This is our soldier on the firing range. The helmet contains microphones whose signals are processed by the biomimetic processor to determine the direction of sniper fire. The processing electronics are the same as are used for the robot application.

By September, 2004 we had adapted the "shoe-box" to an iRobot PacBot and tested it in the field using live rifle fire. The shoe-box is located in the PacBot's payload bay under the laptop.

Hardware development for the acoustic direction finder (ADF) began with a DARPA project whose focus was to determine the direction of vehicles and gunfire using a microphone separation on the order of one inch. This is a difficult task that cannot be done well using standard signal processing techniques.