With regard to the Location-Routing Problem （LRP） of domestic waste transfer stations and incineration stations， by considering the economic objective and the obnoxious effect of waste facilities， a piecewise function of obnoxious effect related to wind direction and distance was designed， a Two-Echelon Multi-Objective LRP （2E-MOLRP） model was formulated， and a non-dominated algorithm combining Whale Optimization Algorithm （WOA） and Simulated Annealing （SA） algorithm was proposed， namely WOA-SA. Firstly， the random method and Clarke and Wright （CW） saving algorithm were used to optimize the initial population. Secondly， a nonlinear dynamic inertia weight coefficient was adopted to adjust the convergence speed of the WOA-SA. Thirdly， the global optimization ability was enhanced by designing the parallel structure of WOA-SA. Finally， the Pareto solution set was obtained by using the non-dominated sorting method. The analysis was carried out on 35 benchmark cases such as Prins and Barreto as well as a simulated case of Tianjin. The results show that the WOA-SA can find the Best Known Solution （BKS） of 20 benchmark cases， and has the mean values of the difference between the solution results and the BKSs of 0.37% and 0.08% on Prins and Barreto cases， which proves the good convergence and stability of the WOA-SA. The proposed model and algorithm were applied to the instance， and provided three schemes with different obnoxious effect values and economic costs for decision makers with different decision preferences. Therefore， the cost of waste recycling and the obnoxious effect of facilities on environment were reduced.

Aiming at the problems of low accuracy of driving command prediction, bulky model structure and a large amount of information redundancy in existing end-to-end autonomous driving methods, a new end-to-end autonomous driving model based on deep visual attention neural network was proposed. In order to effectively extract features of autonomous driving scenes, a deep visual attention neural network, which is composed of the convolutional neural network, the visual attention layer and the long short-term memory network, was proposed by introducing a visual attention mechanism into the end-to-end autonomous driving model. The proposed model was able to effectively extract spatial and temporal features of driving scene images, focus on important information and reduce information redundancy for realizing the end-to-end autonomous driving that predicts driving commands from sequential images input by front-facing camera. The data from a simulated driving environment were used for training and testing. The root mean square errors of the proposed model for prediction of the steering angle in four scenes including country road, highway, tunnel and mountain road are 0.009 14, 0.009 48, 0.002 89 and 0.010 78 respectively, which are all lower than the results of the method proposed by NVIDIA and the method based on the deep cascaded neural network. Moreover, the proposed model has fewer network layers compared with the networks without the visual attention mechanism.

To solve the problem that the antenna resources in heterogeneous network are limited which leads to the unrealizable Interference Alignment (IA), a partial IA scheme for maximizing the utilization of antenna resources was proposed based on the characteristics of heterogeneous network. Firstly, a system model based on partial connectivity in heterogeneous network was built and the feasibility conditions for entire system to achieve IA were analyzed. Then, based on the heterogeneity of network (the difference between transmitted power and user stability), the users were assigned to different priorities and were distributed with different antenna resources according to their different priorities. Finally, with the goal of maximizing total rate of system and the utilization of antenna resources, a partial IA scheme was proposed, in which the high-priority users had full alignment and low-priority users had the maximum interference removed. In the Matlab simulation experiment where antenna resources are limited, the proposed scheme can increase total system rate by 10% compared with traditional IA algorithm, and the received rate of the high-priority users is 40% higher than that of the low-priority users. The experimental results show that the proposed algorithm can make full use of the limited antenna resources and achieve the maximum total system rate while satisfying the different requirements of users.

Communication is the most effective and direct method of coordinating and cooperating among multi-Agents, but the cost of communication restricts the use of this method. In order to reduce traffic subject in the coordination of Multi-Agent System (MAS), this paper put forward a heuristic algorithm, which would make Agents choose the observation that is beneficial to team performance to communicate. The experimental results show that choosing beneficial observation to communicate could ensure the efficiency of limited communication bandwidth and improve system performance.

Frequency-hopping communication was combined with the Low-Density Parity-Check (LDPC) code to improve anti-jamming performance of frequency hopping communications. By simplifying the complexity of coding algorithm in the “greedy algorithm”, an offset layered quantization decoding called Layered Belief Propagation-Offset Min-Sum (LBP-OMS) algorithm was applied to improve the performance of error correction code words. The simulation results show that when certain frequency bands are covered by strong noise, the anti-interference ability of broadband frequency-hopping communications is improved by using the improved channel coding method.