Following the GHS Suction Arm Team's presentation and Critical Design review, it is time to reflect on the project so far. Throughout the year, the GHS Suction Arm Team has taken several steps in the development of the Suction Cup System. In this section, all previous elements will be reviewed and critiqued. This section will also work to provide a basic outline of the project providing brief summaries of each element. 

Due to space’s lack of gravity, dust on the ISS is a major obstacle, often containing various dangerous chemicals. In a 2014 article, Japanese researchers, Katsunori Anezaki and Takeshi Nakano found that the level of PFOA (perfluorooctanoic acid) on the ISS was 3.3 parts per million. Comparatively, a 2008 survey found that among daycares and U.S households, there were only 2.0 part per million. To combat dust issues in space, astronauts spent between two to four hours cleaning every Saturday morning according to astronaut, Clayton Anderson in 2015. Additionally, because water doesn’t flow on the ISS, using water to clean the station is practically impossible, despite being a common tool on Earth. Ideally, it would be optimal to automate the cleaning process on the ISS in order to give the astronauts more time to do more crucial tasks. Moreover, artificial microgravity due to the centrifugal force on the rotating space station causes a neutral buoyant environment in which the robot will have to operate. Consequently, the autonomous robot needs to “stick” to surfaces without the use of magnetism or adhesive.

What is the problem? Why should it be solved? Who will is affect? Will the solution be marketable? When developing a solution to a problem it is vital to justify it academically. Furthermore, marketability plays a crucial role on whether an idea can become a product. In this section we will explore and justify the development of an autonomous duster in space through market research conducted by surveys.

We surveyed roughly 100 people, asking question about how important sanitization is within their own house and the ISS. We wanted to gather their opinion of how the ISS should be cleaned. We also included a short answer response of why each respondent decided on their preferred method of dusting the ISS. A majority of respondents stated that the method of dusting should be autonomous because the astronauts on the station have much more tasks to attend to, leading them to cut corners when cleaning around the station. We found that there is a clear discrepancy between whether or not people preferred autonomous dusting on earth compared to space.  Before asking about dusting in space, we informed the respondents that cleaning the ISS took between 2-4 hours. Of over 100 people surveyed, only 3 percent had been previously aware of this. The respondents favor towards autonomous dusting in space may be a result of the amount of time it took. While on earth, dust particles merely fall on the floor, neutral buoyant environments like space cause dust particles to attach to all dimensions of the ISS. Similarly, water is also neutrally buoyant. According to fish specialist at the Vancouver Aquarium, Ruby Banwait, “Much of the work of an aquarist is cleaning—cleaning glass, cleaning walls, cleaning gravel...". An autonomous duster that works in the microgravity of space should also function underwater, suggesting a potential product that could also be marketed to aquariums.

In retrospect, our team should have focused our efforts on research regarding the physics of the ISS. Having a large plethora of knowledge on the physics behind objects in neutral buoyancy would have reduce the hiccups this team had when calculating the necessary holding force needed for the suction cups. 

When designing a solution, it is important to research patents that relate to the solution to avoid lawsuits. Additionally, the Kwadropus suction cup will include a variety of parts. Collecting knowledge and insight from several different types of patents may provide ideas on how such a design could be made. 

By completing research and a decision matrix of various prior solutions, we found that the flat silicone clear vacuum suction cup is the most suitable for our solution due to its small size, use of pneumatics to adjust pressure, and elastic material. Despite it being fairly pricey, this product is a good basis for our solution having the highest average score on our decision matrix. Additionally, strokes connect could be useful in finding way to attach components to the suction cup such as pneumatic tubing or an electronic apparatus. Though this product may be the strongest, it is not a complete solution. It will be helpful to combine the ideas from several of the products listed to develop the most successful design.

Although we analyzed various prior solutions, it would have been optimal to analyze vacuum pump and compare them with the criteria of the Suction Cup Rubric. This would have saved time later on in the process when discussing what pneumatic parts should be ordered. 

Design Specifications and parameters are important measures to understand the limits and conditions in which the product should function. To determine the specifications for our solution, the Suction Cup Team referred to the Suction Cup Rubric on the NASA HUNCH website. The team found that the most important criterion is the solution's ability to attach to smooth and rounded surfaces in the microgravity conditions of the ISS.

1.  Attaches and detaches to flat, smooth surface easily. 

2. Attaches and detaches to curved, smooth surface easily. 

3. Must indicate that suction cup made good contact with a surface.

4. Autonomously Driven by electromechanical/pneumatic components

5. Entire robot must not exceed 2ft in diameter.

6. Weight of robot must not exceed 10kg (22 lbs)

7. Must operate under the 72°F Temperature 

Various factors go into the designing of such a solution, and understanding the order in which to approach those elements is cardinal. Through this section, the importance of various design specifications has been determined for the Kwadropus robot. When developing the suction cup system, it is clear that the robot's ability to function in its desired environment and the cost associated with bringing the solution to life are the most crucial aspects. Such elements will be key determining the direction of expanding, researching, and sketching possibly solutions moving forward.

The design specifications listed in Section C came back into play later during the testing stage of our prototype (Elements H and I). Therefore, it was critically important to make sure that each specification was measurable and testable. However, some such as the one stating “weight of robot must not exceed 10kg” were difficult to measure and test as te suction does not have the entire robot to work with, but rather the suction subsystem. To address this criterion, the Glenelg Suction Team worked in tandem with the Mobility Team.

Through our academic research along with our market research through surveys, we have concluded that an autonomous cleaning solution is needed on the ISS. Through the study of many different patents involving different suction cup systems, we have concluded that the pump/solenoid design would be optimal for our proposed solution.

Our classmates supported our design. They understood how the solenoids would be used in conjunction with the vacuum pump to autonomously by breaking the seal formed by sealing lip of the suction cup. However, Mr. Gerstner stated that we should focus our efforts on the vacuum pump. He suggested changing the motor to better suit the power needed to create a strong enough vacuum.

Through the scoring of our decision matrix (found in Element D), it was decided that using a vacuum pump in conjunction with a solenoid would be the best basis for our design for many reasons. For example, using an electromagnetic solenoid would allow for the suction cups to activate and deactivate automatically. This would allow the brain of the Kwadropus Robot to send electrical signals to the solenoid to activate and deactivate the suction cups. Additionally, using a vacuum pump would provide adequate strength of suction for our solution, which does not need to be a large amount, considering the Kwadropus robot is working under microgravity conditions.

Similar to the criticism stated for Element A, it would have been optimal for the Suction Team review various vacuum pumps and contrast them in the decision matrix. Comparing the pipe diameter, max pressure, and size of various pumps would have helped save time in the design process. 

In order to properly fulfill the design criteria listed on the Suction Cup Rubric, Predictions must be made based on calculations made from equations such as the formula for suction force and Newton's Second Law of Motion. These principles are especially important, considering we are testing our prototype on Earth. However, the force of gravity is negligible in the context of the International Space Station. In order to properly fulfill the design criteria listed on the Suction Cup Rubric, Predictions must be made based on calculations made from equations such as the formula for suction force and Newton's Second Law of Motion. These principles are especially important, considering we are testing our prototype on Earth. 

• Theoretical Holding Force

• Flat Cups vs. Bellow Cups

• Absolute Vacuum vs. Relative Vacuum

• Newton's Second Law

• Arduino Coding Principles

• Voltage, Current, and Power

While the team reviewed a lot of principles involving vacuum and holding force, it would have been optimal to devote a lot more time reviewing principle of electricity. Learning more about the driving current and voltage of the Arduino along with its component would have been helpful earlier on in the process.

In order to properly fulfill the design criteria listed on the Suction Cup Rubric, Predictions must be made based on calculations made from equations such as the formula for suction force and Newton's Second Law of Motion. These principles are especially important, considering we are testing our prototype on Earth. However, the force of gravity is negligible in the context of the International Space Station. Through our academic research along with our market research through surveys, we have concluded that an autonomous cleaning solution is needed on the ISS. Through the study of many different patents involving different suction cup systems, we have concluded that the pump/solenoid design would be optimal for our proposed solution.

The team would have benefitted from finalizing the parts list much faster. Getting the parts list down to a reasonable budget of $100 was really difficult with the price of the solenoids and vacuum pump. Getting the budget down faster would have allowed the team to have more time to work on the prototyping and testing of the project.

As the kwadropus team develops the prototype, it is important to document all the resources involved in the building process. As a result, the materials, knowledge, and tools required in the development stage are recorded for future use. The most difficult part of this process was acquiring the need pneumatic components for an affordable price. The vacuum pump is significantly over our budget, so multiple vendors were consulted in order to get one donated. As a result, there were alternative pumps that were considered for our design in case the ideal pump was not acquired for the given budget. Many of the parts are very expensive, so eliminating the use of the two head solenoids were considered to reduce the price of the materials. However, because the vacuum pump does not have a check valve, taking away these solenoids would lead to problems operating the suction cups. To remain cost effective, many of the materials and tools such as the sonars and Arduino are provided by the school.

During this part of the design phase, it would have been optimal to have more time to develop the prototype. Unfortunately, a lot of this time was spent finalizing the parts list. Additionally, after getting the parts delivered, the team had to research voltage an power with pneumatic components, which should have been done in Element A.

As the kwadropus team develops the prototype, it is important to document all the resources involved in the building process. As a result, the materials, knowledge, and tools required in the development stage are recorded for future use. The most difficult part of this process was acquiring the need pneumatic components for an affordable price. The vacuum pump is significantly over our budget, so multiple vendors were consulted in order to get one donated. As a result, there were alternative pumps that were considered for our design in case the ideal pump was not acquired for the given budget. Many of the parts are very expensive, so eliminating the use of the two head solenoids were considered to reduce the price of the materials. However, because the vacuum pump does not have a check valve, taking away these solenoids would lead to problems operating the suction cups. To remain cost effective, many of the materials and tools such as the sonars and Arduino are provided by the school.

This was the hardest part of the development process. Throughout this process, the team realized a lot more research was needed build the prototype. Also, many iterations of the code had problems that took a lot of time to troubleshoot. 

The GHS Suction Arm Team presented our product on February 28, 2024, at the Passaic County Technical Institute in NJ. The presentation was set up in a gym room.  Each group was assigned to a section of the room and guests (including Glenn Johnson and Dr. Gold) walked around and listened to each presentation. Guests included engineers, PHD students, and high school students across the west coast were asking questions. Since the presentation is now complete, the GHS Suction Arm Team will analyze the comments given by our four judges in order to determine our prototype strengths and weaknesses. The comments will also address areas in need of improvement. The Suction Cup Team gained much wisdom through their presentation at Passaic County Technical institute. The team gained several useful recommendations such as adding a pressure sensor as well and a dust filter to prevent damage to the vacuum pump. Additionally, the team received recommendation to organize our wiring better by other NASA HUNCH groups. Finally, when reviewing the design with Glenn Johnson, the explained how oils and liquids could possibly provide dust resistance to the suction cups. Glenn Johnson warned the team that the oils and liquids could cause residue on the walls of the ISS. The team plans to use many of these suggestions in making updates and revisions to the suction cup system.

Although we the suction team did a good job displaying the functionality during the presentation, a lot f last-minute changes were made before the event. Moving forward, final testing and design changes should be made at least a week in advance.

The Suction Cup Team has gained a lot of valuable information of project management throughout this project. The team will continue to use this reflection as we make further adjustments to the project for the NASA HUNCH conference in Houston.