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In page TARDIS:

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The concept of a cloaking mechanism (later referred to as the "chameleon circuit") was devised to explain this. In the first episode, An Unearthly Child (1963), the TARDIS is first seen hidden in a London scrapyard in 1963, and after travelling back in time ("The Cave of Skulls") to the Paleolithic era, the police box exterior persists.[6] In a subsequent story, The Time Meddler (1965), the First Doctor explains that the TARDIS should automatically adopt a disguise, such as a howdah (a carrier on the back of an Indian elephant in the Indian Mutiny) or a rock on a beach.[citation needed]