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51.
52.
Our goal in this research was to develop a motion planning algorithm for a humanoid to enable it to remove an object that is blocking its path. To remove an object in its path, a humanoid must be able to reach it. Simply stretching its arms, which in a humanoid are shorter than its body and legs, is not sufficient to reach an object located at some distance away or on the ground. Therefore, reachability has to be ensured by a combination of motions that include kneeling and orienting the pelvis. However, many posture selection options exist because of the redundancy of a humanoid. In this research, we focused on the optimization of the posture of a humanoid that is reaching toward a point. The posture selected depends on the initial posture, the location of the point, and the desired manipulability of the humanoid’s arms. A cooperative balancing controller ensures the stability of the reaching motion. In this paper, we propose an algorithm for reaching posture selection and a balancing controller for humanoids, and we present the results of several experiments that confirm the effectiveness of the proposed algorithm and controller. 相似文献
53.
The velocity obstacle (VO) method is one of local path generation method considering a velocity of obstacles. By dividing an available velocity region into collision and collision-free area, a robot can avoid collisions using the VO. However, if there are numerous obstacles near a robot, the robot will have very few velocity candidates. In this paper, a method to choose an optimal velocity by introducing a cost function about safety of the velocity, and the cost function consists of a pass-time and a clearance. By latticizing available velocity map of a robot, each velocity can be evaluated from the cost function and a robot can select better velocity among collision-free velocity candidates. A performance of introduced method is compared to other VO method using simulation, and experiments are conducted to verify the results of simulation. 相似文献
54.
Chi‐Woo Kim Chang‐Oh Jeong Jean‐Ho Song Hyung‐Guel Kim 《Journal of the Society for Information Display》2001,9(3):139-143
Abstract— TFT‐LCD panels for notebook‐PC applications requires a thin and light form factor, low power consumption, and good display quality, whereas the desktop monitor has different requirements such as large panel size, wide viewing angle, high resolution, brightness, etc. However, for the fifth‐generation of mass production, current panel technologies have to improve in order to cope with these requirements. In this article, various approaches to the manufacturing technologies of next‐generation TFT‐LCDs are discussed. 相似文献
55.
The authors present a new inverse, interactive approach to acoustic design that applies optimization techniques to an acoustic simulation system. For a new building, the system may suggest optimal configurations that would not otherwise be considered; for a hall with modifiable components or for a renovation project, it may assist in optimizing an existing configuration. Our system allows the designer to constrain changes to the environment and specify acoustic performance goals as a function of time. The constraints include the specification of a range of allowable materials as well as geometric modifications for surfaces in the hall. The designer also specifies goals for acoustic performance in space and time via high-level acoustic qualities such as decay time and sound level. Using this information, the system performs a constrained optimization of surface material and geometric parameters for a subset of elements in the environment. The system operates at varying accuracy levels, offering trade-offs between time and quality. Visualization tools facilitate an intuitive assessment of the complex time-dependent nature of sound, and they provide a means to express desired performance. By using optimization routines within an interactive application, our system reveals complex acoustic properties and steers the design process toward the designer's goals 相似文献
56.
Se Hwan Kim Eung Bum Kim Jae Hwan Oh Ji Ho Hur Jin Jang 《Journal of the Society for Information Display》2008,16(3):415-419
Abstract— A 2.0‐in. a‐Si:H TFT‐LCD with embedded TFT sensors for the control of the backlight intensity according to the ambient light intensity has been developed. Two types of a‐Si:H TFT sensors with various channel widths were embedded into a TFT backplane with bottom‐ and top‐gate structures for measuring the ambient light and backlight illumination, respectively. The output signal, measured by a readout IC, increased with backlight intensity until 20,000 lux. 相似文献
57.
Liu D Cao Y Kim KH Stanek S Doungratanaex-Chai B Lin K Tavanapong W Wong J Oh J de Groen PC 《Computer methods and programs in biomedicine》2007,88(2):152-163
Colonoscopy is an endoscopic technique that allows physicians to inspect the inside of the human colon. During a colonoscopic procedure, a tiny video camera at the tip of the endoscope generates a video signal of the internal mucosa of the colon. In current practice, the entire colonoscopic procedure is not routinely captured. Software tools providing easy access to important contents of videos that are digitally captured during colonoscopy are not available. Hence, it is very time consuming to review an entire video, locate important contents, annotate them, and extract the annotated contents for research, teaching, and training purposes. Arthemis, a software application, was developed to facilitate this process. For convenient data sharing, Arthemis allows annotation according to the European Gastrointestinal Society for Endoscopy (ESGE) Minimal Standard Terminology (MST), an internationally accepted standard for digestive endoscopy. Arthemis is part of our integrated capturing and content analysis system for colonoscopy called Endoscopic Multimedia Information System (EMIS). This paper presents Arthemis as a component of EMIS, the design and implementation of Arthemis, and key lessons learned from the development process. 相似文献
58.
Abstracct In the silicon fusion bonding (SFB) process, the influence of post-annealing atmospheres on the micro-gap existing at the Si-Si bonding interface was investigated with the observation of ultrasonic images, angle lap-stained junctions and cross section SEM morphologies. Additionally, the bonding strength and the electrical properties of diodes were compared after annealing processes at 100/dg fo 10 s to 10 h in wet O2, dry O2 and N2 atmospheres. Our results show that a significant saving of annealing time necessary to eliminate the non-contact micro-gap region having a width of 0.1 m can be obtained if the hydrogenbonded wafer pair is pre-stabilized and post-annealed in wet O2 (95°C water bubbling) rather than in a dry O2 or N2 atmosphere. Based on the above result, we propose that the stabilizing and annealing step in highlt oxidizing atmosphere has an important role in the oxide filling-up phenomenon between wafer and wafer gap, in addition to the well-known mechanism of wafer plastic deformation at high temperature followed by solid-state diffusion of Si and O atoms. 相似文献
59.
The Semantic Web and ontologies have received increased attention in recent years. The delivery of well-designed ontologies enhances the effect of Semantic Web services, but building ontologies from scratch requires considerable time and effort. Modularizing ontologies and integrating ontology modules to a given context help users effectively develop ontologies and revitalize ontology dissemination. Therefore, various tools for modularizing ontologies have been developed. However, selecting an appropriate tool to fit a given context is difficult because the assumptions for the approaches greatly vary. Therefore, a suitable framework is required to compare and help screen the most suitable modularization tool.In this research, we propose a new evaluation framework for selecting an appropriate ontology modularization tool. We present three aspects of tool evaluation as the main dimensions for the assessment of modularization tools: tool performance, data performance, and usability.This study provides an implicit evaluation and an empirical analysis of three modularization tools. It also provides an evaluation method for ontology modularization, enabling ontology engineers to compare different modularization tools and easily choose an appropriate one for the production of qualifying ontology modules.The experimental results indicate that the proposed evaluation criteria for ontology modularization tools are valid and effective. This research provides a useful method for assessing and selecting ontology modularization tools. Modularization performance, data performance, and usability are the three modularization aspects designed and applied to the context of ontology. We provide a new focus on the comprehensive framework to evaluate the performance and usability of ontology modularization tools. The proposed framework should be of value to both ontology engineers, who are interested in ontology modularization, and to practitioners, who need information on how to evaluate and select a specific type of ontology tool in accordance with the requirements of the individual environment. 相似文献
60.
Yun-Jae Kim Chang-Kyun Oh Man-Sik Myung Jin-Moo Park 《Engineering Fracture Mechanics》2006,73(13):1849-1864
In the present work, fully plastic analyses for notched bars and (plane strain) plates in tension are performed, via finite element (FE) limit analysis based on non-hardening plasticity, from which plastic limit loads and stress fields are determined. Relevant geometric parameters are systematically varied to cover all possible ranges of the notch depth and radius. For the limit loads, it is found that the FE solutions for the notched plate agree well with the existing solution. For the notched bar, however, the FE solutions are found to be significantly different from known solutions, and accordingly the new approximation is given. Regarding fully plastic stress fields, it is found that, for the notched plate, the maximum hydrostatic (mean normal) stress overall occurs in the center of the specimen, which strongly depends on the relative notch depth and the notch radius-to-depth ratio. On the other hand, for the notched bar, the maximum hydrostatic stress can occur in between the center of the specimen and the notch tip. The maximum hydrostatic stress for a given notch depth can occur not for the cracked case, but for the notched case with a certain radius. This is true for both bars and plates. For a given notch radius, on the other hand, the maximum hydrostatic stress increases monotonically with the decreasing notch radius. 相似文献