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Triterpenoid Saponins from Vaccaria segetalis
Shengmin Sang,Aina Lao,Hongcheng Wang,Zhongliang Chen,Jun Uzawa,Yasuo Fujimoto 한국생약학회 1998 Natural Product Sciences Vol.4 No.4
Two new triterpenoid saponins, named segetoside D and E, have been isolated from the seeds of Vaccaria segetalis. On the basis of chemical reactions and spectral data, structures of segetoside D and E have been established as: 28-O-[β-D-xylopyranosyl-(1→4)-α-L-rhamnopyranosyl-(1→2)]-[5-O-acetyl-α-arabinofuranosyl(1→3)]-[4-O-acetyl-β-D-fucopyranosyl]-quillaic acid-3-O-[β-D-galactopyranosyl(1→2)]-6-O-methyl ester-β-D-glucuronopyranoside and 28-O-[β-D-xylopyranosyl-(1→4)-α-L-rhamnopyranosyl-(1→2)]-[5-O-acetyl-α-arabinofuranosyl(1→3)]-[4-O-acetyl-β-D-fucopyranosyl]-quillaic acid -3-O-[β-D-galactopyranosyl(1→2)]-6-O-n-butyl ester-β-D-glucuronopyranoside, respectively.
ROS-based Robotic Platform with High-precision stepping motor control
Shengmin Zhao,Sang-Moon Lee,Seung-Hoon Hwang 한국통신학회 2022 한국통신학회 학술대회논문집 Vol.2022 No.2
Robot technology is rapidly expanding from traditional industrial manufacturing to home services, medical care, education and entertainment, rescue exploration, military applications, and other fields. In this paper, a new Robot Operating System (ROS) based robotic platform is proposed. Robot technology is rapidly expanding from traditional industrial manufacturing to home services, medical care, education, rescue exploration, military applications, etc. In this paper, we propose a Robot Operating System (ROS) based robotic platform with stepping motor which has high precision advantage. This robotic platform is focused on the control of a stepping motor and combination with sensors such as 2D-Lidar, Inertial measurement unit (IMU) to achieve Simultaneous localization and mapping (SLAM) and navigation function. Furthermore, we propose a speed control algorithm for stepping motor, which can convert the speed command published by SBC into a PWM signal. Finally, at the corridor scenario, we tested the 2D-Lidar mapping and autonomous navigation functions of the proposed robotic platform. The experimental results show that under the high precision movement of the stepper motor, the robot platform has good mapping capabilities and high-precision autonomous navigation capabilities in unknown environments. Based on the simulation result, conclusion can be obtained.