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65% for the driving response along the grating lines. A boat prototype with a self-weight of 6.05 g is finally developed and can achieve continuous navigation in a closed narrow space for in situ monitoring, which may find applications in the inspection of other narrow terrains (e.g., blood vessels).The variable configuration of Raman spectroscopic platforms is one of the major obstacles in establishing Raman spectroscopy as a valuable physicochemical method within real-world scenarios such as clinical diagnostics. For such real world appl