In this paper, CiteSpace, a bibliometrics software, was adopted to collect research papers published on the Web of Science, which are relevant to biological model and effluent quality prediction in activated sludge pr...In this paper, CiteSpace, a bibliometrics software, was adopted to collect research papers published on the Web of Science, which are relevant to biological model and effluent quality prediction in activated sludge process in the wastewater treatment. By the way of trend map, keyword knowledge map, and co-cited knowledge map, specific visualization analysis and identification of the authors, institutions and regions were concluded. Furthermore, the topics and hotspots of water quality prediction in activated sludge process through the literature-co-citation-based cluster analysis and literature citation burst analysis were also determined, which not only reflected the historical evolution progress to a certain extent, but also provided the direction and insight of the knowledge structure of water quality prediction and activated sludge process for future research.展开更多
Phosphorus is one of the most important nutrients required to support various kinds of biodegradation processes. As this particular nutrient is not included in the activated sludge model no. 1 (ASM1), this study ext...Phosphorus is one of the most important nutrients required to support various kinds of biodegradation processes. As this particular nutrient is not included in the activated sludge model no. 1 (ASM1), this study extended this model in order to determine the fate of phosphorus during the biodegradation processes. When some of the kinetics parameters are modified using observed data from the restoration project of the Xuxi River in Wuxi City, China, from August 25 to 31 in 2009, the extended model shows excellent results. In order to obtain optimum values of coefficients of nitrogen and phosphorus, the mass fraction method was used to ensure that the final results were reasonable and practically relevant. The temporal distribution of the data calculated with the extended ASM1 approximates that of the observed data.展开更多
Based on the operation data from a certain wastewater treatment plant(WWTP) in northeast China, the models of back propagation neural network(BP NN) and radial basis function neural network(RBF NN) have been designed ...Based on the operation data from a certain wastewater treatment plant(WWTP) in northeast China, the models of back propagation neural network(BP NN) and radial basis function neural network(RBF NN) have been designed respectively and the ability of convergence and generalization has been analyzed separately. As for BP NN, the effects of numbers of layers and nodes have been studied; as for RBF NN, the influences of the number of nodes and the RBF′s width have been studied. It is concluded that BP NN has converged much slowly in comparison with RBF NN. The conclusion that the RBF NN is suitable for modeling activated sludge system has been drawn. An automatically optimum design program for RBF NN has been developed, through which the RBF NN model of traditional activated sludge system has been established.展开更多
A backward differentiation formula (BDF) has been shown to be an effective way to solve a system of ordinary differential equations (ODEs) that have some degree of stiffness. However, sometimes, due to high-frequency ...A backward differentiation formula (BDF) has been shown to be an effective way to solve a system of ordinary differential equations (ODEs) that have some degree of stiffness. However, sometimes, due to high-frequency variations in the external time series of boundary conditions, a small time-step is required to solve the ODE system throughout the entire simulation period, which can lead to a high computational cost, slower response, and need for more memory resources. One possible strategy to overcome this problem is to dynamically adjust the time-step with respect to the system’s stiffness. Therefore, small time-steps can be applied when needed, and larger time-steps can be used when allowable. This paper presents a new algorithm for adjusting the dynamic time-step based on a BDF discretization method. The parameters used to dynamically adjust the size of the time-step can be optimally specified to result in a minimum computation time and reasonable accuracy for a particular case of ODEs. The proposed algorithm was applied to solve the system of ODEs obtained from an activated sludge model (ASM) for biological wastewater treatment processes. The algorithm was tested for various solver parameters, and the optimum set of three adjustable parameters that represented minimum computation time was identified. In addition, the accuracy of the algorithm was evaluated for various sets of solver parameters.展开更多
Considering the difficulty of creating water quality model for activated sludge system, a typical BP artificial neural network model has been established to simulate the operation of a waste water treatment facilities...Considering the difficulty of creating water quality model for activated sludge system, a typical BP artificial neural network model has been established to simulate the operation of a waste water treatment facilities. The comparison of prediction results with the on-spot measurements shows the model, the model is accurate and this model can also be used to realize intelligentized on-line control of the wastewater processing process.展开更多
The activated sludge process (ASP) is the most generally applied biological wastewater treatment method. The ASP for the removal of organic carbon and nitrogen can be looked as the combination of eight processes. In...The activated sludge process (ASP) is the most generally applied biological wastewater treatment method. The ASP for the removal of organic carbon and nitrogen can be looked as the combination of eight processes. In order to set up an ASP model, the stoichiometric coefficients should be deduced so that the stoichiometric matrix can be presented. The important assumptions and simplifications behind the model for ASP are enumerated. Using the matrix, mass balance equation and consistent units, the stoichiometric coefficients in the eight processes are exclusively deduced one by one.展开更多
Mathematical models and simulation are considered a powerful tool in engineering practice. Those tools are becoming increasingly used for the improvement of wastewater treatment plants design because the conceptual de...Mathematical models and simulation are considered a powerful tool in engineering practice. Those tools are becoming increasingly used for the improvement of wastewater treatment plants design because the conceptual design is complex and ill-defined. In this paper, three alternatives: 1) complete mix activated sludge without nitrogen removal (CAS);2) complete mix activated sludge with nitrogen removal (CAS-N) and;3) membrane bioreactor (MBR) processes were designed into two steps: first concept design to calculate the size of process units, then second implement modeling and simulation to improve the accuracy of the conceptual design. In brief, the treatment process design has been verified by using the activated sludge model No. 1 (ASM1) in GPS-X (v.7) simulation software. This application helps not only in sizing the treatment units but also in understanding the plant’s capacity. In the same time, it can assist in studying the future expansion works required for increased hydraulic and organic loadings. For this purpose, Tikrit WWTP was selected as a case study. The used model was validated by comparing the designed values of the plant and the modeling data. The verification of the obtained results from both hand calculations and the results of the program showed a good agreement. A significant difference in the volume of secondary treatment was obtained from design calculations, where the CAS without denitrification system was 9244 m3 (aerobic and secondary tanks), CAS with denitrification system was 11,324 m3 (anoxic, aerobic and secondary tanks) and for MBR system was 7468 m3 (anoxic, aerobic and immersed membrane tanks). From the obtained results point of view, it can be concluded that mathematical models can be considered as worthy tools to complement the established wastewater treatment plant design procedures.展开更多
Active shape models (ASM), consisting of a shape model and a local gray-level appearance model, can be used to locate the objects in images. In original ASM scheme, the model of object′s gray-level variations is base...Active shape models (ASM), consisting of a shape model and a local gray-level appearance model, can be used to locate the objects in images. In original ASM scheme, the model of object′s gray-level variations is based on the assumption of one-dimensional sampling and searching method. In this work a new way to model the gray-level appearance of the objects is explored, using a two-dimensional sampling and searching technique in a rectangular area around each landmark of object shape. The ASM based on this improvement is compared with the original ASM on an identical medical image set for task of spine localization. Experiments demonstrate that the method produces significantly fast, effective, accurate results for spine localization in medical images.展开更多
In order to investigate the influence factors of zero excess activated sludge (EAS) process by ozonation, a 100 L membrane bioreactor coupled with a sludge ozonation unit (MBR-SO) was performed for 80 d without EAS wa...In order to investigate the influence factors of zero excess activated sludge (EAS) process by ozonation, a 100 L membrane bioreactor coupled with a sludge ozonation unit (MBR-SO) was performed for 80 d without EAS wasting. Some mathematical models were developed to elucidate the relationship between process parameters and the operating effects. It is considered that the sludge lysing ratio (ξ), produced COD per unit mass lysed MLSS (η), observed sludge yield coefficient (Yobs) and intrinsic yield coefficient for COD produced by lysed sludge (Y2) significantly affect the flowrate to ozonation unit (q). When q is 0.0067 times of influent flowrate (Q) and ξ is about 0.72 for each batch ozonation, a relatively stable MLSS concentration of 8168 mg/L and zero Yobs are achieved in the MBR-SO system. The calculation of sludge disintegration number indicates that the high ξ can apparently decrease the sludge amount needed for ozonation. At the same ozone dose, the low input ozone concentration and high flowrate can enhance the sludge lysing effects and a low energy consumption of 0.041 Yuan/m3 wastewater is obtained.展开更多
A new active shape models (ASMs) was presented, which is driven by scale invariant feature transform (SIFT) local descriptor instead of normalizing first order derivative profiles in the original formulation, to segme...A new active shape models (ASMs) was presented, which is driven by scale invariant feature transform (SIFT) local descriptor instead of normalizing first order derivative profiles in the original formulation, to segment lung fields from chest radiographs. The modified SIFT local descriptor, more distinctive than the general intensity and gradient features, is used to characterize the image features in the vicinity of each pixel at each resolution level during the segmentation optimization procedure. Experimental results show that the proposed method is more robust and accurate than the original ASMs in terms of an average overlap percentage and average contour distance in segmenting the lung fields from an available public database.展开更多
Active Shape Model (ASM) is a powerful statistical tool to extract the facial features of a face image under frontal view. It mainly relies on Principle Component Analysis (PCA) to statistically model the variabil...Active Shape Model (ASM) is a powerful statistical tool to extract the facial features of a face image under frontal view. It mainly relies on Principle Component Analysis (PCA) to statistically model the variability in the training set of example shapes. Independent Component Analysis (ICA) has been proven to be more efficient to extract face features than PCA. In this paper, we combine the PCA and ICA by the consecutive strategy to form a novel ASM. Firstly, an initial model, which shows the global shape variability in the training set, is generated by the PCA-based ASM. And then, the final shape model, which contains more local characters, is established by the ICA-based ASM. Experimental results verify that the accuracy of facial feature extraction is statistically significantly improved by applying the ICA modes after the PCA modes.展开更多
Two identical full-scale biogas-lift reactors treating brewery wastewater were inoculated with different types of sludge to compare their operational conditions, sludge characteristics, and kinetic models at a mesophi...Two identical full-scale biogas-lift reactors treating brewery wastewater were inoculated with different types of sludge to compare their operational conditions, sludge characteristics, and kinetic models at a mesophilic temperature. One reactor (R1) started up with anaerobic granular sludge in 12 weeks and obtained a continuously average organic loading rate (OLR) of 7.4 kg chemical oxygen demand (COD)/(m3.day), COD removal efficiency of 80%, and effluent COD of 450 mg/L. The other reactor (R2) started up with residual activated sludge in 30 weeks and granulation accomplished when the reactor reached an average OLR of 8.3 kg COD/(m^3·day), COD removal efficiency of 90%, and effluent COD of 240 mg/L. Differences in sludge characteristics,biogas compositions, and biogas- lift processes may be accounted for the superior efficiency of the treatment performance of R2 over R1. Grau second-order and modified StoverKincannon models based on influent and effluent concentrations as well as hydraulic retention time were successfully used to develop kinetic parameters of the experimental data with high correlation coefficients (R2 〉 0.95), which further showed that R2 had higher treatment performance than R1. These results demonstrated that residual activated sludge could be used effectively instead of anaerobic granular sludge despite the need for a longer time.展开更多
Full-scale experiments have been carried out to adapt the activated sludge model ASM2d to include the influence of metal dosage (Fe^3+ and Al^3+) for phosphorus removal. Phosphorus removal rates, nitrification rat...Full-scale experiments have been carried out to adapt the activated sludge model ASM2d to include the influence of metal dosage (Fe^3+ and Al^3+) for phosphorus removal. Phosphorus removal rates, nitrification rates, as well as pH and sludge settling performance, were evaluated as functions of the metal dosages. Furthermore, models relating certain parameters to the dosage of chemicals have been derived. Corresponding parameters in the ASM2d and the secondary settler models, included in the Benchmark Simulation Model No 1 (BSM1), have been modified to take the metal influence into consideration. Based on the effluent limits and penalty policy of China, an equivalent evaluation method was derived for the total cost assessment. A large number of 300-day steady-state and 14-day open-loop dynamic simulations were performed to demonstrate the difference in behavior between the original and the modified BSM1. The results show that 1) both in low and high mole concentrations, Fe^3+ addition results in a higher phosphorus removal rate than Al^3+; 2) the sludge settling velocity will increase due to the metal addition; 3) the respiration rate of the activated sludge is decreased more by the dosage of Al^3+ than Fe^3+; 4) the inhibition of Al^3+ on the nitrification rate is stronger than that of Fe^3+; 5) the total operating cost will reach the minimum point for smaller dosages of Fe^3+, but always increase with Al^3+ addition.展开更多
为了提高对驾驶员疲劳程度检测的准确性与鲁棒性,提出了一种基于主动形状模型的多个特征融合疲劳检测算法。首先利用简单类Haar特征的级联Adaboost算法快速检测出人脸位置,然后对检测到的人脸进行基于主动形状模型(active shape model,A...为了提高对驾驶员疲劳程度检测的准确性与鲁棒性,提出了一种基于主动形状模型的多个特征融合疲劳检测算法。首先利用简单类Haar特征的级联Adaboost算法快速检测出人脸位置,然后对检测到的人脸进行基于主动形状模型(active shape model,ASM)的特征点定位,利用12个ASM特征标记点,得出眼睛、嘴部和头部的状态参数,再相应地计算出PERCLOS(percentage of eyelid closure over the pupil over time)、AECS(average eye closure speed)、哈欠频率、点头频率等4个疲劳特征,最后利用自适应神经模糊推理系统(adaptive network based fuzzy inference system,ANFIS)判决出驾驶员的3级疲劳程度(清醒、疲劳和严重疲劳)。实验结果表明,本方法对驾驶员疲劳检测准确率达93.3%,具有较高的准确性与鲁棒性。展开更多
文摘In this paper, CiteSpace, a bibliometrics software, was adopted to collect research papers published on the Web of Science, which are relevant to biological model and effluent quality prediction in activated sludge process in the wastewater treatment. By the way of trend map, keyword knowledge map, and co-cited knowledge map, specific visualization analysis and identification of the authors, institutions and regions were concluded. Furthermore, the topics and hotspots of water quality prediction in activated sludge process through the literature-co-citation-based cluster analysis and literature citation burst analysis were also determined, which not only reflected the historical evolution progress to a certain extent, but also provided the direction and insight of the knowledge structure of water quality prediction and activated sludge process for future research.
文摘Phosphorus is one of the most important nutrients required to support various kinds of biodegradation processes. As this particular nutrient is not included in the activated sludge model no. 1 (ASM1), this study extended this model in order to determine the fate of phosphorus during the biodegradation processes. When some of the kinetics parameters are modified using observed data from the restoration project of the Xuxi River in Wuxi City, China, from August 25 to 31 in 2009, the extended model shows excellent results. In order to obtain optimum values of coefficients of nitrogen and phosphorus, the mass fraction method was used to ensure that the final results were reasonable and practically relevant. The temporal distribution of the data calculated with the extended ASM1 approximates that of the observed data.
文摘Based on the operation data from a certain wastewater treatment plant(WWTP) in northeast China, the models of back propagation neural network(BP NN) and radial basis function neural network(RBF NN) have been designed respectively and the ability of convergence and generalization has been analyzed separately. As for BP NN, the effects of numbers of layers and nodes have been studied; as for RBF NN, the influences of the number of nodes and the RBF′s width have been studied. It is concluded that BP NN has converged much slowly in comparison with RBF NN. The conclusion that the RBF NN is suitable for modeling activated sludge system has been drawn. An automatically optimum design program for RBF NN has been developed, through which the RBF NN model of traditional activated sludge system has been established.
文摘A backward differentiation formula (BDF) has been shown to be an effective way to solve a system of ordinary differential equations (ODEs) that have some degree of stiffness. However, sometimes, due to high-frequency variations in the external time series of boundary conditions, a small time-step is required to solve the ODE system throughout the entire simulation period, which can lead to a high computational cost, slower response, and need for more memory resources. One possible strategy to overcome this problem is to dynamically adjust the time-step with respect to the system’s stiffness. Therefore, small time-steps can be applied when needed, and larger time-steps can be used when allowable. This paper presents a new algorithm for adjusting the dynamic time-step based on a BDF discretization method. The parameters used to dynamically adjust the size of the time-step can be optimally specified to result in a minimum computation time and reasonable accuracy for a particular case of ODEs. The proposed algorithm was applied to solve the system of ODEs obtained from an activated sludge model (ASM) for biological wastewater treatment processes. The algorithm was tested for various solver parameters, and the optimum set of three adjustable parameters that represented minimum computation time was identified. In addition, the accuracy of the algorithm was evaluated for various sets of solver parameters.
文摘Considering the difficulty of creating water quality model for activated sludge system, a typical BP artificial neural network model has been established to simulate the operation of a waste water treatment facilities. The comparison of prediction results with the on-spot measurements shows the model, the model is accurate and this model can also be used to realize intelligentized on-line control of the wastewater processing process.
基金supported by the Special Foundation of Shanghai Municipal Education Commission (Grant No.06AZ057)
文摘The activated sludge process (ASP) is the most generally applied biological wastewater treatment method. The ASP for the removal of organic carbon and nitrogen can be looked as the combination of eight processes. In order to set up an ASP model, the stoichiometric coefficients should be deduced so that the stoichiometric matrix can be presented. The important assumptions and simplifications behind the model for ASP are enumerated. Using the matrix, mass balance equation and consistent units, the stoichiometric coefficients in the eight processes are exclusively deduced one by one.
文摘Mathematical models and simulation are considered a powerful tool in engineering practice. Those tools are becoming increasingly used for the improvement of wastewater treatment plants design because the conceptual design is complex and ill-defined. In this paper, three alternatives: 1) complete mix activated sludge without nitrogen removal (CAS);2) complete mix activated sludge with nitrogen removal (CAS-N) and;3) membrane bioreactor (MBR) processes were designed into two steps: first concept design to calculate the size of process units, then second implement modeling and simulation to improve the accuracy of the conceptual design. In brief, the treatment process design has been verified by using the activated sludge model No. 1 (ASM1) in GPS-X (v.7) simulation software. This application helps not only in sizing the treatment units but also in understanding the plant’s capacity. In the same time, it can assist in studying the future expansion works required for increased hydraulic and organic loadings. For this purpose, Tikrit WWTP was selected as a case study. The used model was validated by comparing the designed values of the plant and the modeling data. The verification of the obtained results from both hand calculations and the results of the program showed a good agreement. A significant difference in the volume of secondary treatment was obtained from design calculations, where the CAS without denitrification system was 9244 m3 (aerobic and secondary tanks), CAS with denitrification system was 11,324 m3 (anoxic, aerobic and secondary tanks) and for MBR system was 7468 m3 (anoxic, aerobic and immersed membrane tanks). From the obtained results point of view, it can be concluded that mathematical models can be considered as worthy tools to complement the established wastewater treatment plant design procedures.
文摘Active shape models (ASM), consisting of a shape model and a local gray-level appearance model, can be used to locate the objects in images. In original ASM scheme, the model of object′s gray-level variations is based on the assumption of one-dimensional sampling and searching method. In this work a new way to model the gray-level appearance of the objects is explored, using a two-dimensional sampling and searching technique in a rectangular area around each landmark of object shape. The ASM based on this improvement is compared with the original ASM on an identical medical image set for task of spine localization. Experiments demonstrate that the method produces significantly fast, effective, accurate results for spine localization in medical images.
文摘In order to investigate the influence factors of zero excess activated sludge (EAS) process by ozonation, a 100 L membrane bioreactor coupled with a sludge ozonation unit (MBR-SO) was performed for 80 d without EAS wasting. Some mathematical models were developed to elucidate the relationship between process parameters and the operating effects. It is considered that the sludge lysing ratio (ξ), produced COD per unit mass lysed MLSS (η), observed sludge yield coefficient (Yobs) and intrinsic yield coefficient for COD produced by lysed sludge (Y2) significantly affect the flowrate to ozonation unit (q). When q is 0.0067 times of influent flowrate (Q) and ξ is about 0.72 for each batch ozonation, a relatively stable MLSS concentration of 8168 mg/L and zero Yobs are achieved in the MBR-SO system. The calculation of sludge disintegration number indicates that the high ξ can apparently decrease the sludge amount needed for ozonation. At the same ozone dose, the low input ozone concentration and high flowrate can enhance the sludge lysing effects and a low energy consumption of 0.041 Yuan/m3 wastewater is obtained.
基金The National Natural Science Foundation of China(No60271033)
文摘A new active shape models (ASMs) was presented, which is driven by scale invariant feature transform (SIFT) local descriptor instead of normalizing first order derivative profiles in the original formulation, to segment lung fields from chest radiographs. The modified SIFT local descriptor, more distinctive than the general intensity and gradient features, is used to characterize the image features in the vicinity of each pixel at each resolution level during the segmentation optimization procedure. Experimental results show that the proposed method is more robust and accurate than the original ASMs in terms of an average overlap percentage and average contour distance in segmenting the lung fields from an available public database.
文摘Active Shape Model (ASM) is a powerful statistical tool to extract the facial features of a face image under frontal view. It mainly relies on Principle Component Analysis (PCA) to statistically model the variability in the training set of example shapes. Independent Component Analysis (ICA) has been proven to be more efficient to extract face features than PCA. In this paper, we combine the PCA and ICA by the consecutive strategy to form a novel ASM. Firstly, an initial model, which shows the global shape variability in the training set, is generated by the PCA-based ASM. And then, the final shape model, which contains more local characters, is established by the ICA-based ASM. Experimental results verify that the accuracy of facial feature extraction is statistically significantly improved by applying the ICA modes after the PCA modes.
基金supported by the National Natural Science Foundation of China (No.NSFC20976069)the Fundamental Research Funds for the Central Universities,China (No.JUSRP111A12)+1 种基金the Higher School Science and Technology Innovation Project of Cultivating the Capital Project,China (No.708048)the Selfdetermined Research Program of Jiangnan University (No.JUSRP11006)
文摘Two identical full-scale biogas-lift reactors treating brewery wastewater were inoculated with different types of sludge to compare their operational conditions, sludge characteristics, and kinetic models at a mesophilic temperature. One reactor (R1) started up with anaerobic granular sludge in 12 weeks and obtained a continuously average organic loading rate (OLR) of 7.4 kg chemical oxygen demand (COD)/(m3.day), COD removal efficiency of 80%, and effluent COD of 450 mg/L. The other reactor (R2) started up with residual activated sludge in 30 weeks and granulation accomplished when the reactor reached an average OLR of 8.3 kg COD/(m^3·day), COD removal efficiency of 90%, and effluent COD of 240 mg/L. Differences in sludge characteristics,biogas compositions, and biogas- lift processes may be accounted for the superior efficiency of the treatment performance of R2 over R1. Grau second-order and modified StoverKincannon models based on influent and effluent concentrations as well as hydraulic retention time were successfully used to develop kinetic parameters of the experimental data with high correlation coefficients (R2 〉 0.95), which further showed that R2 had higher treatment performance than R1. These results demonstrated that residual activated sludge could be used effectively instead of anaerobic granular sludge despite the need for a longer time.
文摘Full-scale experiments have been carried out to adapt the activated sludge model ASM2d to include the influence of metal dosage (Fe^3+ and Al^3+) for phosphorus removal. Phosphorus removal rates, nitrification rates, as well as pH and sludge settling performance, were evaluated as functions of the metal dosages. Furthermore, models relating certain parameters to the dosage of chemicals have been derived. Corresponding parameters in the ASM2d and the secondary settler models, included in the Benchmark Simulation Model No 1 (BSM1), have been modified to take the metal influence into consideration. Based on the effluent limits and penalty policy of China, an equivalent evaluation method was derived for the total cost assessment. A large number of 300-day steady-state and 14-day open-loop dynamic simulations were performed to demonstrate the difference in behavior between the original and the modified BSM1. The results show that 1) both in low and high mole concentrations, Fe^3+ addition results in a higher phosphorus removal rate than Al^3+; 2) the sludge settling velocity will increase due to the metal addition; 3) the respiration rate of the activated sludge is decreased more by the dosage of Al^3+ than Fe^3+; 4) the inhibition of Al^3+ on the nitrification rate is stronger than that of Fe^3+; 5) the total operating cost will reach the minimum point for smaller dosages of Fe^3+, but always increase with Al^3+ addition.
文摘为了提高对驾驶员疲劳程度检测的准确性与鲁棒性,提出了一种基于主动形状模型的多个特征融合疲劳检测算法。首先利用简单类Haar特征的级联Adaboost算法快速检测出人脸位置,然后对检测到的人脸进行基于主动形状模型(active shape model,ASM)的特征点定位,利用12个ASM特征标记点,得出眼睛、嘴部和头部的状态参数,再相应地计算出PERCLOS(percentage of eyelid closure over the pupil over time)、AECS(average eye closure speed)、哈欠频率、点头频率等4个疲劳特征,最后利用自适应神经模糊推理系统(adaptive network based fuzzy inference system,ANFIS)判决出驾驶员的3级疲劳程度(清醒、疲劳和严重疲劳)。实验结果表明,本方法对驾驶员疲劳检测准确率达93.3%,具有较高的准确性与鲁棒性。