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991.
Ulrich Schneider Bjo¨rn Olofsson Olof So¨rnmo Manuel Drust Anders Robertsson Martin Hägele Rolf Johansson 《Robotics and Computer》2014
A novel integrated approach to high-accuracy machining with industrial robots is presented in this paper. By combining a conventional industrial robot with an external compensation mechanism, a significantly higher bandwidth of the control of the relative position between the tool and the workpiece can be achieved. A model-based feedback controller for the compensation mechanism, as well as a mid-ranging control architecture for the combined system with the robot and the compensation mechanism are developed. The system performance is evaluated in extensive machining experiments, and the workpiece accuracies achieved are quantified and compared to the corresponding results obtained with state-of-the-art approaches to robotic machining. It is shown that the proposed approach to machining offers significantly higher accuracy, up to eight times improvement for milling in steel, where the required process forces, and thus the exhibited position deviations of the robot, are significant. 相似文献
992.
We present a technique for numerically solving convection-diffusion problems in domains $\varOmega $ with curved boundary. The technique consists in approximating the domain $\varOmega $ by polyhedral subdomains $\mathsf{{D}}_h$ where a finite element method is used to solve for the approximate solution. The approximation is then suitably extended to the remaining part of the domain $\varOmega $ . This approach allows for the use of only polyhedral elements; there is no need of fitting the boundary in order to obtain an accurate approximation of the solution. To achieve this, the boundary condition on the border of $\varOmega $ is transferred to the border of $\mathsf{D }_h$ by using simple line integrals. We apply this technique to the hybridizable discontinuous Galerkin method and provide extensive numerical experiments showing that, whenever the distance of $\mathsf{{D}}_h$ to $\partial \varOmega $ is of order of the meshsize $h$ , the convergence properties of the resulting method are the same as those for the case in which $\varOmega =\mathsf{{D}}_h$ . We also show numerical evidence indicating that the ratio of the $L^2(\varOmega )$ norm of the error in the scalar variable computed with $d>0$ to that of that computed with $d=0$ remains constant (and fairly close to one), whenever the distance $d$ is proportional to $\min \{h,Pe^{-1}\}/(k+1)^2$ , where $Pe$ is the so-called Péclet number. 相似文献
993.
Cruz-López L Malo EA Morgan ED Rincon M Guzmán M Rojas JC 《Journal of chemical ecology》2005,31(7):1621-1632
The mandibular gland secretion of Melipona beecheii contains a rich mixture of terpenoid and oxygenated compounds and unsaturated and saturated hydrocarbons. However, it differs markedly from the 11 other Brazilian species examined in previous studies, both by the absence of 2-heptanol and the presence of rose oxides. The most abundant compound was geranyl hexanoate, whereas the most volatile compounds were cis- and trans-rose oxide and geraniol. The complete blend and five individual components found in the gland secretion were tested by electroantennography (EAG) and behavioral assays. The complete mandibular gland extract and geraniol elicited the strongest EAG responses, whereas these and farnesyl acetate induced the strongest attack response from workers. The role of the rose oxides remains to be elucidated, as they do not appear to play a major role as an alarm pheromone of this species. 相似文献
994.
Susana Filipe João Manuel Maia Catarina Rosa Leal Maria Teresa Cidade 《应用聚合物科学杂志》2007,105(3):1521-1532
The main aim of this work is to study the influence of the application of different processing conditions on the morphological and mechanical properties of thermoplastic/LCP blends, in which the viscosity ratios are inferior to unity and decrease with increasing temperature. The way the microstructure evolves along the extruder determines the final morphology and thus, the mechanical performance of the systems. In the present case, the mechanical properties are related with the degree of fibrillation in the final composites. The best degree of fibrillation was obtained for low screw speeds and temperatures and for intermediate outputs. The use of high screw speeds and processing temperatures results in a decrease of the viscosity ratio, in the former case via an increase in the viscous dissipation, at the regions of higher shear rates (kneading‐elements). The application of a lower processing temperature is advantageous for deformation, break‐up, and fibrillar formation because of the higher viscosity ratios and higher shear stresses involved. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 2007 相似文献
995.
Guadalupe Del C. Pizarro Oscar G. Marambio Manuel Jeria‐Orell Margarita R. Huerta Oscar O. Rodríguez Bernabé L. Rivas Kurt E. Geckeler 《应用聚合物科学杂志》2007,105(5):2893-2902
This article reports the synthesis of poly(N‐maleoylglycine‐co‐itaconic acid) by radical copolymerization under different feed mole ratios and its properties to remove various metal ions, such as Cu(II), Cr(III), Co(II), Zn(II), Ni(II), Pb(II), Cd(II), and Fe(III), in aqueous phase with the liquid‐phase polymer‐based retention(LPR) technique. The interactions of inorganic ions with the hydrophilic water‐soluble polymer were determined as a function of pH and filtration factor. Metal ion retention was found to strongly depend on the pH. Metal ion retention increased as pH and MG content units in the macromolecular backbone increased. The copolymers were characterized by elemental analysis, FTIR, 1H‐NMR, and 13C‐NMR spectroscopy. Additionally, intrinsic viscosity, molecular weight, and polydispersity have been determined for the copolymers. Copolymer and polymer–metal complex thermal behavior was studied using differential scanning calorimetry (DSC) and thermogravimetry (TG) techniques under nitrogen atmosphere. The thermal decomposition temperatures (TDT) were influenced by the copolymer composition. The copolymers present lower TDT than the polymer–metal complex with the same copolymer composition. All copolymers present a single Tg, indicating the formation of random copolymers. A slight deviation of the Tg for the copolymers and its complexes can be observed. The copolymer Tg is higher than the Tg value for the polymer–metal complexes. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 2007 相似文献
996.
Manuel Belmonte Jose S. Moya Pilar Miranzo 《Journal of the American Ceramic Society》1995,78(6):1661-1667
The sintering behavior of an Al2 O3 compact containing uniformly dispersed Al2 O3 platelets has been investigated. The results reveal a significant decrease in the sintering rate as well as the formation of voids and cracklike defects in the presence of nonsinterable platelets. The addition of a small amount (2 vol%) of tetragonal-ZrO2 particles enhances the sintering rate, increases end-point density (∼99.5% of theoretical density) and prevents formation of sintering defects. 相似文献
997.
998.
Garth Herman Aleksander Milshteyn Airs Lin Manuel Garcia Charles Liu Darrell Guillaume Khosrow Radand Helen Boussalis 《通讯和计算机》2014,(5):469-477
Robots facilitate exploration of hazardous environments during response to catastrophe. Autonomous robotic platforms involved in search and rescue operations require accurate position and orientation (localization) information for self-navigation from its current position to its subsequent destination. A Hybrid Routing Algorithm Model has been proposed by the SPACE (structures, pointing and control engineering) URC (university research center) at California State University of Los Angeles. This model envisions three-layered terrain mapping with obstacle representations from various information sources such as satellites, UAVs and onboard range sensors. A* path-finding algorithm is applied to the outer two layers of the model (Layer 1 and Layer 2), while dynamic A* algorithm is responsible for innermost layer (Layer 3) navigation. The mobile robot localization information is computed using data obtained from a 9 Degrees of Freedom Inertial Measurement Unit. While gyroscope sensors provide the system the instantaneous radial velocity of a turning platform, these sensors are also susceptible to drift. Accelerometers are extremely sensitive to vibrations, and along with fluctuating magnetic fields, both accelerometers and magnetometers exhibit noisy behaviors when localizing the robot. Since the IMU contains all three sensors, a Kalman Filter is implemented on a PSoC-5 microcontroller to fuse data from the IMU sensors. This reduces standard deviation between measurements and improves reported heading accuracy, hence provides reliable information on the robot's localization and improves mapping. 相似文献
999.
The changes in the acid fraction of wood extracts fromPinus pinaster Ait. have been studied. Qualitative and quantitative compositions have been determined in samples that were just extracted
and then seven and twelve months after extraction. Samples were prepared according to Technical Association of Pulp and Paper
Industry Standards, extracted with petroleum ether (b.p. 40–60°C) in a Soxhlet apparatus and saponified with ethanolic 0.4N
potassium hydroxide. The acid fraction was methylated with diazomethane, and its qualitative composition was determined by
combined gas chromatography/mass spectrometry. The quantitative composition was determined by gas chromatography with a DEGS
packed column. An increase was observed in the percentage of palmitic, oleic, pimaric and dehydroabietic acids, and there
was a decrease in the percentage of linoleic and abietic acids. No variation was observed in extract composition after seven
and twelve months. 相似文献
1000.
Eugénia Moreira Bernardino Anabela Moreira Bernardino Juan Manuel Sánchez-Pérez Juan Antonio Gómez Pulido Miguel A. Vega Rodríguez 《Journal of Network and Computer Applications》2013,36(1):504-522
In the last years, several combinatorial optimisation problems have arisen in the computer communications networking field. In many cases, for solving these problems it is necessary the use of meta-heuristics. An important problem in communication networks is the Terminal Assignment Problem (TAP). Our goal is to minimise the link cost of large balanced communication networks. TAP is a NP-Hard problem. The intractability of this problem is the motivation for the pursuits of Swarm Intelligence (SI) algorithms that produce approximate, rather than exact, solutions. This paper makes a comparison among the effectiveness of three SI algorithms: Ant Colony Optimisation, Discrete Particle Swarm Optimisation and Artificial Bee Colony. We also compare the SI algorithms with several algorithms from literature. Simulation results verify the effectiveness of the proposed algorithms. The results show that SI algorithms provide good solutions in a better running time. 相似文献