Abstract: A self-propelled robot platform consists of a frame with a plurality of casters to support the frame on and space the frame from a supporting surface, as well as permitting any selected direction of movement over the support surface. At least two linear motors are arranged on the frame transversely to one another and generally parallel to the support surface and so that their flux links the support surface. The support surface is preferably a conductor such that by a combination of signals to the respective motor means, the motor fluxes linking the supporting surface will drive the platform. The platform is provided with tool support means and that tool support means includes articulation structure with associated drive means which permits tool positioning.

Abstract: A detection/identification method for determining the presence of a Mossbauer isotope-containing taggant in a carrier material, e.g., explosives, weapons, currency, tax stamps, or identification documents. The detector includes a Mossbauer isotope-containing detecting substance that is identical to the taggant, and a sensing element responsive to the presence of the tagging substance in the carrier material, provided that the Mossbauer isotope of the tagging substance is in a state of resonance excitation and causes excitation of the Mossbauer isotope of the detecting substance. The sensing element is operatively associated with an indicator for indicating whether or not the sensing element has been actuated. The method is initiated by irradiating the carrier material while in detecting proximity to the detector, with radiation from a radioactive source comprising a Mossbauer isotope-containing substance which corresponds exactly to the taggant.