I have heard discussion of the importance of good ukemi to protect yourself. Some people say that good ukemi is to sort of "dive into it" to get ahead of the technique. I have also heard some people complain that X person's ukemi is terrible, and therefore the technique can't be done right. If Aikido techniques are to protect from harm the nage as well as uke, why does one need such good ukemi? My main question is, what do you think are ways that techniques can be executed with someone that has no ukemi ability without harm?