diff --git a/os/forklift/forklift-pallet-version b/os/forklift/forklift-pallet-version
index 4a27619a0..a21a484d4 100644
--- a/os/forklift/forklift-pallet-version
+++ b/os/forklift/forklift-pallet-version
@@ -1 +1 @@
-a4ec796
+3776e964ba612ea88edb9afc92969c165735afff
diff --git a/os/python-hardware-controller/etc/systemd/system/planktoscope-org.segmenter.service b/os/python-hardware-controller/etc/systemd/system/planktoscope-org.segmenter.service
new file mode 100644
index 000000000..baf1f7000
--- /dev/null
+++ b/os/python-hardware-controller/etc/systemd/system/planktoscope-org.segmenter.service
@@ -0,0 +1,19 @@
+[Unit]
+Description=Run the PlanktoScope segmenter
+# Wait for Forklift to bring up mosquitto, in case the segmenter needs to start after mosquitto
+Wants=forklift-apply.service
+After=forklift-apply.service
+# Start after Node-RED so that Node-RED can catch all MQTT messages emitted at startup
+After=nodered.service
+
+[Service]
+Type=simple
+Environment=HOME=/home/pi
+Environment=SEGMENTER_PIPELINE_SUBTRACT_CONSECUTIVE_MASKS=true
+WorkingDirectory=/home/pi/PlanktoScope/segmenter
+ExecStart=/home/pi/.local/bin/poetry run python -u main.py
+User=pi
+Group=pi
+
+[Install]
+WantedBy=multi-user.target
diff --git a/os/python-hardware-controller/install.sh b/os/python-hardware-controller/install.sh
index dd4daba77..1eee20951 100755
--- a/os/python-hardware-controller/install.sh
+++ b/os/python-hardware-controller/install.sh
@@ -18,7 +18,7 @@ pipx install poetry==2.1.3
 pipx ensurepath
 PATH="$PATH:/home/pi/.local/bin"
 
-# Set up the hardware controllers
+# Set up the hardware controller
 sudo -E apt-get install -y --no-install-recommends -o Dpkg::Progress-Fancy=0 \
   i2c-tools libopenjp2-7 python3-picamera2
 poetry --directory "$HOME/PlanktoScope/controller" install \
@@ -26,3 +26,10 @@ poetry --directory "$HOME/PlanktoScope/controller" install \
 file="/etc/systemd/system/planktoscope-org.controller.service"
 sudo cp "$config_files_root$file" "$file"
 sudo systemctl enable "planktoscope-org.controller.service"
+
+# Set up the segmenter
+poetry --directory "$HOME/PlanktoScope/segmenter" install \
+  --compile
+file="/etc/systemd/system/planktoscope-org.segmenter.service"
+sudo cp "$config_files_root$file" "$file"
+sudo systemctl enable "planktoscope-org.segmenter.service"
diff --git a/segmenter/README.md b/segmenter/README.md
index 6456606f5..e88ed9ea0 100644
--- a/segmenter/README.md
+++ b/segmenter/README.md
@@ -22,13 +22,10 @@ Install all dependencies including development tooling:
 poetry install --with dev
 ```
 
-Start controller for development:
+Start segmenter for development:
 
 ```sh
-docker ps
-# copy the container id of the segmenter
-docker stop <container-id>
-
+sudo systemctl stop planktoscope-org.segmenter.service
 poetry run python -u main.py
 # make changes and restart
 ```
@@ -51,7 +48,7 @@ We recommand using [https://code.visualstudio.com/docs/remote/ssh](https://code.
 
 To use this project, you'll need:
 
-- Python >= 3.9
+- Python >= 3.11.2
 - Poetry 2.1.3
 
 ## Licensing
diff --git a/segmenter/apt-packages b/segmenter/apt-packages
index c5d47e117..8e67f18d4 100644
--- a/segmenter/apt-packages
+++ b/segmenter/apt-packages
@@ -1,6 +1,3 @@
-# numpy/scipy dependencies
-libatomic1
-
 # opencv dependencies
 libopenjp2-7
 libavcodec59