Everytime i turn the Arduino on, all of the Relais immediatly turn High aswell. Is there a known way of changing this or is this a Bug?

Hello Annin and Community, My Classmates and I are currently in the making of an Industrial grade Robot [our Finals Project] based on AR3 [ARCS]. We are required by our School to include an Emergency Stop and want to ask if this is possible with the current program or what the best way would be to integrate this into the program. We are also planning to include a Signal-Tower [Green-Yellow-Red-Blue] to indicate the current status of the Robot and it would also be nice if we could integrate this into the Program, though we could accomplish this by external means. -Florian