Integration of a radiofrequency coil and commercial field camera for ultra-high-field MRI

Purpose: To develop an RF coil with an integrated commercial field camera for ultra-high field (7 T) neuroimaging. The RF coil will operate within a head-only gradient coil and be subject to the corresponding design constraints. The RF coil can thereafter be used for subject-specific correction of k-space trajectories-notably in gradient-sensitive sequences such as single-shot spiral imaging. Methods: The transmit and receive performance was evaluated before and after the integration of field probes, while field probes were evaluated when in an optimal configuration external to the coil and after their integration. Diffusion-weighted EPI and single-shot spiral acquisitions were employed to evaluate the efficacy of correcting higher order field perturbations and the consequent effect on image quality. Results: Field probes had a negligible effect on RF-coil performance, including the transmit efficiency, transmit uniformity, and mean SNR over the brain. Modest reductions in field-probe signal lifetimes were observed, caused primarily by non-idealities in the gradient and shim fields of the head-only gradient coil at the probe positions. The field monitoring system could correct up to second-order field perturbations in single-shot spiral imaging. Conclusion: The integrated RF coil and field camera was capable of concurrent field monitoring within a 7T head-only scanner and facilitated the subsequent correction of k-space trajectories during spiral imaging.

Topic space trajectories

The annual number of publications at scientific venues, for example, conferences and journals, is growing quickly. Hence, even for researchers it becomes harder and harder to keep track of research topics and their progress. In this task, researchers can be supported by automated publication analysis. Yet, many such methods result in uninterpretable, purely numerical representations. As an attempt to support human analysts, we present topic space trajectories, a structure that allows for the comprehensible tracking of research topics. We demonstrate how these trajectories can be interpreted based on eight different analysis approaches. To obtain comprehensible results, we employ non-negative matrix factorization as well as suitable visualization techniques. We show the applicability of our approach on a publication corpus spanning 50 years of machine learning research from 32 publication venues. In addition to a thorough introduction of our method, our focus is on an extensive analysis of the results we achieved. Our novel analysis method may be employed for paper classification, for the prediction of future research topics, and for the recommendation of fitting conferences and journals for submitting unpublished work. An advantage in these applications over previous methods lies in the good interpretability of the results obtained through our methods.

Generation of synchronized configuration space trajectories with workspace path constraints for an ensemble of robots

We present an approach to generate path-constrained synchronous motion for the coupled ensemble of robots. In this article, we refer to serial-link manipulators and mobile bases as robots. We assume that the relative motion constraints among the objects in the environment are given. We represent the motion constraints as path constraints and pose the problem of path-constrained synchronous trajectory generation as a non-linear optimization problem. Our approach generates configuration space trajectories for the robots to manipulate the objects such that the given motion constraints among the objects are satisfied. We present a method that formulates the problem as a discrete parameter optimization problem and solves it using successive constraint refinement techniques. The method adaptively selects the parametric representation of the configuration variables for a given scenario. It also generates an approximate solution as the starting point for the successive constraint refinement stages to reduce the computation time. We discuss in detail why successive constraint refinement strategies are useful for solving this class of problems. We demonstrate the effectiveness of the proposed method on challenging test cases in simulation and physical environments with high-degree-of-freedom robotic systems.