Over the course of our project, we encountered several challenges. We were able to address these in different ways, with varying degrees of success. At the end of all our troubles, we were able to draw a 150x150 pixel image in on the order of 5 minutes (about two minutes of processing time and three or four minutes of drawing on the Etch-a-Sketch time), depending on the picture, with some backlash, but not so much such that the picture become unrecognizable. For more details, refer to some of the results here.