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51.
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Pavel Krömer Jan Platoš Václav Snášel 《International journal of parallel programming》2014,42(5):681-709
Graphic processing units (GPUs) emerged recently as an exciting new hardware environment for a truly parallel implementation and execution of Nature and Bio-inspired Algorithms with excellent price-to-power ratio. In contrast to common multicore CPUs that contain up to tens of independent cores, the GPUs represent a massively parallel single-instruction multiple-data devices that can nowadays reach peak performance of hundreds and thousands of giga floating-point operations per second. Nature and Bio-inspired Algorithms implement parallel optimization strategies in which a single candidate solution, a group of candidate solutions (population), or multiple populations seek for optimal solution or set of solutions of given problem. Genetic algorithms (GA) constitute a family of traditional and very well-known nature-inspired populational meta-heuristic algorithms that have proved its usefulness on a plethora of tasks through the years. Differential evolution (DE) is another efficient populational meta-heuristic algorithm for real-parameter optimization. Particle swarm optimization (PSO) can be seen as nature-inspired multiagent method in which the interaction of simple independent agents yields intelligent collective behavior. Simulated annealing (SA) is global optimization algorithm which combines statistical mechanics and combinatorial optimization with inspiration in metallurgy. This survey provides a brief overview of the latest state-of-the-art research on the design, implementation, and applications of parallel GA, DE, PSO, and SA-based methods on the GPUs. 相似文献
53.
Trajectory planning is an essential part of systems controlling autonomous entities such as vehicles or robots. It requires not only finding spatial curves but also that dynamic properties of the vehicles (such as speed limits for certain maneuvers) must be followed. In this paper, we present an approach for augmenting existing path planning methods to support basic dynamic constraints, concretely speed limit constraints. We apply this approach to the well known A* and state-of-the-art Theta* and Lazy Theta* path planning algorithms. We use a concept of trajectory planning based on a modular architecture in which spatial and dynamic parts can be easily implemented. This concept allows dynamic aspects to be processed during planning. Existing systems based on a similar concept usually add dynamics (velocity) into spatial curves in a post-processing step which might be inappropriate when the curves do not follow the dynamics. Many existing trajectory planning approaches, especially in mobile robotics, encode dynamic aspects directly in the representation (e.g. in the form of regular lattices) which requires a precise knowledge of the environmental and dynamic properties of particular autonomous entities making designing and implementing such trajectory planning approaches quite difficult. The concept of trajectory planning we implemented might not be as precise but the modular architecture makes the design and implementation easier because we can use (modified) well known path planning methods and define models of dynamics of autonomous entities separately. This seems to be appropriate for simulations used in feasibility studies for some complex autonomous systems or in computer games etc. Our basic implementation of the augmented A*, Theta* and Lazy Theta* algorithms is also experimentally evaluated. We compare (i) the augmented and basic A*, Theta* and Lazy Theta* algorithms and (ii) optimizing of augmented Theta* and Lazy Theta* for distance (the trajectory length) and duration (time needed to move through the trajectory). 相似文献
54.
Martin Saska Tomáš Krajník Vojtěch Vonásek Zdeněk Kasl Vojtěch Spurný Libor Přeučil 《Journal of Intelligent and Robotic Systems》2014,73(1-4):603-622
A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper. 相似文献
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A series of novel hybrid organic-inorganic light-emitting materials, polyhedral oligomeric silsesquioxane-tethered poly(fluorenyleneethynylene)s, were successfully synthesized via Sonagashira coupling reaction. The chemical structures of these copolymers were determined by 1H NMR and FT-IR spectra. The morphologies of these copolymers were studied in details using TEM and WAXD. The WAXD data showed that POSS formed aggregation instead of crystallization in the polymer matrix, indicating the significant effect of the backbone constraint on POSS crystallization. Furthermore, it also revealed that the interchain interaction weakened and the interchain distance increased after introducing POSS groups. The TEM data indicated that POSS aggregates were well dispersed in polymer matrix. In accordance with the morphological investigation, the results of UV-vis absorption and photoluminescence emission spectra of these copolymers showed that the tendency toward planar conformation of conjugated backbones reduced to a certain extent due to weakened interchain interaction. Accordingly, these copolymers exhibited the enhanced quantum yields in the solid state. In addition, owing to the thermal and oxygen stability of hybrid POSS, the thermal spectral stability of these polymers was also improved greatly. 相似文献
57.
压力容器制造中材料代用的常见问题分析 总被引:2,自引:0,他引:2
就压力容器制造过程中常常遇到的材料代用问题进行综合分析,并阐述了相应观点。 相似文献
58.
安阳化学工业集团有限责任公司“8·13”系统自1999年初投产以来,采用了3套PGC302型气相色谱仪分别对合成循环气、新鲜气、气柜出口半水煤气进行在线分析。但从2004年1月起,循环氢色谱仪对循环气中氢含量的分析值频繁波动,其测定准确度直接影响着系统氢氮比的调节效果以及合成氨产量的高低。为确保系统高负荷稳定生产,通过对影响色谱仪分析结果的因素进行分析,找到了引起分析值波动的主要原因,实施了切实可行的解决方案,提高了循环氢色谱仪的分析准确度。1循环氢色谱仪的配置和相关参数分析仪型号PGC302;检测器热导检测器;进样、反吹、柱… 相似文献
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介绍了国内外石油树脂的生产和技术发展状况,并对加氢催化剂的最新进展了作了较详细的论述,提出了发展我国加氢石油树脂的建议。 相似文献