1) Background: Rapid and acurate diagnostic testing for case identification, quarantine, and contact tracing is essential for managing the COVID 19 pandemic. Rapid antigen detection tests are available, however, it is...1) Background: Rapid and acurate diagnostic testing for case identification, quarantine, and contact tracing is essential for managing the COVID 19 pandemic. Rapid antigen detection tests are available, however, it is important to evaluate their performances before use. We tested a rapid antigen detection of SARS-CoV-2, based on the immunochromatography (Boson Biotech SARS-CoV-2 Ag Test (Xiamen Boson Biotech Co., Ltd., China)) and the results were compared with the real time reverse transcriptase-Polymerase chain reaction (RT-PCR) (Gold standard) results;2) Methods: From November 2021 to December 2021, samples were collected from symptomatic patients and asymptomatic individuals referred for testing in a hospital during the second pandemic wave in Gabon. All these participants attending “CTA Angondjé”, a field hospital set up as part of the management of COVID-19 in Gabon. Two nasopharyngeal swabs were collected in all the patients, one for Ag test and the other for RT-PCR;3) Results: A total of 300 samples were collected from 189 symptomatic and 111 asymptomatic individuals. The sensitivity and specificity of the antigen test were 82.5% [95%CI 73.8 - 89.3] and 97.9 % [95%CI 92.2 - 98.2] respectively, and the diagnostic accuracy was 84.4% (95% CI: 79.8 - 88.3%). The antigen test was more likely to be positive for samples with RT-PCR Ct values ≤ 32, with a sensitivity of 89.8%;4) Conclusions: The Boson Biotech SARS-CoV-2 Ag Test has good sensitivity and can detect SARS-CoV-2 infection, especially among symptomatic individuals with low viral load. This test could be incorporated into efficient testing algorithms as an alternative to PCR to decrease diagnostic delays and curb viral transmission.展开更多
The well-developed coal electricity generation and coal chemical industries have led to huge carbon dioxide(CO_(2))emissions in the northeastern Ordos Basin.The geological storage of CO_(2) in saline aquifers is an ef...The well-developed coal electricity generation and coal chemical industries have led to huge carbon dioxide(CO_(2))emissions in the northeastern Ordos Basin.The geological storage of CO_(2) in saline aquifers is an effective backup way to achieve carbon neutrality.In this case,the potential of saline aquifers for CO_(2) storage serves as a critical basis for subsequent geological storage project.This study calculated the technical control capacities of CO_(2) of the saline aquifers in the fifth member of the Shiqianfeng Formation(the Qian-5 member)based on the statistical analysis of the logging and the drilling and core data from more than 200 wells in the northeastern Ordos Basin,as well as the sedimentary facies,formation lithology,and saline aquifer development patterns of the Qian-5 member.The results show that(1)the reservoirs of saline aquifers in the Qian-5 member,which comprise distributary channel sand bodies of deltaic plains,feature low porosities and permeabilities;(2)The study area hosts three NNE-directed saline aquifer zones,where saline aquifers generally have a single-layer thickness of 3‒8 m and a cumulative thickness of 8‒24 m;(3)The saline aquifers of the Qian-5 member have a total technical control capacity of CO_(2) of 119.25×10^(6) t.With the largest scale and the highest technical control capacity(accounting for 61%of the total technical control capacity),the Jinjie-Yulin saline aquifer zone is an important prospect area for the geological storage of CO_(2) in the saline aquifers of the Qian-5 member in the study area.展开更多
The availability of many high-degree Global Geopotential Models(GGMs), namely EGM2008, EIGEN-6C4,GECO, SGG-UGM-1, SGG-UGM-2, XGM2019e_2159, and GGMPlus, challenges users regarding which model is best for Vietnam. This...The availability of many high-degree Global Geopotential Models(GGMs), namely EGM2008, EIGEN-6C4,GECO, SGG-UGM-1, SGG-UGM-2, XGM2019e_2159, and GGMPlus, challenges users regarding which model is best for Vietnam. This study, therefore, evaluates their performance by comparing them with GNSS/leveling data over Vietnam. Results show that their absolute and relative performances are largely independent of topographic conditions and geographical location and can be ranked into three classes:(1)XGM2019e_2159 has the highest accuracy,(2) the models EIGEN-6C4, GECO, SGG-UGM-1, SGG-UGM-2, and GGMPlus, have a very similar level of medium accuracy, while(3) EGM2008 is found to be the least accurate. In an absolute sense, the differences between GNSS/leveling and EGM2008-based height anomalies have a standard deviation(STD) of 0.290 ± 0.010 m, whereas, for XGM2019e_2159, this is 0.156 ± 0.006 m.All other models have STDs of(0.18-0.19) ± 0.007 m. Regarding relative performance without fitting, all GGMs have comparable accuracies for baseline length of 5-20 km, while for baselines longer than 20 km,the STD of XGM2019e_2159 is 1.5 ppm-0.5 ppm(approximately 19%-40%) lower compared with EGM2008, and 0.5 ppm-0.25 ppm(approximately 7%-36%) lower compared with EIGEN6C4, GECO,SGG-UGM-1, SGG-UGM-2, and GGMPlus. In addition, the STDs decrease significantly from 20 to 12 ppm in the range of 5-10 km, slightly from 12 to 6 ppm for 10-35 km, very slightly from 6 to 2.5 ppm for35-200 km, and then remain almost unchanged for longer baselines. After fitting, the relative accuracies of all GGMs are at the same level with negligible STD/RMSE values. Furthermore, only EGM2008 experiences significant regional differences, while other GGMs show more homogeneous spatial variation of absolute accuracy over Vietnam. These findings can contribute to the development of local quasigeoid models in Vietnam and may be helpful with the improvement of GGMs in the future.展开更多
Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure ...Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.展开更多
文摘1) Background: Rapid and acurate diagnostic testing for case identification, quarantine, and contact tracing is essential for managing the COVID 19 pandemic. Rapid antigen detection tests are available, however, it is important to evaluate their performances before use. We tested a rapid antigen detection of SARS-CoV-2, based on the immunochromatography (Boson Biotech SARS-CoV-2 Ag Test (Xiamen Boson Biotech Co., Ltd., China)) and the results were compared with the real time reverse transcriptase-Polymerase chain reaction (RT-PCR) (Gold standard) results;2) Methods: From November 2021 to December 2021, samples were collected from symptomatic patients and asymptomatic individuals referred for testing in a hospital during the second pandemic wave in Gabon. All these participants attending “CTA Angondjé”, a field hospital set up as part of the management of COVID-19 in Gabon. Two nasopharyngeal swabs were collected in all the patients, one for Ag test and the other for RT-PCR;3) Results: A total of 300 samples were collected from 189 symptomatic and 111 asymptomatic individuals. The sensitivity and specificity of the antigen test were 82.5% [95%CI 73.8 - 89.3] and 97.9 % [95%CI 92.2 - 98.2] respectively, and the diagnostic accuracy was 84.4% (95% CI: 79.8 - 88.3%). The antigen test was more likely to be positive for samples with RT-PCR Ct values ≤ 32, with a sensitivity of 89.8%;4) Conclusions: The Boson Biotech SARS-CoV-2 Ag Test has good sensitivity and can detect SARS-CoV-2 infection, especially among symptomatic individuals with low viral load. This test could be incorporated into efficient testing algorithms as an alternative to PCR to decrease diagnostic delays and curb viral transmission.
基金funded by the Top 10 key scientific and technological projects of CHN Energy in 2021 entitled Research and Demonstration of Technology for Carbon Dioxide Capture and Energy Recycling Utilization(GJNYKJ[2021]No.128,No.:GJNY-21-51)the Carbon Neutrality College(Yulin)Northwest University project entitled Design and research of large-scale CCUS cluster construction in Yulin area,Shaanxi Province(YL2022-38-01).
文摘The well-developed coal electricity generation and coal chemical industries have led to huge carbon dioxide(CO_(2))emissions in the northeastern Ordos Basin.The geological storage of CO_(2) in saline aquifers is an effective backup way to achieve carbon neutrality.In this case,the potential of saline aquifers for CO_(2) storage serves as a critical basis for subsequent geological storage project.This study calculated the technical control capacities of CO_(2) of the saline aquifers in the fifth member of the Shiqianfeng Formation(the Qian-5 member)based on the statistical analysis of the logging and the drilling and core data from more than 200 wells in the northeastern Ordos Basin,as well as the sedimentary facies,formation lithology,and saline aquifer development patterns of the Qian-5 member.The results show that(1)the reservoirs of saline aquifers in the Qian-5 member,which comprise distributary channel sand bodies of deltaic plains,feature low porosities and permeabilities;(2)The study area hosts three NNE-directed saline aquifer zones,where saline aquifers generally have a single-layer thickness of 3‒8 m and a cumulative thickness of 8‒24 m;(3)The saline aquifers of the Qian-5 member have a total technical control capacity of CO_(2) of 119.25×10^(6) t.With the largest scale and the highest technical control capacity(accounting for 61%of the total technical control capacity),the Jinjie-Yulin saline aquifer zone is an important prospect area for the geological storage of CO_(2) in the saline aquifers of the Qian-5 member in the study area.
文摘The availability of many high-degree Global Geopotential Models(GGMs), namely EGM2008, EIGEN-6C4,GECO, SGG-UGM-1, SGG-UGM-2, XGM2019e_2159, and GGMPlus, challenges users regarding which model is best for Vietnam. This study, therefore, evaluates their performance by comparing them with GNSS/leveling data over Vietnam. Results show that their absolute and relative performances are largely independent of topographic conditions and geographical location and can be ranked into three classes:(1)XGM2019e_2159 has the highest accuracy,(2) the models EIGEN-6C4, GECO, SGG-UGM-1, SGG-UGM-2, and GGMPlus, have a very similar level of medium accuracy, while(3) EGM2008 is found to be the least accurate. In an absolute sense, the differences between GNSS/leveling and EGM2008-based height anomalies have a standard deviation(STD) of 0.290 ± 0.010 m, whereas, for XGM2019e_2159, this is 0.156 ± 0.006 m.All other models have STDs of(0.18-0.19) ± 0.007 m. Regarding relative performance without fitting, all GGMs have comparable accuracies for baseline length of 5-20 km, while for baselines longer than 20 km,the STD of XGM2019e_2159 is 1.5 ppm-0.5 ppm(approximately 19%-40%) lower compared with EGM2008, and 0.5 ppm-0.25 ppm(approximately 7%-36%) lower compared with EIGEN6C4, GECO,SGG-UGM-1, SGG-UGM-2, and GGMPlus. In addition, the STDs decrease significantly from 20 to 12 ppm in the range of 5-10 km, slightly from 12 to 6 ppm for 10-35 km, very slightly from 6 to 2.5 ppm for35-200 km, and then remain almost unchanged for longer baselines. After fitting, the relative accuracies of all GGMs are at the same level with negligible STD/RMSE values. Furthermore, only EGM2008 experiences significant regional differences, while other GGMs show more homogeneous spatial variation of absolute accuracy over Vietnam. These findings can contribute to the development of local quasigeoid models in Vietnam and may be helpful with the improvement of GGMs in the future.
基金Supported by National Key Research and Development Program of China(Grant No.2019YFB1309900)Institute for Guo Qiang,Tsinghua University of China(Grant No.2019GQG0007).
文摘Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.
