A treatment solution supply apparatus to supply a treatment solution to a treatment solution discharge unit via a supply path that is provided with a filter configured to remove foreign substances in the treatment solution and a tubephragm pump to send the treatment solution, the supply path has an opening/closing valve on an upstream side of the tubephragm pump and the filter, and a suck-back valve on a downstream side of the tubephragm pump and the filter, and includes a control unit to control at least the tubephragm pump, the opening/closing valve, and the suck-back valve, wherein the control unit performs: a control of stopping sending of the treatment solution from the tubephragm pump; and a control of suspending discharge of the treatment solution from the treatment solution discharge unit by operation of the suck-back valve, and then closing the opening/closing valve to stop the discharge.

A method is provided for coating a surface of a material with a film of porous coordination polymer. A first substrate having a first surface to be coated is positioned in a processing chamber such that the first surface is placed in an opposing relationship to a second surface. The second surface may be provided by a wall of the processing chamber, or in some cases the second surface may be provided by a second substrate to be coated. The first substrate is held such that a gap exists between the first and second surfaces, and the gap is filled with at least one reaction mixture comprising reagents sufficient to form the crystalline film on at least the first surface. A thin gap (e.g., less than 2 mm) between the first and second surfaces is effective for producing a high quality film having a thickness less than 100 ?m. Confining the volume of the reaction mixture to a thin layer adjacent the substrate surface significantly reduces problems with sedimentation and concentration control. The size, shape, or average thickness of the gap may be adjusted during formation of the film in response to feedback from at least one film growth monitor.

The present disclosure provides apparatuses and methods for non-contact printing on comestible products. The apparatus includes an extruder for extruding a slab of an edible substrate and a non-contact printing device for printing an edible ink on the slab. The apparatus provides versatility as the printing device may be placed anywhere along the apparatus. The printing device may be positioned along the apparatus as desired to operate in cooperation with other components of the apparatus.

An automated painting system that includes a robotic arm and a painting end effector coupled at a distal end of the robotic arm, with the painting end effector configured to apply paint to a target surface. The painting system can also include a computing device executing a computational planner that: generates instructions for driving the painting end effector and robotic arm to perform at least one painting task that includes applying paint, via the painting the end effector, to a plurality of drywall pieces, the generating based at least in part on obtained target surface data; and drives the end effector and robotic arm to perform the at least one painting task.

An automated sanding system that includes a robotic arm and a sanding end effector coupled at the distal end of the robotic arm, with the sanding end effector configured to sand a target surface. The system can further include a computing device executing a computational planner that generates instructions for driving the sanding end effector and robotic arm to perform at least one sanding task that at least includes the sanding end effector sanding a target surface, the generating based at least in part on obtained target surface data; and drives the end effector and robotic arm to perform the at least one sanding task.

An automated drywalling system for applying joint compound or plaster to drywall pieces. The system includes a robotic arm and a mudding end effector coupled at a distal end of the robotic arm, the mudding end effector configured to apply joint compound or plaster to a target surface. The system can further include a computing device executing a computational planner that: generates instructions for driving the mudding end effector and robotic arm to perform at least one mudding task that includes applying joint compound or plaster, via the mudding the end effector, to one or more joints between a plurality of drywall pieces, the generating based at least in part on obtained target surface data; and drives the end effector and robotic arm to perform the at least one mudding task.

An automated insulation application system that includes a robotic arm and an insulation end effector coupled at a distal end of the robotic arm, the insulation end effector configured to apply insulation material to a target surface. The system can further include a computing device executing a computational planner that: generates instructions for driving the insulation end effector and robotic arm to perform at least one insulation application task that includes applying insulation material via the insulation end effector to a target surface, the generating based at least in part on obtained target surface data; and drives the end effector and robotic arm to perform the at least one insulation application task.

An automated drywalling system network that including one or more automated drywalling systems that each has a robotic arm. The automated drywalling system network can also include a computational planner that generates instructions for the one or more automated drywalling systems to perform two or more drywalling tasks associated with a target wall assembly. The two or more drywalling tasks can include a hanging task that includes hanging pieces of drywall on studs of the target wall assembly; a mudding task that includes applying joint compound to pieces of drywall hung on studs of the target wall assembly; a sanding task that includes sanding joint compound applied to the pieces of drywall hung on studs of the target wall assembly; and a painting task that includes painting sanded the joint compound applied to the pieces of drywall hung on studs of the target wall assembly.

An automated drywalling system for cutting and/or hanging drywall that includes one or more vision systems and a computing device executing a computational planner. The computational planner obtains target wall assembly data from the one or more vision systems, the target wall assembly data including information regarding a configuration of a target wall assembly including a plurality of studs that define a portion of the target wall assembly; and generates a plan for a configuration of a plurality of drywall pieces to be disposed on studs of the target wall assembly based on the target wall assembly data.

An automated drywalling system network that include one or more automated drywalling systems that each comprise a robotic arm. The automated drywalling system network can also include one or more drywalling end effectors configured to couple to a distal end of the robotic arms of the one or more automated drywalling systems. The drywalling end effectors can include a drywall hanging end effector; a drywall mudding end effector; a drywalling sanding end effector; and a drywall painting end effector.