GPS-X

GENERAL PURPOSE SIMULATOR: GPS-X

GPS-X is a modular, multi-purpose computer
program for the modelling and simulation of
municipal and industrial wastewater treatment
plants. Whether you are designing a new facility,
or simulating an existing plant, GPS-X will help
improve your design quality and operating
efficiency.
Improved performance of your treatment plant
does not always require an increase in its size
and complexity. You can improve capacity,
operating efficiency and effluent quality by
properly optimizing your existing facilities. This
can result in dramatic capital savings and lower
operating costs.
``We have been using GPS-X mainly to assist
with capital scheme development. I have recently
completed a works design using GPS-X. Had the
works been designed using conventional rule-of-
thumb design techniques it would not have
achieved consent. GPS-X exposed the weakness
in the design philosophy being adopted and
helped better identify what was actually required.
In fact a new activated sludge process which had
been planned to be built was postponed because
GPS-X showed that it was not necessary. In cash
terms this meant we were able to save around
5 million. However, I believe the benefits are
more than just the bottom line - what value do you
put on getting it right, i.e. Confidence?''

Nick Fawcett
What Do Our Clients Say? Yorkshire Water, Bradford, UK

``GPS-X is a great tool. It was successfully

applied in a project in which the return activated
sludge flow was adjusted as we extended from
pre-denitrification to build a separate post de-
nitrification step. We found that the return
activated sludge flow could be reduced by more
than 50% since we didn't need to return the
nitrates. Energy savings due to reduced pumping
costs were US$ 21,500 a year, thicker sludge with
easier dewatering, as well as better settling
properties were the result.''

``The sensitivity analysis and steady-state solver

are the features we like the most. The GPS-X
technical support is great!''
Maximizing your cost savings is easy with GPS-X.

sa Dillner Westlund,
Process Engineer
SYVAB, Sweden

 GPS-X SLIDESHOW
GPS-X

Welcome to the GPS-X Slideshow! This slideshow presents many of the powerful features of
What is GPS-
X? GPS-X, and demonstrates how a GPS-X layout is developed from start to finish. Please take a
few moments to work through the slideshow; alternatively, you may wish to wait for all of the
images to load and then print out a hard copy of the slideshow so that you may review it at
Slideshow your leisure.

Modules
Slide 1: The GPS-X Drawing Board

Wastewater
Process
Libraries

Technical
Specifications

This is GPS-X's main window. It contains GPS-X's main menu bar (the buttons labelled "FILE",
"VIEW", "BUILD", etc., are drop-down menus which each contain several GPS-X commands);
it also contains buttons which bring up other windows (the "LOCATOR" and "PROCESS
TABLE" buttons) as well as buttons which modify the drawing mode (the "REPLACE",
"DELETE", "MOVE", "REVERSE", and "BLOCK" buttons).

The large area below this row of buttons is GPS-X's "drawing board"; the layout of the
treatment plant to be modelled is created here.

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Slide 2: Starting a GPS-X Layout

For this slideshow, we will be building a layout representing a treatment plant with both primary
and secondary treatment; the secondary treatment will be carried out using the activated
sludge process, using two parallel liquid trains.

The first step is to bring up the GPS-X Process Table; this is a window which contains all of the
objects available in GPS-X (see Slide 3 for a labelled close-up of the Process Table). From the
Process Table, objects can be selected and placed on the drawing board. In this slide, we
have placed an influent object on the drawing board.

The "LOCATOR" window can be used to select an area of the drawing board for viewing. Here
we have selected an area large enough to hold our completed layout.

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Slide 3: The Process Table

The GPS-X Process Table contains allows easy access to all of the objects supported by GPS-
X. To place one of these objects on the drawing board, the user simply selects the desired
object with the mouse, and then clicks on the desired location of that object in the drawing
board.

*
The acronyms used in this figure are defined below:

CSTR: Continuous Stirred Tank Reactor

PFT: Plug Flow Tank

SBC: Submerged Biological Contactor

RBC: Rotating Biological Contactor

DAF: Dissolved Air Flotation

SBR: Sequencing Batch Reactor

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Slide 4: Continuing the Layout

Several objects have been added to the layout. At the far left is the influent object, which
represents the influent entering the plant. To the right of the influent object is a pump object;
this will allow by-passing of the plant during very high influent flow conditions. To its right is a
combiner object, followed by a primary clarifier. Two liquid trains have also been added, each
containing a plug-flow reactor object (representing an aeration tank) and a secondary clarifier.

Several objects have been added to the layout. To the right of the influent object at the far left
is a pump object; this will allow by-passing of the plant during very high influent flow
conditions. To its right is a primary settler, followed by a splitter object. Two liquid trains have
also been added, each containing a plug-flow reactor object (representing an aeration tank)
and a secondary clarifier.

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Slide 5: Completing the Layout

The layout of the plant has been completed: several objects have been added, and the
connections between the objects have been defined -- all accomplished with just a few clicks
of the mouse. The only new object type is the right-most object in the layout, which is an
effluent object representing the effluent discharge point. The new objects are at the far right in
the layout: an effluent object representing the effluent discharge point, and two combiner
objects.

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Slide 6: Defining the Models

Once the layout has been completed, it is necessary to define which models are to be used for
the objects in the layout. For example, the user can choose from one of three possible models
for the influent object:

asm2: for influents characterized using COD and suspended solids as the main
 components

bodbased: used when COD data is not available

states: useful only if a full influent characterization has been performed and the state
variables have been calculated manually

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Slide 7: Defining the Models (continued)

The model for the secondary clarifier in the first (topmost) liquid train is being defined. The
user can choose from several settling models, including reactive and non-reactive models, as
well as one-dimensional and two-dimensional models.

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Slide 8: Setting the Parameters

After models have been assigned to each of the objects, the next step is to define the
necessary parameters. For the plug flow reactor object, the following types of parameters can
be set:

the physical parameters, which include the volume and size of the tank, as well as the
number of "cells" into which it is divided;

the operational parameters, which include parameters controlling the aeration of the
reactor, aeration control (P/PI/PID), as well as the recycle between cells in the tank;

the stoichiometric parameters, which include ratios such as COD to suspended solids;

the kinetic parameters, which define rate constants for the various reactions.

the stoichiometric parameters, which include ratios such as COD to suspended solids;

the kinetic parameters, which define rate constants for the various reactions; and

the consistency parameters, which define alarm bounds for certain variables in each
unit process object.

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Slide 9: Setting the Parameters (continued)

A form such as this one allows the user to enter the model parameters. This form allows the
kinetic parameters of the plug flow reactor to be set; additional parameters can be accessed
using the "NEXT" button. The values shown here are the default values for the kinetic
parameters of the plug flow reactor object.

The check marks in the squares to the left of the first two parameters indicate that we intend to
manipulate these parameters during the course of a simulation. (The check marks are placed
here as an example only; we do not actually want to manipulate these parameters for this
example.)

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Slide 10: Building a Controller

In this example, we want to be able to control the influent flow rate as the simulation
progresses. The required steps are:

Place a check mark beside the influent flow variable in the influent object;

Create a new control window, and call it "Influent Flow" (since this is the first control
we have created, it has the ID of 1);

In the "CONTROL SETUP" window, assign the influent flow variable to the control
window with an ID of 1, make it a slider control, and give the slider minimum and
maximum values of 0 and 10000 m3/day, respectively.

In addition to slider controls, incremental up/down controls and on/off controls can be defined.

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Slide 11: The Completed Controller

Once the controller has been defined, it can be displayed with the "SHOW" item of the
"CONTROLS" menu.

This slider allows the user to manipulate the flow between 0 m 3/day and 10,000 m3/day; this is
done by dragging the handle of the slider with the mouse. The number to the left of the slider
represents the current value of the slider.
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Slide 12: Controller Types

This slide shows the different types of controls that can be defined. (Please note, however, that
the controls shown here are not used in this example, with the exception of the influent flow
slider).

On/off controls are often used for activating and deactivating automatic controllers; the on/off
control shown in this slide controls the operation of the automatic dissolved oxygen controller.

The "controller type" control is a drop-down control. Available options for the "controller type"
variable are P, PI, and PID; this control allows the user to select from these options.

The "DO Setpoint" control is an up/down control; the value of the dissolved oxygen setpoint
can be incremented or decremented by clicking on the left and right arrows, respectively.

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Slide 13: Building a Graph

Each object has a number of "display variables" that can be placed on various types of graphs.
Here, we wish to place the dissolved oxygen profile on a graph, so we need to display the
"state variables" dialog (since dissolved oxygen is a state variable).
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Slide 14: Building a Graph (continued)

The steps required to complete our graph of the dissolved oxygen profile are:

Place a check mark beside the dissolved oxygen display variable in the "state
variables" dialog of the plug flow reactor object.

In the "OUTPUTS" dialog, create a new graph window (using the "INSERT" button),
assign it the name "DO Profile", and make it a bar graph. Since this is the first graph
window we have created, it is assigned an ID of 1.

In the "OUTPUTS SETUP" window, assign the dissolved oxygen variable to the graph
window with an ID of 1 (the graph window we have just created), and enter the
minimum and maximum bounds for the y-axis of this variable.

By placing a check mark in the "SAVE" box in the "OUTPUTS SETUP" window, the simulation
results for that variable will be saved to a file; these results can then be imported into any
spreadsheet.

Also note that there are several types of graphs available to the user; these are:

X-Y: Standard line graphs with linear x and y axes.

X-Y SCROLLING: X-Y graphs with a "scrolling" x-axis -- the time span shown on the
graph is fixed, but the upper and lower bounds increase as the simulation progresses.

BAR CHART: Bar charts showing the values of an array variable (for example,
 dissolved oxygen in a multi-tank plug flow reactor).

DIGITAL: Numeric values of variables.

3D BAR CHART: Three-dimensional bar charts showing the values of three-

dimensional array variables.

GREYSCALE: Like the 3D BAR CHART, these graphs display the values of three-
dimensional array variables; the values are represented as varying shades of grey.

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Slide 15: The DEFINE Command

GPS-X's DEFINE command can be used to define parameters which are not related to any
particular object or model, but rather are "plant-wide" in scope. One such variable which is
used frequently in wastewater engineering is the solids retention time (SRT), which is selected
above.

Other variables which can be defined with this command are:

DAVG: defines a variable which represents the daily average of the specified GPS-X
variable.

MAVG: defines a variable which represents the moving average of the specified GPS-
X variable.

TOTAL: defines a variable which represents the integral over time of the specified
GPS-X variable.

ADF: defines a variable which represents the filtered value of the specified GPS-X
variable. An advanced custom filtering method, called the Adaptive Data Filter, is used
 to filter the data.

MFLOW: defines a variable which represents the mass flow rate of the specified GPS-
X variable.

F/M: defines a variable which represents the food-to-mass ratio for the specified
objects.

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Slide 16: Compiling the Model

Once the layout has been completed and the desired controls and displays have been defined,
it is necessary to compile the model in order to simulate the plant. Normally, this can be done
in one step by clicking on the "BUILD" button; however, in certain special situations the code
and the executable files must be generated separately, as shown above.

Normally, for models of moderate size, the compilation step takes only one or two minutes.

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Slide 17: Starting the Simulation/Defining a Scenario

Once the model has been compiled, simulations can be run from the "SIMULATION
CONTROL" window. "Scenarios" can also be defined from this window. In GPS-X, a scenario
is simply a list of commands that are recorded when you make changes to the object data
entry forms. Saving a scenario stores these commands for later retrieval; running the scenario
involves the playback of these instructions.

Here, we have defined a "Demo Run" scenario, in which we have modified the influent flow
rate and the wastage flow rate in the plug flow reactors.

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Slide 18: Running the Simulation to Steady-State

Often, it is desired to run the model to steady-state before performing dynamic simulations. In
GPS-X, this is done by checking the "STEADY STATE" box and then starting the simulation.
Here, the steady-state simulation has achieved 100% convergence, as indicated by the
"CONVERGENCE" bar in the lower-right corner of the "SIMULATION CONTROL" window.

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Slide 19: Running a Dynamic Simulation

This slide shows a one-day simulation in progress. The graph in the upper-right corner shows
the influent flow rate (in red) as well as the effluent suspended solids (in blue). The histogram
in the lower-right corner shows the instantaneous dissolved oxygen profile in one of the plug
flow reactors.

The influent flow rate has been modified from its initial value by manually adjusting the position
of the slider in the upper-left corner.

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Slide 20: Comparing Simulation Results to External Data

Suppose that you had both influent flow rate data and effluent suspended solids data for a real
plant. In order to calibrate the model, you would need to be able to compare the simulation's
output variables of interest (here, effluent suspended solids) for a simulation which uses the
same time-varying inputs as your real plant (here, influent flow rate).

In GPS-X, this is easily accomplished: the influent flow rate controller can be defined as a "file-
input" type controller, meaning that it takes data from an external data file. Effluent suspended
solids data can be displayed automatically alongside the simulation results; the data is plotted
as plusses ("+") while the simulation results are continuous lines.

The case in this slide is obviously synthetic; it has been created from the saved results of a
previous simulation, which was then re-run with slight modifications to the secondary clarifier's
settling parameters. However, it demonstrates the ease with which GPS-X can be used to
develop calibrated models.

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Slide 21: The ANALYZE Tool

Often, it is necessary to determine the sensitivity of the model's results to fluctuations in
certain parameters -- for example, to obtain a measure of the error in the model's predictions.
This can be easily accomplished with the GPS-X's ANALYZE Tool. Here, we will set up a
steady-state sensitivity analysis of the mixed liquor suspended solids to the wastage flow rate
from the plug flow reactor.

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Slide 22: MLSS Sensitivity Analysis

This slide shows the results of the completed sensitivity analysis. Graphs of this type can be
used to determine the amount of wastage necessary to achieve a desired level of MLSS.

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Slide 23: The GPS-X OPTIMIZER

The GPS-X OPTIMIZER can be used to automate many of the tedious tasks required to
calibrate a model. In this slide we are simultaneously optimizing the value of two parameters
which control the kinetics of the biological reactions in a batch reactor. The OPTIMIZER will
find the values of the parameters which results in the best possible fit betwen the simulated
soluble substrate values and those supplied in an external data file.

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The End!

This is the end of the GPS-X slideshow. While we have covered many of GPS-X's features,
GPS-X has many more powerful features that make it the best wastewater treatment plant
simulator available. Examples of features not covered in this slideshow include:

Model customization

Report generation

On-line capability

Dynamic parameter estimation

Automated respirogram evaluation

Maximum likelihood estimation

MATLAB support
 Multivariable control design with GMITM

More...

GPS-X MODULES

The modular nature of GPS-X means that you purchase only those capabilities you need at the
present time, while still retaining the option of expanding in the future as your needs change. This
ensures that your time and financial resources are invested wisely.

Simulator Respirogram Evaluator

Is the foundation for all modelling and simulation
features found in GPS-X. Simulator permits the
simulation of the more than 50 pre-compiled
layouts included with GPS-X, and all custom-
designed layouts.
Automatically extracts all relevant information
contained in a respirogram. A respirogram is a
measurement of bacterial activity in activated
sludge under well-defined conditions. This enables
you to more accurately calibrate your plant model.

Analyzer Advanced Control - MATLAB

Automates the task of performing sensitivity
analyses on model parameters in either steady
state or dynamic simulations. For example, you
may want to develop an operational chart
showing the extent of nitrification versus the
sludge age or temperature.
Builder
Use GPS-X's powerful graphical interface to
create your own plant layouts or modify existing
process flow diagrams.
Optimizer
Assists you in optimizing your plant operations.
For example, you may want to determine the
best air flow distribution in an activated sludge
tank, to optimize effluent quality and minimize
aeration costs. You can also use Optimizer to
automate the model calibration process, where
one or more parameters are fine-tuned so that
Interface
Combines the speed, power, and sophisticated
process models of GPS-X with the flexibility and
controller design capabilities of Matlab. You have
total control over which GPS-X outputs are sent to
Matlab, and which GPS-X variables are controlled
by Matlab. This allows you to concentrate on fine-
tuning your controller design, dramatically improving
your productivity.
Scenario Manager
Designed as a tool for running simulations of
specific pre-defined operational scenarios using a
simple intuitive ''VCR'' like interface. Allows your
plant staff to quickly make day-to-day decisions
about plant operations using pre-configured GPS-X
layouts and operating scenarios.
the predicted and measured data fit more
closely.

Dynamic Parameter Estimator

Continuously updates model calibration with the
most recent plant information. When connected
on-line to your plant, parameter values are
tracked to detect changes that give early Familiar ''VCR-like'' feel of Scenario Manager interface gives
warning of sensor malfunction or a potential your operators a powerful tool for evaluating various operational
scenarios
plant upset.

WASTEWATER PROCESS MODEL LIBRARIES

GPS-X incorporates the latest developments in wastewater process model technology to provide you
with a comprehensive and realistic model of your treatment plant. Each wastewater model library is
available in two versions: Basic and Full. The Full library includes all of the wastewater process
objects included in the Basic version plus additional unit processes.

Carbon-Nitrogen Industrial Pollutant

For modelling carbon oxidation, nitrification and Combines Carbon-Nitrogen library and 30 user
denitrification. definable components. Required for industrial
wastewater treatment applications.

Carbon-Nitrogen- Phosphorus
Builds on the Carbon-Nitrogen library by including
models for biological AND chemical phosphorus
removal.
Advanced Industrial Pollutant
Combines the Advanced Carbon-Nitrogen library
with the Industrial Pollutant library.

Advanced Carbon- Nitrogen Open

Similar to Carbon - Nitrogen library, but fate of
nitrite and nitrite nitrogen are modelled separately.
Also includes inert nitrogen (both soluble and
particulate form) and inert non-volatile solids
(ash).
Contains 15 fully customizable components.
Possible applications include modelling of paper
production, chemical industry processes,
petroleum, etc.
 Process object titles in blue indicate additional objects available in Full version.
Settlers and clarifiers in Basic version are one dimensional and non-reactive.
Full version adds 2 dimensional reactive capability.

Wastewater Components Available in ALL Libraries

Wastewater Components Specific To

Wastewater Components Anaerobic Digestion

Soluble carbonaceous BOD5 Inert non-volatiles

Particulate carbonaceous BOD5 Heterotrophic methanogens

Total carbonaceous BOD5 Volatile Suspended Solids (VSS)

Total carbonaceous BOD20 Volatile Fatty Acids (VFA)

Soluble COD Total carbon dioxide (CO2)

Particulate COD CO2 in gas phase

Total COD Toxic material

Soluble TKN Ammonium + ammonia nitrogen

TKN Net cations

NOx* Methane gas

Total nitrogen (TN)

Inert non-volatiles

Volatile suspended solids (VSS)

Suspended solids (TSS)

*
Advanced Carbon-Nitrogen and Advanced Industrial
Pollutant libraries only

Library-Specific Wastewater Components

Wastewater Components CN CNP IP Adv. CN Adv. IP Open

Oxygen yes yes yes yes yes
Inert particulate organic material yes yes yes yes yes
Inert soluble organic material yes yes yes yes yes
Slowly bio-degradable substrates yes yes yes yes yes
Soluble hydrolizable substrates yes yes
Readily bio-degradable organic substrates yes yes yes yes yes
Fermentable soluble substrates yes
Volatile fatty acids (VFA) yes
Inert non-volatile solids (ash) yes yes
Bacteria decay products yes yes yes yes yes
Cell internal storage products yes
Stored glycogen yes
Particulate biodegradable nitrogen yes yes yes yes yes
Soluble biodegradable nitrogen yes yes yes yes yes
Ammonium + ammonia nitrogen yes yes yes yes yes
Nitrate+nitrite nitrogen yes yes yes
Nitrite nitrogen yes yes
Nitrate nitrogen yes yes
Dinitrogen yes yes
Particulate inert nitrogen yes yes
Soluble inert nitrogen yes yes yes
Soluble phosphorus yes
Poly-hydroxy-alkanoates (PHA) yes
Stored polyphosphate (fixed) yes
Stored polyphosphate (releasable) yes
Heterotrophic organisms yes yes yes yes yes
Nitrifying organisms yes yes yes
Nitrosomanas organisms yes yes
Nitrite-oxidising organisms yes yes
Phosphate-accumulating organisms (PAO) yes
Metal-hydroxides yes
Metal-phosphate (MePO4) yes
Alkalinity yes yes yes yes
10 user definable states yes
15 user definable states yes
30 user definable states yes

TECHNICAL SPECIFICATIONS

Basic Simulator Features

Steady state AND dynamic simulation software.

Completely interactive, allowing fast feedback

and analysis of results, saves time compared to
using "batch" (run and observe) simulators.

Built in unit conversion to non-SI units (e.g. US

units).
Customize an interface and run your GPS-X simulations from
programs such as Microsoft Excel.
Flexible data input and graphical output
features (graphs, data files, DDE, etc.).
Wastewater Process Models
Communicates with spreadsheet programs
(e.g. Microsoft Excel).
Biological Models
All forms are populated with default values from
scientific literature. ASM1, ASM2, ASM2d, ASM3, Mantis
(Temperature-dependent version of the ASM1),
Reads and uses real plant data as simulation General (ASM1 extended to bio-P removal), VNP
inputs or for comparison to simulation results. (Simplified bio-P model), Reduced (Simplified
carbon-nitrogen model for control engineering
applications), Filamentous Growth.
Automatic process consistency check and
warnings.

Capable of supporting different languages. Settling Models

Y2K compliant. Double exponential, flux-based.

Advanced Simulator Features
Customizable (user can change models and
interface forms, can add new models).
Influent Models
BOD-based (Input BOD, TSS, TKN and
stoichiometry), ASM2 (Input COD, TSS, TKN and
fractions of basic variables), States (input basic
variables).

On-line automated real-time operation

capability.
Fixed Film Models
Can be connected to SCADA systems.
ASM1, ASM2, Mantis (Temperature dependent
 version of the ASM1).
Automatic calibration, advanced sensor fault
detection, process fault detection, automated
forecasting available.
Anaerobic Model
Contains built-in routines for On-Off, P, PI, PID,
and lead-lag feedforward control simulation. Andrews-Barnett basic two-stage anaerobic
model. VSS destruction, VFA generation, CH4
and CO2 generation, pH, ammonium toxicity.
Built in PID controller tuning facility.

Dynamically links to Matlab for design and

simulation of advanced model based control Filtration Model
systems.
Iwasaki-Horner suspended solids capture model.

Unit Operations Miscellaneous

Influent Empirical models for grit removal, dewatering,

disinfection, filtration, and black box.

Splitters, 2 to 5 streams

Combiners, 2 to 5 streams Documentation

Pumping Station (Wet Well) User Guide: Detailed description of interface

features.
Equalization Tank
Technical Reference: Detailed description of all
libraries and models.
Grit Chamber
Tutorial: 10 step-by-step lessons for beginners.
Activated Sludge Tanks (CSTR, Plug-flow tank,
Dual inlet plug-flow tank) Getting Started: Easy installation notes for all
supported platforms.
Sequencing Batch Reactor
Entry Level Manual.
Trickling Filter
Advanced Control Module Manual.
Biological Aerated Filter
All documentation is directly accessible from
Rotating Biological Contactor the software (in Adobe Acrobat PDF format).

Deep Shaft

Thickener System Requirements

Dewatering
Minimum:
Primary Settlers (Circular and rectangular)
90 MHz Intel Pentium PC
Final Clarifiers (Circular and rectangular)
32 Mb RAM
Aerobic Digester
175 Mb Hard Disk Space
Anaerobic Digester
SVGA (800x600, 256 colour) graphics card and
Sand Filter 15 inch monitor

Disinfection Windows 95, 98 or NT 4.0

Black Box (18 predefined transfer functions for

empirical modeling, user customizable)
Recommended:
Tools (Signal tracking and alarm, pH model,
sampler, flow or time based composite 350 MHz Pentium II PC
samples, PID controller, feedforward-feedback
controllers, on-off controller, multivariable
controller, low-pass filter) 128 Mb RAM

1024 x 768 resolution, 64k colour, 17inch

monitor

Detailed specifications are also available.