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51.
52.
Jing Yuan Yury Stepanenko 《International Journal of Adaptive Control and Signal Processing》1992,6(2):111-126
A new adaptive controller is presented here for rigid-body robotic manipulators. It is stable and robust with respect to a class of external disturbances. The robustness of the adaptive controller is established without the ‘slow-varying’ assumption and the computationally demanding regressor matrix. The control law consists of a non-adaptive PD control part and an adaptive control part. It uses two adaptive matrices to compensate two uniformly bounded coefficient matrices derived from the original dynamics. A α σ|q?|-modified adaptive law is designed to adjust the adaptive matrices. A Lyapunov-type stability analysis indicates that the closed-loop system is uniformly ultimately bounded. The tracking error and compensation error will eventually converge into a closed region, which can be made arbitrarily small by adjusting the controller parameters. Simulation results are included to demonstrate the performance of the proposed controller. 相似文献
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54.
A pilot-scale fluidised pellet bed (FPB) bioreactor, which combines chemical coagulation, biological degradation, particle pelletisation and separation in one unit, was applied for onsite wastewater treatment and reuse. As a result of rational use of inorganic coagulant and organic polymer and moderate mechanical agitation, spherical particles were generated in the upflow column and a well-fluidised bed was formed. With a continuous supply of dissolved oxygen through a recycling loop, an aerobic condition was kept in the bottom section of the FPB column. Under such conditions the pellets in the FPB column showed the following characteristics: (1) compact structure and high density; (2) rich in microorganisms; and (3) high MLSS and MLVSS concentrations. Therefore, the FPB bioreactor achieved more than 90% removal of SS, COD, BOD and TP from raw domestic wastewater within a total hydraulic retention time (HRT) of only about 30 minutes. It also showed nitrification and denitrification ability and the TN removal could be about 50% as the recycling ratio was increased to 1:1. The treated water quality is generally competitive with the secondary effluent from a conventional activated sludge process. With these advantages the FPB bioreactor is recommendable as a compact system for onsite wastewater treatment and reuse. 相似文献
55.
Infiltration and localization of preferential infiltration zones at the dam abutment are measured using radioactive tracer tests of flow in boreholes,meanwhile interconnection between boreholes and the energing water points is analysed.The theory and practice of radioactive tracer synthetic detective method are described to give methods and calculation formulae used under the condition of stable flow in single well to measure permeability coefficient and hydrostatic heads.Major single hole techniques including measurement for seepage line,velocity,rate of seepage flow and relationship of recharge of groundwater in aquifers are introduced briefly.The possibilities offered by natureal tracers are analysed,uincluding electric-conduct,pH-value and temperature of water as well as stable isotopes(D,^18O) and tritium.Furthermore,the sensibilities of this theory and methods were confirmed by detecting seepage flow field of Xinanjiang Dam. 相似文献
56.
Machine Learning - Research showed that deep learning models are vulnerable to membership inference attacks, which aim to determine if an example is in the training set of the model. We propose a... 相似文献
57.
Chemical looping combustion (CLC) is a clean and efficient flame-free combustion technology,which combust the fuels by lattice oxygen from a solid oxygen carrier with inherent CO2 capture.The develop-ment of oxygen carriers with low cost and high redox performance is crucial to the whole efficiency of CLC process.As the solid by-product from the sulfuric acid production,pyrite cinder presented excellent redox performance as an oxygen carrier in CLC process.The main components in pyrite cinder are Fe2O3,CaSO4,Al2O3 and SiO2 in which Fe2O3 is the active component to provide lattice oxygen.In order to sys-tematic investigate the functions of supports (CaSO4,Al2O3 and SiO2) in pyrite cinder,three oxygen car-riers (Fe2O3-CaSO4,Fe2O3-Al2O3 and Fe2O3-SiO2) were prepared and evaluated in this study.The results showed that Fe2O3-CaSO4 displayed high redox activity and cycling stability in the multiple redox cycles.However,both Fe2O3-Al2O3 and Fe2O3-SiO2 experienced serious deactivation during redox reactions.It indicated that the inert Fe-Si solid solution (Fe2SiO4) was formed in the spent Fe2O3-SiO2 sample,which decreased the oxygen carrying capacity of this sample.The XPS results showed that the oxygen species on the surface of Fe2O3-CaSO4 could be fully recovered after the 20 redox cycles.It can be concluded that CaSO4 is the key to the high redox activity and cycling stability of pyrite cinder. 相似文献
59.
不同活化剂对石油焦基活性炭孔结构的影响 总被引:4,自引:1,他引:4
以石油焦为原料 ,Na OH,KOH和 Na2 CO3 为活化剂制备活性炭 ,采用氮气吸附考察了不同活化剂对活性炭的比表面积、中孔和微孔孔径分布、孔容积及平均孔径等孔结构的影响 .结果表明 :KOH活化制备的活性炭包含 1 nm的微孔和 4nm的中孔 ,总孔容 0 .648cm3 /g,比表面积大 ;Na OH制备的活性炭以 1 nm的微孔为主 ,占总孔容 ( 0 .1 65 cm3 /g)的 98% ,平均孔径 1 .83nm;Na2 CO3 制备的活性炭以 4nm的中孔为主 ,占总孔容 ( 0 .1 43cm3 /g)的 68.5 % ,平均孔径 3.42 nm,比表面积小 .3种样品的孔径都呈现出多峰分布特征 .KOH和 Na2 CO3 活化制备的活性炭的 N2 吸附脱附曲线属于 型 ,Na OH活化制备的活性炭吸附脱附曲线属于 型 . 相似文献
60.
Electron Emission from Barium Strontium Titanate Ceramics 总被引:1,自引:0,他引:1
Shutao Chen Xianlin Dong Shuxin Zheng Ziqiu Zhu Chuanxiang Tang 《Journal of the American Ceramic Society》2006,89(7):2118-2122
This paper focuses on understanding the influence of materials' properties on the ferroelectric electron emission. Ferroelectric ( x =1.0 and 0.8) and paraelectric ( x =0.67 and 0.5) compositions of barium strontium titanate (Ba x Sr(1− x ) TiO3 ) system were chosen for study based on their different ferroelectric and dielectric properties. Similar emission current waveforms were obtained from four compositions with negative triggering voltage applied to the rear electrode of the samples. It was difficult to explain the experimental results using the spontaneous polarization-switching model. The mechanism of electron emission from Ba x Sr(1− x ) TiO3 ceramics was ascertained to surface plasma emission. 相似文献