There’s a TV series called “The Secret Life of Machines” from the 1990s, which has a whole 30 min episode about vacuum cleaners. I think it’s wonderfully presented - funny, clear, entertaining, gives a good understanding for how to grapple this sort of problem. youtu.be/CJlrbMHLBd4?si=G2X40txUnYn3iUA1 I think mains powered vacuum cleaners haven’t changed much since, so it’ll probably still be good information, although it won’t get in to battery powered models, because those are newer.