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排序方式: 共有686条查询结果,搜索用时 15 毫秒
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2.
Fumio Matsumura Masayuki Fujita Masanao Shimizu 《Electrical Engineering in Japan》1991,111(7):117-124
This paper presents the robust control design of a magnetic suspension system for a flexible beam which is a simplified model of an elastic rotor in a magnetic bearing system. To stabilize this magnetic suspension system which is unstable in nature, the Hinfin; control theory is applied for a design of the control system. To apply the Hinfin; control theory, a statespace model of an augmented plant with frequency-weighting functions is constructed. This augmented plant has two inputs which are the exogenous inputs and the control inputs, and two outputs which are the sensor outputs and the regulated outputs. Here we consider the mixed sensitivity problem. The Hinfin; controller is implemented by a digital controller which is able to execute the computations very quickly. For the evaluation of the control performance, several experiments are made. The robustness of the closed-loop system is confirmed by the experimental results. The result of this study is useful for the control design of a magnetic bearing system. 相似文献
3.
Effects of bile acid feeding on hepatic deoxycholate 7α-hydroxylase activity in the hamster 总被引:1,自引:0,他引:1
In order to investigate the effects of bile acid feeding on hepatic microsomal deoxycholate 7α-hydroxylase activity, three
different bile acids were administered (0.2% w/w in chow) to hamsters for two weeks. Deoxycholate 7α-hydroxylase activity
was increased markedly by feeding of cholic acid (CA) and slightly by deoxycholic acid (DCA) Chenodeoxycholic acid (CDCA)
had little effect on the enzyme activity. Feeding each of the bile acids significantly inhibited the activity of cholesterol
7α-hydroxylase in the order CDCA≥ DCA>CA. There was no correlation between deoxycholate 7α-hydroxylase activity and cholesterol
7α-hydroxylase activity. It is concluded that the activity of deoxycholate 7α-hydroxylase is up-regulated by feeding DCA and
CA and that the mechanism seems to be different from that of cholesterol 7α-hydroxylase. The increased activity of hepatic
deoxycholate 7α-hydroxylase by CA and DCA should be beneficial in minimizing the toxic effects of DCA in the hamster. 相似文献
4.
Four samples of poly(ethylene terephthalate) film of various crystallinities and orientation were dyed with p-nitroaniline and disperse dyes. When these films were heated under a 2–3 × 10?3 mm Hg vacuum at a specified temperature T, the dye sublimed out of the dyed specimen. The amount (Mt/M∞) of sublimed dye is in linear proportion to the square root of the sublimation time, t½, where Mt and M∞ are the amounts of dye sublimed for times t and t = ∞. The diffusion coefficient D, calculated from the slope of the above plot, is independent of the dye concentration of the film. When log D is plotted against 1/T°K over the temperature range 320–520°K, the relation is composed of two to four intersecting lines with the slope decreasing with elevation of temperature and with the breaks at about 89°–98°, 122°–135°, 155° and 175°–176°C. These breaks are the amorphous transitions: the first is the glass transition temperature Tg, the second and the fourth are the amorphous transitions corresponding to the crystalline transition points, i.e., the cold crystallization temperature and the smectic–triclinic transition temperature. With some exceptions, these amorphous transitions are found also by dilatometry and electrical conductivity measurements. The apparent activation energy for diffusion decreases from about 100 kcal/mole for the glass state to 22–24 kcal/mole for the region above 180°C. The activation energy for each region changes slightly with the size of dye molecule and the crystallinity and orientation of the film. 相似文献
5.
Some mechanical properties of styrene and acrylonitrile copolymers grafted onto acrylic rubber are investigated. The impact strength of graft polymers depended upon the nature and the concentration of the catalyst, the composition and the intrinsic viscosity of the rubber, and the acrylonitrile content in the rigid matrix. The most desirable result was obtained when benzoyl peroxide as the catalyst, n-butyl acrylate–acrylonitrile copolymer of 7–10% acrylonitrile content, and about 0–5% acrylonitrile in the rigid matrix were used. Dynamic mechanical tests show the increase in efficiency of rubber modification by the grafted chains. The better weathering resistance of these graft polymers, as compared with commercial ABS plastics, was confirmed. 相似文献
6.
Kazunori Nagasaka Takeshi Yoshida Yoshihiro Kita Fumio Hashimoto 《International Journal of Machine Tools and Manufacture》1987,27(2)
For optimization of abrasive cut-off operation, wheel wear equation must be identified before the operation is optimized. The equation is obtained by using GMDH algorithm with successive determination of trends containing interactive terms. In the model equation factors of grinding fluid are taken into consideration in addition to the factors of wheel, work material, feed (table speed) and wheel speed. For the identification of the model wheel wear tests are performed under the experimental design treating the above-mentioned factors as independent variables. The grinding ratio (output in the model) can be predicted for combinations of various factors using the model. With the wheel wear equation and machining cost model, the optimum combination of wheel, fluid, feed and wheel speed can be selected for a given work material. The relationships between these variables and the costs are investigated. 相似文献
7.
Although a number of studies on traditional Chinese medicine, such as qi-gong (QG), acupuncture (AC), moxibustion and Chinese herbal drugs, have been reported in recent years, there are few reports on human cerebral evoked potentials (EPs), especially relating only to QG and AC. In the present study, we examined the changes in EPs and electroencephalogram (EEG) by QG, and by AC stimulation to the point called "Zusanli" on the left lower leg, with one healthy male adult. 1. With regard to the effect of QG, significant changes in EP-components originated from the cortex suggest both facilitating and inhibitory effects of QG on the cortex. However, no significant changes in EP-components originated from the subcortex and no significant changes in EEG power% suggest that QG does not affect the subcortex. 2. With regard to the effects of AC, significant changes in EP-components originated from the cortex suggest facilitating and inhibitory effects of AC stimulation on the cortex. Furthermore, it is suggested that AC stimulation has few effects on the somatosensory and the visual pathways up to the cortex, while it has complicated effects on the auditory pathway up to the cortex. 相似文献
8.
Kazuto Okazaki Tatsuya Ogiwara Dongshin Yang Kentaro Sakata Ken Saito Yoshifumi Sekine Fumio Uchikoba 《Artificial Life and Robotics》2011,16(2):229-233
This article presents the micro-electro-mechanical systems (MEMS) microrobot which demonstrates locomotion controlled by hardware
neural networks (HNN). The size of the microrobot fabricated by the MEMS technology is 4 × 4 × 3.5 mm. The frame of the robot
is made of silicon wafer, and it is equipped with a rotary-type actuator, a link mechanism, and six legs. The rotary-type
actuator generates rotational movement by applying an electrical current to artificial muscle wires. The locomotion of the
microrobot is obtained by the rotation of the rotary-type actuator. As in a living organism, the HNN realized robot control
without using any software programs, A/D converters, or additional driving circuits. A central pattern generator (CPG) model
was implemented as an HNN system to emulate the locomotion pattern. The MEMS microrobot emulated the locomotion method and
the neural networks of an insect with the rotary-type actuator, the link mechanism, and the HNN. The microrobot performed
forward and backward locomotion, and also changed direction by inputting an external trigger pulse. The locomotion speed was
0.325 mm/s and the step width was 1.3 mm. 相似文献
9.
We solve the light transport problem by introducing a novel unbiased Monte Carlo algorithm called replica exchange light transport, inspired by the replica exchange Monte Carlo method in the fields of computational physics and statistical information processing. The replica exchange Monte Carlo method is a sampling technique whose operation resembles simulated annealing in optimization algorithms using a set of sampling distributions. We apply it to the solution of light transport integration by extending the probability density function of an integrand of the integration to a set of distributions. That set of distributions is composed of combinations of the path densities of different path generation types: uniform distributions in the integral domain, explicit and implicit paths in light (particle/photon) tracing, indirect paths in bidirectional path tracing, explicit and implicit paths in path tracing, and implicit caustics paths seen through specular surfaces including the delta function in path tracing. The replica‐exchange light transport algorithm generates a sequence of path samples from each distribution and samples the simultaneous distribution of those distributions as a stationary distribution by using the Markov chain Monte Carlo method. Then the algorithm combines the obtained path samples from each distribution using multiple importance sampling. We compare the images generated with our algorithm to those generated with bidirectional path tracing and Metropolis light transport based on the primary sample space. Our proposing algorithm has better convergence property than bidirectional path tracing and the Metropolis light transport, and it is easy to implement by extending the Metropolis light transport. 相似文献
10.
Joris Vaillant Abderrahmane Kheddar Hervé Audren François Keith Stanislas Brossette Adrien Escande Karim Bouyarmane Kenji Kaneko Mitsuharu Morisawa Pierre Gergondet Eiichi Yoshida Suuji Kajita Fumio Kanehiro 《Autonomous Robots》2016,40(3):561-580
We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites. 相似文献