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We present a discrete-optimization technique for finding feasible robot arm trajectories that pass through provided 6-DOF Cartesian-space end-effector paths with high accuracy, a problem called pathwise-inverse kinematics. The output from our method consists of a path function of joint-angles that best follows the provided end-effector path function, given some definition of ``best''. Our method, called Stampede, casts the robot motion translation problem as a discrete-space graph-search problem where the nodes in the graph are individually solved for using non-linear optimization; framing the problem in such a way gives rise to a well-structured graph that affords an effective best path calculation using an efficient dynamic-programming algorithm. We present techniques for sampling configuration space, such as diversity sampling and adaptive sampling, to construct the search-space in the graph. Through an evaluation, we show that our approach performs well in finding smooth, feasible, collision-free robot motions that match the input end-effector trace with very high accuracy, while alternative approaches, such as a state-of-the-art per-frame inverse kinematics solver and a global non-linear trajectory-optimization approach, performed unfavorably.
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B-spline Parameterized Joint Optimization of Reconstruction and K-space Sampling Patterns (BJORK) for Accelerated 2D Acquisition
The proposed approach, BJORK, provides a robust and generalizable workflow to jointly optimize non-Cartesian sampling patters and a physics-informed reconstruction. Several approaches, including re-parameterization of trajectories, multi-level optimization, and non-Cartesian unrolled neural networks, are introduced to improve training effect and avoid sub-optimal local minima. The invivo experiments show that the networks and trajectories learned on simulation dataset are transferable to the real acquisition even with different parameter-weighted MRI contrasts and noise-levels, and demonstrate improved image quality compared with previous learning-based and model-based trajectory optimization methods.
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- Award ID(s):
- 1838179
- PAR ID:
- 10309641
- Date Published:
- Journal Name:
- International Society Magnetic Resonance in Medicine
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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