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		 Yes, I have the Discovery model(from ARS points actually)  With the first one, a plastic linkage part had become stripped(probably more from leaving shoes out and the vacuum grabbing the laces.  But they replaced the whole unit except for the battery. 
Now I need a replacement battery. 
 
I like it alot, the fact that it picks things before they get ground in is the best part for me-  Just turn it on when I leave and come back to clean floors.  I like it. 
 
As posted above, the cleaning and maintenance is pretty important. 
		
	
		
		
		
		
		
	
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