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Epstein-Barr virus (EBV)-associated gastric cancer (EBVaGC) is a distinct subtype of gastric cancer (GC) distinguished by the presence of the EBV genome and limited viral gene expression within malignant epithelial cells. EBV infection is generally thought to be a relatively late event following atrophic gastritis in carcinogenesis, which implies the heterogeneity of EBVaGC. To facilitate the study of the role of EBV in EBVaGC, we established two EBV-positive GC cell lines (AGS-EBV and HGC27-EBV) with an epitheliotropic EBV strain M81 and characterized viral and cellular gene expression profiles in comparison to SNU719, a naturally derived EBV-positive GC cell line. Like SNU719, AGS-EBV and HGC27-EBV stably maintained their EBV genomes and expressed EBV-encoded small RNAs and nuclear antigen EBNA1. Comprehensive analysis of the expression of EBV-encoded miRNAs within the BamHI-A region rightward transcript region, and the transcripts of EBV latent and lytic genes in cell lines, as well as xenografts, reveals that AGS-EBV and HGC27-EBV cells undergo distinct viral expression profiles. A very small fraction of AGS-EBV and SNU719 cells can spontaneously produce infectious progeny virions, while HGC27-EBV does not. AGS-EBV (both M81 and Akata) cells largely mimic SNU719 cells in viral gene expression profiles, and altered cellular functions and pathways perturbed by EBV infection. Phylogenetic analysis of the EBV genome shows both M81 and Akata EBV strains are closely related to clinical EBVaGC isolates. Taken together, these two newly established EBV-positive GC cell lines can serve as models to further investigate the role of EBV in different contexts of gastric carcinogenesis and identify novel therapeutics against EBVaGC.

The ricochet behaviour of the air–water trans-media vehicle (AWTMV) during water-entry crossing was experimentally investigated. Three types of small-scale AWTMV including cone, ogive, and flat nose were used in the test. The underwater trajectory, velocity, and inclination angle of projectiles during the ricochet process were obtained using a high-speed camera. The angle change of the AWTMV and the ratio of the residual velocity are introduced. Based on this result, the relationship between the ricochet responses and initial conditions was derived. The results of this study show that (1) a small incident angle and great velocity make the occurrence of ricochet behaviour easier, (2) the stability of the trajectory of projectiles with cone, ogive, and flat nose weakened in turn at the same initial conditions, (3) the angle change and the ratio of the residual velocity are linear functions of the incident angle and velocity.

Based on first-principles methods, the authors of this paper investigate spin thermoelectric effects of one-dimensional spin-based devices consisting of zigzag-edged graphene nanoribbons (ZGNRs), carbon chains and graphene nanoflake. It is found that the spin-down transmission function is suppressed to zero, while the spin-up transmission function is about 0.25. Therefore, an ideal half-metallic property is achieved. In addition, the phonon thermal conductance is obviously smaller than the electronic thermal conductance. Meantime, the spin Seebeck effects are obviously enhanced at the low-temperature regime (about 80K), resulting in the fact that spin thermoelectric figure of merit can reach about 40. Moreover, the spin thermoelectric figure of merit is always larger than the corresponding charge thermoelectric figure of merit. Therefore, the study shows that they can be used to prepare the ideal thermospin devices.

Based on the density-functional theory (DFT) combined with nonequilibrium Green’s function (NGF), this paper investigates the effects of either single aluminum (Al) or single phosphorus (P) atom substitutions at different edge positions of zigzag-edged silicene nanoribbons (ZGNRs) in the ferromagnetic state on the spin-dependent transport properties and spin thermoelectric effects. It has been found that the spin polarization at the Fermi level can reach 100% or –100% in the doped ZSiNRs. Meanwhile, the spin-up Seebeck effect (for -100% case) and spin-down Seebeck effect (for 100% case) are also enhanced. Moreover, the spin Seebeck coefficient is much larger than the corresponding charge Seebeck coefficient at a special doping position and electron energy. Therefore, the study shows that the Al or P doped ZSiNRs can be used to prepare the ideal thermospin devices.

A trans-media aerial underwater vehicle (TMAUV) could break through the single-medium limitation with the abilities to fly in the air, navigate underwater, and cross the air–water surface repeatedly. This paper researches on the air–water trans-media trajectory, including the water entry and exit trajectories, for slender TMAUVs. A longitudinal dynamic model is developed for the air–water trans-media process under low-speed condition. In this condition, the vehicle is assumed to be fully wetted and the water surface is assumed to be kept flat. A novel estimation for the fluid force is proposed for the immersed part of the vehicle, with angular velocity and angle of attack taken into consideration. Added mass and its derivatives are calculated by the cross-sectional method based on the slender body theory. To verify the feasibility and effectiveness of the model, water entry experiments of a slender projectile with a length of 2000 mm are performed with ground and underwater high-speed cameras. Simulations and experimental results show similar trends, as indicated by the comparisons. Furthermore, the proposed model is compared with computational fluid dynamics method simulating water entry and exit processes. Simulation results present good agreement with experimental results. On the basis of the results, the proposed model could be used to predict the water entry and exit trajectories with different initial conditions.

In this work, an ultrathin nanocomposite films containing tetracarboxylic Nickel (Ⅱ) naphthalocyanine (NiNc) and titania nanoparticles are fabricated through electrostatic self-assembled layer-by-layer (LBL) technique. UV–Vis spectroscopy, X-ray photoelectron spectroscopy (XPS) and atomic force microscopy (AFM) are utilized to characterize the film. The optical limiting properties of the composite films are investigated through intensity-dependent transmittance measurements at 600 nm with 18 ps laser pulses. The results show that the composite films have notable optical limiting response (β ∼ 5.4 × 10−7 m/W), which is strongly enhanced compared to both TiO2 and NiNc-only samples. Our results suggest that the nanocomposite films possess the potential for optical limiting applications in the phototherapeutic window.

Similarity measure, as a tool to measure the similarity degree between two objects, is an important research content in fuzzy set theory. Pythagorean fuzzy set, as a new extension of fuzzy set theory, has been widely used in various fields. It is very necessary to study the similarity measure of the Pythagorean Fuzzy set. Considering that the existing similarity measures cannot distinguish the highly similar but inconsistent Pythagorean fuzzy sets and the calculation results are error-prone in application, this paper introduces the exponential function to propose several new similarity measures of the Pythagorean fuzzy set. Firstly, on the premise of introducing the existing similarity measures, several new similarity measures are defined and their properties are discussed, and then the weighted similarity measures are defined. Then, the new similarity measures and the existing similarity measures are compared by an example, and it is verified that the new similarity measures can effectively distinguish highly similar but inconsistent Pythagorean fuzzy sets. Finally, through three simulation cases, it is verified that the new similarity measures can deal with different practical application problems more accurately and reliable than the existing similarity measures.

The effect of dual nitridation processes for both r -plane sapphire and low temperature-grown AlN (LT-AlN) nucleation layer on non-polar a -plane AlGaN epi-layer was studied intensively. A root-mean-square value as small as 1.54 nm for a -plane Al 0.53 Ga 0.47 N epi-layer was achieved. It was revealed that the generation of AlN grains as well as the coalescence and recrystallization of LT-AlN islands were the key factors for growing a -plane AlGaN epi-layers with smooth surface morphology. Meanwhile, the evolution of surface morphology with varied nitridation processes and the mechanisms for improving surface morphology of a -plane AlGaN epi-layers were also investigated.

This paper proposes a single control strategy to solve the problem of trans-media vehicle difficult control. The proposed control strategy is just to control the vehicle's air navigation, but not to control the underwater navigation. The hydrodynamic model of a vehicle when entering water obliquely at low speed has been founded to analyze the motion characteristics. Two methods have been used to simulate the vehicle entering water in the same condition: numerical simulation method and theoretical model solving method. And the results of the two methods can validate the hydrodynamic model founded in this paper. The entering water motion in the conditions of different velocity, different angle, and different attack angle has been simulated by this hydrodynamic model and the simulation has been analyzed. And the change rule of the vehicle's gestures and position when entering water has been obtained by analysis. This entering water rule will guide the follow-up of a series of research, such as the underwater navigation, the exiting water process and so on. Keywords: Water-enter movement, Dynamic model, Theoretical model, Ballistic trajectory, Gesture

In this paper, we address the problem of altitude and velocity controllers design for variable-sweep aircraft with model uncertainties. The object is to maintain altitude and velocity during the wing transition process where mass distribution and aerodynamic parameters change significantly. Based on the functional decomposition, the longitudinal dynamics of the aircraft can be divided into altitude subsystem in non-affine pure feedback form and velocity subsystem. And then nonlinear robust adaptive NN velocity controller and altitude controller are designed with backstepping method to relax the prior requirements of aerodynamic parameters accuracy in linear LPV controller design. The method of filtered signal is used to circumvent the algebraic loop problem caused by the dynamics of non-affine pure feedback form. Dynamic surface control (DSC) and minimal learning parameters (MLP) techniques are employed to solve the problems of ‘explosion of complexity’ in the back-stepping method and the online updated parameters being too much. The robust terms have been introduced to eliminate the influences of approximation errors. According to the Lyapunov-LaSalle invariant set theorem, the semi-global boundedness and convergence of all the signals of the closed-loop system are proved. Simulation results are presented to illustrate the control algorithm with good performance.

This paper presents a theoretic implementation method of Morphing Unmanned Submersible Aerial Vehicle (MUSAV), which can both submerge in the water and fly in the air. Two different shapes are put forward so that the vehicle can suit both submergence and flight, considering the tremendous differences between hydrodynamic configuration and aerodynamic configuration of a vehicle. The transition of the two shapes can be achieved by using morphing technology. The water-to-air process, including water-exit, morphing, take-off and steady flight, is analyzed. The hydrodynamic and aerodynamic model of the vehicle exiting the water surface obliquely and then taking off into the air has been founded. The control strategy after morphing is analyzed and the control method is given. Numerical method is used to validate the motion model of the water-exit process. Results of simulations show the validity of the proposed model and the feasibility of MUSAV in theory.

An ultrathin composite films containing cobalt phthalocyanine (CoPc) and poly(diallydimethyl ammonium chloride) (PDDA) were fabricated through layer-by-layer assembly technique. The resulting films were characterized by UV-Vis spectroscopy and atomic force microscopy. Their third-order nonlinear optical properties and photo-excitation dynamics were investigated with 20 ps laser pulses at 532 nm. The results demonstrate that the ultrathin films have notable third order optical nonlinearities (χ(3)∼4.7 × 10−9 (esu)) and fast excited-state relaxation (τ∼67 ± 6 ps), indicating their potential applications in future nonlinear optical devices.

A well-planned dive trajectory is the key for the trans-media maneuver and flight control of morphing unmanned aerial-underwater vehicles (MUAUVs). The main focus of this paper is the application of a watch-based multi-objective grey wolf optimizer (MOGWO) to dive trajectory optimization problems. A multi-objective trajectory optimization model considering the change of sweep angle and static moment is developed and parameterized by the Gauss pseudospectral method, and a multi-objective nonlinear programming problem is constructed. To overcome the defect that, in the MOGWO, the rest wolves blindly follow the best wolves, the watch strategy is introduced, which provides the wolves with the ability of independent exploration. Subsequently, the watch-based MOGWO is employed to generate the Pareto front, which is compared with that obtained through other multi-objective techniques. The simulation results demonstrated that the proposed method is more reliable and can obtain more widely distributed non-dominated solutions, indicating that the watch-based MOGWO is effective and feasible in dealing with multi-objective trajectory optimization problems with complex constraints. In addition, comparative studies on optimal trajectories demonstrated that the maneuverability and gliding ability of the MUAUV are improved through cooperation between the angle-of-attack, bank angle, and sweep angle.

By considering the influence of model uncertainty and external disturbance as well as combining theory of high order sliding mode with the recurrent hermite neural network (RHNN), this paper proposed a nonlinear robust control method for solving the longitudinal motion control problem of underwater vehicles. Based on the characteristics of multiple time scales, the longitudinal motion model was divided into inner and outer loops. The designed fast and smooth second order controller, which applied the discontinuous sign function on the derivative of the control law, was used in the outer loop. Then integration was performed to obtain the continuous sliding mode control law, which was applied to remove chattering and improve convergence rate. Furthermore, based on the controller of outer loop, the composite disturbance of the inner loop was effectively estimated using the combination between the fast smooth second order sliding mode controller and the RHNN disturbance observer. Therefore, the controller was effectively compensated, and the entire system’s stability in finite time was proved. The simulation results confirmed the promising performance and robustness of the proposed control method.

The class of vehicles that can move both in the air and underwater has been of great interest for decades. A novel water-air unmanned vehicle with double quadrotor structure is designed in this study. The air power mechanism works when the vehicle flies in the air, whereas the water power mechanism works when it moves underwater. The water entry process of water-air unmanned vehicle requires accurate attitude and height control, or the vehicle may bounce off or overturn. However, a force resisting its descent known as in-ground effect will affect its stability. The in-ground effect formula of the water entry process is derived by experiments, and the water entry dynamic model is improved at the same time. An active disturbance rejection controller (ADRC) is designed for the control of water entry attitude and height. Experimental results obtained from the comparison of the ADRC and a proportional-integral-derivative (PID) controller show that the ADRC designed in this study is more robust than the PID controller for the internal coupling and external disturbance on the vehicle. Moreover, the ADRC can meet the requirements of rapid attitude adjustment and accurate height control.

For a product, how to select the optimal material is a crucial step in the design process. Multiple criteria decision making (MCDM) method has been successfully applied to solve various material selection problems. In the MCDM method, alternative materials are evaluated by processing criteria information. In order to handle the uncertainty and inaccuracy in the criteria information, this paper develops a novel MCDM method based on group generalized Pythagorean fuzzy weighted average (GGPFWA) operator. In the novel method, decision makers are divided into advisers and deciders. The advisers use Pythagorean fuzzy set (PFS) to represent the criteria information of alternative materials. PFS is a new extension of fuzzy set, which can effectively represent fuzzy and uncertain information. The deciders use group generalized parameters (GGPs) to judge the accuracy of criteria information provided by each adviser. The GGPs are expressed by Pythagorean fuzzy numbers. Then, the criteria information and the GGPs are aggregated by GGPFWA operator, and the aggregate value of each material is obtained. By processing the aggregate value, the ranking of alternative materials is determined and the optimal material is selected. The accuracy and reliability of the novel method are verified by two material selection cases.

In this paper, in order to solve the optimization problem of UAV path, an UAV path evaluation method based on RE-ITOPSIS is proposed. First, based on the various threats in the process of UAV flight, the evaluation index is established. Then, the ITPOSIS is improved by using relative entropy to measure the distance between the interval numbers, so that the RE-ITOPSIS is obtained. And the weight of the evaluation indexes is obtained by using information entropy. Finally, the eight path of UAV is evaluated and the optimal path is selected. The comparison of the evaluation results shows that the proposed method can be more accurate and effective to evaluate the path of UAV.

According to the characteristics of AUV movement, a fuzzy sliding mode controller was designed, in which fuzzy rules were adopted to estimate the switching gain to eliminate disturbance terms and reduce chattering. The six-degree-of-freedom model of AUV was simplified and longitudinal motion equations were established on the basis of previous research. The influences of first-order wave force and torque were taken into consideration. The REMUS was selected to simulate the control effects of conventional sliding mode controller and fuzzy sliding mode controller. Simulation results show that the fuzzy sliding mode controller can meet the requirements and has higher precision and stronger antijamming performances compared with conventional sliding mode controller.

To meet the demand for flying both in air and water, a conformal semi-ring wing configuration is proposed in the design of air-water crossing vehicle. Aiming at the demand of high-velocity hydrodynamic characteristics, a multiphase flow model is introduced to the numerical simulations. The pressure distribution of the air-water crossing vehicle at different velocities and attack angles is studied and the shape and location of the cavitation are obtained. The results provide support for the subsequent optimization and experimental verification of air-water crossing vehicle.

In this study, the ricochet behavior of air–water trans-media vehicle (AWTMV) during water-entry crossing was evaluated by both theoretical computations and experiments. First, Logvinovich model was introduced to predict the shape of cavitation. The AWTMV was divided into three areas to deduce hydrodynamic forces based on the relative position of AWTMV and cavitation. Accordingly, a mathematical model of AWTMV during water-entry crossing was established. Then, three types of projectiles including the nose of cone, ogive, and flat were used on an angle-adjustable experimental system to analyze the ricochet behavior under different initial conditions. A comparative analysis was carried out to evaluate the influence on trajectory. The computational and experimental results show a good agreement. Further, the effect of noses on ricochet behavior was evaluated; the experimental and calculation results show that the AWTMV with a cone nose is more likely to change trajectory and behavior under the same initial conditions. Finally, the critical angles of ricochet were derived based on the mathematical model, and an empirical formula is proposed to predict the occurrence of ricochet behavior. These results provide a reference for the design and use of AWTMV.

Differential evolution (DE) is an efficient and robust evolutionary algorithm and has wide application in various science and engineering fields. DE is sensitive to the selection of mutation and crossover strategies and their associated control parameters. However, the structure and implementation of DEs are becoming more complex because of the diverse mutation and crossover strategies that use distinct parameter settings during the different stages of the evolution. A novel strategy is used in this study to improve the crossover and mutation operations. The crossover matrix, instead of a crossover operator and its control parameter CR, is proposed to implement the function of the crossover operation. Meanwhile, Gaussian distribution centers the best individuals found in each generation based on the proposed covariance matrix, which is generated between the best individual and several better individuals. Improved mutation operator based on the crossover matrix is randomly selected to generate the trial population. This operator is used to generate high-quality solutions to improve the capability of exploitation and enhance the preference of exploration. In addition, the memory population is randomly chosen from previous generation and used to control the search direction in the novel mutation strategy. Accordingly, the diversity of the population is improved. Thus, CCDE, which is a novel efficient and simple DE variant, is presented in this paper. CCDE has been tested on 30 benchmarks and 5 real-world optimization problems from the IEEE Congress on Evolutionary Computation (CEC) 2014 and CEC 2011, respectively. Experimental and statistical results demonstrate the effectiveness of CCDE for global numerical and engineering optimization. CCDE can solve the test benchmark functions and engineering problems more successfully than the other DE variants and algorithms from CEC 2014.

The water-air UAV is a new kind of aircraft which cruises in the air on ordinary occasions. Specially, it can submerge for a short distance underwater and take off again when necessary. It has lots of superior performance and wide application fields for both military and civil users. Over the last decades, several vehicles like it have been developed for special uses. First, the research necessity and development history of water-air UAV and other similar vehicle are reviewed in this paper. Then, the involved key technologies and their application status, such as configuration, power, control and communication are introduced. It is certain that the water-air UAV will play an important role in the world ahead.

The water-exit process is a key step in connecting underwater navigation and air flight of a submersible aerial vehicle. In order to study motion law and density influence of the vehicle in the water-exit process, and taking into account the limitations of the experiment and numerical simulation in the study of the whole water-exit process, a theoretical modeling method is proposed. First, the vehicle's shape is presented, and the water-exit dynamic model is established by mechanics and motion analysis. Then, numerical simulation and theoretical modeling are used to calculate the water-exit motion under same conditions, and the validity of the water-exit model is verified by the calculation results. Finally, on basis of the established model, the water-exit motion of the vehicle with three different densities is calculated under different initial water-exit angles, axial velocities and thrusts, and the water-exit motion law and vehicle's density influence on the water-exit motion are obtained. The proposed method and obtained results can be used as effective guidance for the vehicle finishes the water-exit motion successfully.

We address the problem of vertical air–water trans-media control of Hybrid Unmanned Aerial Underwater Vehicles in the presence of parameters uncertainty and disturbances. Hybrid Unmanned Aerial Underwater Vehicle suffers from huge changes of added mass, fluid drag force, and “ground effect” during crossing air–water surface, which easily lead to trans-media failure. A novel structure of Hybrid Unmanned Aerial Underwater Vehicle is built and introduced which adopts dual deck propellers including four air propellers and four water propellers. The dynamic model of trans-media process is developed for the trans-media process in condition that added mass, floatage, and drag force are linearized while linearization errors and “ground effect” are treated as disturbances. Attitude and altitude–depth controllers are designed based on Lyapunov stability theory and adaptive sliding mode dynamical surface control. The proposed controllers accomplish air, underwater, and “seamless” trans-media process integrated control without a priori boundary of disturbances, forcing the tracking errors to an arbitrarily small neighborhood of zero. Simulation results are presented to illustrate the control algorithm with good performance and robustness.

The motion characteristics of trans-media vehicles during the water-entry process were explored in this study in an effort to obtain the optimal water-entry condition of the vehicle for developing a novel, single control strategy integrating underwater non-control and in-air control. A water-entry dynamics model is established by combining the water-entry motion characteristics of the vehicle in uncontrolled conditions at low speed with time-varying parameters (e.g. buoyancy, added mass). A water-entry experiment is designed to confirm the effectiveness of the established model. After that, by comparing the experimental results with the simulated results, the model is further modified to more accurately reflect water-entry motion. The change laws of the vehicle’s attitude and position during the water-entry process are also obtained by analyzing the simulation of the modified model under different velocity, angle, and angle of attack conditions. The results presented here have guiding significance for the future realization of reaching the stable underwater navigation state of the vehicle after water-entry process.

A semi-fuzzy c-means algorithm based on revised Euclidean distance was proposed to improve the real-time capability and precision in fault pattern classified. Effectiveness of threshold parameters on clustering was investigated, and then program steps were given. The example of fault diagnosis in an airborne fire control system BIT was developed. The results show that the new algorithm can recognize fault pattern adaptively and precisely.

The location algorithm and accuracy of bistatic radar network are discussed in this paper. Firstly the location method based on least square is analyzed. Then the combined location accuracy of two or more subsets is calculated. The results show that two disjoint subsets can be combined by the least square method and the location covariance matrix can be obtained. Least square estimation for subsets that has intersection does not exist. The location precision contours of measurement subsets and their combination are obtained from the simulation. It can be seen that the least square method can improve the location precision effectively. Research of this paper provides a theoretical base of detecting and tracking for near space bistatic radar network.

A near optimal guidance law for an interceptor that impacts the ballistic missile in near space is presented in this paper. The interception issue is casted as an optimal control issue with optimal estimate of the interceptor's reference trajectory. A higher-order polynomial that satisfies all the initial and final conditions is used to approximate the near optimal trajectory. The near-optimal guidance trajectory is fed back into the control system of the interceptor and is refined when the information is updated. It can be adjusted by changing the final conditions or the interception time. Then a compound performance index is given to determine the uncertain parameters. By minimizing the performance index the optimal value of all parameters can be obtained and the intercept geometry can be easily controlled. Then the control vectors can be obtained by discretization. Simulation results show the effectiveness of the proposed guidance law.

xUML and AADL, for their strict syntax and executable semantics, are usually used to specify the platform independent model (PIM) and platform specific model(PSM) respectively in the development of embedded real-time system by Model Driven Architecture(MDA). In order to support the application of MDA in embedded real-time domain, a method for model transformation from xUML PIMs to AADL PSMs is presented in this paper. At first, the process of model transformation based on metamodel is discussed and a model transformation algorithm is presented. Secondly, the simplified metamodels of both xUML and AADL are presented and the mapping rules written in Action Specifiction Language(ASL) are built. At last, a simple example is provided which proves the validity of these mapping rules.

In this paper, we proposed a modified D-S decision-making approach. Firstly, the definition of drop-falling distance was given and the drop-falling similarity was derived, based on which the credence was obtained. Then, the uncertainties were considered since they reflect the reasonableness of possibility distributions. Finally, a binary linear weight function was derived with respect to the credence and uncertainties of evidences. Murphy's combination rule was used to determine the type of targets. Simulation results show that the proposed approach is more efficient and advantageous in conflict evidence decision-makings compared with presently existing methods.

A system-on-chip hardware/software co-design platform was presented based on model driven-based design method. After the overall architecture of platform was described, four design levels and three mapping processes were introduced. Some key techniques were explained in detail, such as hardware/software partitioning algorithm based on genetic algorithm & constraint task scheduling, UML profile for SystemC model and template-based model-to-text transform method. Take design of a MIL-STD-1553B bus system with PCI interface for example, working flow of system-on-chip hardware/software co-design on the platform was provided.

This paper develops a technique for fusing data from millimeter wave (MMW) radar and infrared (IR) sensor to track maneuvering target. Modified extended Kalman filter (MEKF) is simple yet very effective in accounting for the measurement nonlinearities. The idea of fusion is to combine MEKF with pseudo sequential filter to obtain optimum state estimates. The maneuvering target is tracked with MMW radar utilizing MEKF, and then the filtering results are fused with data from IR sensor through pseudo sequential filter. In this way, the global state is updated at the fusion centre. Based on the current statistical model, the performance of the fusion filter is evaluated via simulation. The results show that the fusion approach based on MEKF can significantly improve the accuracy of state estimation.

This paper presents an adaptive control system suitable for the control technology of BTT-45 air-to-air missile. It resolves a problem of the BTT-45 missile' channel coupling through the application of the idea which is similar to "reversing design". The proposed system has the following features: (1)Adaptive robust control; (2)Self-decoupling. A simulation example is used to demonstrate excellent performance of the proposed system.