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\section{Concluding Remarks}  Despite numerous difficulties, the project was in the end successful.  Though reliability and performance of the final product was not as good as was orginally hoped,  many opportunities for improvement have been identified, both at the level of the individual subsystems and at the level of integration.  A functional robot was constructed.   The fundamental design was sound, however difficulties in implementation led to the poor performance observed.  Given more time and access to more resource, the design as implemented could be improved to compete with more successful designs.