A spectral imaging system for collecting spectral information of a two dimensional heterogeneous objects while in motion relative to the imaging system without the use of a spectrograph, filters or any dispersive optics. The drive system includes right and left driven wheels and is configured to maneuver the robot over a cleaning surface. First conductive connectors are coupled to the first surfaces of the first and second dies, and second conductive connectors are coupled to the second surfaces of the first and second dies.