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201.
B. J. Yoon J. Y. Lee J. H. Kim C. S. Han 《International Journal of Automotive Technology》2011,12(1):111-118
A navigation algorithm is indispensable for Unmanned Ground Vehicles (UGVs). During driving, UGVs follow a global path. In
this study, we propose a navigation algorithm using Real Time Kinematic (RTK)-Differential Global Positioning System (DGPS)
units and encoders to complement global path planning. Sometimes GPS systems lose their signals and receive inaccurate position
data due to many factors, such as edifice and barrier obstructions. This paper shows that GPS deviations can be solved using
a Dead Reckoning (DR) navigation method with encoders and that position errors can be decreased through the use of RTK-DGPS
units. In addition to this method, we will introduce a new waypoint update algorithm and a steering algorithm using RTK-DGPS
units. 相似文献
202.
T. Y. Shin S. Y. Kim J. Y. Choi K. S. Yoon M. H. Lee 《International Journal of Automotive Technology》2011,12(1):103-110
This paper presents a modified lateral control method for an autonomous vehicle with both look-ahead and look-down sensing
systems. To cope with sensor noise and modeling uncertainty in the lateral control of the vehicle, a modified LMI-based H
lateral controller was proposed, which uses the look-ahead information of the lateral offset error measured at the front of
vehicle and the look-down information of the vehicle yaw angle error between the reference lane and the centerline of the
vehicle. To verify the safety and the performance of the lateral control, a scaled-down vehicle was developed, and the positioning
of the vehicle was estimated with USAT. The proposed controller, which uses both look-ahead and look-down information, was
tested for lane changing and reference lane tracking with both simulation and experiment. The simulation and experimental
results show that the proposed controller has better tracking and handling performance compared with a controller that uses
only the look-ahead information of the target heading angle error. 相似文献
203.
X. D. Wu S. G. Zuo L. Lei X. W. Yang Y. Li 《International Journal of Automotive Technology》2011,12(5):671-677
The purpose of this study was to effectively identify parameters for a LuGre friction model based on experimental measures.
In earlier work related to this study (Yang et al., 2009), which was based on the characters of polygonal wear (Sueoka and Ryu, 1997), we showed a frictional vibration model
for a mass on a moving belt. This model reflected lateral vibrations caused by velocity and toe-in angle. An important aspect
of the present study is the improved friction model. A previous friction model, which divided the process into four parts,
expressed the sable excited vibration well but failed to reflect the hysteresis loop change when vehicles accelerated or decelerated
continuously. A LuGre friction model can solve this problem, but several model parameters must be obtained experimentally.
We measured contact width and length of tires as vertical pressure changed; this provided a theoretical basis for apparent
stiffness of a unit of tire tread. Based on tire data from Bakker E’s article in a SAE paper from 1987, we identified the
Stribeck exponent and Stribeck velocity in LuGre. Then, the results were implemented in a vibration system that verified the
rationality of the data. 相似文献
204.
Y. Kim S. Choi J. Lee W. Yoo J. Sohn 《International Journal of Automotive Technology》2011,12(4):521-527
In this study, a large bus is tested to measure its dynamic response by the single-lane change test and the rapid stop test.
A full car model is established by ADAMS/Car for computer simulation. For multibody modeling of a large bus, user-defined
templates are used in the simulation. Simulation results of the single-lane change test and the rapid braking test are compared
to the results of the physical experiments, in which several sensors are installed to measure the vehicle’s responses. The
results obtained from the simulation show good agreement with the tests’ results. A dynamic model for the MR(magnetic-rheological)
damper is also developed by employing the Magic Formula model, which is widely used in the nonlinear modeling of a tire. Bump
simulation of a full car with the MR damper is carried out to verify the performance of the MR damper. The comparison of the
simulation results obtained with the MR damper model to the results obtained with the traditional passive damper model showed
improved response of the vehicle with the MR damper. 相似文献
205.
This paper discusses the final investigation into the effect of fuel stratification on flame propagation. In previous works,
the characteristics under the no port-generated swirl condition and the low-swirl condition were considered. For this purpose,
the initial flame development and propagation were visualized under different axially stratified states in a modified optical
single-cylinder SI engine. The images were captured by an intensified CCD camera through the quartz window mounted in the
piston. Stratification was controlled by the combination of the port swirl ratio and injection timing. These were averaged
and processed to characterize the flame propagation. The flame stability was estimated by the weighted average of flame area
and luminosity. The stability was also evaluated through the standard deviation of flame area and propagation distance and
through the mean absolute deviation of the propagation direction. The results show that the LML is expanded remarkably under
the high-swirl cases up to the highest relative AFRs of 1.71 and 1.75 between 140 and 160CA. In addition, similar to the low-swirl
condition, the flame-flow interaction determines the direction of flame propagation, and the governing roles of the two factors
vary according to the swirl level; the flow is more important at the higher swirl conditions, and the flame is more important
at the lower swirl condition. Finally, fast and stable flame propagation can be achieved under the preferably stratified condition,
which is induced by the suitable combination of the high swirl and injection timing. 相似文献
206.
Runyu Wang 《WMU Journal of Maritime Affairs》2011,10(2):143-165
Since the 1980s, the precautionary principle has been drawing more and more international attention. This became particularly
clear during the series of Conferences on the Protection of the North Sea, which addressed marine environmental protection,
and initiated the application of the principle into maritime affairs. Although a unified concept of the precautionary principle
is lacking, some typical formulations have been concluded in regional treaties and international documents, and components
of the principle can be summarised (Part I and Part II). The precautionary principle has been adopted by international documents
involving different fields of law of the sea, and been addressed by international courts and tribunals (Part III). While the
precautionary principle is still not part of customary international law (Part IV), its increasing level of worldwide acceptance
suggests that it will become a customary international law in the future. 相似文献
207.
This paper documents the efforts to operationalize the conceptual framework of MIcrosimulation Learning-based Approach to
TRansit Assignment (MILATRAS) and its component models of departure time and path choices. It presents a large-scale real-world
application, namely the multi-modal transit network of Toronto which is operated by the Toronto Transit Commission (TTC).
This large-scale network is represented by over 500 branches with more than 10,000 stops. About 332,000 passenger-agents are
modelled to represent the demand for the TTC in the AM peak period. A learning-based departure time and path choice model
was adopted using the concept of mental models for the modelling of the transit assignment problem. The choice model parameters
were calibrated such that the entropy of the simulated route loads was optimized with reference to the observed route loads,
and validated with individual choices. A Parallel Genetic Algorithm engine was used for the parameter calibration process.
The modelled route loads, based on the calibrated parameters, greatly approximate the distribution underlying the observed
loads. 75% of the exact sequence of transfer point choices were correctly predicted by the off-stop/on-stop choice mechanism.
The model predictability of the exact sequence of route transfers was about 60%. In this application, transit passengers were
assumed to plan their transit trip based on their experience with the transportation network; with no prior (or perfect) knowledge
of service performance. 相似文献
208.
This paper establishes a link between an activity-based model for the Greater Toronto Area (GTA), dynamic traffic assignment,
emission modelling, and air quality simulation. This provides agent-based output that allows vehicle emissions to be tracked
back to individuals and households who are producing them. In addition, roadway emissions are dispersed and the resulting
ambient air concentrations are linked with individual time-activity patterns in order to assess population exposure to air
pollution. This framework is applied to evaluate the effects of a range of policy interventions and 2031 scenarios on the
generation of vehicle emissions and greenhouse gases in the GTA. Results show that the predicted increase of approximately
2.6 million people and 1.3 million jobs in the region by 2031 compared to 2001 levels poses a major challenge in achieving
meaningful reductions in GHGs and air pollution. 相似文献
209.
In an attempt to reduce CO2 emissions from motorized transport, the Taiwanese government introduced an idling stop policy for vehicles in early 2007.
This paper seeks to quantify the environmental benefits of the policy based on a stated preference analysis. Motorcyclists
were surveyed at urban intersections in Taiwan, to identify the amount of time they would be willing to turn off their engines
while waiting at traffic lights (the WTO). A contingent valuation framework based on stated preference questions was designed
to determine the WTO. Results obtained from the Spike model showed that the average motorcyclist’s WTO is 82 s. In another
analysis, in which other variables were taken into consideration, such as the possibility that the policy will be enacted
as legislation, the expected WTO increased to 101 s. In both cases, an idling stop policy would have positive environmental
effects, reducing gasoline usage by 1021 L per hour and reducing CO2 emissions by 0.56 metric tons per hour at the intersection studied during peak periods. 相似文献
210.
This paper examines the location choice associated with discretionary activities (in-home vs. out-of-home). These substitution
patterns are important in terms of travel demand as in-home activities do not necessitate travel while out-of-home activities
incur travel. Mixed logit models are estimated using an activity dataset (2003 CHASE data) to analyze the factors associated
with this choice at the individual activity-level. Results suggest that the attributes of an activity significantly contribute
to understanding the likelihood of engaging in out-of-home activities. Activity type interaction terms reveal the varying
influence that socio-demographics, activity attributes and travel have over four different activity types modeled. The results
reveal that the location choice (in-home vs. out-of-home) is sensitive to travel characteristics. As the travel time and cost
increases, an individual is less likely to engage in an activity out-of-home. Compared to passive and social activities, the
location of active activities is more sensitive to changes in travel attributes. 相似文献