A method and apparatus for optical multi-angle in situ CMP endpoint detection include a sensor block having light emitting channels, light receiving channels and an opening where the light emitting channels terminate and the light receiving channels originate and means for determining endpoint based on the amount of reflected light that is received from the light receiving channels. The fuse booster system uses shaped charges that will ignite the main high explosive charge of the bomb or penetrating warhead, and also remove portions of the bomb or penetrating warhead to reduce the power of the bomb at the target in a measurable manner to control the lethality and collateral damage of the bomb or penetrating warhead. In some aspects, the localization instructions are stored in vendor-specific instruction space areas, for example, in the Unicode Supplementary Private use Area-A. The conductors are adapted to removably insert into a wiring module mounted within an electrical box so as to connect to an electrical power source. A second operating mode is provided wherein the control system detects the failure and enables passing of the media through one of the first and second marking engines and marking of the media in another of the first and second marking engines when the failure is of a specified type. In alternative forms, in addition to, or alternative to the steerable endless track units, the apparatus includes height adjustment means for adjusting the vertical spacing between the main body portion and the respective endless tracks; and control means configured to control the action of the height adjustment means.