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A global path planning algorithm for unmanned surface vehicles (USVs) with short time requirements in large-scale and complex multi-island marine environments is proposed. The fast marching method-based path planning for USVs is performed on grid maps, resulting in a decrease in computer efficiency for larger maps. This can be mitigated by improving the algorithm process. In the proposed algorithm, path planning is performed twice in maps with different spatial resolution (SR) grids. The first path planning is performed in a low SR grid map to determine effective regions, and the second is executed in a high SR grid map to rapidly acquire the final high precision global path. In each path planning process, a modified inshore-distance-constraint fast marching square (IDC-FM 2 ) method is applied. Based on this method, the path portions around an obstacle can be constrained within a region determined by two inshore-distance parameters. The path planning results show that the proposed algorithm can generate smooth and safe global paths wherein the portions that bypass obstacles can be flexibly modified. Compared with the path planning based on the IDC-FM 2 method applied to a single grid map, this algorithm can significantly improve the calculation efficiency while maintaining the precision of the planned path., Competing Interests: The authors declare there are no competing interests., (©2021 Wang et al.)

Purpose: Simultaneous multi-slice techniques are reliant on multiband RF pulses, for which conventional design strategies result in long pulse durations, lengthening echo-times so lowering SNR for spin-echo imaging, and lengthening repetition times for gradient echo sequences. Pulse durations can be reduced with advanced RF pulse design methods that use time-variable selection gradients. However, the ability of gradient systems to reproduce fast switching pulses is often limited and can lead to image artifacts when ignored. We propose a time-efficient pulse design method that inherently produces gradient waveforms with lower temporal bandwidth., Methods: Efficient multiband RF pulses with time-variable gradients were designed using time-optimal VERSE. Using VERSE directly on multiband pulses leads to gradient waveforms with high temporal bandwidth, whereas VERSE applied first to singleband RF pulses and then modulated to make them multiband, significantly reduces this. The relative performance of these approaches was compared using simulation and experimental measurements., Results: Applying VERSE before multiband modulation was successful at removing out-of-band slice distortion. This effectively removes the need for high frequency modulation in the gradient waveform while preserving the benefit of time-efficiency inherited from VERSE., Conclusion: We propose a time-efficient RF pulse design that produces gradient pulses with lower temporal bandwidth, reducing image artifacts associated with finite temporal bandwidth of gradient systems., (© International Society for Magnetic Resonance in Medicine.)