The PERT chart for the circuits subsystem is shown in Figure \ref{fig:PERT_CIRCUITS}. The construction of the circuits system involved preparation of motor driving circuits and initial calculations for the first individual evaluation and the complete soldering of all circuits on to proper circuit boards for the second evaluation. In the final circuits, some initially open circuits were replaced with Integrated Circuits (ICs). As such, IC selection became part of the task of the circuits member. The largest bottleneck in the creation of the circuits subsystem was with soldering as it is time consuming and often difficult to correct mistakes if they are not caught early.