Table 1.

Estimated PSF frequency content from the joint optimization across two scanners and two protocols. The estimated values are compared against the theoretical for both the Y and Z gradient waveforms. The resolution and per echo data consistency RMSE are reported below the PSF values.

	Frequency	Theoretical PSF		Skyra Scanner		Prisma Scanner
		Real	Imag	Real	Imag	Real	Imag
Y Gradient	0	0.000	0.000	−0.038	0.000	0.000	0.000
	26	0.000	0.000	0.000	−0.005	0.000	−0.003
	27	0.000	0.834	0.003	0.837	0.004	0.829
	28	0.000	0.000	0.000	0.003	0.000	0.002
Z Gradient	0	1.668	0.000	1.680	0.000	1.668	0.000
	26	0.000	0.000	−0.007	−0.002	−0.003	0.000
	27	0.000	0.834	0.051	0.832	−0.012	0.849
	28	0.000	0.000	0.005	0.000	0.002	−0.002
Resolution: 1.0×1.0×1.0mm3				RMSE (%): [17, 24]		RMSE (%): [13, 18]

	Frequency	Theoretical PSF		Skyra Scanner		Prisma Scanner
		Real	Imag	Real	Imag	Real	Imag
Y Gradient	0	0.000	0.000	0.038	0.000	0.000	0.000
	30	0.000	0.000	0.000	−0.002	0.000	0.000
	31	0.000	0.567	0.003	0.546	−0.001	0.565
	32	0.000	0.000	0.000	0.002	0.000	0.000
Z Gradient	0	1.130	0.000	1.170	0.000	1.170	0.000
	30	0.000	0.000	−0.002	0.000	−0.002	0.000
	31	0.000	0.567	0.014	0.544	−0.026	0.576
	32	0.000	0.000	0.000	0.000	0.002	0.000
Resolution: 0.76×0.76×1.5mm3				RMSE (%): [16, 22]		RMSE (%): [12, 16]