Abstract: A docking station for a mobile cleaning robot can include a canister and a base configured to receive the mobile cleaning robot thereon, where the base can include a front portion and a back portion opposite the front portion. The base can include a vacuum port extending at least partially through the base. The canister can be connected to the back portion of the base and can be located at least partially above the base. The canister can include a debris bin connected to the vacuum port to receive debris therefrom and a fan compartment connected to a side wall of the debris bin and including a fan system operable to draw debris through the vacuum port and the debris bin.

Abstract: A human part model is formed by spraying a layer of uncured silicone mixed with a catalyst and a solvent carrier onto the inside of a mould cavity. Next a model base is clamped to the mould and a body of uncured silicone gel mixed with a catalyst injected to fill the mould between the base and the layer. As the silicone layer cures, it adheres to the body of silicone gel, thereby enhancing the life-likeness of the resulting model. A breast cyst model may be formed by adding an elastomeric bulb to the base prior to clamping the base to the mould. The inlet of the bulb is inserted onto a passageway through the base, which passageway has a one-way valve to prevent backflow from the bulb. The hardness and thickness of the bulb is chosen so that it reseals after being needled.