Fig. 1

A real-time photo of the inside of the CEF during the robotic painting from the back (left) shows the placement of the drywall, robot, paint, and the THC analyzer sampling inlet. A photo from the front of the CEF (right) shows the placement of the VOC monitors and TD tubes. The distance between the robot and each drywall panel is 1.17 m in front and 1.2 m on each side