Space-air-ground integrated networks (SAGIN) provide seamless global coverage and cross-domain interconnection for the ubiquitous users in heterogeneous networks, which greatly promote the rapid development of intelligent mobile devices and applications. However, for mobile devices with limited computation capability and energy budgets, it is still a serious challenge to meet the stringent delay and energy requirements of computation-intensive ubiquitous mobile applications. Therefore, in view of the significant success in ground mobile networks, the introduction of mobile edge computing (MEC) in SAGIN has become a promising technology to solve the challenge. By deploying computing, cache, and communication resources in the edge of mobile networks, SAGIN MEC provides both low latency, high bandwidth, and wide coverage, substantially improving the quality of services for mobile applications. There are still many unprecedented challenges, due to its high dynamic, heterogeneous and complex time-varying topology. Therefore, efficient MEC deployment, resource management, and scheduling optimization in SAGIN are of great significance. However, most existing surveys only focus on either the network architecture and system model, or the analysis of specific technologies of computation offloading, without a complete description of the key MEC technologies for SAGIN. Motivated by this, this paper first presents a SAGIN network system architecture and service framework, followed by the descriptions of its characteristics and advantages. Then, the MEC deployment, network resources, edge intelligence, optimization objectives and key algorithms in SAGIN are discussed in detail. Finally, potential problems and challenges of MEC in SAGIN are discussed for future work.

The surging popularity of adopting industrial robots in smart manufacturing has led to an increasing trend in the simultaneous improvement of the energy costs and operational efficiency of motion trajectory. Motivated by this, multi-objective trajectory planning subject to kinematic and dynamic constraints at multiple levels has been considered as a promising paradigm to achieve the improvement. However, most existing model-based multi-objective optimization algorithms tend to come out with infeasible solutions, which results in non-zero initial and final acceleration. Popular commercial software toolkits applied to solve multi-objective optimization problems in actual situations are mostly based on the fussy conversion of the original objective and constraints into strict convex functions or linear functions, which could induce a failure of duality and obtain results exceeding limits. To address the problem, this paper proposes a time-energy optimization model in a phase plane based on the Riemann approximation method and a solution scheme using an iterative learning algorithm with neural networks. We present forward-substitution interpolation functions as basic functions to calculate indirect kinematic and dynamic expressions introduced in a discrete optimization model with coupled constraints. Moreover, we develop a solution scheme of the complex trajectory optimization problem based on artificial neural networks to generate candidate solutions for each iteration without any conversion into a strict convex function, until minimum optimization objectives are achieved. Experiments were carried out to verify the effectiveness of the proposed optimization solution scheme by comparing it with state-of-the-art trajectory optimization methods using Yalmip software. The proposed method was observed to improve the acceleration control performance of the solved robot trajectory by reducing accelerations exceeding values of joints 2, 3 and 5 by 3.277 rad/s², 26.674 rad/s², and 7.620 rad/s², respectively.