Acknowledgement
The work has been supported by National Natural Science Foundation of China (Nos. 61861025, 61562057, 51969011); Ministry of Education (No. KFKT2018-9); Longyuan Youth Innovative and Entrepreneurial Talents (Team) Project in 2021; Gansu Provincial Department of Education: Young Doctor Fund Project (No. 2021QB-049); College Students Employment and Entrepreneurship Ability Improvement Project of Gansu Province (No. 2021-C-123); Intelligent Tunnel Supervision Robot Research Project (China Railway Research Institute [Research Institute], No. 2020-KJ016-Z016-A2); Youth Foundation of Lanzhou Jiaotong University (No. 2015005); Scientific Research Project of Higher Education Institutions of Gansu Province (No. 2016A-018); and Open project of Gansu Provincial Research Center for Conservation of Dunhuang Cultural Heritage (No. GDW2021YB15).
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