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Make it harder to cheat and kill the problem at the source. I don't really see the problem...
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If you make it harder to cheat, people will still cheat. They'll just have to go about it in a more clever way.
For instance:
1. Instead of sneaking parts out of the pit during a competition to work on them - a team will fabricate parts before the season even begins. Try to stop them.
2. If you inspect everything that comes into the pits - then teams will simply sneak the parts into the pits. There are always multiple ways to get into the pits. Plus FIRST just doen't have the resources to inspect everything. If a team brings in two carts loaded with bins and toolboxes to a competition, it would be very easy to bury something in the bottom of one of those bins.
In order to kill the problem at the source, you have to stop it from happening in the first place. How to go about this is anyone's guess. If you simply set up a system to catch cheaters, you're not stopping cheating. Sure you'll catch a few cheaters, but it's not going to end. If cheating is happening at all, there will be people getting away with it, becasue you can't design a perfect system to catch cheaters.
Stoping cheating from happening in the first place is the only way to stop cheating. Like Arefin said, I guess this is where honesty comes into play. But how do you keep people honest? I suppose you could set up a system to catch cheaters that would theoretically deter people from cheating. Wait, didn't I just say that such a system wouldn't stop cheaters? Looks like we're in a catch-22 situation....