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Mahmoud Elsisi 《国际智能系统杂志》2020,35(11):1857-1878
The controller design for the robotic manipulator faces different challenges such as the system's nonlinearities and the uncertainties of the parameters. Furthermore, the tracking of different linear and nonlinear trajectories represents a vital role by the manipulator. This paper suggests an optimal design for the nonlinear model predictive control (NLMPC) based on a new improved intelligent technique and it is named modified multitracker optimization algorithm (MMTOA). The proposed modification of the MTOA is carried out based on opposition-based learning (OBL) and quasi OBL approaches. This modification improves the exploration behavior of the MTOA to prevent it from becoming trapped in a local optimum. The proposed method is applied on the robotic manipulator to track different linear and nonlinear trajectories. The NLMPC parameters are tuned by the MMTOA rather than the trial and error method of the designer. The proposed NLMPC based on MMTOA is compared with the original MTOA, genetic algorithm, and cuckoo search algorithm in literature. The superiority and effectiveness of the proposed controller are confirmed to track different linear and nonlinear trajectories. Furthermore, the robustness of the proposed method is emphasized against the uncertainties of the parameters. 相似文献
3.
通过对机前推床同步拉杆的受力分析及强度计算,查找出了造成拉杆断裂的原因,并提出了解决拉杆断裂的具体措施。 相似文献
4.
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
5.
Christos Bouras Agisilaos Konidaris 《International Journal of Communication Systems》2005,18(2):119-142
Redundant data transfers over the Web, can be mainly attributed to the repeated transfers of unchanged data. Web caches and Web proxies are some of the solutions that have been proposed, to deal with the issue of redundant data transfers. In this paper we focus on the efficient estimation and reduction of redundant data transfers over the Web. We first prove that a vast amount of redundant data is transferred in Web pages that are considered to carry fresh data. We show this by following an approach based on Web page fragmentation and manipulation. Web pages are broken down to fragments, based on specific criteria. We then deal with these fragments as independent constructors of the Web page and study their change patterns independently and in the context of the whole Web page. After the fragmentation process, we propose solutions for dealing with redundant data transfers. This paper has been based on our previous work on ‘Web Components’ but also on related work by other researchers. It utilises a proxy based, client/server architecture, and imposes changes to the algorithms executed on the Proxy server and on clients. We show that our proposed solution can considerably reduce the amount of redundant data transferred on the Web. Copyright © 2004 John Wiley & Sons, Ltd. 相似文献
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应用现代可靠性理论,从设计、工艺、技术等方面对油田集输系统进行了可靠性探讨,提出了增强系统可靠性的措施。 相似文献
8.
P. I. Stetsyuk 《Cybernetics and Systems Analysis》2006,42(1):54-64
New quadratic models are proposed to improve the upper-bound estimates in the maximum weighted cut problem. They are found
by two original methods for deriving redundant quadratic constraints. A well-known linear model is shown to follow from the
models proposed. Recommendations on how to develop its strengthened analogs are given.
This study is partially sponsored from the grant UM2-2574-KV-03 (CRDF Cooperative Grants Program).
__________
Translated from Kibernetika i Sistemnyi Analiz, No. 1, pp. 63—75, January–February 2006. 相似文献
9.
In target detection tasks, responses are faster when displays have 2 targets (redundant-targets effect; RTE) and slower when they have no targets (nontargets effect; NTE) relative to displays with a single target. The psychological refractory period paradigm was used to localize these effects. In Experiment 1, participants classified tones as high or low and then classified letters as targets or nontargets after a short or long stimulus onset asynchrony (SOA). The magnitudes of the RTE and NTE did not depend on SOA. In Experiment 2, the order of the tasks was reversed, and at short SOAs the RTE and NTE had similar magnitudes for both tone discrimination and target detection responses. These findings suggest that the RTE and NTE arise during response selection. Interactive effects of tone pitch with the number and type of target features were also observed, and these were tentatively interpreted as synesthetic effects. (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献