Abstract: A non-transitory computer readable medium on which is stored machine-readable instructions that, when executed by at least one processor, cause the processor to determine the location in 3D space of an object of interest within the interior region of an opaque container. Hence, a user or operator is allowed to construct a three-dimensional representation of the interior region of the opaque container so as to allow viewing of objects, components and substances within the interior region. The users or operators now have the opportunity to isolate a particular object of interest within the interior region that may be a threat, such as an explosive device or other energetic component. A disrupter device is aimed at the three-dimensional location and thereafter, the disrupter device fires a projectile or substance at the object of interest in order to disable or destroy the object of interest.

Abstract: A method and system for determining the location in 3D space of an object of interest within the interior region of an enclosed, opaque container. The invention allows a user or operator to construct a three-dimensional representation of the interior region of the container to allow viewing of objects, components and substances within the interior region. The users or operators now have the opportunity to isolate a particular object of interest within the interior region that may be a threat, such as an explosive device or other energetic component. A disrupter device is aimed at the three-dimensional location and thereafter, the disrupter device fires a projectile or substance at the object of interest in order to disable or destroy the object of interest.

Abstract: A portable and collapsible apparatus for holding fiducial markers has a first section that includes a frame, an opposite second side, a first panel attached to the first frame and fiducial markers attached to the first panel. The apparatus includes a second section pivotably attached to the first section and a second frame, an opposite second side, a second panel member attached to the second frame and fiducial markers attached to the second panel. The apparatus is configurable to a closed state by pivoting the first section and second section toward each other where the rear sides of the first frame and second frame contact each other. The apparatus is configurable to an opened state by pivoting the first section and second section away from each other. In the opened state, the first section and second section are vertically oriented with respect to a surface.

Abstract: A shaped charge includes a casing with a liner disposed therein. The liner has two spaced-apart and nested walls with each wall having an identical ogive shape. An explosive material fills a portion of the casing up to one of the walls. A loose particulate material is disposed between the walls. A blasting cap is coupled to a first axial end of the casing adjacent to the explosive material, and a sealing cap is coupled to a second axial end of the casing.

Abstract: A process that uses a lodged projectile removal charge (LPRC) apparatus to remove a projectile jammed in a cannon's gun tube. The LPRC is positioned coaxially and offset from the projectile, and the gun tube is filled with water. The charge is detonated producing a shock wave that disintegrates the LPRC apparatus and pressurizes the water. The pressurized water produces a radial hydraulic force against an interior wall of the gun tube, an axial hydraulic force against the projectile pushing the projectile toward the chamber, and produces an opposing expansion of explosive gases that blasts out most of the water in the gun tube. The process is less likely to damage the gun tube. The LPRC may be made using a 3D printer.

Abstract: A modular disruptor cannon includes three open-ended tubular structures. A first tubular housing defines a first interior region longitudinally aligned with a second interior region. The first tubular housing has external-surface threads at a first end thereof adjacent to the second interior region. A tubular insert is fitted in the second interior region. A second tubular housing defines a cap longitudinally aligned with a barrel. The barrel has an inside diameter equal to the inside diameter of the tubular insert. The cap has internal-surface threads for mating with the external-surface threads of the first tubular housing where the barrel is longitudinally aligned with the tubular insert.

Abstract: The remote excavator tool fastens to a robotic arm on a remotely controlled robotic platform that includes a track drive. The tool uses high speed tilling elements rotating at about 1500 rpm to dig, efficiently, a trench using a small amount of power. The tilling elements are hardened steel, rotating counterclockwise to a conventional tiller. The tilling elements are symmetrically mounted on a polygonal shaft, and include right and left multiple couples of paired facing disks with staggered curved tines, where the tines are thick and have tapered hardened edges. Round brushes are interspaced between couples. The loosen soil is pushed forward and to the sides to help protect the robotic platform and maintain control of the tool especially as the rate of the excavation partially depends on the characteristics of the material being excavated.