Peña-Nogales Ó, Zhang Y, Wang X, de Luis-Garcia R, Aja-Fernández S, Holmes JH, Hernando D. Optimized Diffusion-Weighting Gradient Waveform Design (ODGD) formulation for motion compensation and concomitant gradient nulling. Magn Reson Med. 2019 02; 81(2):989-1003.