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21.
本文利用模糊集理论,提出一种非确定环境的描述方法,并且针对机器人在该类环境中的避障轨迹规划,建立了相应的决策函数和规划策略,最后,给出在PC-386计算机上的仿真试验结果。 相似文献
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管内机器人研究中的几项新技术 总被引:11,自引:0,他引:11
介绍了我们研制的管内机器人中应用的具有创新性的三项技术:1.轮式全主动新型行走机构;2.内壁环带视觉装置;3.新型离心喷涂器。 相似文献
25.
Mobile robots can be used in many applications, such as exploration, search and rescue, reconnaissance, security, and cleaning.
Mobile robots usually carry batteries as their energy source and their operational time is restricted by the finite energy
available from the batteries. Therefore, energy constraints are critical to the service time of mobile robots. This paper
investigates the minimum-energy control problem for translational trajectory generation, which minimizes the energy drawn
from the batteries. Optimal control theory is used to find the optimal velocity trajectory in analytic form. To demonstrate
energy efficiency obtainable, we performed simulations of minimum-energy velocity control and compared the results with loss-minimization
control and energy-optimal trapezoidal velocity profiles. Simulation results showed that significant energy savings can be
achieved, of up to 9% compared with loss-minimization control and up to 10% compared with energy-optimal trapezoidal velocity
profile. We also performed an actual robot experiment using Pioneer 3-AT platform to show the validity of the proposed minimum-energy
velocity control. The experimental results revealed that the proposed minimum-energy velocity control can save the battery
energy up to 10% compared with loss-minimization control.
Categories (3): Robot control, (5): RobotMotion Planning 相似文献
26.
Maarja Kruusmaa 《Journal of Intelligent and Robotic Systems》2003,38(1):55-83
This paper presents a self-adapting approach to global level path planning in dynamic environments. The aim of this work is to minimize risk and delays in possible applications of mobile robots (e.g., in industrial processes). We introduce a hybrid system that uses case-based reasoning as well as grid-based maps for decision-making. Maps are used to suggest several alternative paths between specific start and goal point. The casebase stores these solutions and remembers their characteristics. Environment representation and casebase design are discussed. To solve the problem of exploration vs. exploitation, a decision-making strategy is proposed that is based on the irreversibility of decisions. Forgetting strategies are discussed and evaluated in the context of case-based maintenance. The adaptability of the system is evaluated in a domain based on real sensor data with simulated occupancy probabilities. Forgetting strategies and decision-making strategies are evaluated in simulated environments. Experiments show that a robot is able to adapt in dynamic environments and can learn to use paths that are less risky to follow. 相似文献
27.
本文研究当机械臂的终端受有约束时的控制问题,其中心内容是给出“任务规范投影算子”的概念,利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束力,在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束力。 相似文献
28.
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans 总被引:14,自引:0,他引:14
A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers. 相似文献
29.
空间机器人姿态与末端抓手协调运动的鲁棒自适应控制 总被引:13,自引:3,他引:10
本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。借助于虚拟扩展系统的输入与输出,得到了一组关于惯性参数呈线性函数关系的系统控制方程。以此为基础,针对空间机器人系统中不确定参数与未知参数并存的复杂情况,设计了载体姿态与末端抓手惯性空间轨迹协调运动的鲁棒自适应控制方案。利用两杆空间机器人系统进行了系统仿真运算,仿真结果证实了上述控制方案的有效性。由于对系统待估计参数作了分类,并充分利用系统信息对系统不确定参数采用保持鲁棒性而不是在线估计的方法,提到的控制方案具有计算量小的优点,有助于缓解机载计算机运算能力有限的矛盾。 相似文献
30.
给出了一新的基于团队一致法的多传感器位置数据融合方法,该方法按传感器队中的每个成员的测量不确定性,构造团队期望效用函数(或密度),并基于该期望效用函数求得位置参数估计,其优点是可消除失效传感器和测量值为野值的传感器的影响,本文给出了仿真结果。 相似文献