I think that many of the differences between the episodes and the novels come from two sources. First, the authors (Robert Thurston, Ron Goulart, Nicholas Yermakov and Michael Resnick) wanted to expand the story from the episodes to include character developement that there isn't time for on television. This allows them to include background information that adds but does not detract from the main story. Additionally, the authors (especially in the early books) might be working from an early draft of the script. I really enjoyed the original novel series and wished that it went beyond the 14th book in the series.
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