diff --git a/sot-core-v3/Makefile b/sot-core-v3/Makefile
index 095d0dae85d206bc44087fc109eab758f6011321..5b09f3ab80738ad255953ad5e71cb3d55b8fb21e 100644
--- a/sot-core-v3/Makefile
+++ b/sot-core-v3/Makefile
@@ -5,11 +5,13 @@
 PKGNAME=		sot-core-v3-${VERSION}
 DISTNAME=		sot-core-v3-${VERSION}
 VERSION=		3.1.1
+PKGVERSION=		1
 
 MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=sot-core-v3/}
 MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/sot-core
 CHECKOUT_VCS_OPTS=	--recursive
 
+
 MAINTAINER=	gepetto@laas.fr
 CATEGORIES=	wip
 COMMENT=	Hierarchical task based control of humanoid robots
diff --git a/sot-core-v3/distinfo b/sot-core-v3/distinfo
index 75448ffedd7bc4ec362a55ee635ab15040e45666..992cc982748afd1613b565805ceb9337d3b6cbcf 100644
--- a/sot-core-v3/distinfo
+++ b/sot-core-v3/distinfo
@@ -1,3 +1,4 @@
 SHA1 (sot-core-v3-3.1.1.tar.gz) = 8e27ae46dd39c44a52590d409a3e019461209b15
 RMD160 (sot-core-v3-3.1.1.tar.gz) = 89c85471cee5bd76d75ad137944d4450a1648cf1
 Size (sot-core-v3-3.1.1.tar.gz) = 1130853 bytes
+SHA1 (patch-aa) = 58dedbb5a2c896f8bc2d42ce8814012188f4d4e9
diff --git a/sot-core-v3/patches/patch-aa b/sot-core-v3/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..12d360206aaaf7f8dd60fc30b09b559c39acce70
--- /dev/null
+++ b/sot-core-v3/patches/patch-aa
@@ -0,0 +1,24 @@
+diff -Naur include/sot/core/switch.hh include/sot/core/switch.hh
+--- include/sot/core/switch.hh	2017-11-22 20:19:04.817875496 +0100
++++ include/sot/core/switch.hh	2017-11-22 20:18:39.661171318 +0100
+@@ -45,7 +45,7 @@
+      
+     public: /* --- SIGNAL --- */
+       DYNAMIC_GRAPH_ENTITY_DECL();
+-      dynamicgraph::SignalTimeDependent<bool,int> outSOUT;
++      dynamicgraph::Signal<bool,int> outSOUT;
+       
+     protected:
+       bool signalOutput;
+@@ -58,9 +58,9 @@
+     public:
+       Switch( const std::string& name )
+ 	: Entity(name)
+-	,outSOUT( boost::bind(&Switch::switchOutput,this,_1,_2),
+-                  sotNOSIGNAL,"Switch("+name+")::output(bool)::out")
++	,outSOUT("Switch("+name+")::output(bool)::out")
+       {
++        outSOUT.setFunction(boost::bind(&Switch::switchOutput,this,_1,_2));
+         signalOutput = false;
+         signalRegistration (outSOUT );
+         addCommand ("turnOn",