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Hitoshi Katayama 《International journal of control》2016,89(2):248-258
The design of observers and output feedback stabilising controllers for continuous-time strict-feedback systems with sampled observation is considered. First two types of observers are designed. One is a discrete-time semiglobal and practical reduced-order observer for the exact model and the other is a continuous-time semiglobal and practical full-order observer for continuous-time strict feedback systems with sampled observation. Then by combining the designed continuous-time observers and continuous-time state feedback laws that are continuous, zero at the origin, and uniformly globally asymptotically stabilise continuous-time systems, output feedback semiglobally practically uniformly asymptotically stabilising controllers are constructed. Numerical examples are given to illustrate the proposed design of observers and output feedback controllers. 相似文献
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In this paper, the performance of parameter estimation of a single static distant point light source from two video images is analyzed in terms of estimation theory. The illumination parameters are the intensity and direction of the light source.In the first part of this paper, estimators from the literature are reviewed. Most recent estimators evaluate as input data two video images as well as the 3D shape and the 3D motion of the visible moving objects.In the second part of the paper, the performance of these recent methods is analyzed. The input data to estimation as well as the inherent input data errors are described by a stochastic observation model. Based on this model, the performance is analyzed regarding the Cramér-Rao theoretical lower bound of estimation error variances. The bound is derived for a variety of cases of scene illumination, object motion and errors in input data. For simplification purpose, the bound is valid only for object motions with the rotation axis lying in the image plane. The analysis shows in which cases which estimation accuracy can be expected with current methods.Finally, a comparison of the bound with one of the recent estimators shows that recent estimators are suboptimal in case of errors in the 3D shape of the objects. In future work, the stochastic observation model presented in this paper can be used to improve illumination estimation. 相似文献
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The problems ofstate observation and diagnosis are solved for discrete–eventsystems, which are described by stochastic automata. As manysystems are not observable in the sense that it is possible toreconstruct the state unambiguously, the observation problemis set up as the problem of determining the smallest possibleset of states that are compatible with the measured input andoutput sequences. The diagnostic problem is shown to be, in principle,an observation problem. Conditions for the observability anddiagnosability of stochastic automata are presented. The resultsare illustrated by examples. 相似文献
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集合卡尔曼滤波(EnKF)算法在地下水数据同化领域中的应用受到了越来越广泛的关注。作为同化系统的重要组成部分,观测数据的空间/时间密度的配置直接影响滤波运算结果。本文构造了一个理想二维地下水流算例考察空间/时间密度对传统EnKF和局域化EnKF的影响。研究结果表明:随着空间密度的增大,局域化EnKF运算精度增高,而传统EnKF运算精度无此改进倾向。总体趋势上时间密度增大使EnKF运算精度增高,但对不同数目的观测井方案,这种精度增高的幅度有所变化,观测井越多,增高越不明显。由此得出结论:局域化改进EnKF能够有效同化更多的观测井数据,给出更精确的结果;模拟初期水头变化波动较大,观测数据价值较高;在一定时间密度配置下,低空间密度局域化EnKF运算精度可以接近甚至超过高空间密度配置。 相似文献
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针对西安咸阳国际机场专用高速公路段的K3+966.50渭河特大桥,采用钻孔灌注桩桩端后压浆技术和常规灌注桩两种不同方法对其桩基进行了现场静载试验,并根据实测数据分析探讨了各桩在不同等级荷载作用下的桩-土相互作用、桩端后压浆技术的增强机理,以及桩端压力注浆和常规钻孔灌注桩两种不同的桩基承载特性,结果发现,与未压桩的桩基相比,桩端后压浆桩基的竖向极限承载力至少提高了40%,沉降量减少25mm,说明桩端后压浆技术能够显著提高桩基的承载能力和稳定性。最后,根据现场实测数据和端后压浆的注浆机理,提出了后压浆单桩极限承载力的计算公式,为类似地区的桩基设计提供借鉴 相似文献
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We review the literature dealing with retrievals of chlorophyll concentrations in the Great Lakes from satellite observations. Most studies show that the satellite estimates of chlorophyll concentrations are linearly related to the observed concentrations, though they tend to overestimate concentrations at lower values and underestimate them at higher values. Deviations from a consistent, accurate, linear relationship can be attributed to temporal and spatial variations in the inherent optical properties of the color producing agents in the water as well as to varying concentrations of non-algal substances that interfere with the retrievals. We confirmed these results by using a simple optical model to examine the sensitivity of the retrieved chlorophyll values to the concentrations of interfering substances and to differences in model parameters. Because the spatial and temporal optical properties of the Great Lakes are unpredictable, no retrieval method is likely to produce accurate results all the time. The papers we reviewed show that simple band ratio algorithms can provide chlorophyll estimates that are proportional to in situ concentrations. The published literature suggests that the band ratio methods will be of most value in regions where the concentrations of non-algal interfering substances are minimal. Because of these limitations we recommend that future papers presenting chlorophyll analysis based on satellite data provide confirming field observations that include measurements of chlorophyll, suspended particles and dissolved organic carbon. We also recommend that Great Lakes scientists explore novel methods for retrieving chlorophyll concentrations from satellite observations that have proven useful in other optically complex waters. 相似文献