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71.
The development of universal grippers able to pick up unfamiliar objects of widely varying shapes and surfaces is a very challenging task. Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate to any irregular and sensitive grasping objects. The purpose of the underactuation is to use the power of one actuator to drive the open and close motion of the gripper. The fully compliant mechanism has multiple degrees of freedom and can be considered as an underactuated mechanism. This paper presents a new design of the adaptive underactuated compliant gripper with distributed compliance. The optimal topology of the gripper structure was obtained by iterative finite element method (FEM) optimization procedure. The main points of this paper are in explanation of a new sensing capability of the gripper for grasping and lifting up the gripping objects. Since the sensor stress depends on weight of the grasping object it is appropriate to establish a prediction model for estimation of the grasping object weight in relation to sensor stress. A soft computing based prediction model was developed. In this study an adaptive neuro-fuzzy inference system (ANFIS) was used as soft computing methodology to conduct prediction of the grasping objects weight. The training and checking data for the ANFIS network were obtained by FEM simulations. 相似文献
72.
In this paper, we investigate the deviation of the priority weights from hesitant multiplicative preference relations (HMPRs) in group decision-making environments. As basic elements of HMPRs, hesitant multiplicative elements (HMEs) usually have different numbers of possible values. To correctly compute or compare HMEs, there are two principles to normalize them, i.e., the α-normalization and the β-normalization. Based on the α-normalization, we develop a new goal programming model to derive the priority weights from HMPRs in group decision-making environments. Based on the β-normalization, a consistent HMPR and an acceptably consistent HMPR are defined, and their desired properties are studied. A convex combination method is then developed to obtain interval weights from an acceptably consistent HMPR. This approach is further extended to group decision-making situations in which the experts evaluate their preferences as several HMPRs. Finally, some numerical examples are provided to illustrate the validity and applicability of the proposed models. 相似文献
73.
This paper presents a novel control approach of hybrid neuro-fuzzy (HNF) for load frequency control (LFC) of four-area power system. The advantage of this controller is that it can handle the non-linearities, and at the same time it is faster than other existing controllers. The effectiveness of proposed controller in increasing the damping of local and inter area modes of oscillation is demonstrated in four area interconnected power system. Area-1 and area-2 consist of thermal reheat power plant whereas area-3 and area-4 consist of hydro power plant. Performance evaluation is carried out by using fuzzy, ANN, ANFIS and conventional PI and PID control approaches. The performances of the controllers are simulated using MATLAB/Simulink package. The result shows that intelligent HNF controller is having improved dynamic response and at the same time faster than ANN, fuzzy and conventional PI and PID controllers. 相似文献
74.
基于垫片时效泄漏模型和应力强度干涉模型建立螺栓法兰连接的模糊可靠性模型。通过对极限状态方程进行模糊化处理,得到了螺栓法兰连接模糊可靠性计算模型,将Monte-Carlo法和有限元法相结合,提出基于有限元的螺栓法兰连接模糊可靠性计算方法,并对该方法进行验证。 相似文献
75.
针对轮式移动机器人在滑移条件下的轨迹跟踪问题,提出一种自适应模糊控制策略。利用模糊状态观测器对未知的复杂系统模型进行速度估计和补偿,通过设计输出向量将位置约束转换为输出约束,并构造Barrier Lyapunov函数来保证机器人的运动约束,在此基础上设计更简单的纵向滑移模型,利用李亚普诺夫定理分析闭环系统的稳定性,证明了闭环系统中所有信号都是有界的。最后通过仿真和实验验证了自适应模糊控制策略在轮式机器人纵向滑移情况下的有效性和实用性。 相似文献
76.
77.
戈壁荒漠区属生态环境脆弱区,原生地质环境敏感性强,矿业开发一定程度上加剧了土地沙化、盐渍化和荒漠区砾幕层的破坏,但戈壁荒漠区以往矿山地质环境调查工作程度较低,亦亟需开展矿山地质环境调查与评价工作。通过基于遥感解译的地质环境调查,查明了矿山地质环境现状。建立了适用于戈壁荒漠区矿山地质环境评价指标体系,通过模糊数学综合评价与综合指数模型评价,得到模糊综合评判指数与综合评价指数分别为4.806、4.833,确定矿山地质环境影响程度为中度影响。基于遥感解译与模糊数学的评价方法在戈壁荒漠区有色金属矿山地质环境综合评价中有效可行,为有色金属矿山地质环境调查与评价提供了方法借鉴,为矿山地质环境保护与恢复治理及土地复垦提供了依据。 相似文献
78.
Hosein Ghaffarzadeh Amir Hossein Ghaffari T. Y. Yang 《The Structural Design of Tall and Special Buildings》2019,28(1)
In this paper, the effectiveness of the fuzzy sliding mode control strategy on three‐dimensional benchmark building with smart base isolation under seismic excitation has been examined. One of the appropriate control theories for such this nonlinear system is the sliding mode control theory; discontinuous sliding mode theory has weakness such as chattering phenomena. In this paper, we used a combination of fuzzy logic and sliding mode theory for the deletion of this defect. The proposed control theory has been scrutinized by applying on lately developed nonlinear three‐dimensional base‐isolated benchmark building. This building because of the three‐dimensional nature, coalescing of lateral and torsional responses, continuity of responses of the superstructure, and base is modeled with three degrees of freedom on every floor. In this building eight actuators assigned only at the base level and in the two directions (x, y). In other words, 16 actuators are located underneath the structure. Furthermore, the base isolation system has been modeled by considering lateral coupled equations for a better examination of the performance of the system. The results indicate that reduction of control performance is remarkable. Also, utilizing proposed control theory can decrease the responses of building in two main directions and, particularly, in the rotational degree of freedom. 相似文献
79.
针对水利工程施工进度的多准则群决策问题,提出了一种新的模糊灰色多准则决策模型。该模型基于模糊集理论、灰色关联分析和折衷解的理论方法,将各决策属性和决策者权重的语言变量转化为梯形模糊数;采用改进的 GRA-VIKOR方法对模糊信息群体决策问题进行求解,并对各决策者的群体效益值和个体遗憾值进行聚合;通过折衷解对施工进度方案进行排序,获得最优方案。该模型有效地避免了信息的扭曲和丢失,确保了决策信息的完备性。通过在某水利工程施工进度方案优选的案例分析与计算,证明了该模型的有效性和实用性。 相似文献
80.