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排序方式: 共有6265条查询结果,搜索用时 15 毫秒
151.
Cheng Reynold Kao Ben Kwan Alan Prabhakar Sunil Tu Yicheng 《Knowledge and Data Engineering, IEEE Transactions on》2010,22(2):234-248
The idea of allowing query users to relax their correctness requirements in order to improve performance of a data stream management system (e.g., location-based services and sensor networks) has been recently studied. By exploiting the maximum error (or tolerance) allowed in query answers, algorithms for reducing the use of system resources have been developed. In most of these works, however, query tolerance is expressed as a numerical value, which may be difficult to specify. We observe that in many situations, users may not be concerned with the actual value of an answer, but rather which object satisfies a query (e.g., "who is my nearest neighbor?”). In particular, an entity-based query returns only the names of objects that satisfy the query. For these queries, it is possible to specify a tolerance that is "nonvalue-based.” In this paper, we study fraction-based tolerance, a type of nonvalue-based tolerance, where a user specifies the maximum fractions of a query answer that can be false positives and false negatives. We develop fraction-based tolerance for two major classes of entity-based queries: 1) nonrank-based query (e.g., range queries) and 2) rank-based query (e.g., k-nearest-neighbor queries). These definitions provide users with an alternative to specify the maximum tolerance allowed in their answers. We further investigate how these definitions can be exploited in a distributed stream environment. We design adaptive filter algorithms that allow updates be dropped conditionally at the data stream sources without affecting the overall query correctness. Extensive experimental results show that our protocols reduce the use of network and energy resources significantly. 相似文献
152.
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154.
Nikolaus Correll Nikos Arechiga Adrienne Bolger Mario Bollini Ben Charrow Adam Clayton Felipe Dominguez Kenneth Donahue Samuel Dyar Luke Johnson Huan Liu Alexander Patrikalakis Timothy Robertson Jeremy Smith Daniel Soltero Melissa Tanner Lauren White Daniela Rus 《Intelligent Service Robotics》2010,3(4):219-232
This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. By embedding sensing, computation, and communication into the pots, task allocation in the system is de-centrally coordinated, which makes the system scalable and robust against the failure of a centralized agent. We describe the architecture of this system and present experimental results for navigation, object recognition, and manipulation as well as challenges that lie ahead toward autonomous precision agriculture with multi-robot teams. 相似文献
155.
Tongqing Qiu Edward Chan Mao Ye Guihai Chen Ben Y. Zhao 《The Journal of supercomputing》2009,48(1):15-42
A self-organizing peer-to-peer system is built upon an application level overlay, whose topology is independent of an underlying
physical network. A well-routed message path in such systems may result in a long delay and excessive traffic due to the mismatch
between logical and physical networks. In order to solve this problem, we present a family of Peer-exchange Routing Optimization
Protocols (PROP) to reconstruct the overlay. It includes two policies: PROP-G for generic condition and PROP-O for optimized
one. Both theoretical analysis and simulation experiments show that these two protocols greatly reduce the average latency
of the overlay and achieve a better logical topology with low overhead. Their overall performance can be further improved
if combined with other recent approaches. Specifically, PROP-G can be easily applied to both structured and unstructured systems
without the loss of their primary characteristics, such as efficient routing and anonymity. PROP-O, on the other hand, is
more efficient, especially in a heterogenous environment where nodes have different processing capabilities.
相似文献
Edward ChanEmail: |
156.
H-Infinity Static Output-feedback Control for Rotorcraft 总被引:1,自引:0,他引:1
Jyotirmay Gadewadikar Frank L. Lewis Kamesh Subbarao Kemao Peng Ben M. Chen 《Journal of Intelligent and Robotic Systems》2009,54(4):629-646
The problem of stabilization of an autonomous rotorcraft platform in a hover configuration subject to external disturbances
is addressed. Necessary and sufficient conditions are presented for static output-feedback control of linear time-invariant
systems using the H-Infinity approach. Simplified conditions are given which only require the solution of two coupled matrix
design equations. This paper also proposes a numerically efficient solution algorithm for the coupled design equations to
determine the output-feedback gain. A major contribution is that an initial stabilizing gain is not needed. The efficacy of
the control law and the disturbance accommodation properties are shown on a rotorcraft design example. The helicopter dynamics
do not decouple as in the fixed-wing aircraft case, so that the design of helicopter flight controllers with a desirable intuitive
structure is not straightforward. In this paper an output feedback approach is given that allows one to selectively close
prescribed multivariable feedback loops using a reduced set of the states. Shaping filters are added that improve performance
and yield guaranteed robustness and speed of response. This gives direct control over the design procedure and performance.
Accurate identification of the System parameters is a challenging task for rotorcraft control, addition of loop shaping facilitates
implementation engineers to counteract unmodeled high frequency dynamics. The net result yields control structures that have
been historically accepted in the flight control community. 相似文献
157.
Enhancing a dependable multiserver operating system with temporal protection via resource reservations 总被引:1,自引:0,他引:1
Antonio Mancina Dario Faggioli Giuseppe Lipari Jorrit N. Herder Ben Gras Andrew S. Tanenbaum 《Real-Time Systems》2009,43(2):177-210
Nowadays, microkernel-based systems are getting studied and adopted with a renewed interest in a wide number of IT scenarios. Their advantages over classical monolithic solutions mainly concern the dependability domain. By being capable of dynamically detect and solve non-expected behaviours within its core components, a microkernel-based OS would eventually run forever with no need to be restarted. Dependability in this context mainly aims at isolating components from a spatial point of view: a microkernel-based system may definitely not be adopted in the context of real-time environments, simply basing on this kind of protection only. One of the most active real-time research areas concerns adding temporal protection mechanisms to general purpose operating systems. By making use of such mechanisms, these systems become suitable for being adopted in the context of time-sensitive domains. Microkernel-based systems have always been thought of as a kind of platform not suited to real-time contexts, due to the high latencies introduced by the message passing technique as the only inter-process communication (IPC) facility within the system. With computer performances growing at a fairly high rate, this overhead becomes negligible with respect to the typical real-time processing times. In the last years, many algorithms belonging to the class of the so-called Resource Reservations (RRES) have been devised in order to provide the systems with the needed temporal isolation. By introducing a RRES-aware scheduler in the context of a microkernel-based system, we may enrich it with the temporal benefits it needs in order to be deployed within domains with real-time requirements. In this paper we propose a generic way to implement these mechanisms, dependent for a very small part on the underlying OS mechanisms. In order to show the generality of our RRES framework we implemented it in the context of Minix 3, a highly dependable microkernel-based OS with an impressive users base. 相似文献
158.
Charles W. Fox Ben Mitchinson Martin J. Pearson Anthony G. Pipe Tony J. Prescott 《Autonomous Robots》2009,26(4):223-239
Actuated artificial whiskers modeled on rat macrovibrissae can provide effective tactile sensor systems for autonomous robots.
This article focuses on texture classification using artificial whiskers and addresses a limitation of previous studies, namely,
their use of whisker deflection signals obtained under relatively constrained experimental conditions. Here we consider the
classification of signals obtained from a whiskered robot required to explore different surface textures from a range of orientations
and distances. This procedure resulted in a variety of deflection signals for any given texture. Using a standard Gaussian
classifier we show, using both hand-picked features and ones derived from studies of rat vibrissal processing, that a robust
rough-smooth discrimination is achievable without any knowledge of how the whisker interacts with the investigated object.
On the other hand, finer discriminations appear to require knowledge of the target’s relative position and/or of the manner
in which the whisker contact its surface.
Electronic Supplementary Material The online version of this article () contains supplementary material, which is available to authorized users.
相似文献
Anthony G. Pipe |
159.
This paper investigates a synchronization approach to trajectory tracking of networked robotic systems while maintaining time-varying formations. The objective is to control networked robots to track a desired trajectory while synchronizing their behaviors. Combining trajectory tracking and synchronization algorithms, the developed approach uses a cross-coupling technical to create interconnections for mutual synchronization of robots. The main objective of distributed approach is to generate an emerging behavior using only local information interactions. First, a distributed scheme is developed to achieve the networked robots synchronization on undirected graph. Then, the leaderless synchronized tracking problem in the case when only position measurements are available, will be presented. For both cases: In the presence of the velocity feedback or in its absence, the controller, designed by incorporating the cross-coupling technical into a sliding mode control architecture, successfully guarantees asymptotic convergence to zero of both position tracking and synchronization errors simultaneously. The Lyapunov-based approach has been used to establish the multi-robot systems asymptotic stability. A real-time software simulator is developed to visualize the synchronized behaviors. Based on LabVIEW integrated development environment (IDE), a developed human-machine-interface (HMI) allows its user to control, in real time, the networked robots. Simulation and experimental results are provided to demonstrate performances of the proposed control schemes. 相似文献
160.
Image pansharpening in the remote-sensing domain may be defined as the technique of extracting high-resolution details from the panchromatic (PAN) image and injecting them into the multispectral (MS) one in a way to preserve the spectral signature and improve the spatial resolution. In this article, the authors propose an image fusion framework that tries to derive sharpened MS image such that: (i) when decimated taking into account the imagery system Modulation Transfer Function (MTF), it equals the original MS image; (ii) when decomposed using discrete wavelet transform (DWT), its geometrical details are those of the PAN image weighted by the compatibility PAN/MS. Indeed, MS sharpening is carried out in two steps. First, pre-pansharpened MS image is obtained using inverse DWT taking as approximations those of the upsampled original MS image and as details those of PAN (to reduce spectral distortion, PAN detail injection is performed proportionally to the similarity PAN/MS). Second, to satisfy (i) and to remove the PAN-MS disagreement, an iteration algorithm (alternatively corrects approximations and details) has been proposed. The proposed approach is designed in two versions inspired by the Generalized Laplacian Pyramid (GLP) and the Gram–Schmidt (GS) transformation, respectively.To validate our approach, Pléiades-1A, Geoeye-1, and Landsat Enhanced Thematic Mapper Plus (ETM+) images are tested. The results of qualitative and quantitative scores are presented and discussed. Compared to well-known techniques, our approach shows generally better results, particularly the one based on GLP formalism. 相似文献