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41.
Luca Carlone Miguel Kaouk Ng Jingjing Du Basilio Bona Marina Indri 《Journal of Intelligent and Robotic Systems》2011,63(2):283-307
In this paper we investigate the problem of Simultaneous Localization and Mapping (SLAM) for a multi robot system. Relaxing some assumptions that characterize related work we propose an application of Rao-Blackwellized Particle Filters (RBPF) for the purpose of cooperatively estimating SLAM posterior. We consider a realistic setup in which the robots start
from unknown initial poses (relative locations are unknown too), and travel in the environment in order to build a shared
representation of the latter. The robots are required to exchange a small amount of information only when a rendezvous event
occurs and to measure relative poses during the meeting. As a consequence the approach also applies when using an unreliable
wireless channel or short range communication technologies (bluetooth, RFId, etc.). Moreover it allows to take into account
the uncertainty in relative pose measurements. The proposed technique, which constitutes a distributed solution to the multi
robot SLAM problem, is further validated through simulations and experimental tests. 相似文献
42.
The simulation of the wind action over the CAARC (Commonwealth Advisory Aeronautical Council) standard tall building model is performed in the present work. Aerodynamic and aeroelastic analyses are reproduced numerically in order to demonstrate the applicability of CFD techniques in the field of wind engineering. A major topic in this paper is referred to one of the first attempts to simulate the aeroelastic behavior of a tall building employing complex CFD techniques. Numerical results obtained in this work are compared with numerical and wind tunnel measurements and some important concluding remarks about the present simulation are also reported. 相似文献
43.
This paper presents a system that is able to process the information provided by a Tagged World to identify user’s behavior and to produce alarms in dangerous situations. The system inputs are signals from sensors, which are used to recognize correct behavior (action sequences) by Inductive Learning, using Data Mining techniques. The inference engine is a reasoning device that is implemented by means of Regular Grammars. It permits us to control user’s behavior. As output, the system produces and sends alarms when a user action sequence is wrong, indicating the erroneous actions, forgotten future, and so on. To test our system, the Tagged World is supposed to be at a house, where we have used RFID technology to control the objects inside it. 相似文献
44.
Recent legal changes have increased the need for developing accessible user interfaces in computer-based systems. In this sense, previously existing user interfaces are intended to be modified and new user interfaces are intended to be designed taking accessibility guidelines into account. Typically, model-based approaches have been used when developing accessible user interfaces or redefining existing ones. But the use of static models leads to the development of not dynamically adaptable user interfaces. Dynamic adaptation in accessible user interfaces is important due to the fact that interaction difficulties on people with disabilities may change through use. In this paper, we present some contributions that can be obtained from the application of the Dichotomic View of plasticity in the personalization of user interfaces. With the double perspective defined in this approach, it is intended to go further from a mere adaptation to certain user stereotypes, offering also a dynamic support to real limitations or difficulties users can encounter during the use of the UI. This goal is achieved analyzing user logs by an inference engine that dynamically infers modifications in the user interface to adjust it to varying user needs. A case study is presented in order to show how the guidelines and software support defined in the Dichotomic View of plasticity can be applied to develop a component for a particular system aimed at performing dynamic user interface adaptations with accessibility purposes. This approach includes some innovations that make it different from conventional adaptable mechanisms applied to accessibility in some important aspects. 相似文献
45.
Luís Miguel Alves Fernandes Gonçalo Cruz Matos Diogo Azevedo Ricardo Rodrigues Nunes Hugo Paredes Leonel Morgado 《Behaviour & Information Technology》2016,35(11):907-918
ABSTRACTGestural interaction devices emerged and originated various studies on multimodal human–computer interaction to improve user experience (UX). However, there is a knowledge gap regarding the use of these devices to enhance learning. We present an exploratory study which analysed the UX with a multimodal immersive videogame prototype, based on a Portuguese historical/cultural episode. Evaluation tests took place in high school environments and public videogaming events. Two users would be present simultaneously in the same virtual reality (VR) environment: one as the helmsman aboard Vasco da Gama’s fifteenth-century Portuguese ship and the other as the mythical Adamastor stone giant at the Cape of Good Hope. The helmsman player wore a VR headset to explore the environment, whereas the giant player used body motion to control the giant, and observed results on a screen, with no headset. This allowed a preliminary characterisation of UX, identifying challenges and potential use of these devices in multi-user virtual learning contexts. We also discuss the combined use of such devices, towards future development of similar systems, and its implications on learning improvement through multimodal human–computer interaction. 相似文献
46.
Francisco Gomez‐Donoso Miguel Cazorla Alberto Garcia‐Garcia Jose Garcia‐Rodriguez 《Expert Systems》2016,33(5):480-488
Schaeffer's sign language consists of a reduced set of gestures designed to help children with autism or cognitive learning disabilities to develop adequate communication skills. Our automatic recognition system for Schaeffer's gesture language uses the information provided by an RGB‐D camera to capture body motion and recognize gestures using dynamic time warping combined with k‐nearest neighbors methods. The learning process is reinforced by the interaction with the proposed system that accelerates learning itself thus helping both children and educators. To demonstrate the validity of the system, a set of qualitative experiments with children were carried out. As a result, a system which is able to recognize a subset of 11 gestures of Schaeffer's sign language online was achieved. 相似文献
47.
Henrique Moniz Nuno Ferreira Neves Miguel Correia Paulo Ver��ssimo 《Distributed Computing》2011,24(3-4):165-175
Wireless ad-hoc networks are being increasingly used in diverse contexts, ranging from casual meetings to disaster recovery operations. A promising approach is to model these networks as distributed systems prone to dynamic communication failures. This captures transitory disconnections in communication due to phenomena like interference and collisions, and permits an efficient use of the wireless broadcasting medium. This model, however, is bound by the impossibility result of Santoro and Widmayer, which states that, even with strong synchrony assumptions, there is no deterministic solution to any non-trivial form of agreement if n ? 1 or more messages can be lost per communication round in a system with n processes. In this paper we propose a novel way to circumvent this impossibility result by employing randomization. We present a consensus protocol that ensures safety in the presence of an unrestricted number of omission faults, and guarantees progress in rounds where such faults are bounded by ${f \,{\leq}\,\lceil \frac{n}{2} \rceil (n\,{-}\,k)\,{+}\,k\,{-}\,2}$ , where k is the number of processes required to decide, eventually assuring termination with probability 1. 相似文献
48.
Extensive research has been carried out in multiresolution models for many decades. The tendency in recent years has been
to harness the potential of GPUs to perform the level-of-detail extraction on graphics hardware. The aim of this work is to
present a new level-of-detail scheme based on triangles which is both simple and efficient. In this approach, the extraction
process updates vertices instead of indices, thus providing a perfect framework for adapting the algorithms to work completely
on GPU shaders. One of the key aspects of our proposal is the need for just a single rendering pass in order to obtain the
desired geometry. Moreover, coherence among the different approximations is maximized by means of a symmetric extraction algorithm,
which performs the same process when refining and coarsening the mesh. Lastly, we also introduce different uses of the scheme
to offer continuous and view-dependent resolution. 相似文献
49.
Francisco García‐Sánchez Luís Álvarez Sabucedo Rodrigo Martínez‐Béjar Luís Anido Rifón Rafael Valencia‐García Juan Miguel Gómez 《Expert Systems》2011,28(5):416-436
The increasing volume of eGovernment‐related services is demanding new approaches for service integration and interoperability in this domain. Semantic web (SW) technologies and applications can leverage the potential of eGovernment service integration and discovery, thus tackling the problems of semantic heterogeneity characterizing eGovernment information sources and the different levels of interoperability. eGovernment services will therefore be semantically described in the foreseeable future. In an environment with semantically annotated services, software agents are essential as the entities responsible for exploiting the semantic content in order to automate some tasks, and so enhance the user's experience. In this paper, we present a framework that provides a seamless integration of semantic web services and intelligent agents technologies by making use of ontologies to facilitate their interoperation. The proposed framework can assist in the development of powerful and flexible distributed systems in complex, dynamic, heterogeneous, unpredictable and open environments. Our approach is backed up by a proof‐of‐concept implementation, where the breakthrough of integrating disparate eGovernment services has been tested. 相似文献
50.
Towards a Reference Model for Surveying Mobile Agent Systems 总被引:2,自引:1,他引:1