunderstorm gusts are a common form of severe convective weather in the warm season in North China,and it is of great importance to correctly forecast them.At present,the forecasting of thunderstorm gusts is mainly based on traditional subjective methods,which fails to achieve high-resolution and high-frequency gridded forecasts based on multiple observation sources.In this paper,we propose a deep learning method called Thunderstorm Gusts TransU-net(TGTransUnet)to forecast thunderstorm gusts in North China based on multi-source gridded product data from the Institute of Urban Meteorology(IUM)with a lead time of 1 to 6 h.To determine the specific range of thunderstorm gusts,we combine three meteorological variables:radar reflectivity factor,lightning location,and 1-h maximum instantaneous wind speed from automatic weather stations(AWSs),and obtain a reasonable ground truth of thunderstorm gusts.Then,we transform the forecasting problem into an image-to-image problem in deep learning under the TG-TransUnet architecture,which is based on convolutional neural networks and a transformer.The analysis and forecast data of the enriched multi-source gridded comprehensive forecasting system for the period 2021–23 are then used as training,validation,and testing datasets.Finally,the performance of TG-TransUnet is compared with other methods.The results show that TG-TransUnet has the best prediction results at 1–6 h.The IUM is currently using this model to support the forecasting of thunderstorm gusts in North China.

Seasonal Characteristics of Forecasting Uncertainties in Surface PM_(2.5)Concentration Associated with Forecast Lead Time over the Beijing-Tianjin-Hebei Region

Forecasting uncertainties among meteorological fields have long been recognized as the main limitation on the accuracy and predictability of air quality forecasts.However,the particular impact of meteorological forecasting uncertainties on air quality forecasts specific to different seasons is still not well known.In this study,a series of forecasts with different forecast lead times for January,April,July,and October of 2018 are conducted over the Beijing-Tianjin-Hebei(BTH)region and the impacts of meteorological forecasting uncertainties on surface PM_(2.5)concentration forecasts with each lead time are investigated.With increased lead time,the forecasted PM_(2.5)concentrations significantly change and demonstrate obvious seasonal variations.In general,the forecasting uncertainties in monthly mean surface PM_(2.5)concentrations in the BTH region due to lead time are the largest(80%)in spring,followed by autumn(~50%),summer(~40%),and winter(20%).In winter,the forecasting uncertainties in total surface PM_(2.5)mass due to lead time are mainly due to the uncertainties in PBL heights and hence the PBL mixing of anthropogenic primary particles.In spring,the forecasting uncertainties are mainly from the impacts of lead time on lower-tropospheric northwesterly winds,thereby further enhancing the condensation production of anthropogenic secondary particles by the long-range transport of natural dust.In summer,the forecasting uncertainties result mainly from the decrease in dry and wet deposition rates,which are associated with the reduction of near-surface wind speed and precipitation rate.In autumn,the forecasting uncertainties arise mainly from the change in the transport of remote natural dust and anthropogenic particles,which is associated with changes in the large-scale circulation.

Promising Results Predict Role for Artificial Intelligence in Weather Forecasting

Artificial intelligence(AI)has already demonstrated its proficiency at difficult scientific tasks like predicting how proteins will fold and identifying new astronomical objects in masses of observational data[1].Now,recent results suggest that AI also excels at weather forecasting.For global predictions,GraphCast,an AI system developed by Google subsidiary DeepMind(London,UK),outperforms the state-of-the-art model from the European Centre for Medium-Range Weather Forecasts(ECMWF),providing more accurate projections of variables such as temperature and humidity 90%of the time[2,3].Other AI systems,including Pangu-Weather from the Chinese tech company Huawei(Shenzhen,China)[4],can also match or beat traditional global forecasting models.

Scientific Advances and Weather Services of the China Meteorological Administration’s National Forecasting Systems during the Beijing 2022 Winter Olympics

Since the Beijing 2022 Winter Olympics was the first Winter Olympics in history held in continental winter monsoon climate conditions across complex terrain areas,there is a deficiency of relevant research,operational techniques,and experience.This made providing meteorological services for this event particularly challenging.The China Meteorological Administration(CMA)Earth System Modeling and Prediction Centre,achieved breakthroughs in research on short-and medium-term deterministic and ensemble numerical predictions.Several key technologies crucial for precise winter weather services during the Winter Olympics were developed.A comprehensive framework,known as the Operational System for High-Precision Weather Forecasting for the Winter Olympics,was established.Some of these advancements represent the highest level of capabilities currently available in China.The meteorological service provided to the Beijing 2022 Games also exceeded previous Winter Olympic Games in both variety and quality.This included achievements such as the“100-meter level,minute level”downscaled spatiotemporal resolution and forecasts spanning 1 to 15 days.Around 30 new technologies and over 60 kinds of products that align with the requirements of the Winter Olympics Organizing Committee were developed,and many of these techniques have since been integrated into the CMA’s operational national forecasting systems.These accomplishments were facilitated by a dedicated weather forecasting and research initiative,in conjunction with the preexisting real-time operational forecasting systems of the CMA.This program represents one of the five subprograms of the WMO’s high-impact weather forecasting demonstration project(SMART2022),and continues to play an important role in their Regional Association(RA)II Research Development Project(Hangzhou RDP).Therefore,the research accomplishments and meteorological service experiences from this program will be carried forward into forthcoming highimpact weather forecasting activities.This article provides an overview and assessment of this program and the operational national forecasting systems.

Comparison among the UECM Model, and the Composite Model in Forecasting Malaysian Imports

For more than a century, forecasting models have been crucial in a variety of fields. Models can offer the most accurate forecasting outcomes if error terms are normally distributed. Finding a good statistical model for time series predicting imports in Malaysia is the main target of this study. The decision made during this study mostly addresses the unrestricted error correction model (UECM), and composite model (Combined regression—ARIMA). The imports of Malaysia from the first quarter of 1991 to the third quarter of 2022 are employed in this study’s quarterly time series data. The forecasting outcomes of the current study demonstrated that the composite model offered more probabilistic data, which improved forecasting the volume of Malaysia’s imports. The composite model, and the UECM model in this study are linear models based on responses to Malaysia’s imports. Future studies might compare the performance of linear and nonlinear models in forecasting.

Better use of experience from other reservoirs for accurate production forecasting by learn-to-learn method

To assess whether a development strategy will be profitable enough,production forecasting is a crucial and difficult step in the process.The development history of other reservoirs in the same class tends to be studied to make predictions accurate.However,the permeability field,well patterns,and development regime must all be similar for two reservoirs to be considered in the same class.This results in very few available experiences from other reservoirs even though there is a lot of historical information on numerous reservoirs because it is difficult to find such similar reservoirs.This paper proposes a learn-to-learn method,which can better utilize a vast amount of historical data from various reservoirs.Intuitively,the proposed method first learns how to learn samples before directly learning rules in samples.Technically,by utilizing gradients from networks with independent parameters and copied structure in each class of reservoirs,the proposed network obtains the optimal shared initial parameters which are regarded as transferable information across different classes.Based on that,the network is able to predict future production indices for the target reservoir by only training with very limited samples collected from reservoirs in the same class.Two cases further demonstrate its superiority in accuracy to other widely-used network methods.

Generalized load graphical forecasting method based on modal decomposition

In a“low-carbon”context,the power load is affected by the coupling of multiple factors,which gradually evolves from the traditional“pure load”to the generalized load with the dual characteristics of“load+power supply.”Traditional time-series forecasting methods are no longer suitable owing to the complexity and uncertainty associated with generalized loads.From the perspective of image processing,this study proposes a graphical short-term prediction method for generalized loads based on modal decomposition.First,the datasets are normalized and feature-filtered by comparing the results of Xtreme gradient boosting,gradient boosted decision tree,and random forest algorithms.Subsequently,the generalized load data are decomposed into three sets of modalities by modal decomposition,and red,green,and blue(RGB)images are generated using them as the pixel values of the R,G,and B channels.The generated images are diversified,and an optimized DenseNet neural network was used for training and prediction.Finally,the base load,wind power,and photovoltaic power generation data are selected,and the characteristic curves of the generalized load scenarios under different permeabilities of wind power and photovoltaic power generation are obtained using the density-based spatial clustering of applications with noise algorithm.Based on the proposed graphical forecasting method,the feasibility of the generalized load graphical forecasting method is verified by comparing it with the traditional time-series forecasting method.

CALTM:A Context-Aware Long-Term Time-Series Forecasting Model

Time series data plays a crucial role in intelligent transportation systems.Traffic flow forecasting represents a precise estimation of future traffic flow within a specific region and time interval.Existing approaches,including sequence periodic,regression,and deep learning models,have shown promising results in short-term series forecasting.However,forecasting scenarios specifically focused on holiday traffic flow present unique challenges,such as distinct traffic patterns during vacations and the increased demand for long-term forecastings.Consequently,the effectiveness of existing methods diminishes in such scenarios.Therefore,we propose a novel longterm forecasting model based on scene matching and embedding fusion representation to forecast long-term holiday traffic flow.Our model comprises three components:the similar scene matching module,responsible for extracting Similar Scene Features;the long-short term representation fusion module,which integrates scenario embeddings;and a simple fully connected layer at the head for making the final forecasting.Experimental results on real datasets demonstrate that our model outperforms other methods,particularly in medium and long-term forecasting scenarios.

Dynamic adaptive spatio-temporal graph network for COVID-19 forecasting

Appropriately characterising the mixed space-time relations of the contagion process caused by hybrid space and time factors remains the primary challenge in COVID-19 forecasting.However,in previous deep learning models for epidemic forecasting,spatial and temporal variations are captured separately.A unified model is developed to cover all spatio-temporal relations.However,this measure is insufficient for modelling the complex spatio-temporal relations of infectious disease transmission.A dynamic adaptive spatio-temporal graph network(DASTGN)is proposed based on attention mechanisms to improve prediction accuracy.In DASTGN,complex spatio-temporal relations are depicted by adaptively fusing the mixed space-time effects and dynamic space-time dependency structure.This dual-scale model considers the time-specific,space-specific,and direct effects of the propagation process at the fine-grained level.Furthermore,the model characterises impacts from various space-time neighbour blocks under time-varying interventions at the coarse-grained level.The performance comparisons on the three COVID-19 datasets reveal that DASTGN achieves state-of-the-art results with a maximum improvement of 17.092%in the root mean-square error and 11.563%in the mean absolute error.Experimental results indicate that the mechanisms of designing DASTGN can effectively detect some spreading characteristics of COVID-19.The spatio-temporal weight matrices learned in each proposed module reveal diffusion patterns in various scenarios.In conclusion,DASTGN has successfully captured the dynamic spatio-temporal variations of COVID-19,and considering multiple dynamic space-time relationships is essential in epidemic forecasting.

Weather-Driven Solar Power Forecasting Using D-Informer:Enhancing Predictions with Climate Variables

Precise forecasting of solar power is crucial for the development of sustainable energy systems.Contemporary forecasting approaches often fail to adequately consider the crucial role of weather factors in photovoltaic(PV)power generation and encounter issues such as gradient explosion or disappearance when dealing with extensive time-series data.To overcome these challenges,this research presents a cutting-edge,multi-stage forecasting method called D-Informer.This method skillfully merges the differential transformation algorithm with the Informer model,leveraging a detailed array of meteorological variables and historical PV power generation records.The D-Informer model exhibits remarkable superiority over competing models across multiple performance metrics,achieving on average a 67.64%reduction in mean squared error(MSE),a 49.58%decrease in mean absolute error(MAE),and a 43.43%reduction in root mean square error(RMSE).Moreover,it attained an R2 value as high as 0.9917 during the winter season,highlighting its precision and dependability.This significant advancement can be primarily attributed to the incorporation of a multi-head self-attention mechanism,which greatly enhances the model’s ability to identify complex interactions among diverse input variables,and the inclusion of weather variables,enriching the model’s input data and strengthening its predictive accuracy in time series analysis.Additionally,the experimental results confirm the effectiveness of the proposed approach.

A Hybrid Channel Stock Model for Stock Price Forecasting with Multifaceted Feature Fusion

Stock market is volatile and predicting stock prices is a challenging task.Stock prices are influenced by multiple factors,and prediction using only numerical or image features is ineffective.To solve this problem,we propose a Hybrid Channel Stock model that incorporates multiple features of basic stock data,K-line charts and technical indicator factors for predicting the closing price of a stock on day n+1.The model combines multiple aspects of data and uses a multi-channel structure including improved CNN-TW,bidirectional LSTM and Transformer network.First,we construct the multi-channel branches of the multi-faceted feature fusion input network model;second,in this paper,we will use the concatenate method to stitch the output of each branch as the input of the rest of the network;the last layer in the network is the fully connected layer,which combines the linear activation function regression to output the predicted prices.Finally,we conducted extensive experiments on the Dow 30,SSH 50 and CSI100 indices.The experimental results show that the Hybrid Channel Stock method has the best performance with the smallest MSE,RMSE,MAE and MAPE compared with existing models.in addition,the experiments on different trading days validate the stability and effectiveness of the model,providing an important reference for investors to make stock investment decisions.

Assessment of ECMWF’s Precipitation Forecasting Performance for China from 2017 to 2022

This study used the China Meteorological Administration(CMA)three-source fusion gridded precipitation analysis data as a reference to evaluate the precipitation forecast performance of the European Centre for Medium-Range Weather Forecasts(ECMWF)model for China from 2017 to 2022.The main conclusions are as follows.The precipitation forecast capability of the ECMWF model for China has gradually improved from 2017 to 2022.Various scores such as bias,equitable threat score(ETS),and Fractions Skill Score(FSS)showed improvements for different categories of precipitation.The bias of light rain forecasts overall adjusted towards smaller values,and the increase in forecast scores was greater in the warm season than in the cold season.The ETS for torrential rain more intense categories significantly increased,although there were large fluctuations in bias across different months.The model exhibited higher precipitation bias in most areas of North China,indicating overprediction,while it showed lower bias in South China,indicating underprediction.The ETSs indicate that the model performed better in forecasting precipitation in the northeastern part of China without the influence of climatic background conditions.Comparison of the differences between the first period and the second period of the forecast shows that the precipitation amplitude in the ECMWF forecast shifted from slight underestimation to overestimation compared to that of CMPAS05,reducing the likelihood of missing extreme precipitation events.The improvement in ETS is mainly due to the reduction in bias and false alarm rates and,more importantly,an increase in the hit rate.From 2017 to 2022,the area coverage error of model precipitation forecast relative to observations showed a decreasing trend at different scales,while the FSS showed an increasing trend,with the highest FSS observed in 2021.The ETS followed a parabolic trend with increasing neighborhood radius,with the better ETS neighborhood radius generally being larger for moderate rain and heavy rain compared with light rain and torrential rain events.

Investigating Periodic Dependencies to Improve Short-Term Load Forecasting

With a further increase in energy flexibility for customers,short-term load forecasting is essential to provide benchmarks for economic dispatch and real-time alerts in power grids.The electrical load series exhibit periodic patterns and share high associations with metrological data.However,current studies have merely focused on point-wise models and failed to sufficiently investigate the periodic patterns of load series,which hinders the further improvement of short-term load forecasting accuracy.Therefore,this paper improved Autoformer to extract the periodic patterns of load series and learn a representative feature from deep decomposition and reconstruction.In addition,a novel multi-factor attention mechanism was proposed to handle multi-source metrological and numerical weather prediction data and thus correct the forecasted electrical load.The paper also compared the proposed model with various competitive models.As the experimental results reveal,the proposed model outperforms the benchmark models and maintains stability on various types of load consumers.

Dynamic Forecasting of Traffic Event Duration in Istanbul:A Classification Approach with Real-Time Data Integration

Today,urban traffic,growing populations,and dense transportation networks are contributing to an increase in traffic incidents.These incidents include traffic accidents,vehicle breakdowns,fires,and traffic disputes,resulting in long waiting times,high carbon emissions,and other undesirable situations.It is vital to estimate incident response times quickly and accurately after traffic incidents occur for the success of incident-related planning and response activities.This study presents a model for forecasting the traffic incident duration of traffic events with high precision.The proposed model goes through a 4-stage process using various features to predict the duration of four different traffic events and presents a feature reduction approach to enable real-time data collection and prediction.In the first stage,the dataset consisting of 24,431 data points and 75 variables is prepared by data collection,merging,missing data processing and data cleaning.In the second stage,models such as Decision Trees(DT),K-Nearest Neighbour(KNN),Random Forest(RF)and Support Vector Machines(SVM)are used and hyperparameter optimisation is performed with GridSearchCV.In the third stage,feature selection and reduction are performed and real-time data are used.In the last stage,model performance with 14 variables is evaluated with metrics such as accuracy,precision,recall,F1-score,MCC,confusion matrix and SHAP.The RF model outperforms other models with an accuracy of 98.5%.The study’s prediction results demonstrate that the proposed dynamic prediction model can achieve a high level of success.

Short-term Residential Load Forecasting Based on K-shape Clustering and Domain Adversarial Transfer Network

In recent years,the expansion of the power grid has led to a continuous increase in the number of consumers within the distribution network.However,due to the scarcity of historical data for these new consumers,it has become a com-plex challenge to accurately forecast their electricity demands through traditional forecasting methods.This paper proposes an innovative short-term residential load forecasting method that harnesses advanced clustering,deep learning,and transfer learning technologies to address this issue.To begin,this paper leverages the domain adversarial transfer network.It employs limited data as target domain data and more abundant data as source domain data,thus enabling the utilization of source do-main insights for the forecasting task of the target domain.Moreover,a K-shape clustering method is proposed,which effec-tively identifies source domain data that align optimally with the target domain,and enhances the forecasting accuracy.Sub-sequently,a composite architecture is devised,amalgamating at-tention mechanism,long short-term memory network,and seq2seq network.This composite structure is integrated into the domain adversarial transfer network,bolstering the perfor-mance of feature extractor and refining the forecasting capabili-ties.An illustrative analysis is conducted using the residential load dataset of the Independent System Operator to validate the proposed method empirically.In the case study,the relative mean square error of the proposed method is within 30 MW,and the mean absolute percentage error is within 2%.A signifi-cant improvement in accuracy,compared with other compara-tive experimental results,underscores the reliability of the pro-posed method.The findings unequivocally demonstrate that the proposed method advocated in this paper yields superior fore-casting results compared with prevailing mainstream forecast-ing methods.

A Novel Hybrid Ensemble Learning Approach for Enhancing Accuracy and Sustainability in Wind Power Forecasting

Accurate wind power forecasting is critical for system integration and stability as renewable energy reliance grows.Traditional approaches frequently struggle with complex data and non-linear connections. This article presentsa novel approach for hybrid ensemble learning that is based on rigorous requirements engineering concepts.The approach finds significant parameters influencing forecasting accuracy by evaluating real-time Modern-EraRetrospective Analysis for Research and Applications (MERRA2) data from several European Wind farms usingin-depth stakeholder research and requirements elicitation. Ensemble learning is used to develop a robust model,while a temporal convolutional network handles time-series complexities and data gaps. The ensemble-temporalneural network is enhanced by providing different input parameters including training layers, hidden and dropoutlayers along with activation and loss functions. The proposed framework is further analyzed by comparing stateof-the-art forecasting models in terms of Root Mean Squared Error (RMSE) and Mean Absolute Error (MAE),respectively. The energy efficiency performance indicators showed that the proposed model demonstrates errorreduction percentages of approximately 16.67%, 28.57%, and 81.92% for MAE, and 38.46%, 17.65%, and 90.78%for RMSE for MERRAWind farms 1, 2, and 3, respectively, compared to other existingmethods. These quantitativeresults show the effectiveness of our proposed model with MAE values ranging from 0.0010 to 0.0156 and RMSEvalues ranging from 0.0014 to 0.0174. This work highlights the effectiveness of requirements engineering in windpower forecasting, leading to enhanced forecast accuracy and grid stability, ultimately paving the way for moresustainable energy solutions.

The Influence of Air Pollution Concentrations on Solar Irradiance Forecasting Using CNN-LSTM-mRMR Feature Extraction

Maintaining a steady power supply requires accurate forecasting of solar irradiance,since clean energy resources do not provide steady power.The existing forecasting studies have examined the limited effects of weather conditions on solar radiation such as temperature and precipitation utilizing convolutional neural network(CNN),but no comprehensive study has been conducted on concentrations of air pollutants along with weather conditions.This paper proposes a hybrid approach based on deep learning,expanding the feature set by adding new air pollution concentrations,and ranking these features to select and reduce their size to improve efficiency.In order to improve the accuracy of feature selection,a maximum-dependency and minimum-redundancy(mRMR)criterion is applied to the constructed feature space to identify and rank the features.The combination of air pollution data with weather conditions data has enabled the prediction of solar irradiance with a higher accuracy.An evaluation of the proposed approach is conducted in Istanbul over 12 months for 43791 discrete times,with the main purpose of analyzing air data,including particular matter(PM10 and PM25),carbon monoxide(CO),nitric oxide(NOX),nitrogen dioxide(NO_(2)),ozone(O₃),sulfur dioxide(SO_(2))using a CNN,a long short-term memory network(LSTM),and MRMR feature extraction.Compared with the benchmark models with root mean square error(RMSE)results of 76.2,60.3,41.3,32.4,there is a significant improvement with the RMSE result of 5.536.This hybrid model presented here offers high prediction accuracy,a wider feature set,and a novel approach based on air concentrations combined with weather conditions for solar irradiance prediction.

Artificial Intelligence Based Meteorological Parameter Forecasting for Optimizing Response of Nuclear Emergency Decision Support System

This paper presents a novel artificial intelligence (AI) based approach to predict crucial meteorological parameters such as temperature,pressure,and wind speed,typically calculated from computationally intensive weather research and forecasting (WRF) model.Accurate meteorological data is indispensable for simulating the release of radioactive effluents,especially in dispersion modeling for nuclear emergency decision support systems.Simulation of meteorological conditions during nuclear emergencies using the conventional WRF model is very complex and time-consuming.Therefore,a new artificial neural network (ANN) based technique was proposed as a viable alternative for meteorological prediction.A multi-input multi-output neural network was trained using historical site-specific meteorological data to forecast the meteorological parameters.Comprehensive evaluation of this technique was conducted to test its performance in forecasting various parameters including atmospheric pressure,temperature,and wind speed components in both East-West and North-South directions.The performance of developed network was evaluated on an unknown dataset,and acquired results are within the acceptable range for all meteorological parameters.Results show that ANNs possess the capability to forecast meteorological parameters,such as temperature and pressure,at multiple spatial locations within a grid with high accuracy,utilizing input data from a single station.However,accuracy is slightly compromised when predicting wind speed components.Root mean square error (RMSE) was utilized to report the accuracy of predicted results,with values of 1.453℃for temperature,77 Pa for predicted pressure,1.058 m/s for the wind speed of U-component and 0.959 m/s for the wind speed of V-component.In conclusion,this approach offers a precise,efficient,and wellinformed method for administrative decision-making during nuclear emergencies.

Effects of data smoothing and recurrent neural network(RNN)algorithms for real-time forecasting of tunnel boring machine(TBM)performance

Tunnel boring machines(TBMs)have been widely utilised in tunnel construction due to their high efficiency and reliability.Accurately predicting TBM performance can improve project time management,cost control,and risk management.This study aims to use deep learning to develop real-time models for predicting the penetration rate(PR).The models are built using data from the Changsha metro project,and their performances are evaluated using unseen data from the Zhengzhou Metro project.In one-step forecast,the predicted penetration rate follows the trend of the measured penetration rate in both training and testing.The autoregressive integrated moving average(ARIMA)model is compared with the recurrent neural network(RNN)model.The results show that univariate models,which only consider historical penetration rate itself,perform better than multivariate models that take into account multiple geological and operational parameters(GEO and OP).Next,an RNN variant combining time series of penetration rate with the last-step geological and operational parameters is developed,and it performs better than other models.A sensitivity analysis shows that the penetration rate is the most important parameter,while other parameters have a smaller impact on time series forecasting.It is also found that smoothed data are easier to predict with high accuracy.Nevertheless,over-simplified data can lose real characteristics in time series.In conclusion,the RNN variant can accurately predict the next-step penetration rate,and data smoothing is crucial in time series forecasting.This study provides practical guidance for TBM performance forecasting in practical engineering.