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81.
Hee-Byoung Choi Atsushi Konno Masaru Uchiyama 《International Journal of Control, Automation and Systems》2009,7(5):858-864
It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics
solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics
solutions of a 4-DOF parallel robot H4. A 16th order polynomial in a single variable is derived to solve the forward kinematics
of the H4. The 16 roots of the polynomial lead to at most 16 different forward kinematics solutions. A numerical verification
is also presented. 相似文献
82.
Many networked human-machine interface systems have a distributed structure for certain purposes such as more computational
power, tele-presence, collaboration, and portability. However, network delays are inevitable in the distributed structure,
and often make sensory information delivered behind time to the user. In the literature, the effect of network delays on the
quality of information presentation has been considered with respect to task performances in most cases. In this paper, we
pay attention to a more stringent criterion, namely whether perceptual artifacts caused by network delays are perceptible by the user. We examined minimum perceptible
visual and/or haptic rendering delays by measuring their discrimination thresholds between normal and delayed virtual environments
with and without a task, and report the results in this paper. We also provide a simple guideline for determining whether
active delay compensation algorithms are required in a networked human-machine interface system by comparing representative
network delays to the measured discrimination thresholds.
Recommended by Guest Editor Phill Kyu Rhee. This work was supported in parts by a grant R01-2006-000-10808-0 and a NRL grant
R0A-2008-000-20087-0 both from KOSEF and by a ITRC support program C1090-0804-0002 from IITA, all funded by the Korea government.
In Lee is a Ph.D student in Computer Science and Engineering at POSTECH, of Korea. He received the B.S. degree in Information and
Communication Engineering from Sungkyunkwan University in 2006. His research interests include haptics, virtual reality, and
human-computer interaction.
Seungmoon Choi is an Assistant Professor in Computer Science and engineering at POSTECH, Korea. He received the B.S. and M.S. degrees in
Control and Instrumentation Engineering from Seoul National University in 1995 and 1997, respectively, and the Ph.D. degree
in Electrical and Computer Engineering from Purdue University in 2003. His research areas include haptics, virtual reality,
data perceptualization, and applied perception. 相似文献
83.
Reliability-based design optimization of problems with correlated input variables using a Gaussian Copula 总被引:4,自引:2,他引:2
The reliability-based design optimization (RBDO) using performance measure approach for problems with correlated input variables
requires a transformation from the correlated input random variables into independent standard normal variables. For the transformation
with correlated input variables, the two most representative transformations, the Rosenblatt and Nataf transformations, are
investigated. The Rosenblatt transformation requires a joint cumulative distribution function (CDF). Thus, the Rosenblatt
transformation can be used only if the joint CDF is given or input variables are independent. In the Nataf transformation,
the joint CDF is approximated using the Gaussian copula, marginal CDFs, and covariance of the input correlated variables.
Using the generated CDF, the correlated input variables are transformed into correlated normal variables and then the correlated
normal variables are transformed into independent standard normal variables through a linear transformation. Thus, the Nataf
transformation can accurately estimates joint normal and some lognormal CDFs of the input variable that cover broad engineering
applications. This paper develops a PMA-based RBDO method for problems with correlated random input variables using the Gaussian
copula. Several numerical examples show that the correlated random input variables significantly affect RBDO results. 相似文献
84.
Y. H. Bae A. I. Lyakhov V. M. Vishnevsky K. J. Kim B. D. Choi 《Automation and Remote Control》2008,69(3):529-543
In this paper, we estimate characteristics of the IEEE 802.11 DCF (Distributed Coordination Function) in non-saturation mode. We take into account two significant features inherent to the non-saturated 802.11 DCF: (i) the possibility of asynchronous transmission performed without preceding backoff for the first packet arriving at the idle staion; and (ii) so-called post backoff meaning that a station must perform a backoff once after any of its transmissions even if its queue becomes empty. We derive the probability generating function (PGF) of Head-of-Line delay (HoL-delay). Our method to find PGF of HoL-delay is quite intuitive and straightforward. Also, we obtain the packet loss probability and non-saturation throughput. Numerical results show that these two features inherent to the non-saturated 802.11 DCF influence on the performance measures of DCF such as delay considerably and it should be taken into account for accurate modeling of DCF. 相似文献
85.
Changmin Lee Youngjae Hong Dongho Kim Younghwan Lim Jang Wook Choi Sung-Yoon Chung 《Advanced functional materials》2023,33(44):2303763
Protons in aqueous electrolytes can perform as an additional type of charge carrier for insertion/extraction in addition to the primary carrier cations in aqueous rechargeable batteries. Despite many diverse claims regarding the effect of protons, mutually conflicting experimental results and their interpretations without direct evidence have been reported over the last decade. Systematic examinations and analyses are thus imperative to clarify the conditions of proton insertion in aqueous rechargeable batteries. Utilizing V2O5 as a model cathode and beaker-type cells with a sufficient amount of ZnSO4 aqueous electrolytes in this work, it is demonstrated that protons are inserted into the cathode prior to Zn-ions in low-pH conditions (pH ≤ 3.0). In stark contrast, the influence of protons on the discharge voltage and capacity is insignificant, when either the pH becomes higher (pH ≥ 4.0) or the electrolyte volume is considerably low in coin-type cells. Similar behavior of pH-dependent proton insertion is also verified in Na–, Mg–, and Al-ion electrolytes. Providing a resolution to the controversy regarding proton insertion, the present study emphasizes that the influence of protons substantially varies depending on the pH and relative volume of electrolytes in aqueous batteries. 相似文献
86.
The primary goal of cloth simulation is to express object behavior in a realistic manner and achieve real-time performance by following the fundamental concept of physic. In general, the mass–spring system is applied to real-time cloth simulation with three types of springs. However, hard spring cloth simulation using the mass–spring system requires a small integration time-step in order to use a large stiffness coefficient. Furthermore, to obtain stable behavior, constraint enforcement is used instead of maintenance of the force of each spring. Constraint force computation involves a large sparse linear solving operation. Due to the large computation, we implement a cloth simulation using adaptive constraint activation and deactivation techniques that involve the mass–spring system and constraint enforcement method to prevent excessive elongation of cloth. At the same time, when the length of the spring is stretched or compressed over a defined threshold, adaptive constraint activation and deactivation method deactivates the spring and generate the implicit constraint. Traditional method that uses a serial process of the Central Processing Unit (CPU) to solve the system in every frame cannot handle the complex structure of clothmodel in real-time. Our simulation utilizes the Graphic Processing Unit (GPU) parallel processing with compute shader in OpenGL Shading Language (GLSL) to solve the system effectively. In this paper, we design and implement parallel method for cloth simulation, and experiment on the performance and behavior comparison of the mass–spring system, constraint enforcement, and adaptive constraint activation and deactivation techniques the using GPU-based parallel method. 相似文献
87.
The texture of two depleted uranium (DU) samples, labelled DUWR and DUWR2, were studied by neutron diffraction. DUWR was prepared by warm rolling of a cast ingot, and DUWR2 was prepared by adding 20% tensile strain to the warm-rolled DUWR. Complete three-dimensional orientation distribution functions were determined using four neutron pole figures for the DUWR, and using six neutron pole figures for the DUWR2 sample, by the WIMV method of the program popLA. The textures of the two samples were essentially identical to each other. They could be described by a twisted helical density tube spiralling continuously along the -axis of the Euler space. The projection of the backbone of the density tube along the -axis cast a linear shadow running parallel to the diagonal of the - plane, which could be defined by a =+90° (and =+270°) relation. The helical tube was confined within narrow -angle limits, from 14° to 30° with the peak orientation at (103) 0 10. The diffraction patterns of the DUWR2 sample were measured from the normal direction to the rolling surface of the sample, up to the scattering angle of 108° using a 0.15 nm neutron beam. The Rietveld profile refinement using the textured diffraction pattern was quite satisfactory when the texture effect to the entire diffraction profile was corrected for by the corresponding pole density from the inverse pole figure. 相似文献
88.
Bong Seok Park Jin Bae Park Yoon Ho Choi 《International Journal of Control, Automation and Systems》2011,9(3):534-541
In this paper, an adaptive observer-based trajectory tracking problem is solved for nonholonomic mobile robots with uncertainties.
An adaptive observer is first developed to estimate the unmeasured velocities of a mobile robot with model uncertainties.
Using the designed observer and the backstepping technique, a trajectory tracking controller is designed to generate the torque
as an input. Using Lyapunov stability analysis, we prove that the closed-loop system is asymptotically stable with respect
to the estimation errors and tracking errors. Finally, the simulation results are presented to validate the performance and
robustness of the proposed control system against uncertainties. 相似文献
89.
Reliability-based design optimization with confidence level under input model uncertainty due to limited test data 总被引:2,自引:2,他引:0
Yoojeong Noh K. K. Choi Ikjin Lee David Gorsich David Lamb 《Structural and Multidisciplinary Optimization》2011,43(4):443-458
For obtaining a correct reliability-based optimum design, the input statistical model, which includes marginal and joint distributions
of input random variables, needs to be accurately estimated. However, in most engineering applications, only limited data
on input variables are available due to expensive testing costs. The input statistical model estimated from the insufficient
data will be inaccurate, which leads to an unreliable optimum design. In this paper, reliability-based design optimization
(RBDO) with the confidence level for input normal random variables is proposed to offset the inaccurate estimation of the
input statistical model by using adjusted standard deviation and correlation coefficient that include the effect of inaccurate
estimation of mean, standard deviation, and correlation coefficient. 相似文献
90.
Ji-Hoon Choi Yong-Woon Park Jae-Bok Song In-So Kweon 《International Journal of Control, Automation and Systems》2011,9(4):716-725
GPS/INS integrated systems do not guarantee robustness and accuracy of localization, because GPS has vulnerability to external
disturbances. However, the overall performance and reliability of the system can be significantly improved by fusing multiple
sensors with a different operating principle. In outdoor environments where GPS may be blocked, there are many features compared
to the open space and these features can provide much information for UGV localization. Thus, this paper proposes an improved
localization algorithm based on the hierarchical federation of three measurement layers, i.e., GPS, INS, and visual localization,
to overcome the shortcomings of GPS/INS integrated systems. The proposed algorithm automatically switches the operation modes
according to GPS status and a network of a ground-based reference station. A vocabulary tree with SURF is used in the visual
localization method. In the data fusion of visual localization and INS, an asynchronous and time-delayed data fusion algorithm
is presented because visual localization is always time-delayed compared with INS. By using DGPS to obtain the reference position
under the dynamic conditions of the reference station, the restrictions of the conventional DGPS are overcome and all UGVs
within WiBro communication range of the reference station can accurately estimate the position with a common GPS. The experiment
results with a predefined path demonstrate enhancement of the robustness and accuracy of localization in outdoor environments. 相似文献