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991.
试样经碱熔,盐酸提取的钛,在以盐酸、硫酸、磷酸组成的强酸性溶液体系中,利用铝片的强还原性,还原四价钛为三价钛。再用三价铁氧化三价钛为四价钛,过量的三价铁离子与硫氢酸根离子生成血红色络合物,根据此原理测定高含量钛。实验证明,溶液在此强酸性体系中,隔绝空气和控制时间的条件下,其含量范围在0.13%~100%内,测定结果准确度高。 相似文献
992.
在HAc-NaAc形成的中性缓冲溶液体系中,利用碘的催化动力学原理,使N-N-四甲基-4-4-二氨基二苯甲烷与氯胺T的氧化反应,生成蓝色络合物来测定地探样中微量碘的含量。通过实验,最佳试剂加入量为8%的HAc溶液5mL,8%的Na2CO3溶液3mL,0.1%的N-N-四甲基-4-4-二氨基二苯甲烷溶液5mL所组成的溶液体系中,在加入0.1%的氯胺T1mL显色后,其测定结果准确度、精密度高,检出限低,测定化探样中微量碘时该方法可以推广应用。 相似文献
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To reconstruct the formation and evolution process of the warm current system within the East China Sea (ECS) and the Yellow Sea (YS) since the last deglaciation, the paleoceangraphic records in core DGKS9603, core CSH1 and core YSDPI02, which were retrieved from the mainstream of the Kuroshio Current (KC), the edge of the modem Tsushima Warm Current (TWC) and muddy region under cold waters accreted with the Yellow Sea Warm Current (YSWC) respectively, were synthetically analyzed. The results indicate that the formation and evolution of the modem warm current system in the ECS and the YS has been accompanied by the development of the KC and impulse rising of the sea level since the last deglaciation. The influence of the KC on the Okinawa Trough had enhanced since 16 cal kyr BE and synchronously the modem TWC began to develop with the rising of sea level and finally formed at about 8.5 cal kyr BP. The KC had experienced two weakening process during the Heinrich event 1 and the Younger Drays event from 16 to 8.5 cal kyr BP. The period of 7-6 cal kyr BP was the strongest stage of the KC and the TWC since the last deglaciation. The YSWC has appeared at about 6.4 cal kyr BP. Thus,the warm current system of the ECS and the YS has ultimately formed. The weakness of the KC,indicated by the occurrence of Pulleniatina minimum event (PME) during the period from 5.3 to 2.8 cal kyr BE caused the main stream of the TWC to shift eastward to the Pacific Ocean around about 3 cal kyr BP. The process resulted in the intruding of continent shelf cold water mass with rich nutrients. Synchronously, the strength of the YSWC was relatively weak and the related cold water body was active at the early-mid stage of its appearance against the PME background, which resulted in the quick formation of muddy deposit system in the southeastern YS. The strength of the warm current system in the ECS and the YS has enhanced evidently, and approached to the modern condition gradually since 3 cal kyr BP. 相似文献
998.
A discrete time-delay control (DTDC) law for a general six degrees of freedom unsymmetric autonomous underwater vehicle (AUV) is presented. Hydrodynamic parameters like added mass coefficients and drag coefficients, which are generally uncertain, are not required by the controller. This control law cancels the uncertainties in the AUV dynamics by direct estimation of the uncertainties using time-delay estimation technique. The discrete-time version of the time-delay control does not require the derivative of the system state to be measured or estimated, which is required by the continuous-time version of the controller. This particularly provides an advantage over continuous-time controller in terms of computational effort or availability of sensors for measuring state derivatives, i.e., linear and angular accelerations. Implementation issues for practical realization of the controller are discussed. Experiments on a test-bed AUV were conducted in depth, pitch, and yaw degrees of freedom. Results show that the proposed control law performs well in the presence of uncertainties. 相似文献
999.
Many underwater intervention tasks are today performed using manned submersibles or remotely operated vehicles in teleoperation mode. Autonomous underwater vehicles are mostly employed in survey applications. In fact, the low bandwidth and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system, making it impossible for remote controllers to react to problems in a timely manner.Nevertheless, vehicles with no physical link and with no human occupants permit intervention in dangerous areas, such as in deep ocean, under ice, in missions to retrieve hazardous objects, or in classified areas. The key element in underwater intervention performed with autonomous vehicles is autonomous manipulation. This is a challenging technology milestone, which refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision.Today, only few AUVs are equipped with manipulators. SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Mission, University of Hawaii) is one of the first underwater vehicle capable of autonomous manipulation.This paper presents the solutions chosen within the development of the system in order to address the problems intrinsic to autonomous underwater manipulation. In the proposed approach, the most noticeable aspect is the increase in the level of information transferred between the system and the human supervisor.We describe one of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment. To the best knowledge of the authors, no sea trials in underwater autonomous manipulation have been presented in the literature. The presented operation is an underwater recovery mission, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface. 相似文献
1000.
Maiorano Luigi; Bartolino Valerio; Colloca Francesco; Abella Alvaro; Belluscio Andrea; Carpentieri Paolo; Criscoli Alessandro; Jona Lasinio Giovanna; Mannini Alessandro; Pranovi Fabio; Reale Bruno; Relini Giulio; Viva Claudio; Ardizzone Gian Domenico 《ICES Journal of Marine Science》2009,66(1):137-146