Abstract: Embodiments of the present application provide a magnetic resonance system and a shimming method and an imaging method thereof. The shimming method comprises: performing a scout scan on a subject to be examined, and obtaining phase data of a plurality of slice positions; determining three-dimensional space static magnetic field information according to the phase data of the plurality of slice positions; and determining a shimming value of a slice in a region of interest according to the three-dimensional space static magnetic field information.

Abstract: A leg-arm-paddle underwater robot is provided in the present invention, which includes: a frame, an operating mechanism, a traveling mechanism, and a propulsion mechanism. The traveling mechanism is adapted to enable the leg-arm-paddle composite underwater robot to travel. The propulsion mechanism is adapted to enable the leg-arm-paddle composite underwater robot to float in water. The operating mechanism includes a first robot arm, a second robot arm, and a first mounting base, wherein the first mounting base is detachably connected to the frame. Both the first robot arm and the second robot arm are rotatably connected to the first mounting base, and rotation centers of the first robot arm and the second robot arm are the same. The operating mechanism of the leg-arm-paddle composite underwater robot has a compact structure and a large working range. The leg-arm-paddle composite underwater robot has reduced volume, enhanced operation capability, wide applicability, and strong practicability.

Abstract: A leg-arm-paddle underwater robot is provided in the present invention, which includes: a frame, an operating mechanism, a traveling mechanism, and a propulsion mechanism. The traveling mechanism is adapted to enable the leg-arm-paddle composite underwater robot to travel. The propulsion mechanism is adapted to enable the leg-arm-paddle composite underwater robot to float in water. The operating mechanism includes a first robot arm, a second robot arm, and a first mounting base, wherein the first mounting base is detachably connected to the frame. Both the first robot arm and the second robot arm are rotatably connected to the first mounting base, and rotation centers of the first robot arm and the second robot arm are the same. The operating mechanism of the leg-arm-paddle composite underwater robot has a compact structure and a large working range. The leg-arm-paddle composite underwater robot has reduced volume, enhanced operation capability, wide applicability, and strong practicability.