Abstract: A kit that may include an interfacing device that includes pool sidewall interface, and a pool cleaning robot that includes a housing and a drive system. The drive system may include a drive motor system, a group of interfacing modules and a transmission system that is arranged to mechanically couple the drive motor system to the group of interfacing modules. At least one interfacing module of the group may include protuberances that are shaped to fit a non-smooth surface of the pool sidewall interface.

Abstract: A pool cleaning robot that may include a fluid inlet, a filter; a winding mechanism and a holding mechanism; wherein the winding mechanism is configured to perform a winding of the filter thereby removing a filter portion that was positioned in a filtering position and placing another filter portion, that was previously stored by the holding mechanism, in the filtering position; wherein the filter portion, when positioned in the filtering position, is configured to filter fluid that enters through the fluid inlet; and wherein the holding mechanism is configured to hold the filter and to store folded and unused filter portions.