We conducted a field survey from 2018 to 2020 to analyze the spatial distribution of phytoplankton communities at 13 stations in the East Sea. The diatom Chaetoceros curvisetus appeared as the dominant species in winter, and small flagellates less than 20 μm prevailed in all seasons except winter. The seasonal average range of the micro (>20 μm), nano (20 μm≥Chl-a>3 μm), and picophytoplankton (≤3 μm) was 20.6-26.2%, 27.1-35.9%, and 40.8-49.0%, respectively. The composition ratio of nano and picophytoplankton was high at the surface mixed layer from spring to autumn when the water columns were strongly stratified. Especially, the stability of the water mass was increased when the summer surface water temperature was higher than that of the previous year. As a result, the nutrient inflow from the lower layer to the surface was reduced as the ocean stratification layer was strengthened. Therefore, the composition ratio of nano and picophytoplankton was the highest at 77.9% at the surface mixed layer. In conclusion, the structure of the phytoplankton community in the East Sea has been miniaturized, which is expected to form a complex microbial food web structure and lower the carbon transfer rate to the upper consumer stage.

Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.