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Originally Posted by Andrew Blair
Dry sand would do it. Not too noisy, always shifting, and heavy so the shifting balance actually makes a difference.
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And, just to make it uber-devilish, you can vary the amount of sand in each jug, then make them opaque so the drivers can't tell. (Any jugs introduced by a human player could be known, but we can work with that.) Suddenly, each jug you handle is going to handle differently. And 97.1618% of all of the Innovation in Control Awards will go to teams whose drivers don't even need to know the difference.
(I recall that BEST explored similar themes one year, but I'm fuzzy on the details.)