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71.
72.
文中提出了一种应用RBF神经网络对标准IMM算法中的卡尔曼滤波结果进行校正的方法。网络输人为预测误差、卡尔曼增益以及测量值与估计值之差.网络输出反映了由于目标机动所带来的滤波误差.将网络输出结果和直接由卡尔曼滤波求解得到的结果相加.可以得到更为准确的滤波值。同时.在网络的学习算法中.在网络权值矩阵的修正公式中增加了反映滤波残差的调整项.若卡尔曼滤波的残差较大,网络调整权值的幅度也相应增大。仿真结果表明.在目标发生机动转弯处.校正后的IMM算法的跟踪误差要明显小于标准IMM算法的跟踪误差.跟踪精度较高。 相似文献
73.
High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks 总被引:1,自引:0,他引:1
Roland Lenain Benoit Thuilot Christophe Cariou Philippe Martinet 《Autonomous Robots》2006,21(1):79-97
When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudo-sliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground. It has been established that RTK GPS was a very suitable sensor to achieve automated guidance with such high precision: several control laws have been designed for vehicles equipped with this sensor, and provide the expected guidance accuracy as long as the vehicles do not slide. In previous work, further control developments have been proposed to take sliding into account: guidance accuracy in slippery environments has been shown to be preserved, except transiently at the beginning/end of curves. In this paper, the design of this control law is first recalled and discussed. A Model Predictive Control method is then applied in order to preserve accuracy of guidance even during these curvature transitions. Finally, the overall control scheme is implemented, and improvements with respect to previous guidance laws are demonstrated through full-scale experiments. 相似文献
74.
With video compression standards such as MPEG‐4, a transmission error happens in a video‐packet basis, rather than in a macroblock basis. In this context, we propose a semantic error prioritization method that determines the size of a video packet based on the importance of its contents. A video packet length is made to be short for an important area such as a facial area in order to reduce the possibility of error accumulation. To facilitate the semantic error prioritization, an efficient hardware algorithm for face tracking is proposed. The increase of hardware complexity is minimal because a motion estimation engine is efficiently re‐used for face tracking. Experimental results demonstrate that the facial area is well protected with the proposed scheme. 相似文献
75.
In this paper, we present an approach toward pedestrian detection and tracking from infrared imagery using joint shape and appearance cues. A layered representation is first introduced and a generalized expectation-maximization (EM) algorithm is developed to separate infrared images into background (still) and foreground (moving) layers regardless of camera panning. In the two-pass scheme of detecting pedestrians from the foreground layer: shape cue is first used to eliminate non-pedestrian moving objects and then appearance cue helps to locate the exact position of pedestrians. Templates with varying sizes are sequentially applied to detect pedestrians at multiple scales to accommodate different camera distances. To facilitate the task of pedestrian tracking, we formulate the problem of shot segmentation and present a graph matching-based tracking algorithm that jointly exploits the shape, appearance and distance information. Experimental results with both OSU Infrared Image Database and WVU Infrared Video Database are reported to demonstrate the accuracy and robustness of our algorithm. 相似文献
76.
77.
Moritoshi Yasunaga Noriyuki Aibe Yoshiki Yamaguchi Yorihisa Yamamoto Takaaki Awano Ikuo Yoshihara 《Artificial Life and Robotics》2008,12(1-2):219-222
Watching and tracking an object while seeing a much wider view is one of advantages of the eye system. We proposed and developed
a tracking camera system that mimics the eyes by using double-lens modules. In the system, a wide view is captured through
the wide-lens module, while the target in it is tracked and magnified through the telescopic lens module. Electronic circuits
for tracking control are implemented onto the reconfigurable VLSI or FPGA in order to embed the parallelism in the tracking
algorithm into the hardware. A successfully developed FPGA-based prototype performs high-speed tracking at the video-rate.
This work was present in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27,
2007 相似文献
78.
Qi Gong 《Automatica》2007,43(1):184-189
In this paper we address the practical tracking problem for a class of nonlinear systems by dynamic output feedback control. Unlike most of the existing results where the unmeasurable states in the nonlinear vector field can only grow linearly, we allow higher-order growth of unmeasurable states. The proposed controller makes the tracking error arbitrarily small and demonstrates nice properties such as robustness to disturbances and universal property to reference signals. 相似文献
79.
Rinkenauer Gerhard; Osman Allen; Ulrich Rolf; Müller-Gethmann Hiltraut; Mattes Stefan 《Canadian Metallurgical Quarterly》2004,133(2):261
Lateralized readiness potentials (LRPs) were used to determine the stage(s) of reaction time (RT) responsible for speed-accuracy trade-offs (SATs). Speeded decisions based on several types of information were examined in 3 experiments, involving, respectively, a line discrimination task, lexical decisions, and an Erikson flanker task. Three levels of SAT were obtained in each experiment by adjusting response deadlines with an adaptive tracking algorithm. Speed stress affected the duration of RT stages both before and after the start of the LRP in all experiments. The latter effect cannot be explained by guessing strategies, by variations in response force, or as an indirect consequence of the pre-LRP effect. Contrary to most models, it suggests that SAT can occur at a late postdecisional stage. (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献
80.
Dynamics of the explosive growth of a vapor bubble in microgravity is investigated by direct numerical simulation. A front tracking/finite difference technique is used to solve for the velocity and the temperature field in both phases and to account for inertia, viscosity, and surface deformation. The method is validated by comparison of the numerical results with the available analytical formulations such as the evaporation of a one-dimensional liquid/vapor interface, frequency of oscillations of capillary waves, and other numerical results. Evolution of a three-dimensional vapor nucleus during explosive boiling is followed and a fine scale structure similar to experimental results is observed. Two-dimensional simulations yield a similar qualitative instability growth. 相似文献