Here is a list of as many problems and solutions that I can remeber:

1. In the first year the iceboat used a 1/8th inch wide piece of steel that had been shapened as the front skate the same material was used for the back skates.  The one in front was simply mounted to the control arm of the servo that was mounted upside down.  The channel was reversed in order for us to turn in the correct direction.  This was not good for the servo and came loose often, eventually we switched to a similar design that we have now.  This was an aluminium shaft going to a skate that was put though a hole in the front of the vehicle, and the servo drove it indirectly.
2. The machined alumium shft met its end when we had radio trouble (see #3) and the iceboat drove itself into a pile of rocks with surrounding open water.  We managed to get it and shut off the power.  We carefully dried off the reciever and it luckily still worked.  The aluminium shaft bent in half so we made a new one from steel.
3. Radio problems have confused us for a long time.  Although this problem has been greatly reduced servo jittering still occationally occurs.  Servo jittering was what cause the vehicle to crash into the rocks, and has prevented us from driving on other occations.  We believe it is due to a few things: cold weather and dry air causes lower battery voltage and static buildup on surfaces respectivly.  Loose parts and vibration causes sudden dischages of this static, as well as capacitence changes.  Metal housing for the electronics was the source of much of these problems.  To solve any voltage problems we use a 7.2 volt battery that is regulated at 5 vdc.  In this way we are able to have a 2.2 voltage drop and still operate the reciever, it also allows for longer operating time and higher current drain.  Capacitance and static discharge issues were solved by using an ABS plastic box instead of an aluminium one, and using jumpers to connect parts of the iceboat that had a chance to vibrate (like the aerodynamic steering fins in the back).
4. When the deep snow skis were built for the iceboat we needed an even better design for the front steering.  The front ski was very long and had a lot of leverage when it turned, it needed to be built very rigid.  However it also needed to be easily turned by the servo.  A back-to-back bearing system was developed that allowed the friction to be adjusted and could take lateral force while allowing low friction torque.  Even with this system we broke several gear assemballies in servos, and had to get a quarter scale aluminuim gear servo which has not broken.
5. We split the channel for steering so that one controller axis turned both the front skate but also the back fins.  This allows us to steer even if the front skate is not in contact with the ice.  This required the building of a rectanular box to hold the aerdodynamic steering.
6. LED's are added as headlights and lamps for running lights in order to determine direction of travel in twilight.  This was an important advancement, as much of the time the iceboat is driven during the winter, so we have limited daylight.  The lights are controlled by a servo in a box that hit a switch which in turn flipped a relay to turn on the lights.  This light controller box is mounted under the frame in back of the battery.  We still use the box but have since changed to an electronic speed controller instead of mechincal relays and a servo.
7. A rubber attatchment was added to the muffler to move oil away from the frame.
8. The aluminium sheeting was added to form a deck which the fuel tank sits on.  This year we replaced the sheetmetal with more rigid aluminium bars.  This so that when the engine is removed the vehicle keeps it's structural integrity.
9. The pushrod that moves the aerodynamic steering has been made thicker.  
10. A brass tube and support has been added around the new steel rod throttle pushrod.

More to come!!!

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