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In this paper, a cooperative control analysis and design method is investigated for heterogeneous dynamical systems that may be of arbitrary relative degree or nonminimum-phase or both. To achieve consensus or cooperative stability, a negative value of input-feedforward passivity index is used to accommodate and analyze such systems, and the magnitude of the index value is also used as the impact coefficient to quantify the impacts of heterogeneous dynamics of these systems on their networked operations. Physical-system-level designs are explicitly carried out to make individual linear and nonlinear systems (which are either feedback linearizable or nonminimum phase of certain form) become passivity-short and to embed one pure integrator into their input–output dynamics. The network-level distributed control can simply be chosen without any knowledge of the heterogeneous dynamics but with only information of an upper bound on their impact coefficients. It is shown, using the impact equivalence principle, that these controls separately designed but implemented together always ensure either local or global consensus and that a global non-trivial consensus emerges if and only if the information network has at least one globally reachable node or is varying but cumulatively connected. The proposed methodology of fully modularized designs unravels complexity of analyzing and designing cyber–physical systems and enables their plug-and-play into networked operations. 相似文献
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Giuseppe Placidi Danilo Avola Marco Ferrari Daniela Iacoviello Andrea Petracca Valentina Quaresima Matteo Spezialetti 《Computer methods and programs in biomedicine》2014
Background and objective
The degeneration of the balance control system in the elderly and in many pathologies requires measuring the equilibrium conditions very often. In clinical practice, equilibrium control is commonly evaluated by using a force platform (stabilometric platform) in a clinical environment.In this paper, we demonstrate how a simple movement analysis system, based on a 3D video camera and a 3D real time model reconstruction of the human body, can be used to collect information usually recorded by a physical stabilometric platform.Methods
The algorithm used to reconstruct the human body model as a set of spheres is described and discussed. Moreover, experimental measurements and comparisons with data collected by a physical stabilometric platform are also reported. The measurements were collected on a set of 6 healthy subjects to whom a change in equilibrium condition was stimulated by performing an equilibrium task.Results
The experimental results showed that more than 95% of data collected by the proposed method were not significantly different from those collected by the classic platform, thus confirming the usefulness of the proposed system.Conclusions
The proposed virtual balance assessment system can be implemented at low cost (about 500$) and, for this reason, can be considered a home use medical device. On the contrary, astabilometric platform has a cost of about 10,000$ and requires periodical calibration. The proposed system does not require periodical calibration, as is necessary for stabilometric force platforms, and it is easy to use. In future, the proposed system with little integration can be used, besides being an emulator of a stabilometric platform, also to recognize and track, in real time, head, legs, arms and trunk, that is to collect information actually obtained by sophisticated optoelectronic systems. 相似文献15.
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文章阐述了养老院中老年人的情感需求和行为方式,研究了景观和老年人的生活、健康、康复之间的关系。总结了使用康复景观设计为老年人创造满足其情感需求帮助他们缓解压力、安度晚年的空间场所的方法。 相似文献
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从燃气壁挂炉维修与维护的局限性出发,提出基于家庭网络技术的燃气壁挂炉故障监测系统。该系统保留传统燃气壁挂炉显示面板和控制主板的通讯接口,硬件上串接一个故障跟踪模块。在家庭网络下,故障跟踪模块过滤出燃气壁挂炉的实时状态信息,通过网络上传到远程服务器。远程协助维修员通过上传的实时状态信息,在线给予用户故障剔除方案。本设计实现了燃气壁挂炉的远程维修与维护,为后续的燃气壁挂炉故障诊断风险分析提供了可靠的依据。 相似文献
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物联网技术是世界信息产业发展的第三次浪潮,它改变了人们的家居方式,使人们有希望拥有一个更加安全、方便、舒适、智能的家。文中设计了一种基于SIM900A和Cortex-M3的物联网智能家居控制系统。该系统采用Cortex-M3内核的STM32处理器来作为系统主控制器,可以采集多个传感器的信息,并通过SIM900A与多个移动终端实现物联网通信。实验结果表明,该系统可以正常接收来自移动终端的SMS信息,控制家用设备,在出现危险信号时可以快速发送警报短信,具有传输快、传输距离远、实时性强等优点。 相似文献
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为了详细了解有压洞塞水流的时均及脉动流速分布,为洞塞体型设计提供依据,本文应用二维激光流速仪对顺直、台阶及收缩式洞塞的时均流速和脉动流速进行了测量,测量结果表明:在洞塞内部,时均流速在洞塞进口0.133倍管道直径后分布均匀;洞塞出口后的主流再附着点位于洞塞出口后的1~2倍管道直径处,洞塞出口3 倍管道直径后的断面流速分布基本均匀;总体而言,在回流区以外,径向流速均较小,约为轴向流速的10%;三种体型洞塞的脉动流速的大小为时均流速的10%~30%,在洞塞段及洞塞后扩散段较大,最大值位于时均流速梯度较大的剪切层附近;对同一断面而言,轴线上的脉动流速小于两侧的脉动流速。上述成果表明,从流速分布角度而言,洞塞长度宜大于0.133倍管道直径,洞塞间距宜大于3倍管道直径。 相似文献
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对Φ100mm自动轧管机组穿孔方头缺陷产生的原因进行了分析。方头的形成是由顶杆位置过后,轧辊径向颤动及穿孔变形时椭圆度系数过大等原因造成的。同时提出了相应的解决方法。 相似文献