A light source device includes a discharge lamp, and a discharge lamp driving device that supplies a driving current to a pair of electrodes. Embodiments of the present invention include the picric acid explosive produced by the methods of described above. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint.