Joseph

Joseph was originally an android assistant to Victor Farrison who sacrificed himself to save Ace, the Doctor and Bernice Summerfield. The Doctor however takes his omnitronic processor stating he will give it to someone who can salvage the personality from it. (BFA: The Dark Flame)

Joseph on Dellah
When Bernice Summerfield takes up residency at St Oscar's University on the planet Dellah Joseph is her robotic porter drone resembling a floating billiard ball who keeps messages and relays information to Bernice. (BNA: Oh No It Isn't!)

It is later revealed that Joseph is in fact a spy for God and was a ship by the name of J-Kibb in 'disguise'. (BNA: Tears of the Oracle)

Joseph on the Braxiatel Collection
After Dellah was destroyed and Bernice moved to the Braxiatel Collection Irving Braxiatel gave her a new porter, Joseph either based off of the Joseph that Bernice had on Dellah or based from the omnitronic processor that  the Doctor salvaged from the Joseph android. (BFBS: The Doomsday Manuscript)