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排序方式: 共有6275条查询结果,搜索用时 109 毫秒
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Wesley P. Chan Hiroto Mizohana Xiangyu Chen Yasuto Shiigi Yoshiyuki Yamanoue Masaki Nagatsuka Masayuki Inaba 《野外机器人技术杂志》2019,36(1):17-33
The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition. 相似文献
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To improve the convertibility of reconfigurable manufacturing system (RMS), the concept of delayed reconfigurable manufacturing system (D-RMS) was proposed. RMS and D-RMS are both constructed around part family. However, D-RMS may suffer from ultra-long system problem with unacceptable idle machines using generic RMS part families. Besides, considering the complex basic system structure of D-RMS, machine selection of D-RMS should be addressed, including dedicated machine, flexible machine, and reconfigurable machine. Therefore, a system design method for D-RMS based on part family grouping and machine selection is proposed. Firstly, a part family grouping method is proposed for D-RMS that groups the parts with more former common operations into the same part family. The concept of longest relative position common operation subsequence (LPCS) is proposed. The similarity coefficient among the parts is calculated based on LPCS. The reciprocal value of the operation position of LPCS is adopted as the characteristic value. The average linkage clustering (ALC) algorithm is used to cluster the parts. Secondly, a machine selection method is proposed to complete the system design of D-RMS, including machine selection rules and the dividing point decision model. Finally, a case study is given to implement and verify the proposed system design method for D-RMS. The results show that the proposed system design method is effective, which can group parts with more former common operations into the same part family and select appropriate machine types. 相似文献
4.
某出口型号交流电力机车牵引控制系统要求变流器控制逻辑具备接触器控制、牵引系统数据交互、变流器故障保护、变流器启动自检等功能。针对以上功能,基于MATLAB中的Simulink/Stateflow可视化编程工具进行牵引控制模型的搭建,遵循模块化编程理念,采用较少的程序代码编写实现复杂的逻辑控制模型,生成逻辑清晰的控制功能流程图,进行半实物仿真测试,增强控制模型的可靠性。通过该变流器产品型式试验检验,验证变流器控制逻辑的功能可以满足控制系统的需求。 相似文献
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小型蠕动机器人原理与实现 总被引:12,自引:1,他引:11
本文阐述了蠕动的原理,在此基础上研制了一套小型蠕动机器人系统,其主要部分由三个La:PZT电致伸缩微位移器和一套独特的柔性链机构所组成。机器人的外形尺寸为150*61*46mm,重2kg,最大步距10μm,行程40mm,运动精度0.2μm。 相似文献
7.
孙耀华 《石油地球物理勘探》2003,38(1):17-21
地震勘探技术应用可以分为以二维地震研究构造为主的地震勘探初级阶段、以地震地层学为主的地震勘探中级阶段、以三维地震油藏静态描述为主的地震勘探高级阶段、以地震储层研究为主的开发地震妆级阶段和以四维地震进行油藏监测为主的开发地震高级阶段。针对5个不同阶段的地质条件和地质任务,选择使用合理的地震勘探技术是有效提高勘探开发效益的重要途径。焉耆盆地的勘探开发体现了以地震勘探为主的思路,在勘探开发过程中重视了针对不同勘探开发阶段和不同的地质 地震技术,因此,在早期勘探开发中取得了很好的经济效益。 相似文献
8.
基于EAI的多层分布式应用与实现 总被引:5,自引:0,他引:5
针对目前大型企业各类应用迅速增加但应用之间缺乏有效通信的问题,采用企业应 用集成(EAI)技术,提出了4层分布式应用体系结构,实现流程自动化和松耦合的应用集成.文中首先从EAI技术和常见解决方案出发,详细阐述了表示层、企业门户、EAI总线层和数据源层的功能及软件结构,并结合电信业务运营支撑系统的实际需求,给出了J2EE平台下的应用实例开发.利用组件和容器的技术构建企业门户,通过工作流和企业Java组件(EJB)技术实现EAI总线,借助资源适配器完成应用之间的互连互通.该系统现已投入实际运行,取得了良好的应用效果. 相似文献
9.
Matthias Zobel Joachim Denzler Benno Heigl Elmar Nöth Dietrich Paulus Jochen Schmidt Georg Stemmer 《Machine Vision and Applications》2003,14(1):26-34
Abstract. This contribution introduces MOBSY, a fully integrated, autonomous mobile service robot system. It acts as an automatic dialogue-based
receptionist for visitors to our institute. MOBSY incorporates many techniques from different research areas into one working
stand-alone system. The techniques involved range from computer vision over speech understanding to classical robotics.
Along with the two main aspects of vision and speech, we also focus on the integration aspect, both on the methodological
and on the technical level. We describe the task and the techniques involved. Finally, we discuss the experiences that we
gained with MOBSY during a live performance at our institute. 相似文献
10.
Decentralized adaptive coordinated control of multiple robot arms without using a force sensor 总被引:1,自引:0,他引:1
Haruhisa Kawasaki Author Vitae Satoshi Ueki Author Vitae Author Vitae 《Automatica》2006,42(3):481-488
This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown. 相似文献