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61.
Keisuke Fujita Kohji Higuchi Kazushi Nakano Koji Matsushita Tatsuyoshi Kajikawa Fumiho Chino 《Artificial Life and Robotics》2009,14(3):433-439
There is a need for robust current control of a pulse width modulation (PWM) power amplifier whose transient response characteristics
do not deteriorate with extensive load changes and/or direct-current power supply voltage changes. In this article, we propose
a digital robust controller with bumpless mode switching to control the current of a PWM power amplifier to satisfy the demands
and extend the range of an inductive load width. It is necessary to measure the value of the load in order to implement this
bumpless mode switching automatically depending on the load range. Therefore, a method of estimating the inductive load is
shown. The bumpless mode switching is automatically performed by estimating an inductive value without specifying the value
of the inductive load beforehand. That is, the value of the inductive load is estimated during the DDC execution, and the
control mode is automatically switched bumplessly according to this estimated value. A digital controller equipped with inductance
estimation and bumpless mode switching is realized by a DSP. Some experiments show that the digital controller with the proposed
bumpless mode switching can satisfy larger specifications. 相似文献
62.
Naoki Sakamoto Mitsuru Higashimori Toshio Tsuji Makoto Kaneko 《Intelligent Service Robotics》2009,2(1):53-60
This paper discusses an optimum design approach on robotic food handling by considering the characteristics of viscoelasticity
of object. We pick up a traditional Japanese food, “Norimaki” as a typical example with the viscoelastic characteristics.
We first show that the dynamic characteristics of Norimaki can be expressed by utilizing the Burger model. After testing the
parameter sensitivity, we show an example of the optimum design for determining the combination of the hand stiffness and
the operating velocity. We further show that the resultant plastic deformation can be formulated with the exact solution. 相似文献
63.
In order to facilitate the implementations ofTMN interface protocols/services studied inITU-T, it is very important to define profiles for supportingTMN management service. This paper proposes a concrete method for achieving this based on osi management standards as a promisingTMN implementation method. It proposes an idea of structuring theTMN ISP’S based on the structure of the osi managementISP’S. The paper discusses aTMN based on the osi managementISP’S. Finally the implementation as software is discussed and a software architecture for efficient application development is proposed. 相似文献
64.
65.
Parametric interpolation has been widely used in CNC machining because of its advantages over the traditional linear or circular interpolation. Many researchers focused on this field and have made great progress in the specific one, NURBS curve interpolation. These works greatly improved the CNC machining with constant feedrate, confined chord error and limited acceleration/deceleration. However, during CNC machining process, mechanical shocks to machine tool caused by the undesired acceleration/deceleration profile will dramatically deteriorate the surface accuracy and quality of the machined parts. This is, in most occasions, very harmful to machine tools. In this paper, an accurate adaptive NURBS curve interpolator is proposed with consideration of acceleration–deceleration control. The proposed design effectively reduces the machining shocks by constraining the machine tool jerk dynamically. Meanwhile, the constant feedrate is maintained during most time of machining process, and thus high accuracy is achieved while the feedrate profile is greatly smoothed. In order to deal with the sudden change of the acceleration/deceleration around the corner with large curvature, a real-time flexible acceleration/deceleration control scheme is introduced to adjust the feedrate correspondingly. Case study has been taken to verify the feasibility and advantages of the proposed design. 相似文献
66.
Makoto Kanazawa 《Journal of Logic, Language and Information》2010,19(2):137-161
Second-order abstract categorial grammars (de Groote in Association for computational linguistics, 39th annual meeting and 10th conference of the European chapter,
proceedings of the conference, pp. 148–155, 2001) and hyperedge replacement grammars (Bauderon and Courcelle in Math Syst Theory 20:83–127, 1987; Habel and Kreowski in STACS 87: 4th Annual symposium on theoretical
aspects of computer science. Lecture notes in computer science, vol 247, Springer, Berlin, pp 207–219, 1987) are two natural
ways of generalizing “context-free” grammar formalisms for string and tree languages. It is known that the string generating
power of both formalisms is equivalent to (non-erasing) multiple context-free grammars (Seki et al. in Theor Comput Sci 88:191–229, 1991) or linear context-free rewriting systems (Weir in Characterizing mildly context-sensitive grammar formalisms, University of Pennsylvania, 1988). In this paper, we
give a simple, direct proof of the fact that second-order ACGs are simulated by hyperedge replacement grammars, which implies
that the string and tree generating power of the former is included in that of the latter. The normal form for tree-generating
hyperedge replacement grammars given by Engelfriet and Maneth (Graph transformation. Lecture notes in computer science, vol
1764. Springer, Berlin, pp 15–29, 2000) can then be used to show that the tree generating power of second-order ACGs is exactly
the same as that of hyperedge replacement grammars. 相似文献
67.
We propose a system that allows the user to design a continuous flow animation starting from a still fluid image. The basic idea is to apply the fluid motion extracted from a video example to the target image. The system first decomposes the video example into three components, an average image, a flow field and residuals. The user then specifies equivalent information over the target image. The user manually paints the rough flow field, and the system automatically refines it using the estimated gradients of the target image. The user semi-automatically transfers the residuals onto the target image. The system then approximates the average image and synthesizes an animation on the target image by adding the transferred residuals and warping them according to the user-specified flow field. Finally, the system adjusts the appearance of the resulting animation by applying histogram matching. We designed animations of various pictures, such as rivers, waterfalls, fires, and smoke. 相似文献
68.
Kuya Takami Tomonari Furukawa Makoto Kumon Daisuke Kimoto Gamini Dissanayake 《Autonomous Robots》2016,40(2):343-359
This paper presents a nonvisible field-of-view (NFOV) target estimation approach that incorporates optical and acoustic sensors. An optical sensor can accurately localize a target in its field-of-view whereas the acoustic sensor could estimate the target location over a much larger space, but only with limited accuracy. A recursive Bayesian estimation framework where observations of the optical and acoustic sensors are probabilistically treated and fused is proposed in this paper. A technique to construct the observation likelihood when two microphones are used as the acoustic sensor is also described. The proposed technique derives and stores the interaural level difference of observations from the two microphones for different target positions in advance and constructs the likelihood through correlation. A parametric study of the proposed acoustic sensing technique in a controlled test environment, and experiments with an NFOV target in an actual indoor environment are presented to demonstrate the capability of the proposed technique. 相似文献
69.
70.
Makoto Sakamoto Kaoru Kajisa Naoko Tomozoe Takao Ito Hiroshi Furutani Michio Kono Satoshi Ikeda 《Artificial Life and Robotics》2008,13(1):61-64
In 1997, C.R. Dyer and A. Rosenfeld introduced an acceptor on a two-dimensional pattern (or tape), called the pyramid cellular acceptor, and demonstrated that many useful recognition tasks are executed by pyramid cellular acceptors in time proportional to the
logarithm of the diameter of the input. They also introduced a bottom-up pyramid cellular acceptor which is a restricted version of the pyramid cellular acceptor, and proposed some interesting open problems of the bottom-up
pyramid cellular acceptors. On the other hand, we think that the study of threedimensional automata has been meaningful as
the computational model of three-dimensional information processing such as computer vision, robotics, and so forth. In this
paper, we investigate about bottom-up pyramid cellular acceptors with three-dimensional layers, and show their some accepting
powers.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献