RESUMO
Robotic missions for solar farm inspection demand agile and precise object detection strategies. This paper introduces an innovative keypoint-based object detection framework specifically designed for real-time solar farm inspections with UAVs. Moving away from conventional bounding box or segmentation methods, our technique focuses on detecting the vertices of solar panels, which provides a richer granularity than traditional approaches. Drawing inspiration from CenterNet, our architecture is optimized for embedded platforms like the NVIDIA AGX Jetson Orin, achieving close to 60 FPS at a resolution of 1024 ×1376 pixels, thus outperforming the camera's operational frequency. Such a real-time capability is essential for efficient robotic operations in time-critical industrial asset inspection environments. The design of our model emphasizes reduced computational demand, positioning it as a practical solution for real-world deployment. Additionally, the integration of active learning strategies promises a considerable reduction in annotation efforts and strengthens the model's operational feasibility. In summary, our research emphasizes the advantages of keypoint-based object detection, offering a practical and effective approach for real-time solar farm inspections with UAVs.
RESUMO
Nicotine stimulates dopamine (DA) neurons of the ventral tegmental area (VTA) to establish and maintain reinforcement. Nicotine also induces anxiety through an as yet unknown circuitry. We found that nicotine injection drives opposite functional responses of two distinct populations of VTA DA neurons with anatomically segregated projections: it activates neurons that project to the nucleus accumbens (NAc), whereas it inhibits neurons that project to the amygdala nuclei (Amg). We further show that nicotine mediates anxiety-like behavior by acting on ß2-subunit-containing nicotinic acetylcholine receptors of the VTA. Finally, using optogenetics, we bidirectionally manipulate the VTA-NAc and VTA-Amg pathways to dissociate their contributions to anxiety-like behavior. We show that inhibition of VTA-Amg DA neurons mediates anxiety-like behavior, while their activation prevents the anxiogenic effects of nicotine. These distinct subpopulations of VTA DA neurons with opposite responses to nicotine may differentially drive the anxiogenic and the reinforcing effects of nicotine.
Assuntos
Ansiedade/tratamento farmacológico , Vias Neurais/efeitos dos fármacos , Nicotina/farmacologia , Agonistas Nicotínicos/farmacologia , Área Tegmentar Ventral/efeitos dos fármacos , Tonsila do Cerebelo/efeitos dos fármacos , Tonsila do Cerebelo/metabolismo , Animais , Ansiedade/induzido quimicamente , Ansiedade/fisiopatologia , Dopamina/metabolismo , Neurônios Dopaminérgicos/efeitos dos fármacos , Neurônios Dopaminérgicos/fisiologia , Masculino , Camundongos , Vias Neurais/fisiologia , Nicotina/metabolismo , Núcleo Accumbens/efeitos dos fármacos , Núcleo Accumbens/fisiologia , Receptores Nicotínicos/efeitos dos fármacos , Receptores Nicotínicos/metabolismo , Reforço Psicológico , Área Tegmentar Ventral/fisiologiaRESUMO
La presente publicación prioriza los temas relacionados al bienestar de la familia en las aulas de clase, de acuerdo a las necesidades de los docentes.
Assuntos
Educação em Saúde , Medicina de Família e Comunidade , Promoção da Saúde , PeruRESUMO
La presente publicación prioriza los temas relacionados al bienestar de la familia en las aulas de clase, de acuerdo a las necesidades de los docentes(AU)
