[Ken Patton]

Lord N-

One axiom that works for our team when we are in trouble (although usually we don't recognize it until much later in the 6 weeks) is the following:

"Cut something off"

Get rid of a function. It will save weight, time, controls effort. The risk, of course is that you will have a less-useful robot. But.... if you cut the right thing(s) off, you might have a better robot.

Hope this helps,
Ken