The rising demands for urban transportation have resulted in a heightened focus on the development of urban subway systems, oil and gas pipelines, as well as various other engineering tunnels. TBMs offer significant advantages, such as automation and reliable operations, which are widely used in various tunnel engineering projects (Wang et al. in Adv Eng Inform 55, 2023 [1]). However, traditional TBMs are structurally constrained and primarily operate in an intermittent manner, meaning that they halt after excavating one ring and await the assembly of segments before resuming the excavation process (Pan et al. in Automat Constr 141, 2022 [2]). A defining characteristic of traditional TBMs is the alternating execution of the excavation and segment assembly processes, which consequently prolongs the construction duration and elevates the overall construction cost. Therefore, more attention has been paid to the exploitation of TBMs which can excavate and assemble segments simultaneously and are reported to enhance construction efficiency by 30 ~ 50%.