The present paper proposes the motion planning based on "the dynamics shaping" for a robotic arm to hit the target robustly toward the desired direction, of which the concept is to shape the robot dynamics appropriately in order to accomplish the desired motion. According to the linear system theory, the positional error of the end-point converges onto near the singular vector corresponding to its maximum singular value of the output controllability matrix of the robotic arm. Therefore, if we can control the direction of the singular vector by applying the dynamics shaping, we will be able to control the direction of the positional error of the end-effector caused by the disturbance. We propose a novel motion planning based on the dynamics shaping and verify numerically and experimentally that the robotic arm can robustly hit the target toward the desired direction with a simple open-loop control system even though the disturbance is applied.

Residence by investment (RBI) programmes, or 'golden visa' schemes, are now found in half of European Union member states. Yet no empirical studies have tested the economic drivers or impacts of these programmes. Filling this lacuna, this article supplies the first comparative quantitative evaluation of the economic origins and outcomes of so-called golden visa programmes in the European Union. Utilising new data, we show that governments across the political spectrum are more likely to begin RBI programmes after a decline in economic growth, especially during an economic crisis, and that the programmes are generally targeted to address failing areas of the economy. Furthermore, we show that wealthy investor migrants are better conceptualised as mobile populations akin to tourists or investors, rather than as immigrants, and that countries price programmes in response to both demand-side and supply-side forces. We also find that the programmes represent a miniscule proportion of foreign investment in most countries, and that the vast majority of the investments go into real estate even when other options are available. However, the impact on real estate markets is trivial, with the sole exception of Greece. The results suggest that states turn to golden visa programmes to plug short-term economic gaps but with negligible national-level economic impact.

We compared recurrence patterns between adenocarcinoma (ADC) and squamous cell carcinoma (SCC) after stereotactic body radiotherapy (SBRT) for early-stage lung cancer. Patients with ADC and SCC histology, who were treated with SBRT for clinical stage IA1-IIA lung cancer at our institution, were included in the analysis. The rates of disease-free survival (DFS), overall survival (OS), local recurrence (LR), lymph node metastasis (LNM), and distant metastasis (DM) were calculated using the Kaplan–Meier method or the cumulative incidence function. Among the 204 patients analyzed, 138 and 66 were in the ADC and SCC groups, respectively. The median follow-up period was 60 months. The five-year DFS and OS rates were 57% vs. 41% and 69% vs. 48% in the ADC and SCC groups, respectively (p = 0.015 and 0.019, respectively). In the multivariate analysis, the histological type was not associated with DFS or OS. Five-year LR, LNM, and DM rates were 10% vs. 24%, 12% vs. 20%, and 25% vs. 27% in the ADC and SCC groups, respectively (p = 0.0067, 0.074, and 0.67, respectively). The multivariate analysis identified the histological type of SCC as an independent factor for LR (hazard ratio, 2.41; 95% confidence interval, 1.21–4.77; p = 0.012). The present results suggest that the risk of LR after SBRT is higher for SCC than for ADC.