Although the GHS Suction Arm Team's current prototype is applicable as a proof of concept, it is unable to be adequately integrated with the Kwadropus system. The Kwadropus Robot has a maximum weight of ten kilograms and a maximum diameter of two and a half feet. In this section, several products and concepts will be listed to provide a system that will be better implemented into the Kwadropus Robot. Factors such as size, weight, cost, reliability, noise, and power will be accounted for in the process of choosing these products and concepts. 

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.

The Vacuum Pump used for the Suction Cup prototype has a noise level 68 db. The ISS already is extremely loud because of many of the pumps and fans running to sustain life with in space station. Additionally, according to the ISS Noise Level Constraints Flight Rule, astronauts should not be exposed to more than 70db (decibels) during a 24 hour period, and 72db during their 16 hour "work time". The Suction Arm team recommends a quieter motor such as the Crouzet Low Noise Series Brush Motors which go as low as 35 db. For context, the average quiet room is 28-33db. Additionally, Crouzet allows for various custimizations for the motor such as gearbox type, function, size, nominal voltage, communication, and whether or not to include an encoder. A motor like this will be be capable of adapting to the exact specifications of the Kwadropus System and can be found on the Crouzet Website.

Noise Levels can range from 35-55db on the brushed motors from Crouzet. This is significantly lower than the 68db motor currently being used by the GHS Suction Arm Team. Unlike standard measure, in decibels, a measure of 40db is 10 times louder than a measure of 30db. The motor currently used by the GHS Suction Arm Team is roughly 3000 times louder than that of the quietest Crouzet motor.

Displayed above is the configurator app located on the Crouzet Website. This section is where the user can customize each component of the motor to fit a desired specification. One thing to keep in mind is that although brushless motors often have longer life span's, the quiet series is only available for brushed motors.

Currently, the GHS Suction Arm Team's Vacuum Pump works well, however its motor can not be customized. KNF, however allows for the ability of its clients to request a separate motor from the stock motor. Using the KNF Pump in combination with the Crouzet Low Noise Brush Motors will allow for the overall system to be much quieter. with Additionally, the KNF NMP 850 HP Diaphragm Gas Pump has a vacuum rating of 220KPA, significantly higher than the 85KPA of the team's current vacuum pump. This increase in vacuum pressure will allow the Pump to be more applicable to the full suction system (8 suction cups).

Shown above is the KNF NMP 850 HP. KNF also provides a datasheet as well as an operating manual for their pumps which provides valuable information when it comes to customization of of the pump. Other models are available with higher vacuum rating. Multi-headed versions of the pump are available as seen in the GHS Suction Arm Team's original design (Element D). 

As stated previously, the motors used in the KNF NMP 850 HP is able to be changed through contacting the KNF Sales Team. 

Although the solenoids being used on the GHS Suction Arm Team's prototype works as a proof of concept, they are far to heavy to be multiplied to the entire Kwadropus system. The current weight of one two-suction cup system is about 2kg. This means the entire suction cup system will weigh roughly 8kg (4 arms). This is far to heavy as accoording to the Nasa Hunch D&P Website, the entire robot musn't exceed 10kg. With a suction system already taking up 80% of the systems weight, the Mobility Arm, Propulsion Arm, Duster Arm, and Brain. will need to be extremelly light. The best way the GHS Suction Arm Team suggests solving this is by using a manifold solenoid system. Rather than having 8 seperate 3 valve solenoids and 4 pumps, a manifold solenoid allows for one pump to attach to escentially a gateway of solenoid. This will significantly decrease overally weight and size. 

SMC sells various types of manifold solenoid valves. Displayed above is a 3 port version which could be applicable to the GHS Suction Arm Team's current system. Additionally, a 2 port system could be used because the port connecting to the Vaccum pump escentially acts like it's own third port. Interestingly, unlike most normal solenoid valves which are sold as either normally opened of closed, the series VO can be converted based on it's use. 

Similar to both KNF and Crouzet, SMC allows the manifold solenoid being purchased to be adapted to the exact specifications of the client. These options will provide NASA the ability to match the manifold solenoid with the same tubing being used on the vacuum pump.

Although the current design of the kwadropus suction cup is functional, the modifications listed above will be heavily considered as a means of a concept. Additionally, the modifications will allow for proper weight distribution and size of the Kwadropus robot. Although weight in space seems negligable, intertia is a major contraint on the system. Additionally, it costs nearly $2500 to send a kilogram to space. With the budget NASA has, each and every part can be either customly build or ordered (as demonstrated throughout this section), allowing money to be saved in the end.