ADAMS Average Precision Bezier curve CNN-LSTM model Denavit–Hartenberg EfficientDet-Lite Energy transitions; Environmental policy, Environmental governance; Environmental security Lagrange equation Luenberger observer MTF Siamese network accuracy analysis atmospheric transmittance attention mechanism automatic charging automatic control continuum robot convolutional neural network convolutional neural networks data-driven collision localization deep learning deep reinforcement learning denoising dual quaternion Jacobian matrix dynamic dynamic obstacle echo state network feature fusion flexible joint global time-varying