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\subsubsection{Intrinsic Problems}  The main intrinsic problem encountered was the posed problem of turning the lights on.  Each test unit contains a single switch which serves to turn the unit on.   These switches are small black cuboids, which protrude from the bottom of the unit by approximately \SI{1}{\milli\metre} 1  to \SI{2}{\milli\metre}. 2 mm.  The mechanism of action of the switches is a linear, sliding motion,  which requires approximately 3 N to activate on average,   though a high variance was observed between test units.  The other intrinsic design problems are static, specifying the size of the robot, weight, and other factors;  these can all be found in the original RFP, which can be found in