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1.
In this article, we consider a flexible beam with a rigid body, of which the bending vibration and the torsional vibration are decoupled. Therefore we need two control motors to suppress the vibrations. Each set of dynamic equations is treated in the form of an appropriate Hilbert space. A stabilizing feedback control law of each rotation motor will be established on the basis of modal analysis. A set of experiments has been carried out, and the results demonstrate the effectiveness of the dynamic model and the proposed control law. © 1994 John Wiley & Sons, Inc. 相似文献
2.
Tae Hyon Kim Kiyohiro Goto Hiroki Igarashi Kazuyuki Kon Noritaka Sato Fumitoshi Matsuno 《Artificial Life and Robotics》2012,16(4):514-518
Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the
real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real
environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in
real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety
of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can
consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated
in the Real World Robot Challenge 2010. The experimental results are given. 相似文献
3.
Naoji Shiroma Ryo Miyauchi Akira Nagafusa Youhei Haga Fumitoshi Matsuno 《Advanced Robotics》2015,29(3):149-163
In robot teleoperation, a robot works as a physical agent at a remote site for a robot operator. There are mainly two tasks in robot teleoperation using camera images: environment recognition using visual information and robot control according to the recognition. In this paper, we propose a gaze direction based vehicle teleoperation method with an omnidirectional image stabilization and an automatic body rotation control. In the proposed method, we manage above two tasks in the same manner that are usually treated separately. This method is an intuitive vehicle teleoperation method where an operator do not need to have concern about vehicle body orientations and can absorb differences of vehicle driving mechanisms. That is, this method frees an operator from being bothered from controlling a vehicle and the operator can concentrate on where he/she intends to go. This method mainly consists of two technologies: an omnidirectional image stabilization technology and automatic body rotation control. The conducted experiments show effectiveness of the proposed method. 相似文献
4.
Artificial Life and Robotics - This paper describes the design and performance evaluation of a flexible wearable haptic device that aims to realize full kinesthetic haptic feedback for application... 相似文献
5.
6.
Recently, various autonomous mobile robots have been developed for practical use. To support the coexistence of robots and humans in real environments, we propose a concept named ‘Region with Velocity Constraints (RVC),’ which is set around hazardous areas. RVCs are regions where the velocities of the robot are constrained to predefined values. Inside the RVCs, the robot has to reduce its translational velocity to avoid predicted hazards such as collisions with obstacles, and to reduce its rotational velocity to prevent undesirable motions such as sharp turns. We also propose a motion planning method for navigating the mobile robot in an environment with RVCs based on the Navigation Function and Global Dynamic Window Approach. Our method generates a trajectory satisfying both translational and rotational velocity constraints to be compatible with the surroundings. Moreover, to demonstrate the validity of our method, we performed numerical simulations and experiments. 相似文献
7.
Yasuo Kinouchi Shoji Inabayashi Akira Satou Fumitoshi Shouji S. Inabayashi 《Artificial Life and Robotics》2000,4(2):53-56
To construct a “thinking-like” processing system, a new architecture of an adaptive associative memory system is proposed.
This memory system treats “images” as basic units of information, and adapts to the environment of the external world by means
of autonomous reactions between the images. The images do not have to be clear, distinct symbols or patterns; they can be
ambiguous, indistinct symbols or patterns as well. This memory system is a kind of neural network made up of nodes and links
called a localist spreading activation network. Each node holds one image in a localist manner. Images in high-activity nodes
interact autonomously and generate new images and links. By this reaction between images, various forms of images are generated
automatically under constraints of links with adjacent nodes. In this system, three simple image reaction operations are defined.
Each operation generates a new image by combining pseudofigures or features and links of two images.
This work was presented, in part, at the Fourth International Symposium on Artificial Life and Robotics, Oita, Japan, January
19–22, 1999 相似文献
8.
Naoki Motomura Yuto Yamazaki Daiki Koga Shogo Harashima Xin Gao Yuta Tezuka Kei Omata Yoshikiyo Ono Ryo Morimoto Fumitoshi Satoh Yasuhiro Nakamura Go Eun Kwon Man Ho Choi Akihiro Ito Hironobu Sasano 《International journal of molecular sciences》2022,23(4)
Cortisol-producing adenoma (CPA) is composed of clear and compact cells. Clear cells are lipid abundant, and compact ones lipid poor but associated with higher production of steroid hormones. PRKACA mutation (PRKACA mt) in CPA patients was reported to be associated with more pronounced clinical manifestation of Cushing’s syndrome. In this study, we examined the association of histological features and genotypes with cholesterol uptake receptors and synthetic enzymes in 40 CPA cases, and with the quantitative results obtained by gas chromatography-mass spectrometry (GC-MS) analysis in 33 cases to explore their biological and clinical significance. Both cholesterol uptake receptors and synthetic enzymes were more abundant in compact cells. GC-MS analysis demonstrated that the percentage of compact cells was inversely correlated with the concentrations of cholesterol and cholesterol esters, and positively with the activity of cholesterol biosynthesis from cholesterol esters. In addition, hormone-sensitive lipase (HSL), which catalyzes cholesterol biosynthesis from cholesterol esters, tended to be more abundant in compact cells of PRKACA mt CPAs. These results demonstrated that both cholesterol uptake and biosynthesis were more pronounced in compact cells in CPA. In addition, more pronounced HSL expression in compact cells of PRKACA mt CPA could contribute to their more pronounced clinical manifestation. 相似文献
9.
The cleavage and addition of ortho C-H bonds in various aromatic compounds such as ketones, esters, imines, imidates, nitrile, and aldehydes to olefins and acetlylenes can be achieved catalytically with the aid of ruthenium catalysts. The reaction is generally highly efficient and useful in synthetic methods. The coordination to the metal center by a heteroatom in directing groups such as carbonyl and imino groups is the key. The reductive elimination to form a C-C bond is the rate-determining step. 相似文献
10.
Identifying network density and scale economies for Japanese water supply organizations 总被引:3,自引:0,他引:3
Within this analysis we determine the optimal size (that is, with the minimum average cost) of a water supply enterprise
and reconsider the matter of scale economies, using sample data from Japanese water supply organizations. After surveying
evidence from previous studies of scale economies in the water supply industry, we estimate cost functions with three different
cost models: the log-linear, translog and translog with a hedonic function. We obtain the result that economies of network
density do exist, but that there are slight diseconomies of scale at the sample mean point. The optimal size of a water supply
organization would be one supplying a population of approximately 766,000 people.
Received: 10 March 2000 / Accepted: 8 January 2001 相似文献