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Korean red ginseng has been widely used as an herbal medicine. Red ginseng dietary fiber (RGDF) is a residue of the processed ginseng product but still contains bioactive constituents that can be applied as prebiotics. In this study, we evaluated changes on fermentation profiles and probiotic properties of strains that belong to family Lactobacillaceae with RGDF supplementation. Metabolomic analyses were performed to understand specific mechanisms on the metabolic alteration by RGDF and to discover novel bioactive compounds secreted by the RGDF-supplemented probiotic strain. RGDF supplementation promoted short-chain fatty acid (SCFA) production, carbon source utilization, and gut epithelial adhesion of Lactiplantibacillus plantarum and inhibited attachment of enteropathogens. Intracellular and extracellular metabolome analyses revealed that RGDF induced metabolic alteration, especially associated with central carbon metabolism, and produced RGDF-specific metabolites secreted by L. plantarum, respectively. Specifically, L. plantarum showed decreases in intracellular metabolites of oleic acid, nicotinic acid, uracil, and glyceric acid, while extracellular secretion of several metabolites including oleic acid, 2-hydroxybutanoic acid, hexanol, and butyl acetate increased. RGDF supplementation had distinct effects on L. plantarum metabolism compared with fructooligosaccharide supplementation. These findings present potential applications of RGDF as prebiotics and bioactive compounds produced by RGDF-supplemented L. plantarum as novel postbiotic metabolites for human disease prevention and treatment.

In this paper, an effective path generation algorithm for obstacle avoidance producing small amount of steering action as possible is proposed. The proposed path generation algorithm can reduce unnecessary steering because of the small lateral changes in generated waypoints when UGV (Unmanned Ground Vehicle) encounters obstacles during its waypoint navigation. To verify this, the proposed algorithm and algorithm are analyzed through the simulation. The proposed algorithm shows good performance in terms of lateral changes in the generated waypoint, steering changes of the vehicle while driving and execution speed of the algorithm. Especially, due to the fast execution speed of the algorithm, the obstacles that encounter suddenly in front of the vehicle within short range can be avoided. This algorithm consider the waypoint navigation only. Therefore, in certain situations, the algorithm may generate the wrong path. In this case, a general path generation algorithm like is used instead. However, these special cases happen very rare during the vehicle waypoint navigation, so the proposed algorithm can be applied to most of the waypoint navigation for the unmanned ground vehicle.