diff --git a/uuv_control/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/bezier_curve.py b/uuv_control/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/bezier_curve.py
index d52f104d4..f3f56d994 100644
--- a/uuv_control/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/bezier_curve.py
+++ b/uuv_control/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/bezier_curve.py
@@ -14,8 +14,11 @@
 # limitations under the License.
 
 import numpy as np
-from scipy.misc import factorial
-
+# Factorial function has moved in recent Scipy version
+try:
+    from scipy.misc import factorial
+except ImportError:
+    from scipy.special import factorial
 
 class BezierCurve(object):
     """
diff --git a/uuv_tutorials/uuv_tutorial_dp_controller/scripts/tutorial_dp_controller.py b/uuv_tutorials/uuv_tutorial_dp_controller/scripts/tutorial_dp_controller.py
index d3f6a3d90..9fb3ff8a7 100755
--- a/uuv_tutorials/uuv_tutorial_dp_controller/scripts/tutorial_dp_controller.py
+++ b/uuv_tutorials/uuv_tutorial_dp_controller/scripts/tutorial_dp_controller.py
@@ -90,7 +90,6 @@ def __init__(self):
             diag = rospy.get_param('~Kd')
             if len(diag) == 6:
                 self._Kd = np.diag(diag)
-                print 'Kd=\n', self._Kd
             else:
                 # If the vector provided has the wrong dimension, raise an exception
                 raise rospy.ROSException('For the Kd diagonal matrix, 6 coefficients are needed')
@@ -99,7 +98,6 @@ def __init__(self):
             diag = rospy.get_param('~Ki')
             if len(diag) == 6:
                 self._Ki = np.diag(diag)
-                print 'Ki=\n', self._Ki
             else:
                 # If the vector provided has the wrong dimension, raise an exception
                 raise rospy.ROSException('For the Ki diagonal matrix, 6 coefficients are needed')