For the questions above here's a good video explanation
http://www.youtube.com/watch?v=X5SVF7TV8w4
As for my two cents, I agree. I think the GD is unnecessarily limiting with pneumatics. I don't agree that they want to "keep the bots simple" or make it easy for inspection. IF that's the case then I think its wrong and goes against the good portion of what FIRST is about.
This is one area I think FIRST could improve. Remove some of the restrictions that limit legitimate design ideas. Safety can still be maintained. Its done everyday it can be done in a first event.