Variable Stability Aircraft (UAV): A 40 kg class unmanned aircraft capable of changing its geometry online while flying. It has a variable-sweep angle, variable tail-to-CG distance, retractable and steerable landing gears, burstable fuselage, all movable tails, blended body, etc. It was an assembly of more than 800 custom-designed parts. The most critical part of the project was to have so many mechanisms and movable parts and yet it should be light enough to fly and therefore required the use of innovative methods to meet all the objectives and constraints.