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排序方式: 共有5842条查询结果,搜索用时 15 毫秒
111.
Stephen G. McGill Seung‐Joon Yi Hak Yi Min Sung Ahn Sanghyun Cho Kevin Liu Daniel Sun Bhoram Lee Heejin Jeong Jinwook Huh Dennis Hong Daniel D. Lee 《野外机器人技术杂志》2017,34(4):775-801
This paper describes Team THOR's approach to human‐in‐the‐loop disaster response robotics for the 2015 DARPA Robotics Challenge (DRC) Finals. Under the duress of unpredictable networking and terrain, fluid operator interactions and dynamic disturbance rejection become major concerns for effective teleoperation. We present a humanoid robot designed to effectively traverse a disaster environment while allowing for a wide range of manipulation abilities. To complement the robot hardware, a hierarchical software foundation implements network strategies that provide real‐time feedback to an operator under restricted bandwidth using layered user interfaces. Our strategy for humanoid locomotion includes a backward‐facing knee configuration paired with specialized toe and heel lifting strategies that allow the robot to traverse difficult surfaces while rejecting external perturbations. With an upper body planner that encodes operator preferences, predictable motion plans are executed in unforeseen circumstances. These plans are critical for manipulation in unknown environments. Our approach was validated during the DRC Finals competition, where Team THOR scored three points in 18 min of operation time, and the results are presented along with an analysis of each task. 相似文献
112.
Distributed
filtering and synchronization of diffusively state‐coupled heterogeneous systems 下载免费PDF全文
This paper studies distributed filtering‐based ssynchronization of diffusively state‐coupled heterogeneous systems. For given heterogeneous subsystems and a network topology, sufficient conditions for the filtering‐based synchronization are developed with a guaranteed performance. The estimation and synchronization error dynamics are obtained in a decoupled form, and it is shown that the filter and the controller can be designed separately by LMIs. The feasibility of the proposed design method using LMIs is discussed, and the main results are validated through examples with various setup. Copyright © 2016 John Wiley & Sons, Ltd. 相似文献
113.
A rate-distortion (R-D) optimized progressive coding algorithm for three-dimensional (3D) meshes is proposed in this work. We propose the prioritized gate selection and the curvature prediction to improve the connectivity and geometry compression performance, respectively. Furthermore, based on the bit plane coding, we develop a progressive transmission method, which improves the qualities of intermediate meshes as well as that of the fully reconstructed mesh, and extend it to the view-dependent transmission method. Experiments on various 3D mesh models show that the proposed algorithm provides significantly better compression performance than the conventional algorithms, while supporting progressive reconstruction efficiently. 相似文献
114.
Chin-Gook Lhee Jae-Sam Park Hyun-Sik Ahn Do-Hyun Kim 《Fuzzy Systems, IEEE Transactions on》2001,9(2):343-348
In this paper, a fuzzy logic controller (FLC) is designed based on the similarity between the FLC and the sliding mode control (SMC). The proposed scheme provides the sliding mode-like FLC with fast self-tuning the dead-zone parameters (boundary layer thickness) under parameter variations of the controlled system. To show the validity and the effectiveness of the proposed control method, simulations are performed for the position control of a rotary inverted pendulum 相似文献
115.
The filtering problem for continuous‐time linear systems with unknown parameters is considered. A new suboptimal filter is herein proposed. It is based on the optimal mean‐square linear combination of the local Kalman filters. In contrast to the optimal weights, the suboptimal weights do not depend on current observations; thus, the proposed filter can easily be implemented in real‐time. Examples demonstrate high accuracy and efficiency of the suboptimal filter. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
116.
Ahn TS Al-Kaysi RO Müller AM Wentz KM Bardeen CJ 《The Review of scientific instruments》2007,78(8):086105
A new method is presented for analyzing the effects of self-absorption on photoluminescence integrating sphere quantum yield measurements. Both the observed quantum yield and luminescence spectrum are used to determine the self-absorption probability, taking into account both the initial emission and subsequent absorption and reemission processes. The analysis is experimentally validated using the model system of the laser dye perylene red dispersed in a polymer film. This approach represents an improvement over previous methods that tend to overestimate the true quantum yield, especially in cases with high sample absorbance or quantum yield values. 相似文献
117.
N. K. S. Lee R. S. Goonetilleke Y. S. Cheung Geommi M. Y. So 《Microsystem Technologies》2001,7(2):55-62
The use of pressure sensors made of conductive polymers is common in biomechanical applications. Unfortunately, hysteresis,
nonlinearity, non-repeatability and creep have a significant effect on the pressure readings when such conductive polymers
are used. The objective of this paper is to explore the potential of a new flexible encapsulated micro electromechanical system
(MEMS) pressure sensor system as an alternative for human interface pressure measurement. A prototype has been designed, fabricated,
and characterized. Testing has shown that the proposed packaging approach shows very little degradation in the performance
characteristics of the original MEMS pressure sensor. The much-needed characteristics of repeatability, linearity, low hysteresis,
temperature independency are preserved. Thus the flexible encapsulated MEMS pressure sensor system is very promising and shows
superiority over the commercially available conductive polymer film sensors for pressure measurement in biomechanical applications.
Received: 1 December 1999/Accepted: 17 August 2000 相似文献
118.
This paper reports on the types and magnitudes of localization errors of simulated binaural direction cues generated using non-individualized, head-related transfer functions (HRTFs) with different levels of complexity. Four levels of complexity, as represented by the number of non-zero coefficients of the associated HRTF filters (128, 64, 32, 18 non-zero coefficients), were studied. Experiment 1 collected 1728 data runs that were exhaustive combinations of the four levels of complexity, nine simulated directions of sound (no direction (i.e., diotical-mono), 0 degrees , 45 degrees , 90 degrees , 135 degrees , 180 degrees , 225 degrees , 270 degrees , and 315 degrees azimuth angles at 0 degrees elevation), two repetitions, and 24 participants). Binaural cues generated from HRTFs of reduced complexity (from 128 to 18 non-zero coefficients) produced significantly higher localization errors for the directions of 45 degrees , 135 degrees , 225 degrees , and 315 degrees azimuth angles (p<0.01). From the directions of 0 degrees , 90 degrees , and 270 degrees azimuth angles, the cues produced by HRTFs with reduced complexity did not affect the localization error (p>0.2). Surprisingly, cues produced by HRTFs of 128 non-zero coefficients did not have the lowest number of errors. From 45 degrees , 135 degrees , 225 degrees , and 315 degrees , the lowest numbers of errors were obtained from cues produced by HRTFs of 64, 32, 32, and 64 non-zero coefficients, respectively. Based on these findings, a prototype virtual headphone-based surround-sound (VHSS) system was developed. A double-blind usability experiment with 32 participants indicated that the prototype VHSS system received significantly better surround-sound ratings than did a Dolby stereo system (p<0.02). This paper reports results from an original ergonomics study and the application of these results to the design of a consumer product. 相似文献
119.
The sensitivity of a neural network's output to its input and weight perturbations is an important measure for evaluating the network's performance. In this letter, we propose an approach to quantify the sensitivity of Madalines. The sensitivity is defined as the probability of output deviation due to input and weight perturbations with respect to overall input patterns. Based on the structural characteristics of Madalines, a bottom-up strategy is followed, along which the sensitivity of single neurons, that is, Adalines, is considered first and then the sensitivity of the entire Madaline network. By means of probability theory, an analytical formula is derived for the calculation of Adalines' sensitivity, and an algorithm is designed for the computation of Madalines' sensitivity. Computer simulations are run to verify the effectiveness of the formula and algorithm. The simulation results are in good agreement with the theoretical results. 相似文献
120.
El Mostapha Aboulhamid Younès Karkouri Eduard Cerny 《Journal of Electronic Testing》1993,4(3):237-253
This article presents a new method to generate test patterns for multiple stuck-at faults in combinational circuits. We assume the presence of all multiple faults of all multiplicities and we do not resort to their explicit enumeration: the target fault is a single component of possibly several multiple faults. New line and gate models are introduced to handle multiple fault effect propagation through the circuits. The method tries to generate test conditions that propagate the effect of the target fault to primary outputs. When these conditions are fulfilled, the input vector is a test for the target fault and it is guaranteed that all multiple faults of all multiplicities containing the target fault as component are also detected. The method uses similar techniques to those in FAN and SOCRATES algorithms to guide the search part of the algorithm, and includes several new heuristics to enhance the performance and fault detection capability. Experiments performed on the ISCAS'85 benchmark circuits show that test sets for multiple faults can be generated with high fault coverage and a reasonable increase in cost over test generation for single stuck-at faults. 相似文献