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121.
Antonio Fernández Anta José Luis López-Presa M. Araceli Lorenzo Pilar Manzano Juan Martinez-Romo Alberto Mozo Christopher Thraves 《Theory of Computing Systems》2011,48(1):1-22
In this paper we generalize the Continuous Adversarial Queuing Theory (CAQT) model (Blesa et al. in MFCS, Lecture Notes in
Computer Science, vol. 3618, pp. 144–155, 2005) by considering the possibility that the router clocks in the network are not synchronized. We name the new model Non Synchronized
CAQT (NSCAQT). Clearly, this new extension to the model only affects those scheduling policies that use some form of timing.
In a first approach we consider the case in which although not synchronized, all clocks run at the same speed, maintaining
constant differences. In this case we show that all universally stable policies in CAQT that use the injection time and the
remaining path to schedule packets remain universally stable. These policies include, for instance, Shortest in System (SIS)
and Longest in System (LIS). Then, we study the case in which clock differences can vary over time, but the maximum difference
is bounded. In this model we show the universal stability of two families of policies related to SIS and LIS respectively
(the priority of a packet in these policies depends on the arrival time and a function of the path traversed). The bounds
we obtain in this case depend on the maximum difference between clocks. This is a necessary requirement, since we also show
that LIS is not universally stable in systems without bounded clock difference. We then present a new policy that we call
Longest in Queues (LIQ), which gives priority to the packet that has been waiting the longest in edge queues. This policy
is universally stable and, if clocks maintain constant differences, the bounds we prove do not depend on them. To finish,
we provide with simulation results that compare the behavior of some of these policies in a network with stochastic injection
of packets. 相似文献
122.
Machine vision represents a particularly attractive solution for sensing and detecting potential collision‐course targets due to the relatively low cost, size, weight, and power requirements of vision sensors (as opposed to radar and Traffic Alert and Collision Avoidance System). This paper describes the development and evaluation of a real‐time, vision‐based collision‐detection system suitable for fixed‐wing aerial robotics. Using two fixed‐wing unmanned aerial vehicles (UAVs) to recreate various collision‐course scenarios, we were able to capture highly realistic vision (from an onboard camera perspective) of the moments leading up to a collision. This type of image data is extremely scarce and was invaluable in evaluating the detection performance of two candidate target detection approaches. Based on the collected data, our detection approaches were able to detect targets at distances ranging from 400 to about 900 m. These distances (with some assumptions about closing speeds and aircraft trajectories) translate to an advance warning of between 8 and 10 s ahead of impact, which approaches the 12.5‐s response time recommended for human pilots. We overcame the challenge of achieving real‐time computational speeds by exploiting the parallel processing architectures of graphics processing units (GPUs) found on commercial‐off‐the‐shelf graphics devices. Our chosen GPU device suitable for integration onto UAV platforms can be expected to handle real‐time processing of 1,024 × 768 pixel image frames at a rate of approximately 30 Hz. Flight trials using manned Cessna aircraft in which all processing is performed onboard will be conducted in the near future, followed by further experiments with fully autonomous UAV platforms. © 2010 Wiley Periodicals, Inc. 相似文献
123.
Current software development often relies on non-trivial coordination logic for combining autonomous services, eventually running on different platforms. As a rule, however, such a coordination layer is strongly woven within the application at source code level. Therefore, its precise identification becomes a major methodological (and technical) problem and a challenge to any program understanding or refactoring process.The approach introduced in this paper resorts to slicing techniques to extract coordination data from source code. Such data are captured in a specific dependency graph structure from which a coordination model can be recovered either in the form of an Orc specification or as a collection of code fragments corresponding to the identification of typical coordination patterns in the system. Tool support is also discussed. 相似文献
124.
125.
Luis V. Santana-Quintero Alfredo G. Hernández-Díaz Julián Molina Carlos A. Coello Coello Rafael Caballero 《Computers & Operations Research》2010,37(3):470-480
The aim of this paper is to show how the hybridization of a multi-objective evolutionary algorithm (MOEA) and a local search method based on the use of rough set theory is a viable alternative to obtain a robust algorithm able to solve difficult constrained multi-objective optimization problems at a moderate computational cost. This paper extends a previously published MOEA [Hernández-Díaz AG, Santana-Quintero LV, Coello Coello C, Caballero R, Molina J. A new proposal for multi-objective optimization using differential evolution and rough set theory. In: 2006 genetic and evolutionary computation conference (GECCO’2006). Seattle, Washington, USA: ACM Press; July 2006], which was limited to unconstrained multi-objective optimization problems. Here, the main idea is to use this sort of hybrid approach to approximate the Pareto front of a constrained multi-objective optimization problem while performing a relatively low number of fitness function evaluations. Since in real-world problems the cost of evaluating the objective functions is the most significant, our underlying assumption is that, by aiming to minimize the number of such evaluations, our MOEA can be considered efficient. As in its previous version, our hybrid approach operates in two stages: in the first one, a multi-objective version of differential evolution is used to generate an initial approximation of the Pareto front. Then, in the second stage, rough set theory is used to improve the spread and quality of this initial approximation. To assess the performance of our proposed approach, we adopt, on the one hand, a set of standard bi-objective constrained test problems and, on the other hand, a large real-world problem with eight objective functions and 160 decision variables. The first set of problems are solved performing 10,000 fitness function evaluations, which is a competitive value compared to the number of evaluations previously reported in the specialized literature for such problems. The real-world problem is solved performing 250,000 fitness function evaluations, mainly because of its high dimensionality. Our results are compared with respect to those generated by NSGA-II, which is a MOEA representative of the state-of-the-art in the area. 相似文献
126.
Luis de-Marcos José Ramón Hilera Roberto Barchino Lourdes Jiménez José Javier Martínez José Antonio Gutiérrez José María Gutiérrez Salvador Otón 《Computers & Education》2010
Mobile learning is considered an evolution of e-learning that embraces the ubiquitous nature of current computational systems in order to improve teaching and learning. Within this context it is possible to develop mobile applications oriented to learning, but it is also important to assess to what extent such applications actually work. In this paper we present a new tool designed to reinforce students’ knowledge by means of self-assessment. Improvement in student achievement was evaluated and an attitudinal survey was also carried out to measure student attitudes towards this new tool. Three different experimental groups were selected for this research, with students aged from 14 to 21 years old, including high-school and university students. Results show that this kind of tool improves student achievement, especially amongst younger learners, with a relatively low impact on current teaching activities and methodology. 相似文献
127.
Soledad Escolar Díaz Florin Isaila Alejandro Calderón Mateos Luis Miguel Sanchez García David E. Singh 《The Journal of supercomputing》2010,51(1):76-93
In the last years the Wireless Sensor Networks’ (WSN) technology has been increasingly employed in various application domains.
The extensive use of WSN posed new challenges in terms of both scalability and reliability. This paper proposes Sensor Node
File System (SENFIS), a novel file system for sensor nodes, which addresses both scalability and reliability concerns. SENFIS
can be mainly used in two broad scenarios. First, it can transparently be employed as a permanent storage for distributed
TinyDB queries, in order to increase the reliability and scalability. Second, it can be directly used by a WSN application
for permanent storage of data on the WSN nodes. The experimental section shows that SENFIS implementation makes an efficient
use of resources in terms of energy consumption, memory footprint, flash wear levelling, while achieving execution times similarly
with existing WSN file systems. 相似文献
128.
David Schleicher Luis M. Bergasa Manuel Ocaña Rafael Barea Elena López 《Robotics and Autonomous Systems》2010,58(8):991-1002
In this paper we present a new real-time hierarchical (topological/metric) Visual SLAM system focusing on the localization of a vehicle in large-scale outdoor urban environments. It is exclusively based on the visual information provided by a cheap wide-angle stereo camera. Our approach divides the whole map into local sub-maps identified by the so-called fingerprints (vehicle poses). At the sub-map level (low level SLAM), 3D sequential mapping of natural landmarks and the robot location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior. A higher topological level (high level SLAM) based on fingerprints has been added to reduce the global accumulated drift, keeping real-time constraints. Using this hierarchical strategy, we keep the local consistency of the metric sub-maps, by mean of the EKF, and global consistency by using the topological map and the MultiLevel Relaxation (MLR) algorithm. Some experimental results for different large-scale outdoor environments are presented, showing an almost constant processing time. 相似文献
129.
Ontology-driven web-based semantic similarity 总被引:1,自引:0,他引:1
David Sánchez Montserrat Batet Aida Valls Karina Gibert 《Journal of Intelligent Information Systems》2010,35(3):383-413
Estimation of the degree of semantic similarity/distance between concepts is a very common problem in research areas such
as natural language processing, knowledge acquisition, information retrieval or data mining. In the past, many similarity
measures have been proposed, exploiting explicit knowledge—such as the structure of a taxonomy—or implicit knowledge—such
as information distribution. In the former case, taxonomies and/or ontologies are used to introduce additional semantics;
in the latter case, frequencies of term appearances in a corpus are considered. Classical measures based on those premises
suffer from some problems: in the first case, their excessive dependency of the taxonomical/ontological structure; in the
second case, the lack of semantics of a pure statistical analysis of occurrences and/or the ambiguity of estimating concept
statistical distribution from term appearances. Measures based on Information Content (IC) of taxonomical concepts combine
both approaches. However, they heavily depend on a properly pre-tagged and disambiguated corpus according to the ontological
entities in order to compute accurate concept appearance probabilities. This limits the applicability of those measures to
other ontologies –like specific domain ontologies- and massive corpus –like the Web-. In this paper, several of the presented
issues are analyzed. Modifications of classical similarity measures are also proposed. They are based on a contextualized
and scalable version of IC computation in the Web by exploiting taxonomical knowledge. The goal is to avoid the measures’
dependency on the corpus pre-processing to achieve reliable results and minimize language ambiguity. Our proposals are able
to outperform classical approaches when using the Web for estimating concept probabilities. 相似文献
130.
Miguel Juliá Óscar Reinoso Arturo Gil Mónica Ballesta Luis Payá 《Engineering Applications of Artificial Intelligence》2010,23(4):473-486
In this paper we present a hybrid reactive/deliberative approach to the multi-robot integrated exploration problem. In contrast to other works, the design of the reactive and deliberative processes is exclusively oriented to the exploration having both the same importance level. The approach is based on the concepts of expected safe zone and gateway cell. The reactive exploration of the expected safe zone of the robot by means of basic behaviours avoids the presence of local minima. Simultaneously, a planner builds up a decision tree in order to decide between exploring the current expected safe zone or changing to other zone by means of travelling to a gateway cell. Furthermore, the model takes into account the degree of localization of the robots to return to previously explored areas when it is necessary to recover the certainty in the position of the robots. Several simulations demonstrate the validity of the approach. 相似文献