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Yude Ji Yanping Guo Yuejuan Liu Yun Tian 《International Journal of Adaptive Control and Signal Processing》2020,34(3):283-297
This article focuses on the consensus problem of leader-following fractional-order multi-agent systems (MASs) with general linear and Lipschitz nonlinear dynamics. First, the distributed adaptive protocols for linear and nonlinear fractional-order MASs are constructed, respectively. We allow the control coupling gains to be time varying for each agent. Moreover, the adaptive modification schemes for the control gain are designed, which renders smaller control gains and thus requires smaller amplitude on the control input without sacrificing consensus convergence. Second, based on fractional-order Lyapunov stability theorem and Barbalat's lemma, two novel sufficient conditions in terms of linear matrix inequalities are provided to ensure that the leader-following consensus can be obtained in the case for any undirected connected communication graph. Furthermore, we show that the proposed algorithm also works for consensus of agents with intrinsic Lipschitz nonlinear dynamics. As a result, the proposed framework requires no global information and thus can be implemented in a fully distributed manner. Finally, the numerical simulations are given to demonstrate the effectiveness of obtained the theoretical results. 相似文献
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Fully distributed tracking control for non‐identical multi‐agent systems with matching uncertainty 下载免费PDF全文
Y. Zhao Z. S. Duan G. H. Wen Z. K. Li G. R. Chen 《International Journal of Adaptive Control and Signal Processing》2015,29(8):1024-1037
This article addresses the fully distributed consensus tracking control problem of linear multi‐agent systems with parameter uncertainties. First, a new class of distributed protocol, based on the relative states of neighbors, is proposed. Theoretical analysis indicates that the considered problem can be solved if the control gain constant of the protocol is larger than the norm bound of the leader's nonlinear inputs. Furthermore, a distributed adaptive control protocol is proposed for the case without available global information. The distributed consensus tracking control problem of uncertain linear multi‐agent systems is solved based only on local information under the proposed adaptive protocol. Finally, an application in low‐Earth‐orbit satellite formation flying is provided to illustrate the theoretical results. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献
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This paper addresses a new distributed cost optimization (DCO) method for load shedding (LS) of an islanded microgrid considering cost. A two-layer improved average consensus algorithm (IACA) of multi-agent system (MAS) is proposed, and the consensus characteristic of which is analyzed in detail. With the global information discovered in the first layer of the IACA, the DCO of LS can be solved by using the synchronization processing of the IACA in the second layer. PSCAD/EMTDC-based simulation models are built to study the value settings of consensus constants and the performances of the proposed DCO method. Simulation results verified the convergence improvement of the IACA and the effectiveness of the proposed DCO. 相似文献
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Uncertainty theory adopts the belief degree and uncertainty distribution to ensure good alignment with a decision-maker’s uncertain preferences, making the final decisions obtained from the consensus-reaching process closer to the actual decision-making scenarios. Under the constraints of the uncertain distance measure and consensus utility, this article explores the minimum-cost consensus model under various linear uncertainty distribution-based preferences. First, the uncertain distance is used to measure the deviation between individual opinions and the consensus through uncertainty distributions. A nonlinear analytical formula is derived to avoid the computational complexity of integral and piecewise function operations, thus reducing the calculation cost of the uncertain distance measure. The consensus utility function defined in this article characterizes the adjustment value and degree of aggregation of individual opinions. Three new consensus models are constructed based on the consensus utility and linear uncertainty distribution. The results show that, in complex group decision-making contexts, the uncertain consensus models are more flexible than traditional minimum-cost consensus models: compared with the high volatility of the adjusted opinions in traditional deterministic consensus models with crisp number-based preferences, the variation trends of both individual adjusted opinions and the collective opinion with a linear uncertainty distribution are much smoother and the fitting range is closer to reality. The introduction of the consensus utility not only reflects the relative changes of individual opinions, but also accounts for individual psychological changes during the opinion-adjustment process. Most importantly, it reduces the cost per unit of consensus utility, facilitates the determination of the optimal threshold for the consensus utility, and improves the efficiency of resource allocation. 相似文献
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Large-scale group decision-making problems based on social network analysis and minimum cost consensus models (MCCMs) have recently attracted considerable attention. However, few studies have combined them to form a complete decision-making system. Accordingly, we define the satisfaction index to optimize the classical MCCM by considering the effect of the group on individuals. Similarly, we define the consistency index to optimize the consensus reaching process (CRP). Regarding the evolution of the consensus network, the Louvain algorithm is used to divide the entire group into several subgroups to ensure that each subgroup is independent but has strong cohesion. By constructing the MCCM based on the satisfaction index and the optimized consensus-reaching process, the group opinions in each subgroup are ranked to obtain the final ranking of alternatives. Finally, to verify the validity of CRP and the practical value of the proposed model, we conduct consensus network evolution and decision-making analysis in the case of a negotiation between the government and polluting companies to achieve uniform pollution emissions. Sensitivity analysis is performed to demonstrate the stability of the subgroup weights. Furthermore, a comparative analysis using existing models verifies the effectiveness of the proposed model. 相似文献
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Gianvito Difilippo Maria Pia Fanti Agostino Marcello Mangini 《IEEE/CAA Journal of Automatica Sinica》2022,9(2):259-269
The paper deals with the consensus problem in a leaderless network of agents that have to reach a common velocity while forming a uniformly spaced string. Moreover, the final common velocity (reference velocity) is determined by the agents in a distributed and leaderless way. Then, the consensus protocol parameters are optimized for networks characterized by a communication topology described by a class of directed graphs having a directed spanning tree, in order to maximize the convergence rate and avoid oscillations. The advantages of the optimized consensus protocol are enlightened by some simulation results and comparison with a protocol proposed in the related literature. The presented protocol can be applied to coordinate agents such as mobile robots, automated guided vehicles (AGVs) and autonomous vehicles that have to move with the same velocity and a common inter-space gap. 相似文献
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Philip R. Berke Daniel A. Rodriguez 《Journal of the American Planning Association. American Planning Association》2019,85(1):7-15
David R. Godschalk, professor emeritus in the Department of City and Regional Planning at the University of North Carolina, Chapel Hill, passed away in early 2018. In this essay we reflect on Dave’s planning scholarship and practice. We discuss his main contributions in 4 prominent areas. First is the importance of public participation and collaboration for the planning and governance of communities. He argued for democratizing and recasting public participation, with planners working alongside community members coproducing plans and incorporating uncertainty, new information, and different viewpoints. Second is Dave’s focus on the tenets of the comprehensive plan and its core element, the land use plan. In the plan, central principles of livable urban forms and model planning processes can be integrated and translated to practice. With academic collaborators and practitioners he pioneered theoretical and empirical research on what constitutes a high-quality plan, a fundamental question at the heart of planning. Third is his research demonstrating how spatial planning can be used for hazard mitigation and urban resilience. This work forged a new generation of planning academics and practitioners who focused on hazard plans for predisaster mitigation and postdisaster recovery at multiple governmental levels. Finally, fourth is his personal involvement in planning-related institutions that he helped create, lead, or steer. In his various roles as scholar, teacher, mentor, collaborator, supervisor, planning director, and elected official, Dave touched the lives of many who now build on his contributions in creating better communities. 相似文献
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本文主要根据目前企业安全管理,提出一种新的概念"视频指挥调度"。"视频指挥调度"把通常使用的监控技术与智能监控和可视化现场指挥调度相结合,可以把事故隐患控制在初发阶段,并可实施对事故现场的"面对面"指挥调度和应急处理。 相似文献