Forward and inverse modeling of water flow in unsaturated soils with discontinuous hydraulic conductivities using physics-informed neural networks with domain decomposition

Abstract. Modeling water flow in unsaturated soils is vital for describing various hydrological and ecological phenomena. Soil water dynamics is described by well-established physical laws (Richardson-Richards equation (RRE)). Solving the RRE is difficult due to the inherent non-linearity of the processes, and various numerical methods have been proposed to solve the issue. However, applying the methods to practical situations is very challenging because they require well-defined initial and boundary conditions. Recent advances in machine learning and the growing availability of soil moisture data provide new opportunities for addressing the lingering challenges. Specifically, physics-informed machine learning allows taking advantage of both the known physics and data-driven modeling. Here, we present a physics-informed neural networks (PINNs) method that approximates the solution to the RRE using neural networks while concurrently matching available soil moisture data. Although the ability of PINNs to solve partial differential equations, including the RRE, has been demonstrated previously, its potential applications and limitations are not fully known. This study conducted a comprehensive analysis of PINNs and carefully tested the accuracy of the solutions by comparing them with analytical solutions and accepted traditional numerical solutions. We demonstrated that the solutions by PINNs with adaptive activation functions are comparable with those by traditional methods. Furthermore, while a single neural network (NN) is adequate to represent a homogeneous soil, we showed that soil moisture dynamics in layered soils with discontinuous hydraulic conductivities are correctly simulated by PINNs with domain decomposition (using separate NNs for each unique layer). A key advantage of PINNs is the absence of the strict requirement for precisely prescribed initial and boundary conditions. In addition, unlike traditional numerical methods, PINNs provide an inverse solution without repeatedly solving the forward problem. We demonstrated the application of these advantages by successfully simulating infiltration and redistribution constrained by sparse soil moisture measurements. As a free by-product, we gain knowledge of the water flux over the entire flow domain, including the unspecified upper and bottom boundary conditions. Nevertheless, there remain challenges that require further development. Chiefly, PINNs are sensitive to the initialization of NNs and are significantly slower than traditional numerical methods.