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981.
Alejandro F. Villaverde Cesáreo Raimúndez Antonio Barreiro 《International Journal of Control, Automation and Systems》2012,10(1):78-87
Crane operation is a challenging task, due to the combined problem of obstacle avoidance and load swing suppression in underactuated
conditions. This paper presents a human-machine interface that increases the operator’s perception of a gantry crane’s workspace.
With this aim, a virtual environment resembling the workspace is connected with a haptic device. This allows the user to receive
not only visual but also tactile feedback, thus increasing maneuvering safety. Additionally, this capability is integrated
in a teleoperation setup, adopting a passivity-based control approach that guarantees overall stability. This includes also
the design of controllers by means of the IDA-PBC method. Experimental results carried out with a laboratory crane show its
feasibility for internet-based teleoperation and demonstrate the improvements on the system performance. 相似文献
982.
Kazunori Sakurama Kazushi Nakano 《International Journal of Control, Automation and Systems》2012,10(1):50-60
This paper addresses a path tracking problem with obstacle avoidance for Lagrange systems. The proposed method is based on
field potential methods in combination with navigation functions for obstacle avoidance. First, it is shown that a simple
combination of the navigation function with the conventional path tracking controller does not work. Therefore, in order to
cope with this problem, a new feedback law is proposed for a path parameter which characterizes the reference path. It is
proved that the proposed controller achieves both path following and collision avoidance. Moreover, since the method adopts
bounded navigation functions, the proposed controllers generate bounded input signals even when target systems approach obstacles.
Finally, an experimental evaluation is performed with a two-link manipulator to illustrate the effectiveness of the proposed
method. 相似文献
983.
Insulator-based dielectrophoresis (iDEP) has been successfully used for on-chip manipulations of biological samples. Despite
its effectiveness, iDEP typically requires high DC voltages to achieve sufficient electric field; this is mainly due to the
coupled phenomena among linear electrokinetics: electroosmosis (EO) and electrophoresis (EP) and nonlinear electrokinetics:
dielectrophoresis (DEP). This paper presents a microfluidic technique using DC-offset AC electric field for electrokinetic
concentration of particles and cells by repulsive iDEP. This technique introduces AC electric field for producing iDEP which
is decoupled from electroosmosis (EO) and electrophoresis (EP). The repulsive iDEP is generated in a PDMS tapered contraction
channel that induces non-uniform electric field. The benefits of introducing AC electric field component are threefold: (i)
it contributes to DEP force acting on particles, (ii) it suppresses EO flow and (iii) it does not cause any EP motion. As
a result, the required DC field component that is mainly used to transport particles on the basis of EO and EP can be significantly
reduced. Experimental results supported by numerical simulations showed that the total DC-offset AC electric field strength
required to concentrate 15-μm particles is significantly reduced up to 85.9% as compared to using sole DC electric field.
Parametric experimental studies showed that the higher buffer concentration, larger particle size and higher ratio of AC-to-DC
electric field are favorable for particle concentration. In addition, the proposed technique was demonstrated for concentration
of yeast cells. 相似文献
984.
We present a deposited microbead plug (DMBP)-based microfluidic chip capable of performing plasma extraction and on-chip immunoassay.
The DMBP used as a porous blood filter provides pure blood plasma without the contamination of blood cells or beads. Capillary-driven
flow eliminates the requirement of external pumps. The human IgG and goat anti-human IgG sample-to-answer assay was performed
in this chip within 600 s using only a 10 μl whole-blood sample. This easy-to-use, rapid, inexpensive, and disposable DMBP-based
chip holds a great promise for point-of-care application. 相似文献
985.
Ming Li Shunbo Li Jinbo Wu Weijia Wen Weihua Li Gursel Alici 《Microfluidics and nanofluidics》2012,12(5):751-760
We report a simple and cost-effective method for fabricating integrated electronic-microfluidic devices with multilayer configurations.
A CO2 laser plotter was employed to directly write patterns on a transferred polydimethylsiloxane (PDMS) layer, which served as
both a bonding and a working layer. The integration of electronics in microfluidic devices was achieved by an alignment bonding
of top and bottom electrode-patterned substrates fabricated with conventional lithography, sputtering and lift-off techniques.
Processes of the developed fabrication method were illustrated. Major issues associated with this method as PDMS surface treatment
and characterization, thickness-control of the transferred PDMS layer, and laser parameters optimization were discussed, along
with the examination and testing of bonding with two representative materials (glass and silicon). The capability of this
method was further demonstrated by fabricating a microfluidic chip with sputter-coated electrodes on the top and bottom substrates.
The device functioning as a microparticle focusing and trapping chip was experimentally verified. It is confirmed that the
proposed method has many advantages, including simple and fast fabrication process, low cost, easy integration of electronics,
strong bonding strength, chemical and biological compatibility, etc. 相似文献
986.
In in-vivo microsystems, one of the components is a biocompatible micropump in order to produce the necessary force to deliver
the fluid from the inlet to the outlet. In this contribution, a flexible micropump is fabricated which is aimed to be suitable
in drug delivery applications. It provides high degree of biocompatibility, since the only employed materials are implantation
grade polydimethylsiloxane elastomer and gold for the electrical interconnects. The working principle of the micropump is
based on transverse DC electroosmosis which is a new variant of conventionally applied high voltage DC electroosmosis. This
new technique is based on topography irregularities introduced in the channel resulting in a non-uniform charge distribution.
The advantage is to drive the micropump using a relatively low DC voltage of 10 V while getting an effective flow speed of
60 μm/s. In order to characterize the flow speed, dyed 3 μm beads are dispersed in the working fluid and their speed is measured
by the line scanning technique using a confocal microscope. It is also observed that the flow has a helical profile which
is an attractive feature for an efficient micro-mixer in active microfluidics and μ-TAS applications. 相似文献
987.
Kyungyong Choi Maesoon Im Ji-Min Choi Yang-Kyu Choi 《Microfluidics and nanofluidics》2012,12(5):821-827
A new droplet-driving scheme for digital microfluidics termed the “pre-charging of a droplet” is demonstrated. In this method,
a droplet is initially charged by applying “pre-charging” voltage between the droplet and an electrode buried under dielectric
layers. The droplet is then driven to the next electrode by applying “driving” voltage between two adjacent buried electrodes.
The concept of pre-charging was proved by the polarity of the charge stored in the droplet. When the droplet is pre-charged
with positive voltage, it is driven with negative voltage and vice versa. Therefore, the magnitudes of the pre-charging and
driving voltages are identical, but only with the opposite polarity. A 2.5-μL deionized water droplet is pre-charged and driven
at a minimal voltage of 12 V. The charge stored in the droplet by this pre-charging method remained for more than 2 min, and
the driving actuation could be repeated more than 150 times while the droplet remained its charged state. This method suggests
a new means of driving a droplet for digital microfluidics at a relatively low voltage by utilizing both the electrostatic
and dielectrophoretic force in the droplet transport process with a simpler structure compared to other single-plate structured
devices. 相似文献
988.
We report an active micromixer utilizing vortex generation due to non-equilibrium electrokinetics near micro/nanochannel interfaces.
Its design is relatively simple, consisting of a U-shaped microchannel and a set of nanochannels. We fabricated the micromixer
just using a two-step reactive ion etching process. We observed strong vortex generation in fluorescent microscopy experiments.
The mixing performance was evident in a combined pressure-driven and electroosmotic flows, compared with the case with a pure
pressure-driven flow. We characterized the micromixer for several conditions: different applied voltages, ion concentrations,
flow rates, and nanochannel widths. The experimental results show that the mixing performance is better with a higher applied
voltage, a lower ion concentration, and a wider nanochannel width. We quantified the mixing characteristics in terms of mixing
time. The lowest mixing time was 2 milliseconds with the voltage of 230 V and potassium chloride solutions of 0.1 mM. We expect
that the micromixer is beneficial in several applications requiring rapid mixing. 相似文献
989.
Numerical modeling of multiphase flows in microfluidics and micro process engineering: a review of methods and applications 总被引:2,自引:1,他引:1
Martin Wörner 《Microfluidics and nanofluidics》2012,12(6):841-886
This article presents a comprehensive review of numerical methods and models for interface resolving simulations of multiphase
flows in microfluidics and micro process engineering. The focus of the paper is on continuum methods where it covers the three
common approaches in the sharp interface limit, namely the volume-of-fluid method with interface reconstruction, the level
set method and the front tracking method, as well as methods with finite interface thickness such as color-function based
methods and the phase-field method. Variants of the mesoscopic lattice Boltzmann method for two-fluid flows are also discussed,
as well as various hybrid approaches. The mathematical foundation of each method is given and its specific advantages and
limitations are highlighted. For continuum methods, the coupling of the interface evolution equation with the single-field
Navier–Stokes equations and related issues are discussed. Methods and models for surface tension forces, contact lines, heat
and mass transfer and phase change are presented. In the second part of this article applications of the methods in microfluidics
and micro process engineering are reviewed, including flow hydrodynamics (separated and segmented flow, bubble and drop formation,
breakup and coalescence), heat and mass transfer (with and without chemical reactions), mixing and dispersion, Marangoni flows
and surfactants, and boiling. 相似文献
990.
Magalie De Ville Philippe Coquet Philippe Brunet Rabah Boukherroub 《Microfluidics and nanofluidics》2012,12(6):953-961
Convenient for both biologists and MEMS designers, Polydimethylsiloxane (PDMS) polymer is intensively investigated for its
biocompatibility, transparency, high resistance under plasma treatment, flexibility and resistance to high temperature. However,
for microfluidic applications, the fabrication of PDMS circular channels is difficult to achieve except by wire moulding.
In this article, we present a simple, fast and low-cost fabrication method which can be applied out of clean-room environment.
It is based on the deposition of alginic acid sodium salt aqueous solution, enabling the formation of a liquid cylinder on
the most hydrophilic part of a hydrophilic/hydrophobic patterned surface. We experimentally studied the interaction between
liquid rivulets and surfaces presenting a contrast of wettability and/or a stepwise texture. Subsequent moulding of the half-cylinder
of liquid produces round PDMS microfluidic channels. The optimal parameters for hydrophilic/hydrophobic patterns have then
been applied to produce the roundest possible channels. The realisation of both straight channels 300–500 μm wide, 1 cm long
and 75° tangent chord angle at best, and Y-shaped channels with the same dimensions and 55° TCA is demonstrated. 相似文献