SIC^2: Simulation and Integration of Control for Canals

Hydraulic calculations with Cassiopée

David Dorchies — 2022-02-02T15:33:10Z

The Cassiopée software was developed by the ecohydraulic R&D pole gathering OFB (French Office for Biodiversity) and IMFT (Fluids Mechanics Institute of Toulouse) and by UMR G-EAU (Joint Research Unit "Water Management, Actors, Territories").

It includes tools for designing fish crossing devices for upstream and downstream migrations, and hydraulic calculation tools useful for environmental and agricultural engineering.

Import geometry from a DTM or a geometer reading

David Dorchies — 2019-10-22T12:05:56Z

We offer an online tool to extract cross profiles and create a SIC text import file from a DTM (Digital Terrain Model) or a geometer reading:

http://sic.g-eau.fr/sic_tools/import_xyz.html

Two methods of extracting cross profiles are proposed: one is more suitable for homogeneous point measurements such as DTMs, the other is more suitable for surveyor measurements where cross profiles have been recorded.

Format of the import file for points with coordinates (X, Y, Z)

The import file is a text file containing 3 columns representing the abscissa, ordinate and altitude in an orthonormal and metric reference frame of the geometry points recorded in the field (For example, points referenced in the Lambert coordinate system for France). The accepted separators for the columns are tabulation, semicolon and comma. The character used for decimals is the point.

Example of a file in Lambert coordinates with tab separator:

It is recommended to put the tool directly in full screen before importing the file. The import consists in choosing the file on the hard disk using the "Browse..." button and clicking on the "Process file" button.

Trace of the central flow route

Once the file has been imported, you must indicate where the stream to be digitized is located by drawing the central flow route with the mouse. This is done by placing, with a mouse click, nodes that will form a set of segments.

The kilometric point (pK) is indicated at each plotted node. It is possible to restart your route by clicking on the "Reset route" button.

Extraction of cross profiles from a DTM

This tool allows cross profiles to be extracted at regular intervals by transforming the point reading into a digital terrain model using the Delaunay triangulation method.

Access to this tool is via the "Export for SIC²" button. The tool parameters are as follows:

Space step (m): the desired space step between each cross section (in meters);
Section width (m): the maximum width of the section (in meters). Beyond this distance from the center line, the intersections of the section with the edges of the Delaunay triangles will be ignored;
Max length of triangle edges (m): Maximum length of the edges of the Delaunay triangles.

Pressing the "Generate section profiles" button starts the tool with the selected parameters. The result is displayed graphically and produces a text to copy and paste into the EdiSIC text format cross section and profile import tool. The operation may take time and you must wait even if the browser indicates that a script is blocking the operation of the application.

Extraction of cross profiles from a survey of cross profiles

This tool automatically creates sections for SIC² at the location where cross-sectional profile surveys were performed. The algorithm converts the coordinates of the points into a reference point corresponding to the line of the central flow line (pK axis). It then groups the related points by section.

Access to the tool is via the "Export pK coords for SIC²" button. The tool parameters are as follows:

Max length between points (m): maximum distance along the pK axis between two points for a grouping in the same section (in meters);
Max width of cross profiles (m): maximum width of cross sections (in meters). Beyond this width, the points are ignored.
Min number of points in section: minimum number of points to constitute a cross section. If a grouping of points does not reach this minimum limit, the section is ignored.

Import geometry from Mike 11 file

David Dorchies — 2019-10-22T09:30:25Z

The Mike 11 software (https://www.mikepoweredbydhi.com/products/mike-11) is a monodimensional free-form hydraulic modeling code based on the Saint-Venant equations developed by DHI (Dansk Hydraulisk Institut, or Danish Hydraulic Institute).

To import a file in Mike 11 format, use the online file conversion tool in Mike 11 format to Import sections and cross profiles in SIC text format : http://sic.g-eau.fr/sic_tools/import_mike11.html

Another option is, under Mike 11, to export the sections in a txt file in raw data mode, then to launch a routine under Matlab (script mike2sic.m) which will convert this file into another txt file in the format of import from SIC, and finally to import the data from this file into a reach. As an option, the section format can be converted from abscissa-elevation to width-elevation (routine ac2lc), as well as reducing the number of description points (routine F_Approx_Sections_v6). These routines are available upon request.

Cross sections from MIKE11 can be exported by following the steps below:

Open MIKE Zero
Open the .xns11 through Open (or drag and drop)
Select File >> Export All Sections >> Export Raw Data…
Save the cross sections out as a .txt file

Description of the offtakes

David Dorchies, Pierre-Olivier Malaterre — 2017-09-24T11:47:08Z

Access to the description of an offtake by double-clicking a node in the graph or in the tree view.

From SIC 5.20, intermediate nodes can have multiple offtakes.

Characteristics of an offtake

Each offtake has the following characteristics:

A downstream boundary condition which can be an imposed flow $Q(t)$, a fixed elevation $Z(t)$, a rating curve $Q(Z)$ (or rather $Z(Q)$ ), or a law function $Q=Z^{\alpha}$ (or rather $Q(t)=Q_{ref} [(Z(t)-Z_{0})/(Z_{ref}-Z_{0})]^{\alpha}$ to be more precise)

Optionally a first level of structure with one or more devices including one may be regulated in order to obtain a discharge goal.
Possibly a second level of structure downstream of the first containing one or more fixed devices.

Regulate an offtake for obtaining a targeted discharge

In steady (FLUVIA) and unsteady (SIRENE) calculation, it is possible to calculate a characteristic of a device (opening of a gate, sill of a weir...) situated in the first level of structure to obtain a defined discharge (called "targeted discharge" or maybe sometimes also "objective discharge") at the offtake.

Initial discharge

The initial discharges serves two purposes :

The initial discharge at the offtakes is used to calculate the distribution of the discharge in the reaches of the network for the steady calculation (See Verification of initial rates).
When an offtake is not in regulation "targeted discharge" mode, the discharge calculation is performed by dichotomy and requires an initial discharge to start the calculation.

Reference discharge

The reference discharge is not directly used in hydraulic calculations. In EdiSIC result mode, it is used to calculate indices of performance by comparing the distribution (calculated discharge) and the request (reference discharge).

The reference discharge can also be used as an input by the regulation modules.

Sign convention for discharge

Since the discharges can enter or leave the hydraulic system (at nodes or at sections through lateral discharges or seepage), a sign convention had to be choosen. All discharges entering into the hydraulic system are positive. All discharges leaving the hydraulic system are negative. This is true at all nodes and cross sections for lateral discharges at the data input stage and also at the result display stage. For cross structures (gates, weirs, etc) the sign convention is positive for flows from upstream to downstream and negative for downstream to upstream flow directions.

Flags meaning

David Dorchies — 2017-04-27T13:38:36Z

Meaning of the codes "Error flag" at the offtake

The error flag at the offtake is used to control the results of a target discharge regulation at an offtake. Its meaning is as follow:

Code	Meaning
-4	Non convergence
-3	Downstream elevation superior to upstream elevation (the offtake is closed!)
-2	Sill elevation or downstream weir elevation superior to the upstream elevation
-1	The required discharge cannot be satisfied
0	The required discharge is null (the offtake is closed!) or there are no regulation at the offtake
1	The required discharge is satisfied

Meaning of the codes "Error Flag" at a section

The error flag (IF1 variable in results and/or XML file) has the following meanings:

Code	Meaning
10	Targeted water elevation at the regulator < downstream water elevation
9	Targeted water elevation at the regulator too high
8	Targeted water elevation at the regulator too low
7	Non convergence of regulator calculation
6	Device oversized relative to the geometry of the river (water depth < critical depth)
5	The surface width varies too quickly: unaccuracy calculation. Froude number is >1 while the calculation is located on a branch of the specific head HS(Y)
4	Large variation of elevation after calculation with small steps and slope of the water line still steep
3	Water line slope steep with small steps calculation
2	Passing by the critical depth in the first section
1	Subcritical flow
0	Supercritical flow
-1	Water elevation less than bottom elevation
-2	Enormous water level in the section
-3	Non convergence of critical depth calculation
-4	Negative discharge in the section
-5	Non convergence of water level calculation
-6	Non convergence of cross-structure calculation

Meaning of the "Type of flow" codes at a device

The type of flow (ITEC variable in the XML file) has the following meanings:

Code Meaning

-2 Free flow, open surface flow

-1 Submerged flow, open surface flow

0 Nil flow rate

1 Free flow, piped flow

2 Submerged flow, piped flow

8 Free flow, open surface flow with overflow

9 Submerged flow, open surface flow with overflow

11 Free flow, piped flow with overflow

12 Submerged flow, piped flow with overflow

Meaning of "Gec gates errors" codes at a device

The error codes of the GEC gates (IERR variable in the XML file) has the following meanings:

Code Meaning

0 OK

-1 J = Z1-Z2> JM for AVIS gates

-2 Closed gate - Water level below the level to be regulated - Increase Z1 (AMIL) or Z2 (AVIO / S)

-3 Fully opened gate - Water level above the level to be regulated - Decrease Z1 (AMIL) or Z2 (AVIO / S)

-4 Gates AMIL, ZMAX is not between 0 and D

-5 If R=<0 or HA-ZR>R or D=<0 or H=<0 or HA-H-ZR<-R (all gates except mixed gates)

-5 If R=<0, D=<0 or H=>0 (all mixed gates)

-6 AMIL with overflow (Z1>ZR+W+EC)

-7 Problem with the targeted flow too high for the selected gate

-8 AVIO with overflow (normally case not possible)

-9 AVIS with overflow (Z1>ZR+W+EC)

-10 If J = Z1-Z2 <0

Code	Meaning
-2	Free flow, open surface flow
-1	Submerged flow, open surface flow
0	Nil flow rate
1	Free flow, piped flow
2	Submerged flow, piped flow
8	Free flow, open surface flow with overflow
9	Submerged flow, open surface flow with overflow
11	Free flow, piped flow with overflow
12	Submerged flow, piped flow with overflow

Code	Meaning
0	OK
-1	J = Z1-Z2> JM for AVIS gates
-2	Closed gate - Water level below the level to be regulated - Increase Z1 (AMIL) or Z2 (AVIO / S)
-3	Fully opened gate - Water level above the level to be regulated - Decrease Z1 (AMIL) or Z2 (AVIO / S)
-4	Gates AMIL, ZMAX is not between 0 and D
-5	If R=<0 or HA-ZR>R or D=<0 or H=<0 or HA-H-ZR<-R (all gates except mixed gates)
-5	If R=<0, D=<0 or H=>0 (all mixed gates)
-6	AMIL with overflow (Z1>ZR+W+EC)
-7	Problem with the targeted flow too high for the selected gate
-8	AVIO with overflow (normally case not possible)
-9	AVIS with overflow (Z1>ZR+W+EC)
-10	If J = Z1-Z2 <0

GEC-Alsthom gates (AMIL, AVIS, AVIO, Mixtes)

David Dorchies — 2017-04-27T13:02:15Z

The Gec-Alsthom gates are also available: AMIL, AVIS, AVIO and Mixte gates.

When you select a type and reference, the default values (as suggested in the Gec-Alsthom documentation) are proposed for the different parameters. You can modify them if you want. But be aware that the correct functioning of these gates depend on the correct selection of these parameters. When you select a new type or reference, or when you change the radius of the gate, the maximum allowed head loss Jmax, the corresponding discharge Q for Jmax, the maximum allowed discharge Qmax, and the corresponding head loss J for Qmax are indicated in order to help you to select the proper reference linked to your local hydraulic conditions.

The abacus recalculated from the equations we programmed are displayed in Annex. We can verify they fit the original ones of Gec-Alsthom.

Type

The "type" corresponds to the range of the selected valves (Amil, Avio High head, Avio Low head, Avis High head, Avis Low head, Mixed without mask max. opening 45°, Mixed without mask max. opening 55°, mixed with mask).

Reference

The "reference" corresponds to the manufacturer catalog Gec Alsthom (now Hydrostec). If you want to model a different gate you can select "other." In this case we use some dimensions required for the calculation determined from the radius R indicated by drawing values close to conventional gates:

-* Amil : -** D=1.6*R -** E=0.95*R -** b=0.91*R (Width at bottom) -* Avis high head: -** E=0.81*R -** b=1.19*R -* Avis low head: -** E=0.95*R -** b=1.19*R -* Avio high head: -** L=0.5*R - Avio low head: -** L=R

Decrement

The "decrement" is the difference between the minimum and maximum regulated levels. For stability reasons this decrement can not be null. For an AMIL gate the default value suggested by the manufacturer (and the SIC software) is d=0.02*D. For an AVIS gate, the default value is d=0.028*R (low head) and d=0.032*R (high head). For an AVIO gate, the default is d=0.028*R (low head and high head).

Axis elevation

The "axis elevation" is the elevation of the axis of rotation of the gate. It corresponds to the set point for Q=0 for the AVIS, AVIO and the AMIL gates in alternate setting (or for Q=Qmax for an AMIL gate in conventional setting). The default axis elevation proposed by the manufacturer is calculated and proposed by the SIC software.

Sill elevation

The "sill elevation" is the elevation of the bottom of the civil engineering work at the point where the gate stops in full closure.

Radius

The "radius" is the radius of the radial gate. It is proposed automatically according to the reference of the chosen gate, but it can be modified. It is an essential parameter for calculating the operation of the gate.

Discharge equations

The equation "GOU 93" corresponds to the equation deduced from a document provided by Goussard, former engineer of Gec-Alsthom, and written in 1993.

The equation "CEM 02" corresponds to an equation developed by Cemagref in 2002.

Maximum opening

The variable "maximum opening" corresponds to the actual blocked opening of the gate if the equation chosen is "CEM 02 (V)" and corresponds to the maximum opening reached for the adjustment related to the decrement of the gate if the equation chosen is "GOU 93". A default value corresponding to the mechanical stop is offered by default depending on the type and reference of the gate. This value can be changed if a different stop limits or maximizes the maximum reachable opening.

For an Amil gate in conventional setting the gate will be at this max opening as soon as the level of the upstream water will be >= the elevation of the axis. For an Amil gate in an alternative setting, the gate will be at this max opening as soon as the level of the upstream water is >= the axis elevation + decrement. For an Amil gate in intermediate setting the gate will be at this max opening as soon as the upstream water level is >= the axis elevation + Z upstream max (see below for the definition of this variable).

For the Avis and Avio gates, the gate will be at this max opening as soon as the level of the downstream water is <= the elevation of the axis - decrement. Changing this value amounts to modifying the stop controlling the maximum opening of the gate and to modify the balancing of the gate.

Minimum Opening

By default, GEC gates in SIC have a minimum closing opening of 0.5% of the gate radius. This makes it possible to mimic the fact that these gates are not perfectly sealed and facilitates the computation in steady state for the AVIS and AVIO gates because a gate completely closed would generate a very important head which will propagate from downstream upstream.

Z upstream max

The variable "Z upstream max" corresponds to the maximum water height in relation to the axis elevation (corresponds to the setting in the case of the AMIL gate): 0 <= Zmax <= d. Zmax = 0 for the standard setting and Zmax = d for the alternate setting. Intermediate settings are possible. For the conventional adjustment, the upstream levels will therefore vary between Z = elevation of the axis - d for Q=0 and Z = axis elevation for Q=Qmax. For the alternative setting, the upstream levels will therefore vary between Z = axis elevation for Q=0 and Z = axis elevation + d for Q=Qmax. This variable is not used for gates other than Amil gates.

Filtrering S1/S2

The variable "Filtering S1/S2" makes it possible to filter the water elevation influencing the displacement of the float of the gate. We do not currently use this variable for Amil gates. One could imagine using it to mimic the damping related to the piston damper installed on these gates. For the Avis and Avio gates, this value mimics the filtering linked to the tank in which the float is located. Theoretically, the coefficient S1/S2 to be entered here corresponds to the ratio between the free surface of the water in the tank around the float divided by the surface of the orifice which causes the tank to communicate with the channel downstream. In practice, however, this coefficient must be increased to take account of the additional head losses associated with the possible piping of this water intake.

Tray offset

The variable "Tray offset" corresponds to the deport of the water intake of the tank towards the downstream reach. In practice, in particular when there are several gates in parallel, the water intake of the tank(s) is connected to a pipe communicating with the downstream reach several meters downstream of the gate in a tranquilized zone. This offset is given in meters (SIC then searches for the water elevation value in the nearest calculation section).

Regulation modules

David Dorchies — 2017-04-11T17:35:07Z

In SIC^2, a regulation module corresponds to a set of regulators (also called controllers) which will operate simultaneously during a simulation. It is possible to define several control modules in a project, thus stored in the xml file and potentially available for all scenarios and variants. For each scenario, it is necessary to define which control module to use before starting a simulation. If a regulation module is selected for a scenario, it will also be active for all its variants. To deactivate it in a variant, it must be disabled in the parent scenario. It is of course possible to select none, but at most one. It can be said that a regulation module can make it possible to define a logic for managing a network, possibly comprising several regulators or controllers.

The regulation modules can be used both in unsteady-state calculation and steady-state calculation. Apart from the fact that the iterations of the regulation modules (they will be called regularly to read Y and Z data and calculate U commands) will be done either on the instants of the transient regime or on the instants of the successions of steady state regimes, the calculation principles are very similar. There is however a difference on the mode of calculation of the variables in relative mode. Indeed this relative mode considers a variable in relation to its initial value at t=0, and is therefore relevant in transient. However on the successions of calculations in steady state regimes there is no notion of initial time and therefore the relative mode will in fact work like the absolute mode.

The regulation modules can be accessed from hydraulic mode of SIC^2 either via the menu Tools> Regulation modules, or by right-clicking on a blank area of the network graph.

The window that appears allows you to:

Add, delete and modify regulation modules in the current project.
Select a regulation module to be used for the simulation.

Choosing a regulation module

If you do not want to use a regulation module, click the "No Module" button. If not, choose a regulation module from the list and click on "Select".

In hydraulic mode, for scenarios and variants editions, all the controllers of the selected regulation module will appear on the network graph. Unless of course, for example to lighten the display, or to hide some controllers less important than others, some of them are declared as non-visible (click or not on the box Visible to the right of the name of the Controller in the list). The variables U are connected to the box representing the regulator with a red line. Y variables with a dark green line. Variables Z with a light green line.

Editing a regulation module

The principle of the regulation modules in this version is, on the one hand, to define the measuring points (measured variables Z), controlled variables (controlled variables Y and their setpoints as a function of time YT, if necessary) and control action variables (U), and on the other hand to specify the method of regulation acting on these points, whatever their nature and location.

This method can be chosen from an existing library. The regulation methods proposed for now are:

AMIL (Gec-Alsthom control gates, but old option available in version 4 of SIC, it is now possible to directly select this device in the library of devices, which is much better)
AVIS (same remark as for AMIL)
AVIO (same remark as for AMIL)
ATV (Auto Tuning Variation, to automatically calibrate a PID controller)
ATVPID (Method that applies the ATV method initially and then starts the PID as soon as ATV has supplied the parameters of the PID, and switches from one to another. The temporisation can be used to wait for hydraulic stabilization before switching to the next U)
BIVAL (Method controlling a virtual intermediate point obtained as a linear combination of an upstream point and a downstream point, which, if well chosen, corresponds more or less to controlling a volume in this section.) Method developed by the Sogreah in the 80s)
BOLST (open loop provided as a text file)
BOMAT (open loop provided as a MatLab .mat file)
BOSCI (open loop provided as a .dat SciLab file)
DIGEST (simulator of the SCADA digester inspired by that of the Gignac irrigation canal, cf. SCADA below)
DSS (discrete controller in the state space whose matrices A, B, C and D are given in a MatLab .mat file, allowing to simulate any LTI = Linear Time Invariant controller)
FILEX (data exchange U, Y, YT and Z in an external file)
GPC (Generalized Predictive Controller. Not active in this release)
LP (calculation of the LP norm of a chosen Z signal)
MATLAB (DDE link with MatLab)
PID (Controller Proportional, Integral, Derivative)
PLOT (drawings, in development. Not active in this release)
PUMPS (pumps start and stop according to water elevations, see example and specific documentation)
PRINT (writing of the variables U, Y, YT and Z chosen on the .LST file)
QSCP (typical scenario of irrigation canal offtake withdrawals)
SCADA (simulator of the SCADA inspired by that of the Gignac channel, cf DIGEST above)
SCILAB (DDE link with SciLab)
STEPS (automatic generation of steps)
STOP (interruption of the calculation allowing to mimic a manual regulation)
USER1 to USER9 (9 modules open to the user, to be programmed in FORTRAN in DLLUSERn.FOR (n = 1 to 9) and then to compile with the Digital or Intel compiler, cf MkDllUser.bat under sic/prog. It will replace the initial empty dll under sic/exe).
WDLANG (possibility to write a script in WdLanguage of Windev)

Examples are provided for each of these methods.

These control methods use the variables U, Y, YT and Z or sometimes just a sub-part of these variables. For example, the LP method does not calculate a variable U, and does not use the variables Y or YT since it simply computes the norm Lp of the measured variables Z. If the minimum number of these variables is not supplied, an error message will be indicated when the calculation is executed.

The variables used by the different methods are shown in the following table. This table is important because it indicates, for example, that if you use the PID control method, you will have to set the controlled variable as Y variable, not as Z variable.

Method U (control variables) Y (controlled variables) YT (target on controlled variables) Z (measured variables) Mono or Multivariable

AMIL, AVIS, AVIO X X: must be given by water depth SISO

ATV X X X Option if calculating parameters from Z instead of U. Option also if ATV is to be applied to a weighted combination of Z such as for a Bival controller SISO but duplicated if nu>1

ATVPID X X X Option if calculating parameters from Z instead of U MIMO with successive SISOs sent to ATV then PID

BIVAL X X: a variable Y(1) must be defined, even if it is recalculated from Z(1) and Z(2), but thus makes available the trajectories over time YT X X 2ISO but duplicated if nu>1

BOLST X SISO but we can have several that share the same parametrization file BOLST.TXT

BOMAT, BOSCIL X MO

DIGEST X X X X MIMO

DSS X X X X MIMO

FILEX X X X X MIMO

GPC X X X X Not active

LP X MI

LQR X X X X Not active

MATLAB X X X X MIMO

PID X X X SISO but duplicated if nu>1

PUMPS X X X SISO but SI2O if nu=2: the flow is reinjected elsewhere: U(2) = - U(1)

PRINT X X X X MIMO

QSCP X SISO but duplicated if nu>1

SCADA X X X X MIMO

SCILAB X X X X MIMO

STEPS X: All U are moved in the same way Option: written on LST file X: the trigger threshold is calculated on the min of all Z MIMO

STOP X X MIMO

USER1 to USER9 X X X X MIMO

WDLANG X X X X MIMO

Network chart modification

David Dorchies — 2016-01-12T16:55:40Z

This tool allows to draw again the network chart keeping the proportions of the Sections Chainage in the reaches.

This option does work completely satisfactorily for meshed and / or looped networks

Section settings modification

David Dorchies — 2016-01-12T16:51:48Z

This tab allows to modify the settings related to the Preissmann slot used in case of closed-conduit flow.

For the selected Sections, one can define:

a fixed slot width;
a width calculated for each Section from a fixed sound celerity.

Section Profiles modification

David Dorchies — 2016-01-12T16:43:25Z

This tool allows to apply a cross profile to all the selected sections. The profiles get into position in altitude from the bottom elevation of the sections.

Predefined profiles are particularly useful in order to easily modify the profil of all the Sections having the same template afterwards.

Method	U (control variables)	Y (controlled variables)	YT (target on controlled variables)	Z (measured variables)	Mono or Multivariable
AMIL, AVIS, AVIO	X	X: must be given by water depth			SISO
ATV	X	X	X	Option if calculating parameters from Z instead of U. Option also if ATV is to be applied to a weighted combination of Z such as for a Bival controller	SISO but duplicated if nu>1
ATVPID	X	X	X	Option if calculating parameters from Z instead of U	MIMO with successive SISOs sent to ATV then PID
BIVAL	X	X: a variable Y(1) must be defined, even if it is recalculated from Z(1) and Z(2), but thus makes available the trajectories over time YT	X	X	2ISO but duplicated if nu>1
BOLST	X				SISO but we can have several that share the same parametrization file BOLST.TXT
BOMAT, BOSCIL	X				MO
DIGEST	X	X	X	X	MIMO
DSS	X	X	X	X	MIMO
FILEX	X	X	X	X	MIMO
GPC	X	X	X	X	Not active
LP				X	MI
LQR	X	X	X	X	Not active
MATLAB	X	X	X	X	MIMO
PID	X	X	X		SISO but duplicated if nu>1
PUMPS	X	X	X		SISO but SI2O if nu=2: the flow is reinjected elsewhere: U(2) = - U(1)
PRINT	X	X	X	X	MIMO
QSCP	X				SISO but duplicated if nu>1
SCADA	X	X	X	X	MIMO
SCILAB	X	X	X	X	MIMO
STEPS	X: All U are moved in the same way	Option: written on LST file		X: the trigger threshold is calculated on the min of all Z	MIMO
STOP	X			X	MIMO
USER1 to USER9	X	X	X	X	MIMO
WDLANG	X	X	X	X	MIMO