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1.
To achieve water quality goals and wastewater treatment cost optimisation in a river basin, a water quality management model has been developed through the integration of a genetic algorithm (GA) and a mathematical water quality model. The developed model has been applied to the Youngsan River, where water quality has decreased due to heavy pollutant loads from Kwangju City and surrounding areas. Pollution source, land use, geographic features and measured water quality data of the river basin were incorporated into the Arc/View geographic information system database. With the database, the management model calculated treatment type and treatment cost for each wastewater treatment plant in the river basin. Until now, wastewater treatment policy for polluted rivers in Korea has been, first of all, to construct secondary treatment plants for untreated areas, and secondarily, to construct advanced treatment plants for the river sections whose water quality is impaired and for which the water quality goal of the Ministry of Environment is not met. Four scenarios that do not use the GA were proposed and they were compared with the results of the management model using the GA. It became clear that the results based on the GA were much better than those for the other four scenarios from the viewpoint of the achievement of water quality goals and cost optimisation.  相似文献   

2.
A conventional activated sludge treatment facility was the subject of this study. The assessment was directed at determining the characteristics of the raw wastewater, the quality of the treated effluent and the efficiency of the various treatment units. Furthermore, the water quality along the effluent irrigation canal was monitored. The assessment of the quality of the treated effluent for irrigation is based on the guidelines established by the World Health Organization and the Egyptian decree 9/89 for the use of wastewater in agriculture. The results of the study indicated that the concentration of the raw wastewater was considered moderate. The mean values of the COD (Chemical Oxygen Demand), BOD (Biological Oxygen Demand) and total suspended solids (TSS) were around 250, 102 and 142 mg l–1, respectively. This was attributed to the high quantities of wastewater from industrial sources. The overall efficiency of the treatment facility was good. The mean residual COD, BOD and TSS were 25, 8 and 21 mg l–1 and the corresponding percentage removal values were 90, 92 and 85%, respectively. The maximum percentage removal of oil and grease was 84% with a mean residual concentration of 24 mg l–1. The total viable count (22°C and 37°C), faecal coliform and aecal streptococci were reduced by 99.9% compared to only 99.5% for Salmonella. Bacteriological examination of the dried sludge indicated a reduction of nine logs of faecal coliform and faecal streptococci, as compared to thickened sludge. Analysis of the Ni, Cu, Pb and Cr in the dried sludge indicated that their concentrations are within the permissible limits. Zinc exceeded the consent standards by 50%. The results of the analyses of samples collected at the beginning of the irrigation canal indicated insignificant changes from the characteristics of the final effluent. Samples collected at a distance of 2km along the irrigation canal showed mean reductions in the COD and BOD of 28.6 and 47%, respectively, which could be attributed to sedimentation and/or a self-purification effect. An increase in the total nitrogen, total phosphorus and total viable count was also recorded, which could be due to seepage from the agricultural land. From the data available it is evident that the treated wastewater could be used for restricted irrigation. The design and implementation of a monitoring programme is recommended.  相似文献   

3.
Constructed wetlands are widely used for wastewater treatment, but there is little information on processes affecting their performance in cold climates, effects of plants on seasonal performance, or plant selection for cold regions. We evaluated the effects of three plant species on seasonal removal of dissolved organic matter (OM) (measured by chemical oxygen demand and dissolved organic carbon) and root zone oxidation status (measured by redox potential [Eh] and sulfate [SO4(2-)]) in subsurface-flow wetland (SSW) microcosms. A series of 20-d incubations of simulated wastewater was conducted during a 28-mo greenhouse study at temperatures from 4 to 24 degrees C. Presence and species of plants strongly affected seasonal differences in OM removal and root zone oxidation. All plants enhanced OM removal compared with unplanted controls, but plant effects and differences among species were much greater at 4 degrees C, during dormancy, than at 24 degrees C, during the growing season. Low temperatures were associated with decreased OM removal in unplanted controls and broadleaf cattail (Typha latifolia L.) microcosms and with increased removal in beaked sedge (Carex rostrata Stokes) and hardstem bulrush [Schoenoplectus acutus (Muhl. ex Bigelow) A. & D. L?ve var. acutus] microcosms. Differences in OM removal corresponded to species' apparent abilities to increase root zone oxygen supply. Sedge and bulrush significantly raised Eh values and SO4(2-) concentrations, particularly at 4 degrees C. These results add to evidence that SSWs can be effective in cold climates and suggest that plant species selection may be especially important to optimizing SSW performance in cold climates.  相似文献   

4.
In this research, the performance of Polyaluminium Chloride (PAC) and Polyaluminium Chloride sludge (PACS) as coagulants for acid red 119 (AR119) dye removal from aqueous solutions were compared. The sample of PACS was collected from "Baba Sheikh Ali" water treatment plant (Isfahan, Iran) where PAC is used as a coagulant in the coagulation/flocculation process. A response surface methodology was applied to evaluate the simple and combined effects of the operating variables including initial pH, coagulant dosage and initial dye concentration and to optimize the operating conditions of the treatment process. Results reveal that the optimal conditions for dye removal were initial pH 3.42, coagulant dosage of 4.55 g dried PACS/L and initial dye concentration of 140 mg/L for PACS, while the optimal initial pH, coagulant dosage and initial dye concentration for PAC were 3.8, 57 mg/L and 140 mg/L, respectively. Under these optimal values of process parameters, the dye removal efficiency of 94.1% and 95.25% was observed for PACS and PAC, respectively. Although lower amount of PAC in comparison with PACS was needed for specific dye removal, the reuse of PACS as a low-cost material can offer some advantages such as high efficiency for AR119 dye removal and economic savings on overall water and wastewater treatment plant operation costs.  相似文献   

5.
Studies have been made of the growth characteristics of water hyacinth, Eichhornia crassipes (Mart.) Solms, and its ability to remove N, P and K, in a secondary settling pond of a small secondary sewage treatment plant serving both the academic and residential blocks of the Swire Marine Laboratory, University of Hong Kong. The treatment plant consists of, in series, a primary settling tank, a trickling filter compartment and a secondary settling pond from which part of the treated wastewater is recycled to the primary settling tank while the remaining effluent (1 to 2 m3 daily) mixes with and hence is diluted by the outflowing seawater from the aquarium system of the Swire Marine Laboratory before discharge to the sea. Samples of wastewater have been taken regularly from the primary sedimentation pond, the outflow of the trickling filter, the secondary settling pond and the effluent of the treatment plant (before mixing with aquarium outflow) since January, 1992. Physical, chemical and biological characteristics of the samples have been determined and are typical of secondary effluents, with a mean pH of about 7.5, total solids 1200 mg L−1, suspended solids 45 mg L−1, conductivity 2000 μS cm−1, salinity 1 ppt, dissolved oxygen 2 mg L−1, BOD5 45 mg L−1, Kjeldahl-N 30 mg L−1, NH4,-N 25 mg L−1, NO3-N 4 mg L−1, total P 10 mg L−1, K 35 mg L−1 and total coliforms of less than 105 colonies 100 ml−1.Water hyacinth plants have been stocked in the secondary settling pond as an integral part of the treatment plant so as to improve the quality of, as well as to retrieving and recycling nutrient elements from, the wastewater. The plants are periodically harvested to maintain an active growing crop. The growth rate, standing crop biomass, tissue nutrient composition, nutrient storage and accumulation rate of two growth cycles, one from February 25 to March 18 (mean temperature 17.6°C) and the other from 22 April to 12 May (24.8°C) are reported. The water hyacinth assumed a relatively high standing crop biomass of 10 kg m−2 (5 to 6 t DM ha−1), and growth rates of 48 and 225 g m−2 day−1, respectively, for the first and second growth period. Nutrient storage capacities were relatively high, at about 20, 7.5 and 16.5 g m−2 for N, P and K, respectively. The nutrient composition was very high, reaching 5.42% for N, 1.97 for P, and 4.57 for K. Both the stem and lamina accumulated high levels of N, while the petiole had the highest level of P and K. Apart from nutrient removal, the water hyacinth also helped to decrease the suspended solids, BOD5 value and total coliforms of the wastewater.It is concluded that water hyacinth improves the quality of wastewater in such small-scale sewage treatment plants and it is recommended that frequent harvests of water hyacinth would increase the treatment efficiency, especially during the active growing season with high temperatures coupled with intense solar radiation.  相似文献   

6.
Bioenergy production from biomass is proposed as a method to solve part of the nation's energy problem. However, biomass and bioenergy production is questioned as an environment-friendly approach due to the potential increase of water pollution and the potential decrease of available water resource. A conceptual model of an integrated natural waste treatment system that produces biogas and biomass for bioenergy, treat waste and wastewater, conserve fresh water, and decrease the potential water pollution is presented. The potential biomass production from water hyacinth, duckweed, cattail, and knotgrass was investigated using recycling wastewater from an integrated natural waste treatment system from 2005 to 2008. Although the biomass production from recycling wastewater was not controlled for maximum production, this research identified the large potential impact that could be made if these systems were implemented. The overall average water hyacinth growth rate was high to 0.297 kg wet wt./m2/day during a research period of over 500 days, including both the active and non-active growing seasons. The average daily growth rates of duckweed, cattail, and knotgrass were 0.099-0.127, 0.015, and 0.018 kg wet wt./m2, respectively. This research illustrated that water hyacinth was a more promising aquatic plant biomass for bioenergy production when wastewater effluent was recycled as water and nutrient sources from an integrated natural waste treatment system.  相似文献   

7.
Nitrous oxide (N?O) is a long-lived and potent greenhouse gas produced during microbial nitrification and denitrification. In developed countries, centralized water reclamation plants often use these processes for N removal before effluent is used for irrigation or discharged to surface water, thus making this treatment a potentially large source of N?O in urban areas. In the arid but densely populated southwestern United States, water reclamation for irrigation is an important alternative to long-distance water importation. We measured N?O concentrations and fluxes from several wastewater treatment processes in urban southern California. We found that N removal during water reclamation may lead to in situ N?O emission rates that are three or more times greater than traditional treatment processes (C oxidation only). In the water reclamation plants tested, N?O production was a greater percentage of total N removed (1.2%) than traditional treatment processes (C oxidation only) (0.4%). We also measured stable isotope ratios (δN and δO) of emitted N?O and found distinct δN signatures of N?O from denitrification (0.0 ± 4.0 ‰) and nitrification reactors (-24.5 ± 2.2 ‰), respectively. These isotope data confirm that both nitrification and denitrification contribute to N?O emissions within the same treatment plant. Our estimates indicate that N?O emissions from biological N removal for water reclamation may be several orders of magnitude greater than N?O emissions from agricultural activities in highly urbanized southern California. Our results suggest that wastewater treatment that includes biological nitrogen removal can significantly increase urban N?O emissions.  相似文献   

8.
The aim of present study was to investigate the quality of the produced effluent from different units of the Iran Central Iron Ore in Bafq city and comparison of effluent with the standards. This study presents the physicochemical and biological parameters data of effluent of three Sequencing batch reactors (SBR) with a capacity of 160 m3?d?1. Most common parameters include pH, total suspended solids (TSS), total nitrogen (TN), total phosphorus (TP), biochemical oxygen demand (BOD5), chemical oxygen demand (COD), heavy metals, and total coliforms and fecal coliforms as biological indicators. Then, for each SBR system, the average of each parameter was determined, and results were compared with the standard recommended by the Iranian Environmental Protection Agency. Based on the results, some of the parameters, including BOD5, COD, and TSS in the wastewater treatment plant (WWTP) effluent, are higher than the permitted amount for discharge to the surface water. Considering the BOD5, COD, and TSS concentration in WWTPs, the treated wastewater is only suitable for agricultural and irrigation use. Therefore, wastewater produced by Iran Central Iron Ore Co. will need additional treatment to achieve standard quality of water before discharge in surface water and adsorbent well.  相似文献   

9.
本文采用二段生物处理和物化处理相结合的处理方法处理某大学校区生活污水,实现处理效率高、占地面积小、工程投资低等特点,处理后各项指标均达到《生活杂用水水质标准》(CJ25.189),处理费用为0.690元/m^3。  相似文献   

10.
There is a proactive interest in recovering water, nutrients and energy from waste streams with the increase in municipal wastewater volumes and innovations in resource recovery. Based on the synthesis of wastewater data, this study provides insights into the global and regional “potential” of wastewater as water, nutrient and energy sources while acknowledging the limitations of current resource recovery opportunities and promoting efforts to fast-track high-efficiency returns. The study estimates suggest that, currently, 380 billion m3 (m3 = 1,000 L) of wastewater are produced annually across the world which is a volume five-fold the volume of water passing through Niagara Falls annually. Wastewater production globally is expected to increase by 24% by 2030 and 51% by 2050 over the current level. Among major nutrients, 16.6 Tg (Tg = million metric ton) of nitrogen are embedded in wastewater produced worldwide annually; phosphorus stands at 3.0 Tg and potassium at 6.3 Tg. The full nutrient recovery from wastewater would offset 13.4% of the global demand for these nutrients in agriculture. Beyond nutrient recovery and economic gains, there are critical environmental benefits, such as minimizing eutrophication. At the energy front, the energy embedded in wastewater would be enough to provide electricity to 158 million households. These estimates and projections are based on the maximum theoretical amounts of water, nutrients and energy that exist in the reported municipal wastewater produced worldwide annually. Supporting resource recovery from wastewater will need a step-wise approach to address a range of constraints to deliver a high rate of return in direct support of Sustainable Development Goals (SDG) 6, 7 and 12, but also other Goals, including adaptation to climate change and efforts in advancing “net-zero” energy processes towards a green economy.  相似文献   

11.
Palm oil mill effluent (POME) is highly polluting wastewater generated from the palm oil milling process. Palm oil mill effluent was used as an electrolyte without any additive or pretreatment to perform electrocoagulation (EC) using electricity (direct current) ranging from 2 to 4 volts in the presence of aluminum electrodes with a reactor volume of 20 L. The production of hydrogen gas, removal of chemical oxygen demand (COD), and turbidity as a result of electrocoagulation of POME were determined. The results show that EC can reduce the COD and turbidity of POME by 57 and 62%, respectively, in addition to the 42% hydrogen production. Hydrogen production was also helpful to remove the lighter suspended solids toward the surface. The production of Al(OH)XHO at the aluminum electrode (anode) was responsible for the flocculation-coagulation process of suspended solids followed by sedimentation under gravity. The production of hydrogen gas from POME during EC was also compared with hydrogen gas production by electrolysis of tap water at pH 4 and tap water without pH adjustment under the same conditions. The main advantage of this study is to produce hydrogen gas while treating POME with EC to reduce COD and turbidity effectively.  相似文献   

12.
The synthesis of distributed wastewater treatment plants (WTPs) has been studied to reduce capital and operating costs associated with wastewater treatment. In this study, the environmental and economic feasibility of a total wastewater treatment network system (TWTNS) including distributed and terminal WTPs was estimated using life cycle assessment (LCA) and life cycle costing (LCC) methods. Wastewater sources and existing distributed and terminal WTPs in an iron and steel plant were networked. The TWTNS was generated from the optimal solution to a mathematical optimization model and compared to a conventional wastewater treatment system (CWTS). The environmental effect scores of the TWTNS were from 29.6% to 68.3% higher than those of the CWTS because of higher electricity consumption required to pump wastewater to the networked WTPs. However, the life cycle cost of the TWTNS was lower than that of the CWTS by 10.1% because of the decrease of the labor cost resulting from the closing of three distributed WTPs. Overall, the TWTNS was no more eco-efficient than the CWTS because the increase of environmental burdens outweighed the decrease of economic costs.  相似文献   

13.
Paper mills generate large amounts of solid waste consisting of fibrous cellulose, clay, and lime. Paper mill sludge (PMS) can improve reclamation of surface-coal mines where low pH and organic-carbon levels in the spoil cover material can inhibit revegetation. When applied at high rates, however, PMS may adversely impact the quality of surface runoff. Therefore, we applied PMS at 0, 224, and 672 dry Mg ha(-)(1) to 22.1 x 4.6-m plots at a recently mined site and monitored runoff for a total of 13 mo. The zero-rate plots served as controls and received standard reclamation consisting of mulching with hay and fertilization at planting. Compared to the control plots, PMS reduced runoff fourfold to sixfold and decreased erosion from 47 Mg ha(-1) to <1 Mg ha(-1). Most of the reduction occurred in the 2.5 mo before the plots were planted. Flow-weighted average dissolved oxygen concentrations in runoff from plots at the 224 and 672 Mg ha(-1) rates, however, were much lower (相似文献   

14.
The presence of ammonia nitrogen in landfill leachates poses a significant problem for treatment plant operators. The nitrification-denitrification process mostly carries out the nitrogen conversion in biological treatment systems. However, recent research shows that other processes by anaerobic ammonia-oxidizing bacteria (Anammox) and ammonia-oxidizing archaea (AOA) were also responsible for the removal of nitrogen in biological systems. In this study, the nitrogen-converting microorganisms in the Bursa Hamitler Leachate Treatment Plant were identified and monitored by using molecular tools. Fluorescent in situ hybridization (FISH) and slot-blot hybridization results showed that the Nitrosomonas and Nitrospira species were the dominant ammonia-oxidizing bacteria (AOB) and nitrite-oxidizing bacteria (NOB), respectively. Quantitative real-time PCR results indicated that AOB, NOB, AOA and Anammox bacteria exist in the leachate treatment plant. However, the removal of ammonia can be ascribed mainly to nitrification because AOB (1.5%) and NOB (11.3%) were predominant among all nitrogen-converting bacteria. The results of the phylogenetic analysis based on amoA and 16S rDNA gene revealed that the uncultured bacterium clone 4-24, Kuenenia stuttgartiensis genome fragment KUST_E and the uncultured Crenarchaeota clone NJYPZT-C1 belong to AOB, Anammox and AOA populations, respectively, and were the dominant species in their cluster.  相似文献   

15.
In this work we applied base catalyzed transesterification to convert non-edible welted thistle oil (Carduus acanthoides) as new non-edible feedstock into biodiesel (Fatty acid methyl esters). The highest biodiesel yield of 88% was obtained using optimized reaction conditions of 70°C and 5:1 molar ratio (methanol:oil). The synthesized esters were characterize and confirmed by the application of NMR and FT-IR techniques. Gas chromatography and mass spectroscopy identified different fatty acids as palmatic acid (C16:0), oleic acid (C18:1), linoleic acid (18:2), arachidic acid (C20:0), eicosanic acid (C20:1), and erucic acid (C22:1) in the oil of welted thistle. Six corresponding methyl esters reported in welted thistle oil biodiesel includes 9-hexadecenoic acid, hexadecanoic acid, 9-octadecadienoic acid, 11-eicosanoic acid, eicosanoic acid and 13-docosenoicacid. Fuel properties, such as density @40°C Kg/L (0.8470), kinematic viscosity @ 40°C c St (4.37), flash point (95°C), cloud point (+4°C), pour point (?5°C), and sulfur contents (0.0112% wt) of the biodiesel produced were compatible with American Society for Testing and Materials D 6751 specifications.  相似文献   

16.
The effectiveness of riparian zones in mitigating nutrient in ground and surface water depends on the climate, management, and hydrogeomorphology of a site. The purpose of this study was to determine the efficacy of a well drained, mixed-deciduous riparian forest to buffer a river from N originating from a poorly drained grass seed cropping system. The study site was adjacent to the Calapooia River in the Willamette Valley, Oregon. Water was found to move from the rapid drainage of swale surface water. During winter hydrological events, the riparian forest also received river water. Low nitrate (NO3-) concentrations (0.2-0.4 mg NO3- -NL(-1)) in the shallow groundwater of the cropping system were associated with low rates of mineralization and nitrification (33 kg N ha(-1) yr(-1)) and high grass seed crop uptake of N (155 kg N ha(-1) yr(-1)). The riparian forest soil had higher rates of mineralization (117 kg N ha(-1) yr(-1)) that produced quantities of soil N that were within the range of literature values for plant uptake, leading to relatively low concentrations of shallow groundwater NO3 (0.6-1.8 mg NO3- -NL(-1)). The swale that dissected the cropping system and riparian area was found to have the highest rates of denitrification and to contribute dissolved organic C to the river. Given the dynamic nature of the hydrology of the Calapooia River study site, data suggest that the riparian forest plays a role not only in reducing export of NO3- from the cropping system to the river but also in processing nutrients from river water.  相似文献   

17.
Commercial foliage plant production requires the use of pesticides for controlling pests and pathogens that can reduce aesthetic qualities of crops, rendering them unwanted by consumers. Chlorothalonil is a common, broad-spectrum, foliar fungicide used for protecting plants from a variety of fungal diseases. This fungicide may also be acutely toxic to nontarget aquatic organisms due to its mode of action. This study evaluated the amount of chlorothalonil deposited on nontarget ground surfaces during normal sprayer applications at a commercial nursery using Teflon targets. One day following application, irrigation runoff events were initiated and runoff water samples were collected and analyzed for chlorothalonil. Discharge volumes were also measured to allow estimation of the total mass of chlorothalonil discharged during each event. Results indicated that 9.8 to 53.6% of the active ingredient applied landed on nontarget ground surfaces depending on plant size, spacing, and row lengths (short rows sprayed from one side vs. longer rows sprayed from both ends). On an entire production-area scale, 29.2% of the active ingredient applied was deposited on ground surfaces. Of the total nontarget deposition, 0.25 to 0.53% was detected in runoff water discharged from the production area. Concentrations ranged from 1.2 to 500 microg/L during the first runoff events following application.  相似文献   

18.
This paper presents industrial experience of process identification, monitoring, and control in a full-scale wastewater treatment plant. The objectives of this study were (1) to apply and compare different process-identification methods of proportional-integral-derivative (PID) autotuning for stable dissolved oxygen (DO) control, (2) to implement a process monitoring method that estimates the respiration rate simultaneously during the process-identification step, and (3) to propose a simple set-point decision algorithm for determining the appropriate set point of the DO controller for optimal operation of the aeration basin. The proposed method was evaluated in the industrial wastewater treatment facility of an iron- and steel-making plant. Among the process-identification methods, the control signal of the controller's set-point change was best for identifying low-frequency information and enhancing the robustness to low-frequency disturbances. Combined automatic control and set-point decision method reduced the total electricity consumption by 5% and the electricity cost by 15% compared to the fixed gain PID controller, when considering only the surface aerators. Moreover, as a result of improved control performance, the fluctuation of effluent quality decreased and overall effluent water quality was better.  相似文献   

19.
The operational parameter MRT%FE, representing the mean residence time of different ages fractions of effluent within a completely mixed reactor, was evaluated and integrated with first order kinetics. The parameter was used to model Escherichia coli concentrations in a municipal wastewater reservoir managed under different operating conditions (continuous and discontinuous). The study was conducted during 2004-2005 in a reservoir receiving effluents from the activated sludge treatment plant of Caltagirone (Eastern Sicily - Italy). The analytical approach is applied to the hydraulic state variables of the system (daily stored volumes, inlet and outlet flows), and the physical-chemical (pH, temperature, EC, TSS, BOD(5), COD) and bacteriological wastewater parameters (E. coli, FC, FS). In order to evaluate the reliability of the proposed approach, predicted E. coli concentrations within the reservoir were compared with measured ones by the correlation coefficient, F-test and Sperman's index. The study included the evaluation of die-off coefficient K(T) (d(-1)), light extinction coefficient K (m(-1)) and their relationships with climatic factors. Results of the study confirm that E. coli removal is related to the fractions of fresh effluent remaining each day within the reservoir with MRT%FE of about 5-8d, significantly lower than the nominal detention time (about 27d). The E. coli die-off coefficient (K(T)) was higher during system discontinuous operations and correlated with incident solar radiation and water temperature.  相似文献   

20.
Accurate detection and identification of natural or intentional contamination events in a drinking water pipe is critical to drinking water supply security and health risk management. To use conventional water quality sensors for the purpose, we have explored a real-time event adaptive detection, identification and warning (READiw) methodology and examined it using pilot-scale pipe flow experiments of 11 chemical and biological contaminants each at three concentration levels. The tested contaminants include pesticide and herbicides (aldicarb, glyphosate and dicamba), alkaloids (nicotine and colchicine), E. coli in terrific broth, biological growth media (nutrient broth, terrific broth, tryptic soy broth), and inorganic chemical compounds (mercuric chloride and potassium ferricyanide). First, through adaptive transformation of the sensor outputs, contaminant signals were enhanced and background noise was reduced in time-series plots leading to detection and identification of all simulated contamination events. The improved sensor detection threshold was 0.1% of the background for pH and oxidation–reduction potential (ORP), 0.9% for free chlorine, 1.6% for total chlorine, and 0.9% for chloride. Second, the relative changes calculated from adaptively transformed residual chlorine measurements were quantitatively related to contaminant-chlorine reactivity in drinking water. We have shown that based on these kinetic and chemical differences, the tested contaminants were distinguishable in forensic discrimination diagrams made of adaptively transformed sensor measurements.  相似文献   

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