diff --git a/sched/sched/sched_addblocked.c b/sched/sched/sched_addblocked.c
index 1a3fc90987..cb2eda1908 100644
--- a/sched/sched/sched_addblocked.c
+++ b/sched/sched/sched_addblocked.c
@@ -119,4 +119,3 @@ void sched_addblocked(FAR struct tcb_s *btcb, tstate_t task_state)
 
   btcb->task_state = task_state;
 }
-
diff --git a/sched/sched/sched_addreadytorun.c b/sched/sched/sched_addreadytorun.c
index f99bd31864..04cc2afcb4 100644
--- a/sched/sched/sched_addreadytorun.c
+++ b/sched/sched/sched_addreadytorun.c
@@ -43,8 +43,6 @@
 #include <queue.h>
 #include <assert.h>
 
-#include <nuttx/clock.h>
-
 #include "sched/sched.h"
 
 /****************************************************************************
@@ -137,27 +135,6 @@ bool sched_addreadytorun(FAR struct tcb_s *btcb)
 
       btcb->task_state = TSTATE_TASK_RUNNING;
       btcb->flink->task_state = TSTATE_TASK_READYTORUN;
-
-#if CONFIG_RR_INTERVAL > 0
-      /* Reset the round robin timeslice interval of both the old
-       * and the new head of the ready-to-run list.
-       */
-
-      rtcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
-      btcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
-
-#if 0 /* REVISIT: This can cause crashes in certain cases */
-      /* Whenever the task at the head of the ready-to-run changes, we
-       * must reassess the interval time that controls time-slicing.
-       */
-
-      if ((rtcb->flags & TCB_FLAG_ROUND_ROBIN) != 0 ||
-          (btcb->flags & TCB_FLAG_ROUND_ROBIN) != 0)
-        {
-          sched_timer_reassess();
-        }
-#endif
-#endif
       ret = true;
     }
   else
diff --git a/sched/sched/sched_removereadytorun.c b/sched/sched/sched_removereadytorun.c
index 5fe5096bbc..0fdcc1a294 100644
--- a/sched/sched/sched_removereadytorun.c
+++ b/sched/sched/sched_removereadytorun.c
@@ -43,8 +43,6 @@
 #include <queue.h>
 #include <assert.h>
 
-#include <nuttx/clock.h>
-
 #include "sched/sched.h"
 
 /****************************************************************************
@@ -112,40 +110,12 @@ bool sched_removereadytorun(FAR struct tcb_s *rtcb)
 
       sched_note_switch(rtcb, ntcb);
       ntcb->task_state = TSTATE_TASK_RUNNING;
-
-      /* Remove the TCB from the head of the ready-to-run list */
-
-      (void)dq_remfirst((FAR dq_queue_t *)&g_readytorun);
-
-#if CONFIG_RR_INTERVAL > 0
-      /* Reset the round robin timeslice interval of the new head of the
-       * ready-to-run list.
-       */
-
-      ntcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
-
-#if 0 /* REVISIT: This can cause crashes in certain cases */
-      /* Whenever the task at the head of the ready-to-run changes, we
-       * must reassess the interval time that controls time-slicing.
-       */
-
-      if ((rtcb->flags & TCB_FLAG_ROUND_ROBIN) != 0 ||
-          (ntcb->flags & TCB_FLAG_ROUND_ROBIN) != 0)
-        {
-          sched_timer_reassess();
-        }
-#endif
-#endif
-      /* Indicate that a context switch is occurring */
-
       ret = true;
     }
-  else
-    {
-      /* Remove the TCB from the ready-to-run list (not from the head) */
 
-      dq_rem((FAR dq_entry_t *)rtcb, (FAR dq_queue_t *)&g_readytorun);
-    }
+  /* Remove the TCB from the ready-to-run list */
+
+  dq_rem((FAR dq_entry_t *)rtcb, (FAR dq_queue_t *)&g_readytorun);
 
   /* Since the TCB is not in any list, it is now invalid */
 
diff --git a/sched/sched/sched_timerexpiration.c b/sched/sched/sched_timerexpiration.c
index 267768586c..c4eeaafbb7 100644
--- a/sched/sched/sched_timerexpiration.c
+++ b/sched/sched/sched_timerexpiration.c
@@ -58,6 +58,22 @@
 /************************************************************************
  * Pre-processor Definitions
  ************************************************************************/
+/* In the original design, it was planned that sched_timer_reasses() be
+ * called whenever there was a change at the head of the ready-to-run
+ * list.  That call was intended to establish a new time-slice or to
+ * stop an old time-slice timer.  However, it turns out that that
+ * solution is too fragile:  The system is too vulnerable at the time
+ * that the read-to-run list is modified in order to muck with timers.
+ *
+ * The kludge/work-around is simple to keep the timer running all of the
+ * time with an interval of no more than the timeslice interface.  If we
+ * this, then there is really no need to do anything when on context
+ * switches.
+ */
+
+#if CONFIG_RR_INTERVAL > 0
+#  define KEEP_ALIVE_HACK 1
+#endif
 
 #ifndef MIN
 #  define MIN(a,b) (((a) < (b)) ? (a) : (b))
@@ -212,7 +228,11 @@ static unsigned int
 sched_process_timeslice(unsigned int ticks, bool noswitches)
 {
   FAR struct tcb_s *rtcb  = (FAR struct tcb_s*)g_readytorun.head;
+#ifdef KEEP_ALIVE_HACK
+  unsigned int ret = MSEC2TICK(CONFIG_RR_INTERVAL);
+#else
   unsigned int ret = 0;
+#endif
   int decr;
 
   /* Check if the currently executing task uses round robin
@@ -293,13 +313,22 @@ sched_process_timeslice(unsigned int ticks, bool noswitches)
                    */
   
                   rtcb = (FAR struct tcb_s*)g_readytorun.head;
+
+                  /* Check if the new task at the head of the ready-to-run
+                   * supports round robin scheduling.
+                   */
+
                   if ((rtcb->flags & TCB_FLAG_ROUND_ROBIN) != 0)
                     {
                       /* The new task at the head of the ready to run
                        * list does not support round robin scheduling.
                        */
 
+#ifdef KEEP_ALIVE_HACK
+                      ret = MSEC2TICK(CONFIG_RR_INTERVAL);
+#else
                       ret = 0;
+#endif
                     }
                   else
                     {