The issues with the device crashing a lot – had been smoothing out due to various modifications of the Pd Patch... Now we wanted to make a few new developments … Tarim activated more buttons on the arduino so I could add a rotary switch to choose the presets and he also worked out how we could limit the regularity of the sonar ‘pips’ from the sensor – so we could reduce the interference between sensors… Matt then integrated all these changes to work with the Pd patch... and it worked pretty well...  Tarim also introduced a new logging system so we had some way of logging information on the SD cards so that if it crashed we can get more information as to why it might have gone wrong… Tarim also gave me some more advice on how I could make the insides more 'solid' by using an arduino proto-shield... which is a good idea... there are some many elements working together, it is difficult to find the precise problem, because there seems to be little consistency in when and how it crashes... more testing needed !!