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91.
该文介绍了一种轮胎外形轮廓检测系统的检测原理、系统组成及控制系统设计。采用两级计算机控制系统,上位机完成数据的采集、处理、显示以及计算结果和检测参数的管理,下位机由三菱Q系列PLC的高性能CPUQ02H、运动控制器172H和J3系列伺服控制系统组成,驱动三支激光传感器运动,完成精确定位并通过它们来宾现对轮胎外形轮廓的精确测量。上、下位机之间采用以太网通信,更换规格时上位机自动下传传感器位置参数到PLC。该系统通过长时间在青岛高校软控股份有限公司生产的动平衡及不圆度试验机上的应用,表明其运行稳定,测试效率高。 相似文献
92.
93.
Chunling Du Author Vitae Lihua Xie Author Vitae Author Vitae Youyi Wang Author Vitae 《Automatica》2009,45(10):2244-2249
This paper is concerned with the rejection of multiple narrowband disturbances in hard disk drives (HDDs). Inspired by a control blending idea, the multi-frequency disturbance rejection is formulated as a blending control problem. Each disturbance rejection is accomplished by using the H2 optimal control method. Based on all H2 optimal controllers, the blending technique is applied to yield a single controller which is capable of achieving rejection of all disturbances. Rejections of two and three disturbances for a 1.8-inch HDD VCM actuator are taken as application examples in the paper. Simulation and experimental results show that the ultimate controller results in a simultaneous attenuation of disturbances with frequencies higher or lower than the closed-loop system bandwidth. Moreover, the method turns out to be able to lift phase and thus prevent phase margin loss when it is used to deal with disturbances near bandwidth. 相似文献
94.
Communication overhead is the key obstacle to reaching hardware performance limits. The majority is associated with software overhead, a significant portion of which is attributed to message copying. To reduce this copying overhead, we have devised techniques that do not require to copy a received message in order for it to be bound to its final destination. Rather, a late-binding mechanism, which involves address translation and a dedicated cache, facilitates fast access to received messages by the consuming process/thread.We have introduced two policies namely Direct to Cache Transfer (DTCT) and lazy DTCT that determine whether a message after it is bound needs to be transferred into the data cache. We have studied the proposed methods in simulation and have shown their effectiveness in reducing access times to message payloads by the consuming process. 相似文献
95.
Reza Boostani Khadijeh Sadatnezhad Malihe Sabeti 《Expert systems with applications》2009,36(3):6492-6499
In this paper, electroencephalogram (EEG) signals of 13 schizophrenic patients and 18 age-matched control participants are analyzed with the objective of classifying the two groups. For each case, multi-channels (22 electrodes) scalp EEG is recorded. Several features including autoregressive (AR) model parameters, band power and fractal dimension are extracted from the recorded signals. Leave-one (participant)-out cross validation is used to have an accurate estimation for the separability of the two groups. Boosted version of Direct Linear Discriminant Analysis (BDLDA) is selected as an efficient classifier which applied on the extracted features. To have comparison, classifiers such as standard LDA, Adaboost, support vector machine (SVM), and fuzzy SVM (FSVM) are applied on the features. Results show that the BDLDA is more discriminative than others such that their classification rates are reported 87.51%, 85.36% and 85.41% for the BDLDA, LDA, Adaboost, respectively. Results of SVM and FSVM classifiers were lower than 50% accuracy because they are more sensitive to outlier instances. In order to determine robustness of the suggested classifier, noises with different amplitudes are added to the test feature vectors and robustness of the BDLDA was higher than the other compared classifiers. 相似文献
96.
Rong-Ho Lin Chun-Ling Chuang James J.H. Liou Guo-Dong Wu 《Expert systems with applications》2009,36(3):6461-6465
Association rule is a widely used data mining technique that searches through an entire data set for rules revealing the nature and frequency of relationships or associations between data entities. Supplier selection is a significant work in supply chain management. Often, there will be thousands of potential suppliers and identifying a subset of these suppliers can be a complex process of determining a satisfactory subset based on a number of factors. In this paper, the supplier selection can be viewed as the problem of mining a large database of shipment. The proposed method incorporates the extended association rule algorithm of data mining with that of set theory to find key suppliers. This research has employed a numerical example for the integrated method to develop suitable supplier clusters. The results show that the method is effective and applicable. 相似文献
97.
空间总线(SpaceWire)协议是应用于航空航天领域的高速通信总线协议, 保证其可靠性至关重要。但是由于通信系统具有队列量、分布控制和并发性等特点,传统仿真模拟的验证方法存在不完备性的问题,采用模型检测方法对高层次属性进行验证时,通常会出现状态爆炸的问题。基于xMAS模型对SpaceWire通信系统中的信誉逻辑进行形式化建模、验证,xMAS模型既保留了底层的结构信息,又可以验证高层次的属性。对通信系统中信誉逻辑进行抽象进而建立了xMAS模型,提取了可发送性、可接收性和数据一致性等3个关键属性,运用定理证明工具ACL2对关键属性的正确性进行了自动验证。该方法为验证指导下的系统设计提供了有效的参考。 相似文献
98.
针对高能耗导致的仿人机器人难以大规模实用化的问题,提出了一种新的仿人机器人参数化跑步步态优化方法。分析了不同跑步步态参数对仿人机器人水平、垂直方向的稳定性及能耗的影响,将机器人步态优化问题转化为对步态参数的多目标寻优问题,根据连杆模型得到机器人跑步过程中水平、垂直方向的稳定裕度及能耗表达式,并构造目标函数,采用基于对位学习的遗传算法对机器人参数化跑步步态进行多目标寻优,在保证机器人俯仰、翻滚和偏摆各方向力矩平衡的前提下降低整体能量消耗;针对传统遗传算法早熟及收敛速度慢的问题,提出基于领域知识的精细化初始成员策略,采取生成种群成员对位点的方式更新种群,以加快收敛速度;为提高轨迹跟踪性能,设计了自适应控制器,并给出了稳定性证明。仿真实验表明:该方法能有效降低能耗并保证其稳定性。 相似文献
99.
In this paper, adaptive neural tracking control is proposed for a robotic manipulator with uncertainties in both manipulator dynamics and joint actuator dynamics. The manipulator joints are subject to inequality constraints, i.e., the joint angles are required to remain in some compact sets. Integral barrier Lyapunov functionals (iBLFs) are employed to address the joint space constraints directly without performing an additional mapping to the error space. Neural networks (NNs) are utilised to compensate for the unknown robot dynamics and external force. Adapting parameters are developed to estimate the unknown bounds on NN approximations. By the Lyapunov synthesis, the proposed control can guarantee the semi-global uniform ultimate boundedness of the closed-loop system, and the practical tracking of joint reference trajectory is achieved without the violation of predefined joint space constraints. Simulation results are given to validate the effectiveness of the proposed control scheme. 相似文献
100.
The output feedback robust model predictive control (MPC), for the linear parameter varying (LPV) system with norm-bounded disturbance, is addressed, where the model parametric matrices are only known to be bounded within a polytope. The previous techniques of norm-bounding technique, quadratic boundedness (QB), dynamic output feedback, and ellipsoid (true-state bound; TSB) refreshment formula for guaranteeing recursive feasibility, are fused into the newly proposed approaches. In the notion of QB, the full Lyapunov matrix is applied for the first time in this context. The single-step dynamic output feedback robust MPC, where the infinite-horizon control moves are parameterised as a dynamic output feedback law, is the main topic of this paper, while the multi-step method is also suggested. In order to strictly guarantee the physical constraints, the outer bound of the true state replaces the true state itself, so tightness of this bound has a major effect on the control performance. In order to tighten the TSB, a procedure for refreshing the real-time ellipsoid based on that of the last sampling instant is given. This paper is conclusive for the past results and far-reaching for the future researches. Two benchmark examples are given to show the effectiveness of the novel results. 相似文献