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81.
Dong-Hyuk Lee Hyungpil Moon Ja Choon Koo Hyouk Ryeol Choi 《International Journal of Control, Automation and Systems》2013,11(1):127-135
This paper presents a map building method for an in-pipe robot to navigate inside urban gas pipelines autonomously, whose configuration is unknown or partially known. In the first, we explain the reason why the navigation in the pipeline is difficult and then, present a method for obtaining a robot’s posture by using a pipeline’s unique geometrical features. The robot can obtain its heading direction by detecting the standardized geometries of pipe elements. Based on the method, we propose a robot controller consisting of discrete and continuous controllers. The discrete controller is activated by pre-defined events and generates appropriate paths for exploration. The continuous controller receives the desired path and physically moves the robot to the desired path. The method is implemented in an in-pipe robot, called MRINSPECT-V and its effectiveness is validated. 相似文献
82.
Development of a quadruped walking robot AiDIN-III using biologically inspired kinematic analysis 总被引:1,自引:0,他引:1
Ig Mo Koo Duc Trong Tran Yoon Haeng Lee Hyungpil Moon Ja Choon Koo Sangdeok Park Hyouk Ryeol Choi 《International Journal of Control, Automation and Systems》2013,11(6):1276-1289
This paper presents a bio-inspired mechanism design for a quadruped walking robot. The approach is derived from the observation on the behaviors of quadruped locomotion, skeletal structure, and the study on the stability of walking based on morphological analysis. In the first, we define the design parameters such as the dimensions of the body and limbs, the center of mass position, and locomotion mechanisms based on surveys on the literatures from biologists. Then, by using the parameters, we propose an useful framework for determining the design parameters of a quadruped walking robot. For implementations, we manufacture a dog-type self-contained quadruped walking robot, named AiDIN-III (Artificial Digitigrade for Natural Environment version III) and the effectiveness of the proposed idea is validated via experimental works. 相似文献
83.
Hye Jung Choi Yeon Soo Kim Doo Soon Park Hyun Joo Kang 《Personal and Ubiquitous Computing》2013,17(7):1365-1372
The purpose of this study was to investigate the effect of wheelchair-based rehabilitation on the physical functions, health perception, and blood lipids according to the length of time since the stroke. Wheelchair-based rehabilitation progressed for 60 min per session, five times per week for 6 weeks. Physical functions, health perception (SF-36), and blood lipids were measured before and after rehabilitation. Physical fitness for physical function such as agility, grip strength, lower-body muscular endurance, flexibility, and posture control significantly improved after 6 weeks of rehabilitation. Health perception improved significantly with physical and mental health according to time since the stroke occurred. Overall, 6 weeks of wheelchair-based rehabilitation had a positive effect on the physical function and health perception regardless of stroke duration. Wheelchair-based rehabilitation had a more positive effect on the physical functions and health perception on the patients who suffered their stroke most recently. We suggested that wheelchair-based rehabilitation is necessary even through wheelchair based for chronic stroke patients, and it was useful their improved of quality of life. 相似文献
84.
The purpose of this study was to investigate the influence of surface slopes (18 degrees , 26 degrees , 34 degrees ) on the maximum acceptable roof shingling frequency for males performing a simulated roof-shingling task. The psychophysical roof shingling frequency was also compared to the postural sway and trunk motion values. The maximum acceptable roof shingling frequency and selected trunk motion decreased significantly with an increase in slope. Postural sway however increased significantly with an increase in slope. The study also revealed that workers were experiencing a greater postural sway at the earlier phase of task on the steeper surface. This suggests that there might be an adaptation period associated with working on a slope and the body's ability to compensate for a loss of balance. Therefore, more emphasis should be given to the workers in this adaptation period, with additional monitoring and cautionary measures. Collectively, the findings of the study could be utilized for improving work practices on roofs, while reducing the potential risks of falls in roofing construction. 相似文献
85.
Hyun‐Sang Park Seon‐Beom Ji Min‐Koo Han Jae‐Sic Lee Chi‐Woo Kim Kwang‐Soo Choi 《Journal of the Society for Information Display》2009,17(8):681-686
Abstract— A new digital ambient‐light sensor system is presented which employs two linear light sensors with different sensitivities and automatically adjusts the sensitivity based on the illumination condition. The adaptation mechanism allows a very wide range of light intensity to be detected, and the input dynamic range of the system is substantially improved from 22.5 to 45.1 dB. The proposed method does not require any additional precision bits for output data. Due to the small number of the output bits and the simple conversion process, the system can be easily integrated on the display panel. 相似文献
86.
Jung Min Cho Kyoung Ho Lee Chae Il Cheon Woon Seog Choi Jeong Seog Kim Nam In Cho 《Journal of the Society for Information Display》2009,17(9):765-770
Abstract— A flexible fluorescent lamp that utilizes the same plasma discharge mode as in PDPs has been manufactured. The structure of the flexible lamp is simple and easy to manufacture. All‐plastic materials including plastic substrates, barrier ribs (spacers), and sealants for low‐temperature manufacturing processing have been adopted except for the phosphor and MgO thin film. The MgO thin films were coated on the plastic substrates as a protection layer against the plasma discharge. The adhesion and biaxial texture of MgO thin film deposited on the plastic substrates, poly‐ethyle‐nenaphthalate (PEN) and polycarbonate (PC), at low temperature (100–180°C) has been characterized. The MgO film on PEN shows good adhesion under a repeated bending test. The manufactured flexible lamp consists of two plastic substrates of about 3 in. on the diagonal, barrier rib (spacer), and external ITO electrodes. The Ne‐Xe (5%) gas mixture at 100–200 Torr was used for the discharge gas. A maximum surface luminance of about 100 cd/m2 was achieved for a 1 ‐kHz AC pulse. 相似文献
87.
As service robots and other ubiquitous technology have evolved, an increasing need for the autonomous navigation of mobile
objects has arisen. In a large number of localization schemes, the absolute-position estimation method, which relies on navigation
beacons or landmarks, has been widely used as it has the advantages of being economical and accurate. However, only a few
of these schemes have expanded their application to complicated workspaces, or those that have many rooms or blocks. As the
navigation of mobile objects in complicated workspaces is vital for ubiquitous technology, multiblock navigation is necessary.
This article presents methodologies and techniques for the multiblock navigation of the indoor localization system with active
beacon sensors. This new indoor localization system design includes ultrasonic attenuation compensation, dilution-of-precision
analysis, and a fault detection and isolation algorithm using redundant measurements.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
88.
Jung-Ho Ahn Cheolmin Choi Sooyeong Kwak Kilcheon Kim Hyeran Byun 《Pattern Analysis & Applications》2009,12(2):167-177
In this study, we propose a new integrated computer vision system designed to track multiple human beings and extract their
silhouette with a pan-tilt stereo camera, so that it can assist in gesture and gait recognition in the field of Human–Robot
Interaction (HRI). The proposed system consists of three modules: detection, tracking and silhouette extraction. These modules
are robust to camera movements, and they work interactively in near real-time. Detection was performed by camera ego-motion
compensation and disparity segmentation. For tracking, we present an efficient mean shift-based tracking method in which the
tracking objects are characterized as disparity weighted color histograms. The silhouette was obtained by two-step segmentation.
A trimap was estimated in advance and then effectively incorporated into the graph-cut framework for fine segmentation. The
proposed system was evaluated with respect to ground truth data, and it was shown to detect and track multiple people very
well and also produce high-quality silhouettes.
相似文献
Hyeran ByunEmail: |
89.
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
90.
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