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991.
Kun Guo Zhimin He Song Lu Pengjun Zhang Ning Li Lipiao Bao Zhixin Yu Li Song Xing Lu 《Advanced functional materials》2023,33(29):2302100
Carbon nano-onions (CNOs) as a novel form of carbon materials hold peculiar structural features but their electrocatalytic applications are largely discouraged by the demanding synthesis conditions (e.g., ≥1500 °C and vacuum). Using C60 fullerene molecules as the sacrificial seeds and melamine as the main feedstock, herein, a novel strategy for the facile construction of CNOs nanoparticles is presented with ultrafine sizes (≈5 nm) at relatively low temperatures (≤900 °C) and atmospheric pressure. During the calcination, in-depth characterizations reveal that C60 can retain the melamine-derived graphitic carbon nitride from complete sublimation at high temperatures (≥700 °C). Owing to the N removal and subsequent pentagon generation, severely deformed graphitic fragments together with the disintegrated C60 molecules merge into larger sized nanosheets with high curvature, eventually leading to the formation of N-doped defect-rich CNOs. Owing to the integration of multiple favorable structural features of pentagons, edges, and N dopants, the CNOs obtained at 900 °C present superior oxygen reduction half-wave potential (0.853 VRHE) and zinc–air cathode performance to the commercial Pt/C (0.838 VRHE). Density functional theory calculation further uncovers that the carbon atoms adjacent to the N-doped edged pentagons are turned into the ORR-active sites with O2 protonation as the rate-determining step. 相似文献
992.
自动驾驶汽车在缓解交通拥堵和消除交通事故方面发挥着重要作用.为了保证自动驾驶系统的安全性和可靠性,在自动驾驶汽车部署到公共道路之前,必须进行全面的测试.现有的测试场景数据大多来源于交通事故和交通违法场景,而且自动驾驶系统最基本的安全需求就是遵守交通法规,这充分体现了自动驾驶汽车遵守交通规则的重要性.然而,目前严重缺少针对交通法规构建的自动驾驶测试场景.因此,本文从交通法规出发,根据自动驾驶系统安全需求,提出交叉路口测试场景的Petri网建模及形式化验证方法.首先,依据自动驾驶测试场景对交规进行分类,提取适合自动驾驶汽车的文本交规,并进行半形式化表征.其次,以覆盖道路交通安全法规以及测试场景功能测试规程为目标,融合交叉路口场景要素的交互行为,合理选择并组合测试场景要素,布设交叉路口测试场景.然后,基于交规的测试场景被建模为一个Petri网,其中,库所描述自动驾驶汽车的状态,变迁表示状态的触发条件,并选择时钟约束规范语言(CCSL)作为中间语义语言,将Petri网转换为一个可进行形式化验证的中间语义模型,提出具体的转换方法.最后,通过Tina软件分析验证交规场景模型的活性、有界性和可达性,结果表明所建模型的正确性,并基于SMT的分析工具MyCCSL来分析CCSL约束,采用LTL公式以形式化方法验证交规场景模型的一致性. 相似文献
993.
目的 在细粒度图像识别任务中,类内图像姿势方差大,需要找到类内变化小的共性,决定该任务依赖于鉴别性局部的细粒度特征;类间图像局部差异小,需要找到类间更全面的不同,决定该任务还需要多样性局部的粗粒度特征。现有方法主要关注粗细粒度下的局部定位,没有考虑如何选择粗细粒度的特征及如何融合不同粒度的特征。为此,提出一种选择并融合粗细粒度特征的细粒度图像识别方法。方法 设计一个细粒度特征选择模块,通过空间选择和通道选择来突出局部的细粒度鉴别性特征;构建一个粗粒度特征选择模块,基于细粒度模块选择后的局部,挖掘各局部间的语义和位置关系,从而获得为细粒度局部提供补充信息的粗粒度多样性特征;融合这两个模块中提取到的细粒度特征和粗粒度特征,形成互补的粗细粒度表示,以提高细粒度图像识别方法的准确性。结果 在CUB-200-2011(caltech-UCSD birds-200-2011)、Stanford Cars和FGVC-Aircraft(fine-grained visual classification aircraft) 3个公开的标准数据集上进行广泛实验,结果表明,所提方法的识别准确率分别达到90.3%、95.6%和94.8%,明显优于目前主流的细粒度图像识别方法,相较于对比方法中的最好结果,准确率相对提升0.7%、0.5%和1.4%。结论 提出的方法能够提取粗粒度和细粒度两种类型的视觉特征,同时保证特征的鉴别性和多样性,使细粒度图像识别的结果更加精准。 相似文献
994.
目的 胰腺的准确分割是胰腺癌识别和分析的重要前提。现有基于深度学习的主流胰腺分割网络大多是编码—解码结构,对特征图采用先降低再增加分辨率的方式,严重丢失了胰腺位置和细节信息,导致分割效果不佳。针对上述问题,提出了基于3D路径聚合高分辨率网络的胰腺分割方法。方法 首先,为了捕获更多3D特征上下文信息,将高分辨率网络中的2D运算拓展为3D运算;其次,提出全分辨特征路径聚合模块,利用连续非线性变换缩小全分辨率输入图像与分割头网络输出特征语义差异的同时,减少茎网络下采样丢失的位置和细节信息对分割结果的影响;最后,提出多尺度特征路径聚合模块,利用渐进自适应特征压缩融合方式,避免低分辨率特征通道过度压缩导致的信息内容损失。结果 在公开胰腺数据集上,提出方法在Dice系数(Dice similarity coefficient,DSC)、Jaccard系数(Jaccard index,JI)、精确率(precision)和召回率(recall)上相比3D高分辨率网络(3D high-resolution net,3DHRNet)分别提升了1.41%、2.09%、2.35%和0.49%,相比具有代表性编码—解码结构的胰腺分割方法,取得了更高的分割精度。结论 本文提出的3D路径聚合高分辨率网络(3D pathaggregation high-resolution network,3DPAHRNet)具有更强的特征位置和细节信息的保留能力,能够显著改善在腹部CT(computed tomography)图像中所占比例较小的胰腺器官的分割结果。开源代码可在https://github.com/qiuchengjian/PAHRNet3D获得。 相似文献
995.
Jian Huang Tianyi Wang Guan Wang Zhiyi Song Zuosheng Yin 《Asian journal of control》2023,25(5):3792-3804
In this paper, a novel adaptive fault-tolerant control (FTC) scheme is proposed for a class of flexible air-breathing hypersonic vehicles with unknown inertial and aerodynamic parameters and even input constraints. The fault model under consideration covers the case that all actuators suffer from unknown time-varying faults. In the controller design and stability analysis, we introduce new Lyapunov functions, some differentiable auxiliary functions, a bound estimation approach, and a Nussbaum function, which help us successfully circumvent the obstacle caused by the faults, input constraints, and flexible modes. In addition to higher reliability, the proposed scheme is able to ensure that all closed-loop signals are globally uniformly bounded and to steer the tracking errors of altitude and velocity into predefined arbitrarily small residual sets. As a result, the tracking accuracy can be designated in advance. Simulation results illustrate the effectiveness of the proposed scheme. 相似文献
996.
On Dual-Mode Driving Control Method for a Novel Unmanned Tractor With High Safety and Reliability
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Wei Lu Jiacheng Li Huanhuan Qin Lei Shu Aiguo Song 《IEEE/CAA Journal of Automatica Sinica》2023,10(1):254-271
Due to the non-standardization and complexity of the farmland environment, it is always a huge challenge for tractors to achieve fully autonomy (work at Self-driving mode) all the time in agricultural industry. Whereas, when tractors work in the Tele-driving (or Remote driving) mode, the operators are prone to fatigue because they need to concentrate for long periods of time. In response to these, a dual-mode control strategy was proposed to integrate the advantages of both approaches, i.e., by combing Self-driving at most of the time with Tele-driving under special (complex and hazardous) conditions through switching control method. First, the state switcher was proposed, which is used for smooth switching the driving modes according to different working states of a tractor. Then, the state switching control law and the corresponding subsystem tracking controllers were designed. Finally, the effectiveness and superiority of the dual-mode control method were evaluated via actual experimental testing of a tractor whose results show that the proposed control method can switch smoothly, stably, and efficiently between the two driving modes automatically. The average control accuracy has been improved by 20% and 15% respectively, compared to the conventional Tele-driving control and Self-driving control with low-precision navigation. In conclusion, the proposed dual-mode control method can not only satisfy the operation in the complex and changeable farmland environment, but also free drivers from high-intensity and fatiguing work. This provides a perfect application solution and theoretical support for the intelligentization of unmanned farm agricultural machinery with high safety and reliability. 相似文献
997.
A fast convergent non-singular terminal sliding mode adaptive control law based on prescribed performance is formulated to solve the uncertainties and external disturbances of robot manipulators. First, the tracking error of robot manipulators is transformed by using the prescribed performance function, which improves the transient behaviors and steady-state accuracy of robot manipulators. Then, a novel fast convergent non-singular terminal sliding mode surface is brought up according to the transformed error, and the control law is derived to meet the stability requirements of robot manipulators. In practice, the upper boundary of the lumped disturbances cannot be accurately obtained. Therefore, an adaptive prescribed performance control (PPC) controller to lumped disturbances is brought up to ensure the stability and finite-time convergence of robot manipulators. Finally, the system stability of robot manipulators is proved by the Lyapunov theorem. Simulation results and comparative analysis demonstrate the superiority and robustness of the raised strategy. 相似文献
998.
The robot joint is an important component of the construction robot, and its fault diagnosis can ensure the exact execution of building jobs, stable operation, and timely prevention of probable safety mishaps. However, deep learning-based fault diagnosis needs a multitude of measured fault data, which is difficult to obtain for various reasons. To solve the problem of insufficient data, a digital twin-assisted fault diagnosis system for robot joints is proposed. First, a simplified dynamics model of the robot joint is developed to generate the virtual entity data which can be used as the X-domain data for the digital twin model. Second, a CycleGAN-based digital twin model is proposed to map the virtual entity (X-domain) data to the physical entity (Y-domain) utilizing only a small amount of measured data. In the end, a test-rig for the robot joint is built to simulate the robot's working conditions, and the CNN-ResNet classifier is utilized to verify the effectiveness of the simulated data generated by the digital twin model. The results show that the fault diagnosis accuracy can be increased from 32.5% to 98.86% utilizing only 400 sets of measured data. 相似文献
999.
含水量是衡量原油质量的重要指标,在原油的生产和储运过程中油水混合液分界面不断变化,因此全过程都要用到高精度传感器对其进行界面检测。基于电容边缘效应设计了一种侵入式平面电容传感器,其主要结构由基板和平面电极阵列两部分组成。运用有限元软件建立8电极阵列传感器模型,对不同电极工作时的电场分布进行研究,分析了平面电容传感器的检测灵敏度和成像精度。并且,研究了电极宽度、长度和相邻间距对传感器灵敏场分布的影响。对介电分布进行图像重建,使设计的平面电容阵列传感器可以检测3个分界面的高度,且经过尺寸参数优化,提高了传感器的成像精度。实验证明,运用平面电容阵列检测油水界面的方法具有可行性和有效性。 相似文献
1000.
大型发电机定子线棒端部防晕层温度和电场分布是表征防晕结构性能的重要参数,关系着发电机的长期安全稳定运行。工频电气试验过程中,防晕材料的电导损耗是线棒端部绝缘温度梯度分布的主要原因,电场分布取决于防晕层电导和主绝缘电容,而电导率又是电场强度的函数,因此发电机定子线棒端部防晕结构温度场和电场的计算是一个相互耦合的过程。本文借助COMSOL Multiphysics有限元分析软件多物理场仿真功能,以某大型水氢冷发电机定子线棒端部防晕结构作为研究对象,仿真分析了其工频状况下的电场分布情况和时域条件下的温度场分布情况,以匹配线棒端部防晕结构设计开发过程。将仿真温度场结果与真机线棒试验结果对比,两者吻合较好,为进一步优化设计防晕结构和材料参数奠定了基础。 相似文献