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981.
Jonghee M. Youn Minwook Ahn Yunheung Paek Jongwung Kim Jeonghun Cho 《Journal of Systems Architecture》2010,56(8):368-383
The complexity of today’s embedded applications increases with various requirements such as execution time, code size or power consumption. To satisfy these requirements for performance, efficient instruction set design is one of the important issues because an instruction customized for specific applications can make better performance than multiple instructions in aspect of fast execution time, decrease of code size, and low power consumption. Limited encoding space, however, does not allow adding application specific and complex instructions freely to the instruction set architecture. To resolve this problem, conventional architectures increases free space for encoding by trimming excessive bits required beyond the fixed word length. This approach however shows severe weakness in terms of the complexity of compiler, code size and execution time. In this paper, we propose a new instruction encoding scheme based on the dynamic implied addressing mode (DIAM) to resolve limited encoding space and side-effect by trimming. We report our two versions of architectures to support our DIAM-based approach. In the first version, we use a special on-chip memory to store extra encoding information. In the second version, we replace the memory by a small on-chip buffer along with a special instruction. We also suggest a code generation algorithm to fully utilize DIAM. In our experiment, the architecture augmented with DIAM shows about 8% code size reduction and 18% speed up on average, as compared to the basic architecture without DIAM. 相似文献
982.
Hyeon Bae Tae-Ryong Jeon Sungshin Kim Hyun-Soo Kim Dongseop Kim Seung-Soo Han Gary S. May 《Soft Computing - A Fusion of Foundations, Methodologies and Applications》2010,14(2):161-169
This study describes techniques for the cascade modeling and the optimization that are required to conduct the simulator-based
process optimization of solar cell fabrication. Two modeling approaches, neural networks and genetic programming, are employed
to model the crucial relation for the consecutively connected two processes in solar cell fabrication. One model (Model 1)
is used to map the five inputs (time, amount of nitrogen and DI water in surface texturing and temperature and time in emitter
diffusion) to the two outputs (reflectance and sheet resistance) of the first process. The other model (Model 2) is used to
connect the two inputs (reflectance and sheet resistance) to the one output (efficiency) of the second process. After modeling
of the two processes, genetic algorithms and particle swarm optimization were applied to search for the optimal recipe. In
the first optimization stage, we searched for the optimal reflectance and sheet resistance that can provide the best efficiency
in the fabrication process. The optimized reflectance and sheet resistance found by the particle swarm optimization were better
than those found by the genetic algorithm. In the second optimization stage, the five input parameters were searched by using
the reflectance and sheet resistance values obtained in the first stage. The found five variables such as the texturing time,
amount of nitrogen, DI water, diffusion time, and temperature are used as a recipe for the solar cell fabrication. The amount
of nitrogen, DI water, and diffusion time in the optimized recipes showed considerable differences according to the modeling
approaches. More importantly, repeated applications of particle swarm optimization yielded process conditions with smaller
variations, implying greater consistency in recipe generation. 相似文献
983.
This paper presents a novel observer‐based controller design method for discrete‐time piecewise affine (PWA) systems. The basic idea is as follows: at first, a piecewise linear (without affine terms) state feedback controller and a PWA observer are designed separately, and then it is proved that the output feedback controller constructed by the resulting observer and state feedback controller gains can guarantee the stability of the closed‐loop system. During the controller design, the piecewise‐quadratic Lyapunov function technique is used. Moreover, the region information is taken into account to treat the affine terms, so the controller gains can be obtained by solving a set of linear matrix inequalities, which are numerically feasible with commercially available software. Three simulation examples are given finally to verify the proposed theoretical results. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
984.
Wonseok Lee Young-bong Bang Kyung-min Lee Bu-hyun Shin Jamie Kyujin Paik In-su Kim 《International Journal of Control, Automation and Systems》2010,8(5):1072-1081
Conventional robot motion teaching methods use a teaching pendant or a motion capture device and are not the most convenient
or intuitive ways to teach a robot sophisticated and fluid movements such as martial arts motions. Ideally, a robot could
be set up as if it were a clothing mannequin that has light limbs and flexible yet frictional joints which can be positioned
at desirable shape and hold all the positions. To do the same with a robot, an operator could pull or push the links with
minor forces until the desired robot posture is attained. For this, a robot should measure the applied external force by using
torque sensors at the robot joints. However, torque sensors are bulky and expensive to install in every DOF joints while keeping
a compact design, which is essential to humanoid robots. In this paper, we use only motor current readings to acquire joint
torques. The equations used to compensate for the effect of gravity on the joint torques and the self-calibration method to
earn link parameters are presented. Additionally, kinematic restrictions can be imposed on the robot’s arms to simplify the
motion teaching. Here, we teach the Kendo training robot with this method and the robot’s learnt martial art motions are demonstrated. 相似文献
985.
Chan-Soo Park Taesin Ha Joohyung Kim Chong-Ho Choi 《International Journal of Control, Automation and Systems》2010,8(2):339-351
This paper presents an effective and systematic trajectory generation method, together with a control method for enabling a biped robot to walk upstairs. The COG (center of gravity) trajectory is generated by the VHIPM (virtual height inverted pendulum mode) for the horizontal motion and by a 6th order polynomial for the vertical motion; an ankle compliance control (ACC) is also added into the robot control. The proposed methods are evaluated by simulations as well as being implemented in a robot for the performance verification. The results show that the proposed methods can generate stable motions when walking upstairs, and these can significantly reduce the zero moment point (ZMP) errors compared with other methods, enabling the robot to walk up steeper stairs. 相似文献
986.
Tae-Il Suh Eui-Jin Kim Bum-Jik Lee Jon-Ha Ryu Sung-Eun Lee 《International Journal of Control, Automation and Systems》2010,8(2):454-461
This article describes the performance comparison of several tracking filters from the viewpoint of gun fire control. It is common that filter performance can be represented by the RMSE of the current state. However, for the design of a gun fire control system, the performance of the tracking filter in terms of prediction is more important since the current state proceeds with a designed dynamic model to a certain future which is used for the final gun order. It is shown that the predicted results amplify the current state RMSE and can be a good measure. 相似文献
987.
Kaushik Deb Andrey Vavilin Jung-Won Kim Kang-Hyun Jo 《International Journal of Control, Automation and Systems》2010,8(5):975-984
Tilt correction is a very crucial and inevitable task in the automatic recognition of the vehicle license plate (VLP). In
this paper, according to the least square fitting with perpendicular offsets (LSFPO), the VLP region is fitted to a straight
line. After the line slope is obtained, rotation angle of the VLP is estimated. Then the whole image is rotated for tilt correction
in horizontal direction by this angle. Tilt correction in vertical direction by minimizing the variance of coordinates of
the projection points is proposed. Character segmentation is performed after horizontal correction and character points are
projected along the vertical direction after shear transform. Despite the success of VLP detection approaches in the past
decades, a few of them can effectively locate license plate (LP), even when vehicle bodies and LPs have similar color. A common
drawback of color-based VLP detection is the failure to detect the boundaries or border of LPs. In this paper, we propose
a modified recursive labeling algorithm for solving this problem and detecting candidate regions. According to different colored
LP, these candidate regions may include LP regions. Geometrical properties of the LP such as area, bounding box and aspect-ratio
are then used for classification. Various LP images were used with a variety of conditions to test the proposed method and
results are presented to prove its effectiveness. 相似文献
988.
Kwangjin Kim Chan Gook Park 《International Journal of Control, Automation and Systems》2010,8(4):776-781
To overcome the extended Kalman Filter (EKF) limitation, the unscented transformation (UT) was developed as a method to propagate mean and covariance information through nonlinear transformation. However, the ordinary UT has both local and global sampling problems. In this paper, non-symmetric unscented transformation (NSUT) is proposed to solve these problems. The sigma point sets of the NSUT are non-symmetrically located with respect to the zeroth sigma point set which is equal to the prior mean. Then, the weights of the sigma points are derived by using some conditions for mean and covariance. The non-symmetric unscented Kalman filter (NSUKF) based on the sigma points and weights of the NSUT are applied to the in-flight alignment (IFA) with a large heading error. With a low cost MEMS IMU, the simulations are carried out at an S-type trajectory to analyze the performance of the proposed method. 相似文献
989.
Zhu Teng Jeong-Hyun Kim Dong-Joong Kang 《International Journal of Control, Automation and Systems》2010,8(4):822-830
In this paper, a novel method of real-time fire detection based on HMMs is presented. First, we present an analysis of fire characteristics that provides evidence supporting the use of HMMs to detect fire; second, we propose an algorithm for detecting candidate fire pixels that entails the detection of moving pixels, fire-color inspection, and pixels clustering. The main contribution of this paper is the establishment and application of a hidden Markov fire model by combining the state transition between fire and non-fire with fire motion information to reduce data redundancy. The final decision is based on this model which includes training and application; the training provides parameters for the HMM application. The experimental results show that the method provides both a high detection rate and a low false alarm rate. Furthermore, real-time detection has been effectively realized via the learned parameters of the HMM, since the most time-consuming components such as HMM training are performed off-line. 相似文献
990.
Gyoosuk Kim Shinill Kang Hyeonseok Cho Jeicheong Ryu Museoung Mun Kyunghoon Kim 《International Journal of Control, Automation and Systems》2010,8(1):59-66
In this study, a simulation model for a powered hip orthosis (PHO) with air muscles to predict the gait of paraplegics is presented which can be used as a design tool for hip orthoses. Before simulation, mathematical models for a human dummy with an orthosis and a pneumatic muscle actuator were generated. For the air muscle, coefficients required were obtained by static and dynamic experiments of the air muscle and experiments for the valve controlling the air pressure. The computation was conducted on the ADAMS package together with MATLAB. Computer simulation of the flexion of hip joints by the pneumatic muscle results in similar values to those from gait analysis. With the development of a simulation model for a PHO, the gait simulation model using pneumatic muscles can be used to analyze and evaluate the characteristics and efficiency of a PHO by setting the input and boundary conditions. 相似文献