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61.
We present an integral feedback controller that regulates the average copy number of an assembly in a system of stochastically
interacting robots. The mathematical model for these robots is a tunable reaction network, which makes this approach applicable to a large class of other systems, including ones that exhibit stochastic self-assembly
at various length scales. We prove that this controller works for a range of setpoints and how to compute this range both
analytically and experimentally. Finally, we demonstrate these ideas on a physical testbed. 相似文献
62.
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
63.
64.
Jun Cao Ayush Goyal Krista A. Novstrup Samuel P. Midkiff James M. Caruthers 《International journal of parallel programming》2009,37(2):127-152
Well designed domain specific languages have three important benefits: (1) the easy expression of problems, (2) the application
of domain specific optimizations (including parallelization), and (3) dramatic improvements in productivity for their users.
In this paper we describe a compiler and parallel runtime system for modeling the complex kinetics of rubber vulcanization
and olefin polymerization that achieves all of these goals. The compiler allows the development of a system of ordinary differential
equations describing a complex vulcanization reaction or single-site olefin polymerization reaction—a task that used to require
months—to be done in hours. A specialized common sub-expression elimination and other algebraic optimizations sufficiently
simplify the complex machine generated code to allow it to be compiled—eliminating all but 8.0% of the operations in our largest
program and enabling over 60 times faster execution on our largest benchmark codes. The parallel runtime and dynamic load
balancing scheme enables fast simulations of the model. 相似文献
65.
Samuel Aupetit Virginie Gallier Jacques Riff Stéphane Espié Flavien Delgehier 《Ergonomics》2016,59(8):1109-1120
This article sets out to identify the typical risky situations experienced by novice motorcyclists in the real world just after licensing. The procedure consists of a follow-up of six novices during their first two months of riding with their own motorbike instrumented with cameras. The novices completed logbooks on a daily basis in order to identify the risky situations they encountered, and were given face-to-face interviews to identify the context and their shortcomings during the reported events. Data show a large number of road configurations considered as risky by the riders (248 occurrences), especially during the first two weeks. The results revealed that a lack of hazard perception skills contributed to the majority of these incidents. These situations were grouped together to form clusters of typical incident scenarios on the basis of their similarities. The most frequent scenario corresponds to a lane change in dense traffic (15% of all incidents). The discussion shows how this has enhanced our understanding of novice riders’ behaviour and how the findings can improve training and licensing. Lastly, the main methodological limitations of the study and some guidelines for improving future naturalistic riding studies are presented.
Practitioner Summary:
This article aims to identify the risky situations of novice motorcyclists in real roads. Two hundred forty-eight events were recorded and 13 incident scenarios identified. Results revealed that a lack of hazard perception contributed to the majority of these events. The most frequent scenario corresponds to a lane change in dense traffic. 相似文献
66.
Bertrand Baud-Lavigne Samuel Bassetto Bruno Agard 《Journal of Intelligent Manufacturing》2016,27(4):741-749
This paper proposes a method for finding a robust solution to the problem of joint product family and supply chain design. Optimizing product design and the supply chain network at the same time brings substantial benefits. However, this approach involves decisions that can generate uncertainties in the long term. The challenge is to come up with a method that can adapt to most possible environments without straying too far from the optimal solution. Our approach is based on the generation of scenarios that correspond to combinations of uncertain parameters within the model. The performance of designs resulting from these scenario optimizations are compared to the performance of each of the other design scenarios, based on their probability of occurrence. The proposed methodology will allow practitioners to choose a suitable design, from the most profitable to the most reliable. 相似文献
67.
68.
Hasinoff SW Kutulakos KN 《IEEE transactions on pattern analysis and machine intelligence》2011,33(11):2203-2214
In this paper, we consider the problem of imaging a scene with a given depth of field at a given exposure level in the shortest amount of time possible. We show that by 1) collecting a sequence of photos and 2) controlling the aperture, focus, and exposure time of each photo individually, we can span the given depth of field in less total time than it takes to expose a single narrower-aperture photo. Using this as a starting point, we obtain two key results. First, for lenses with continuously variable apertures, we derive a closed-form solution for the globally optimal capture sequence, i.e., that collects light from the specified depth of field in the most efficient way possible. Second, for lenses with discrete apertures, we derive an integer programming problem whose solution is the optimal sequence. Our results are applicable to off-the-shelf cameras and typical photography conditions, and advocate the use of dense, wide-aperture photo sequences as a light-efficient alternative to single-shot, narrow-aperture photography. 相似文献
69.
In this paper, we present a new irradiance caching scheme using Monte Carlo ray tracing for efficiently rendering participating media. The irradiance cache algorithm is extended to participating media. Our method allows to adjust the density of cached records depending on illumination changes. Direct and indirect contributions can be stored in the records but also multiple scattering. An adaptive shape of the influence zone of records, depending on geometrical features and irradiance variations, is introduced. To avoid a high density of cached records in low interest areas, a new method controls the density of the cache when adding new records. This record density control depends on the interpolation quality and on the photometric characteristics of the medium. Reducing the number of records accelerates both the computation pass and the rendering pass by decreasing the number of queries to the cache data structure (Kd-tree). Finally, instead of using an expensive ray marching to find records that cover the ray, we gather all the contributive records along the ray. With our method, pre-computing and rendering passes are significantly speeded-up. 相似文献
70.
Design and Implementation of a PKI-Based End-to-End Secure Infrastructure for Mobile E-Commerce 总被引:2,自引:0,他引:2
The popularity of handheld mobile devices and deployment of the public key infrastructure in many parts of the world have led to the development of electronic commerce on mobile devices. For the current version of mobile phones, the main challenge is the limited computing capacity on these devices for PKI-based end-to-end secure transactions. This paper presents a new architecture and protocol for authentication and key exchange as well as the supporting infrastructure that is suitable for the mobile phone environment. The system requirements and our solutions in addressing these requirements in the restrictive environment are discussed. An evaluation of the system performance is also included. The system has been implemented and is supporting some real-life applications. 相似文献