This presumes that software is the entirety of the problem being researched, which is not always the case. Especially as you get more physical. That said, I do

This presumes that software is the entirety of the problem being researched, which is not always the case. Especially as you get more physical. That said, I don't think waterfall works any better there either. Sometimes there's no way past the "muck about and find things out" work.