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针对柔性触觉传感器模型高度非线性、解耦难度大等问题,提出一种有效的方法来模拟柔性触觉传感器在实际应用中含噪声的情形。首先在理想条件下的传感器模型上添加不同幅度的高斯白噪声并建立其数学模型,之后通过K-均值和递归最小二乘法优化RBF神经网络,并利用优化后的RBF神经网络算法逼近受噪声干扰的传感器阻值与形变之间的高维非线性映射关系,最后基于不同的展开幅度通过行列阻值解耦出传感器三维形变信息,获得了较好的解耦精度。解耦结果表明,RBF神经网络算法具有较强的鲁棒性和抗噪声能力,能够很好地逼近含噪声的传感器高维非线性数据之间的映射关系。 相似文献
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Juan Tao Rongrong Bao Xiandi Wang Yiyao Peng Jing Li Sheng Fu Caofeng Pan Zhong Lin Wang 《Advanced functional materials》2019,29(41)
With the arrival of intelligent terminals, tactile sensors which are capable of sensing various external physical stimuli are considered among the most vital devices for the next generation of smart electronics. To create a self‐powered tactile sensor system that can function sustainably and continuously without an external power source is of crucial significance. An overview of the development in self‐powered tactile sensor array system based on the triboelectric effect is systematically presented. The combination of multi‐functionalization and high performance of tactile sensors aimed at achieving highly comprehensive performance is presented. For the tactile sensor unit, a development is summarized based on the two primary modes which are vertical contact–separation and single‐electrode. For the pressure mapping array, the resolution is significantly enhanced by the novel cross‐type configuration based on the single‐electrode mode. Integrated with other mechanisms, the performance will be further elevated by broadening of the detect range and realizing of visualization of pressure imaging. Then, two main applications of human–machine interaction (HMI) and trajectory monitoring are comprehensively summarized. Finally, the future perspectives of self‐powered tactile sensor system based on triboelectric effect are discussed. 相似文献
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《Advanced Robotics》2013,27(8):767-777
In this paper, we propose an architecture for a cognitive robot based on tactile and visual information. Visual information contains various features such as location and area of various colored regions. Most of these features are irrelevant for object recognition to achieve the given task. In the architecture, tactile information plays a key role in the selection of visual features and discritization of selected features. In order to find appropriate visual features we use a correlation coefficient between the values of the features and action series. Then the ChiMerge algorithm is employed to discritize the value of the selected feature into a small number of intervals. Consequently, quantization of a state space to accomplish the given task is achieved. An appropriate behavior to the given task is acquired by using this state space with reinforcement learning algorithm. We give experimental results of computer simulation to show the validity of our method. 相似文献
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《Ergonomics》2012,55(10):1351-1368
AbstractWe first tested the effect of differing tactile informational forms (i.e. directional cues vs. static cues vs. dynamic cues) on objective performance and perceived workload in a collaborative human–robot task. A second experiment evaluated the influence of task load and informational message type (i.e. single words vs. grouped phrases) on that same collaborative task. In both experiments, the relationship of personal characteristics (attentional control and spatial ability) to performance and workload was also measured. In addition to objective performance and self-report of cognitive load, we evaluated different physiological responses in each experiment. Results showed a performance–workload association for directional cues, message type and task load. EEG measures however, proved generally insensitive to such task load manipulations. Where significant EEG effects were observed, right hemisphere amplitude differences predominated, although unexpectedly these latter relationships were negative. Although EEG measures were partially associated with performance, they appear to possess limited utility as measures of workload in association with tactile displays.Practitioner Summary: As practitioners look to take advantage of innovative tactile displays in complex operational realms like human–robotic interaction, associated performance effects are mediated by cognitive workload. Despite some patterns of association, reliable reflections of operator state can be difficult to discern and employ as the number, complexity and sophistication of these respective measures themselves increase. 相似文献
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Kunihiro Ogata Tokio Umino Tsuyoshi Nakayama Eiichi Ono Toshiaki Tsuji 《Advanced Robotics》2017,31(6):303-310
Development of clothing in consideration of the shape and body function of a person with spinal cord injury is an important task. Then, a dummy robot with a deformation mechanism was developed in this study for evaluating the comfortable level of clothings. Specifically, a trunk joint mechanism and an abdominal mechanism that can realize various deformations of the abdominal area and various trunk poses were developed. The trunk joint mechanism was implemented in order to simulate the seated posture of persons with spinal cord injury. The abdominal deformation mechanism was implemented using linear actuators and rotating servomotors in order to simulate abdominal obesity of persons with spinal cord injury. Further, a tactile sensor system was developed for measuring the clothing pressure on the abdominal area and evaluating the comfort or discomfort of clothing. 相似文献
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设计了一种基于复合帕尔贴模块的改进型温度触觉感知再现装置。首先分析了手指接触复合帕尔贴装置表面时的热传导过程,并根据热网络分析法建立了基于复合帕尔贴模块的热触觉感知模型;据此设计了一种通过控制复合帕尔贴模块表面温度变化来模拟温度触觉过程的装置,复合帕尔贴装置由两个20 mm×20 mm的帕尔贴模块重叠放置构成,通过对上下层帕尔贴模块输入电流分别控制,实现了比单层帕尔贴模块更为快速的升降温速率和更大工作温度区间;最后,通过热图标辨别实验,分析了将温度触觉感知再现应用于特殊人群导航的可行性。 相似文献