Thomas Paulsen focused on simplifying and refactoring the acoustics modules within the vortexntnu/vortex-auv and vortexntnu/vortex-asv repositories. He restructured the acoustics data logging interface using Python and CMake, improving code organization and maintainability while removing unused methods and outdated configurations. By deprecating and removing the acoustics modules, including data recording and live display components, Thomas reduced system complexity and maintenance overhead. He also performed comprehensive configuration management, purging obsolete references from YAML files and build scripts. This work streamlined the robotics software stack, accelerated future development, and enhanced build reliability through careful system integration and targeted code removal.