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1.
In this paper, the authors address the problem of edge-perception for its applications to vision-feedback control in robotic systems.In natural vision, the recognition of objects takes place through the process consisting of eye system, neural networks and cognition. The cognitive process, in turn yields a phenomenon known as perception. This is the phenomenon of perception of physical attributes, such as edges, color and texture, etc., which is responsible for the recognition of objects through the natural vision processes.In this paper, we make an attempt to postulate the theory of perception for gray-level images. The gray-level images, when going through the cognitive and perception processes, are contaminated by the uncertainty; here we call it cognitive uncertainty.The studies in this paper are confined to the phenomenon of edge-perception for two-dimensional gray-level images, however, these studies can be extended to other types of visual attributes both in two-dimensional and three-dimensional spaces. Indeed, the perception of these attributes, which attempts to emulate the human vision system, may help in the design of a truly robust computer vision-feedback control system for robotic applications. 相似文献
2.
以手功能康复机器人为研究对象,对被控对象建立数学模型,推导鲁棒控制器,基于simMechanics建立仿真模型,实现手功能康复机器人的鲁棒控制系统。考虑到手功能康复机器人是帮助偏瘫患者进行康复训练并最大限度地诱发患肢的主动作用,控制器中加入偏瘫患者的主动作用函数。控制系统在MATLAB/Simulink的环境下仿真,结果表明所设计的鲁棒控制器能适应不同程度的偏瘫患者,具有较佳的动态特性和很强的鲁棒性能。 相似文献
3.
Chung‐Shi Tseng 《Asian journal of control》2008,10(4):420-429
In this study, a robust nonlinear L∞‐gain tracking control design for uncertain robotic systems is proposed under persistent bounded disturbances. The design objective is that the peak of the tracking error in time domain must be as small as possible under persistent bounded disturbances. Since the nonlinear L∞ ‐gain optimal tracking control cannot be solved directly, the nonlinear L∞ ‐gain optimal tracking problem is transformed into a nonlinear L∞ ‐gain tracking problem by given a prescribed disturbance attenuation level for the L∞ ‐gain tracking performance. To guarantee that the L∞ ‐gain tracking performance can be achieved for the uncertain robotic systems, a sliding‐mode scheme is introduced to eliminate the effect of the parameter uncertainties. By virtue of the skew‐symmetric property of the robotic systems, sufficient conditions are developed for solving the robust L∞ ‐gain tracking control problems in terms of an algebraic equation instead of a differential equation. The proposed method is simple and the algebraic equation can be solved analytically. Therefore, the proposed robust L∞ ‐gain tracking control scheme is suitable for practical control design of uncertain robotic systems. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
4.
This paper presents a novel distributed control scheme of multiple robotic vehicles. Each robotic vehicle in this scheme has its own coordinate system, and it senses its relative position and orientation to others, in order to make group formations. Although there exists no supervisor and each robotic vehicle has only relative position feedback from the others in the local area around itself, all the robotic vehicles are stabilized, which we have succeeded in proving mathematically only in the cases where the attractions between the robots are symmetrical. Each robotic vehicle especially has a two-dimensional control input referred to as a “formation vector” and the formation is controllable by the vectors. The validity of this scheme is supported by computer simulations. 相似文献
5.
处理大角度悬垂结构的打印问题是无支撑打印的主要挑战。针对NURBS(non-uniform rational Bspline)体参数化模型的多自由度无支撑三维打印技术,提出一种锥形切片算法。通过对模型的三维文件进行几何映射,利用水平切片算法对其进行切片,得到模型变形后的连续打印路径G-code;然后对得到的G-code进行逆映射,生成适用于六轴机械臂的多自由度连续打印路径。利用锥形切片算法规划打印路径,可以在无须支撑的情况下,依靠自支撑结构实现对悬空结构部分的打印。最后,通过仿真实验和对比实验,验证了锥形切片算法的准确性、可行性和有效性。锥形切片算法的引入为NURBS体参数化模型的无支撑三维打印提供了一种更加高效、经济和环保的解决方案。 相似文献
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高职院校工业机器人实训室建设初探 总被引:1,自引:0,他引:1
近年企业对工业机器人应用型人才需求日益突出,而将工业机器人直接引入教学却存在诸多问题。本文分析了工业机器人实训室建设的必要性及可行的方案,并针对工业机器人价格高、数量少、维护管理困难和理论知识复杂等问题,从软环境、辅助教学机器人、实训项目设置和校企合作等方面,提出了相应对策。经实践教学证明,效果良好。 相似文献
10.
Shuang Xia Yukun Chen Jinfeng Tian Jinfeng Shi Chengzhen Geng Huawei Zou Mei Liang Zhibo Li 《Advanced functional materials》2021,31(26):2101143
Gecko-inspired microfibrillar adhesives have achieved great progress in microstructure design and adhesion improvement over the past two decades. Space applications nowadays show great interest in this material for the characteristics of reversible adhesion and universal van der Waals interactions. However, the impact of harsh environment of space on the performance of microfibrillar adhesives, especially the extreme low temperature, is rarely addressed. Herein, microfibrillar adhesives fabricated by phenyl containing polydimethylsiloxane (p-PDMS) elastomers with superior low-temperature reversible adhesion is proposed. p-PDMS elastomers are synthesized through one-pot anionic ring-opening copolymerization, and the resulting elastomers become non-crystallizable with excellent low-temperature elasticity. Low-temperature adhesion tests demonstrate that the adhesion strength of microfibrillar adhesives fabricated by p-PDMS elastomers can be well maintained to as low as −120 °C. In contrast, the adhesion strength of pure PDMS microfibrillar adhesive reduces more than 50% below its crystallization temperature. The low-temperature cyclic adhesion tests further demonstrate that p-PDMS microfibrillar adhesives exhibit superior reversible adhesion compared to that of PDMS microfibrillar adhesives, owing to the sustainable conformal contact and even distribution of loads over repeated cycles. This study provides a new fabrication strategy for microfibrillar adhesives, and is beneficial for the practical application of microfibrillar adhesives. 相似文献