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<li id="toc-Docking" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Docking"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.1</span> <span>Docking</span> </div> </a> <ul id="toc-Docking-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Berthing" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Berthing"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.2</span> <span>Berthing</span> </div> </a> <ul id="toc-Berthing-sublist" class="vector-toc-list"> </ul> </li> </ul> </li> <li id="toc-Hardware" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Hardware"> <div class="vector-toc-text"> <span class="vector-toc-numb">2</span> <span>Hardware</span> </div> </a> <button aria-controls="toc-Hardware-sublist" class="cdx-button cdx-button--weight-quiet cdx-button--icon-only vector-toc-toggle"> <span class="vector-icon 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<span>Adapters</span> </div> </a> <ul id="toc-Adapters-sublist" class="vector-toc-list"> </ul> </li> </ul> </li> <li id="toc-Docking_of_uncrewed_spacecraft" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Docking_of_uncrewed_spacecraft"> <div class="vector-toc-text"> <span class="vector-toc-numb">3</span> <span>Docking of uncrewed spacecraft</span> </div> </a> <ul id="toc-Docking_of_uncrewed_spacecraft-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Non-cooperative_docking" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Non-cooperative_docking"> <div class="vector-toc-text"> <span class="vector-toc-numb">4</span> <span>Non-cooperative docking</span> </div> </a> <button aria-controls="toc-Non-cooperative_docking-sublist" class="cdx-button cdx-button--weight-quiet cdx-button--icon-only vector-toc-toggle"> <span class="vector-icon mw-ui-icon-wikimedia-expand"></span> <span>Toggle Non-cooperative docking subsection</span> </button> <ul id="toc-Non-cooperative_docking-sublist" class="vector-toc-list"> <li id="toc-Salyut_7_space_station_salvage_mission" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Salyut_7_space_station_salvage_mission"> <div class="vector-toc-text"> <span class="vector-toc-numb">4.1</span> <span>Salyut 7 space station salvage mission</span> </div> </a> <ul id="toc-Salyut_7_space_station_salvage_mission-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Uncrewed_dockings_of_non-cooperative_space_objects" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Uncrewed_dockings_of_non-cooperative_space_objects"> <div class="vector-toc-text"> <span class="vector-toc-numb">4.2</span> <span>Uncrewed dockings of non-cooperative space objects</span> </div> </a> <ul id="toc-Uncrewed_dockings_of_non-cooperative_space_objects-sublist" class="vector-toc-list"> </ul> </li> </ul> </li> <li id="toc-Docking_states" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Docking_states"> <div class="vector-toc-text"> <span class="vector-toc-numb">5</span> <span>Docking states</span> </div> </a> <ul id="toc-Docking_states-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Berthing_spacecraft_and_modules" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Berthing_spacecraft_and_modules"> <div class="vector-toc-text"> <span class="vector-toc-numb">6</span> <span>Berthing spacecraft and modules</span> </div> </a> <ul id="toc-Berthing_spacecraft_and_modules-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Mars_surface_docking" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Mars_surface_docking"> <div class="vector-toc-text"> <span class="vector-toc-numb">7</span> <span>Mars surface docking</span> </div> </a> <ul id="toc-Mars_surface_docking-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Gallery" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Gallery"> <div class="vector-toc-text"> <span class="vector-toc-numb">8</span> <span>Gallery</span> </div> </a> <ul id="toc-Gallery-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-References" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#References"> <div class="vector-toc-text"> <span class="vector-toc-numb">9</span> <span>References</span> </div> </a> <ul id="toc-References-sublist" class="vector-toc-list"> </ul> </li> </ul> </div> </div> </nav> </div> </div> <div class="mw-content-container"> <main id="content" class="mw-body"> <header class="mw-body-header vector-page-titlebar"> <nav aria-label="Contents" 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class="firstHeading mw-first-heading"><span class="mw-page-title-main">Docking and berthing of spacecraft</span></h1> <div id="p-lang-btn" class="vector-dropdown mw-portlet mw-portlet-lang" > <input type="checkbox" id="p-lang-btn-checkbox" role="button" aria-haspopup="true" data-event-name="ui.dropdown-p-lang-btn" class="vector-dropdown-checkbox mw-interlanguage-selector" aria-label="Go to an article in another language. Available in 15 languages" > <label id="p-lang-btn-label" for="p-lang-btn-checkbox" class="vector-dropdown-label cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--action-progressive mw-portlet-lang-heading-15" aria-hidden="true" ><span class="vector-icon mw-ui-icon-language-progressive mw-ui-icon-wikimedia-language-progressive"></span> <span class="vector-dropdown-label-text">15 languages</span> </label> <div class="vector-dropdown-content"> <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li class="interlanguage-link interwiki-ar mw-list-item"><a href="https://ar.wikipedia.org/wiki/%D8%B1%D8%B3%D9%88_%D9%88%D8%A7%D9%84%D8%AA%D8%AD%D8%A7%D9%85_%D8%A7%D9%84%D9%85%D8%B1%D9%83%D8%A8%D8%A7%D8%AA_%D8%A7%D9%84%D9%81%D8%B6%D8%A7%D8%A6%D9%8A%D8%A9" title="رسو والتحام المركبات الفضائية – Arabic" lang="ar" hreflang="ar" data-title="رسو والتحام المركبات الفضائية" data-language-autonym="العربية" data-language-local-name="Arabic" class="interlanguage-link-target"><span>العربية</span></a></li><li class="interlanguage-link interwiki-de mw-list-item"><a href="https://de.wikipedia.org/wiki/Ankopplung_(Raumfahrt)" title="Ankopplung (Raumfahrt) – German" lang="de" hreflang="de" data-title="Ankopplung (Raumfahrt)" data-language-autonym="Deutsch" data-language-local-name="German" class="interlanguage-link-target"><span>Deutsch</span></a></li><li class="interlanguage-link interwiki-fa mw-list-item"><a href="https://fa.wikipedia.org/wiki/%D8%A7%D8%AA%D8%B5%D8%A7%D9%84_%D9%88_%D9%BE%D9%87%D9%84%D9%88%DA%AF%DB%8C%D8%B1%DB%8C_%D9%81%D8%B6%D8%A7%D9%BE%DB%8C%D9%85%D8%A7" title="اتصال و پهلوگیری فضاپیما – Persian" lang="fa" hreflang="fa" data-title="اتصال و پهلوگیری فضاپیما" data-language-autonym="فارسی" data-language-local-name="Persian" class="interlanguage-link-target"><span>فارسی</span></a></li><li class="interlanguage-link interwiki-fr mw-list-item"><a href="https://fr.wikipedia.org/wiki/Amarrage_(astronautique)" title="Amarrage (astronautique) – French" lang="fr" hreflang="fr" data-title="Amarrage (astronautique)" data-language-autonym="Français" data-language-local-name="French" class="interlanguage-link-target"><span>Français</span></a></li><li class="interlanguage-link interwiki-ko mw-list-item"><a href="https://ko.wikipedia.org/wiki/%EB%8F%84%ED%82%B9_%EB%B0%8F_%EB%B2%84%EC%94%BD" title="도킹 및 버씽 – Korean" lang="ko" hreflang="ko" data-title="도킹 및 버씽" data-language-autonym="한국어" data-language-local-name="Korean" class="interlanguage-link-target"><span>한국어</span></a></li><li class="interlanguage-link interwiki-id mw-list-item"><a href="https://id.wikipedia.org/wiki/Penyandaran_dan_penambatan_wahana_antariksa" title="Penyandaran dan penambatan wahana antariksa – Indonesian" lang="id" hreflang="id" data-title="Penyandaran dan penambatan wahana antariksa" data-language-autonym="Bahasa Indonesia" data-language-local-name="Indonesian" class="interlanguage-link-target"><span>Bahasa Indonesia</span></a></li><li class="interlanguage-link interwiki-it mw-list-item"><a href="https://it.wikipedia.org/wiki/Docking_e_berthing_di_un_veicolo_spaziale" title="Docking e berthing di un veicolo spaziale – Italian" lang="it" hreflang="it" data-title="Docking e berthing di un veicolo spaziale" data-language-autonym="Italiano" data-language-local-name="Italian" class="interlanguage-link-target"><span>Italiano</span></a></li><li class="interlanguage-link interwiki-ja mw-list-item"><a href="https://ja.wikipedia.org/wiki/%E5%AE%87%E5%AE%99%E6%A9%9F%E3%81%AE%E3%83%89%E3%83%83%E3%82%AD%E3%83%B3%E3%82%B0%E3%81%8A%E3%82%88%E3%81%B3%E4%BF%82%E7%95%99" title="宇宙機のドッキングおよび係留 – Japanese" lang="ja" hreflang="ja" data-title="宇宙機のドッキングおよび係留" data-language-autonym="日本語" data-language-local-name="Japanese" class="interlanguage-link-target"><span>日本語</span></a></li><li class="interlanguage-link interwiki-pt mw-list-item"><a href="https://pt.wikipedia.org/wiki/Acoplamento_(astron%C3%A1utica)" title="Acoplamento (astronáutica) – Portuguese" lang="pt" hreflang="pt" data-title="Acoplamento (astronáutica)" data-language-autonym="Português" data-language-local-name="Portuguese" class="interlanguage-link-target"><span>Português</span></a></li><li class="interlanguage-link interwiki-ro mw-list-item"><a href="https://ro.wikipedia.org/wiki/Andocare" title="Andocare – Romanian" lang="ro" hreflang="ro" data-title="Andocare" data-language-autonym="Română" data-language-local-name="Romanian" class="interlanguage-link-target"><span>Română</span></a></li><li class="interlanguage-link interwiki-sk mw-list-item"><a href="https://sk.wikipedia.org/wiki/Dokovanie_a_kotvenie_kozmickej_lode" title="Dokovanie a kotvenie kozmickej lode – Slovak" lang="sk" hreflang="sk" data-title="Dokovanie a kotvenie kozmickej lode" data-language-autonym="Slovenčina" data-language-local-name="Slovak" class="interlanguage-link-target"><span>Slovenčina</span></a></li><li class="interlanguage-link interwiki-fi mw-list-item"><a href="https://fi.wikipedia.org/wiki/Telakointi_(avaruus)" title="Telakointi (avaruus) – Finnish" lang="fi" hreflang="fi" data-title="Telakointi (avaruus)" data-language-autonym="Suomi" data-language-local-name="Finnish" class="interlanguage-link-target"><span>Suomi</span></a></li><li class="interlanguage-link interwiki-sv mw-list-item"><a href="https://sv.wikipedia.org/wiki/Dockning" title="Dockning – Swedish" lang="sv" hreflang="sv" data-title="Dockning" data-language-autonym="Svenska" data-language-local-name="Swedish" class="interlanguage-link-target"><span>Svenska</span></a></li><li class="interlanguage-link interwiki-th mw-list-item"><a href="https://th.wikipedia.org/wiki/%E0%B8%81%E0%B8%B2%E0%B8%A3%E0%B9%80%E0%B8%8A%E0%B8%B7%E0%B9%88%E0%B8%AD%E0%B8%A1%E0%B8%95%E0%B9%88%E0%B8%AD%E0%B9%81%E0%B8%A5%E0%B8%B0%E0%B8%81%E0%B8%B2%E0%B8%A3%E0%B8%88%E0%B8%AD%E0%B8%94%E0%B9%80%E0%B8%97%E0%B8%B5%E0%B8%A2%E0%B8%9A%E0%B8%97%E0%B9%88%E0%B8%B2%E0%B8%82%E0%B8%AD%E0%B8%87%E0%B8%A2%E0%B8%B2%E0%B8%99%E0%B8%AD%E0%B8%A7%E0%B8%81%E0%B8%B2%E0%B8%A8" title="การเชื่อมต่อและการจอดเทียบท่าของยานอวกาศ – Thai" lang="th" hreflang="th" data-title="การเชื่อมต่อและการจอดเทียบท่าของยานอวกาศ" data-language-autonym="ไทย" data-language-local-name="Thai" class="interlanguage-link-target"><span>ไทย</span></a></li><li class="interlanguage-link interwiki-zh badge-Q17437798 badge-goodarticle mw-list-item" title="good article badge"><a href="https://zh.wikipedia.org/wiki/%E7%A9%BA%E9%97%B4%E5%AF%B9%E6%8E%A5" title="空间对接 – Chinese" lang="zh" hreflang="zh" data-title="空间对接" data-language-autonym="中文" data-language-local-name="Chinese" 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This connection can be temporary, or <a href="https://en.wiktionary.org/wiki/semipermanent" class="extiw" title="wiktionary:semipermanent">partially permanent</a> such as for space station modules. </p><p><i>Docking</i> specifically refers to joining of two separate free-flying space vehicles.<sup id="cite_ref-her_1-0" class="reference"><a href="#cite_note-her-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-nasa20090317_2-0" class="reference"><a href="#cite_note-nasa20090317-2"><span class="cite-bracket">[</span>2<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-ARDS_3-0" class="reference"><a href="#cite_note-ARDS-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-AdvanDock_4-0" class="reference"><a href="#cite_note-AdvanDock-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup> <i>Berthing</i> refers to mating operations where a passive module/vehicle is placed into the mating interface of another space vehicle by using a <a href="/wiki/Robotic_arm" title="Robotic arm">robotic arm</a>.<sup id="cite_ref-her_1-1" class="reference"><a href="#cite_note-her-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-ARDS_3-1" class="reference"><a href="#cite_note-ARDS-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-AdvanDock_4-1" class="reference"><a href="#cite_note-AdvanDock-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup> Because the modern process of un-berthing requires more crew labor and is time-consuming, berthing operations are unsuited for rapid crew evacuations in the event of an emergency.<sup id="cite_ref-5" class="reference"><a href="#cite_note-5"><span class="cite-bracket">[</span>5<span class="cite-bracket">]</span></a></sup> </p> <meta property="mw:PageProp/toc" /> <div class="mw-heading mw-heading2"><h2 id="History">History</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=1" title="Edit section: History"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <div class="mw-heading mw-heading3"><h3 id="Docking">Docking</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=2" title="Edit section: Docking"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1251242444" /><table class="box-More_citations_needed_section plainlinks metadata ambox ambox-content ambox-Refimprove" role="presentation"><tbody><tr><td class="mbox-image"><div class="mbox-image-div"><span typeof="mw:File"><a href="/wiki/File:Question_book-new.svg" class="mw-file-description"><img alt="" src="//upload.wikimedia.org/wikipedia/en/thumb/9/99/Question_book-new.svg/50px-Question_book-new.svg.png" decoding="async" width="50" height="39" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/en/thumb/9/99/Question_book-new.svg/75px-Question_book-new.svg.png 1.5x, //upload.wikimedia.org/wikipedia/en/thumb/9/99/Question_book-new.svg/100px-Question_book-new.svg.png 2x" data-file-width="512" data-file-height="399" /></a></span></div></td><td class="mbox-text"><div class="mbox-text-span">This section <b>needs additional citations for <a href="/wiki/Wikipedia:Verifiability" title="Wikipedia:Verifiability">verification</a></b>.<span class="hide-when-compact"> Please help <a href="/wiki/Special:EditPage/Docking_and_berthing_of_spacecraft" title="Special:EditPage/Docking and berthing of spacecraft">improve this article</a> by <a href="/wiki/Help:Referencing_for_beginners" title="Help:Referencing for beginners">adding citations to reliable sources</a> in this section. Unsourced material may be challenged and removed.</span> <span class="date-container"><i>(<span class="date">October 2018</span>)</i></span><span class="hide-when-compact"><i> (<small><a href="/wiki/Help:Maintenance_template_removal" title="Help:Maintenance template removal">Learn how and when to remove this message</a></small>)</i></span></div></td></tr></tbody></table> <figure class="mw-default-size" typeof="mw:File/Thumb"><a href="/wiki/File:Gemini_8_docking.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/b/b5/Gemini_8_docking.jpg/220px-Gemini_8_docking.jpg" decoding="async" width="220" height="220" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/b/b5/Gemini_8_docking.jpg/330px-Gemini_8_docking.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/b/b5/Gemini_8_docking.jpg/440px-Gemini_8_docking.jpg 2x" data-file-width="6601" data-file-height="6601" /></a><figcaption> The first spacecraft docking was performed between <a href="/wiki/Gemini_8" title="Gemini 8">Gemini 8</a> and an uncrewed <a href="/wiki/Agena_Target_Vehicle" class="mw-redirect" title="Agena Target Vehicle">Agena Target Vehicle</a> on March 16, 1966.</figcaption></figure> <p>Spacecraft docking capability depends on <a href="/wiki/Space_rendezvous" title="Space rendezvous">space rendezvous</a>, the ability of two spacecraft to find each other and <a href="/wiki/Orbital_station-keeping" title="Orbital station-keeping">station-keep in the same orbit</a>. This was first developed by the United States for <a href="/wiki/Project_Gemini" title="Project Gemini">Project Gemini</a>. It was planned for the crew of <a href="/wiki/Gemini_6A" title="Gemini 6A">Gemini 6</a> to rendezvous and manually dock under the command of <a href="/wiki/Wally_Schirra" title="Wally Schirra">Wally Schirra</a>, with an uncrewed <a href="/wiki/Agena_Target_Vehicle" class="mw-redirect" title="Agena Target Vehicle">Agena Target Vehicle</a> in October 1965, but the Agena vehicle exploded during launch. On the revised mission Gemini 6A, Schirra successfully performed a rendezvous in December 1965 with the crewed <a href="/wiki/Gemini_7" title="Gemini 7">Gemini 7</a>, approaching to within 0.3 metres (1 ft), but there was no docking capability between two Gemini spacecraft. The first docking with an Agena was successfully performed under the command of <a href="/wiki/Neil_Armstrong" title="Neil Armstrong">Neil Armstrong</a> on <a href="/wiki/Gemini_8" title="Gemini 8">Gemini 8</a> on March 16, 1966. Manual dockings were performed on three subsequent Gemini missions in 1966. </p><p>The <a href="/wiki/Apollo_program" title="Apollo program">Apollo program</a> depended on <a href="/wiki/Lunar_orbit_rendezvous" title="Lunar orbit rendezvous">lunar orbit rendezvous</a> to achieve its objective of landing men on the Moon. This required first a <a href="/wiki/Transposition,_docking,_and_extraction" title="Transposition, docking, and extraction">transposition, docking, and extraction</a> maneuver between the <a href="/wiki/Apollo_command_and_service_module" title="Apollo command and service module">Apollo command and service module</a> (CSM) mother spacecraft and the <a href="/wiki/Apollo_Lunar_Module" title="Apollo Lunar Module">Lunar Module</a> (LM) landing spacecraft, shortly after both craft were sent out of Earth orbit on a path to the Moon. Then after completing the lunar landing mission, two astronauts in the LM had to rendezvous and dock with the CSM in lunar orbit, in order to be able to return to Earth. The spacecraft were designed to permit intra-vehicular crew transfer through a tunnel between the nose of the Command Module and the roof of the Lunar Module. These maneuvers were first demonstrated in <a href="/wiki/Low_Earth_orbit" title="Low Earth orbit">low Earth orbit</a> on March 7, 1969, on <a href="/wiki/Apollo_9" title="Apollo 9">Apollo 9</a>, then in lunar orbit in May 1969 on <a href="/wiki/Apollo_10" title="Apollo 10">Apollo 10</a>, then in six lunar landing missions, as well as on <a href="/wiki/Apollo_13" title="Apollo 13">Apollo 13</a> where the LM was used as a rescue vehicle instead of making a lunar landing. </p><p>Unlike the United States, which used manual piloted docking throughout the Apollo, <a href="/wiki/Skylab" title="Skylab">Skylab</a>, and <a href="/wiki/Space_Shuttle" title="Space Shuttle">Space Shuttle</a> programs, the Soviet Union employed automated docking systems from the beginning of its docking attempts. The first such system, <a href="/wiki/Igla_(spacecraft_docking_system)" title="Igla (spacecraft docking system)">Igla</a>, was successfully tested on October 30, 1967, when the two uncrewed <a href="/wiki/Soyuz_(spacecraft)" title="Soyuz (spacecraft)">Soyuz</a> test vehicles <a href="/wiki/Kosmos_186" class="mw-redirect" title="Kosmos 186">Kosmos 186</a> and <a href="/wiki/Kosmos_188" class="mw-redirect" title="Kosmos 188">Kosmos 188</a> docked automatically in orbit.<sup id="cite_ref-MirHH_6-0" class="reference"><a href="#cite_note-MirHH-6"><span class="cite-bracket">[</span>6<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-7" class="reference"><a href="#cite_note-7"><span class="cite-bracket">[</span>7<span class="cite-bracket">]</span></a></sup> This was the first successful Soviet docking. Proceeding to crewed docking attempts, the Soviet Union first achieved rendezvous of <a href="/wiki/Soyuz_3" title="Soyuz 3">Soyuz 3</a> with the uncrewed <a href="/wiki/Soyuz_2" title="Soyuz 2">Soyuz 2</a> craft on October 25, 1968; docking was unsuccessfully attempted. The first crewed docking was achieved on January 16, 1969, between <a href="/wiki/Soyuz_4" title="Soyuz 4">Soyuz 4</a> and <a href="/wiki/Soyuz_5" title="Soyuz 5">Soyuz 5</a>.<sup id="cite_ref-MAAS_Collection_8-0" class="reference"><a href="#cite_note-MAAS_Collection-8"><span class="cite-bracket">[</span>8<span class="cite-bracket">]</span></a></sup> This early version of the <a href="/wiki/Soyuz_(spacecraft)" title="Soyuz (spacecraft)">Soyuz spacecraft</a> had no internal transfer tunnel, but two cosmonauts performed an <a href="/wiki/Extravehicular_activity" title="Extravehicular activity">extravehicular</a> transfer from Soyuz 5 to Soyuz 4, landing in a different spacecraft than they had launched in.<sup id="cite_ref-NASA_9-0" class="reference"><a href="#cite_note-NASA-9"><span class="cite-bracket">[</span>9<span class="cite-bracket">]</span></a></sup> </p><p>In the 1970s, the Soviet Union upgraded the Soyuz spacecraft to add an internal transfer tunnel and used it to transport cosmonauts during the <a href="/wiki/Salyut" class="mw-redirect" title="Salyut">Salyut</a> space station program with the first successful space station visit beginning on 7 June 1971, when <a href="/wiki/Soyuz_11" title="Soyuz 11">Soyuz 11</a> docked to <a href="/wiki/Salyut_1" title="Salyut 1">Salyut 1</a>. The United States followed suit, docking its Apollo spacecraft to the <a href="/wiki/Skylab" title="Skylab">Skylab</a> space station in May 1973. In July 1975, the two nations cooperated in the <a href="/wiki/Apollo-Soyuz_Test_Project" class="mw-redirect" title="Apollo-Soyuz Test Project">Apollo-Soyuz Test Project</a>, docking an Apollo spacecraft with a Soyuz using a specially designed docking module to accommodate the different docking systems and spacecraft atmospheres. </p><p>Beginning with <a href="/wiki/Salyut_6" title="Salyut 6">Salyut 6</a> in 1978, the Soviet Union began using the uncrewed <a href="/wiki/Progress_(spacecraft)" title="Progress (spacecraft)">Progress</a> cargo spacecraft to resupply its space stations in low earth orbit, greatly extending the length of crew stays. As an uncrewed spacecraft, Progress rendezvoused and docked with the space stations entirely automatically. In 1986, the Igla docking system was replaced with the updated <a href="/wiki/Kurs_(docking_navigation_system)" title="Kurs (docking navigation system)">Kurs system</a> on Soyuz spacecraft. Progress spacecraft received the same upgrade several years later.<sup id="cite_ref-MirHH_6-1" class="reference"><a href="#cite_note-MirHH-6"><span class="cite-bracket">[</span>6<span class="cite-bracket">]</span></a></sup><sup class="reference nowrap"><span title="Page / location: 7">: 7 </span></sup> The Kurs system is still used to dock to the <a href="/wiki/Russian_Orbital_Segment" title="Russian Orbital Segment">Russian Orbital Segment</a> of the <a href="/wiki/International_Space_Station" title="International Space Station">International Space Station</a>. </p> <div class="mw-heading mw-heading3"><h3 id="Berthing">Berthing</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=3" title="Edit section: Berthing"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <figure class="mw-default-size mw-halign-right" typeof="mw:File/Thumb"><a href="/wiki/File:HST_Flight_Support_Structure_(STS-109).jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/c/c1/HST_Flight_Support_Structure_%28STS-109%29.jpg/220px-HST_Flight_Support_Structure_%28STS-109%29.jpg" decoding="async" width="220" height="146" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/c/c1/HST_Flight_Support_Structure_%28STS-109%29.jpg/330px-HST_Flight_Support_Structure_%28STS-109%29.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/c/c1/HST_Flight_Support_Structure_%28STS-109%29.jpg/440px-HST_Flight_Support_Structure_%28STS-109%29.jpg 2x" data-file-width="3032" data-file-height="2008" /></a><figcaption>Flight Support Structure in <i>Columbia</i><span class="nowrap" style="padding-left:0.1em;">'s</span> payload bay under the 180 degree mark on the -V3 plane of the Hubble Space Telescope during <a href="/wiki/STS-109" title="STS-109">STS-109</a>.</figcaption></figure><p>Berthing of spacecraft can be traced at least as far back as the berthing of payloads into the Space Shuttle payload bay.<sup id="cite_ref-10" class="reference"><a href="#cite_note-10"><span class="cite-bracket">[</span>10<span class="cite-bracket">]</span></a></sup> Such payloads could be either free-flying spacecraft captured for maintenance/return, or payloads temporarily exposed to the space environment at the end of the <a href="/wiki/Canadarm" title="Canadarm">Remote Manipulator System</a>. Several different berthing mechanisms were used during the Space Shuttle era. Some of them were features of the Payload Bay (e.g., the Payload Retention Latch Assembly), while others were airborne support equipment (e.g., the Flight Support Structure used for <a href="/wiki/Hubble_Space_Telescope#Servicing_missions_and_new_instruments" title="Hubble Space Telescope">HST servicing missions</a>). </p><div class="mw-heading mw-heading2"><h2 id="Hardware">Hardware</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=4" title="Edit section: Hardware"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <div class="mw-heading mw-heading3"><h3 id="Androgyny">Androgyny</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=5" title="Edit section: Androgyny"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1235681985">.mw-parser-output .side-box{margin:4px 0;box-sizing:border-box;border:1px solid #aaa;font-size:88%;line-height:1.25em;background-color:var(--background-color-interactive-subtle,#f8f9fa);display:flow-root}.mw-parser-output .side-box-abovebelow,.mw-parser-output .side-box-text{padding:0.25em 0.9em}.mw-parser-output .side-box-image{padding:2px 0 2px 0.9em;text-align:center}.mw-parser-output .side-box-imageright{padding:2px 0.9em 2px 0;text-align:center}@media(min-width:500px){.mw-parser-output .side-box-flex{display:flex;align-items:center}.mw-parser-output .side-box-text{flex:1;min-width:0}}@media(min-width:720px){.mw-parser-output .side-box{width:238px}.mw-parser-output .side-box-right{clear:right;float:right;margin-left:1em}.mw-parser-output .side-box-left{margin-right:1em}}</style><style data-mw-deduplicate="TemplateStyles:r1237033735">@media print{body.ns-0 .mw-parser-output .sistersitebox{display:none!important}}@media screen{html.skin-theme-clientpref-night .mw-parser-output .sistersitebox img[src*="Wiktionary-logo-en-v2.svg"]{background-color:white}}@media screen and (prefers-color-scheme:dark){html.skin-theme-clientpref-os .mw-parser-output .sistersitebox img[src*="Wiktionary-logo-en-v2.svg"]{background-color:white}}</style><div class="side-box side-box-right plainlinks sistersitebox"><style data-mw-deduplicate="TemplateStyles:r1126788409">.mw-parser-output .plainlist ol,.mw-parser-output .plainlist ul{line-height:inherit;list-style:none;margin:0;padding:0}.mw-parser-output .plainlist ol li,.mw-parser-output .plainlist ul li{margin-bottom:0}</style> <div class="side-box-flex"> <div class="side-box-image"><span class="noviewer" typeof="mw:File"><a href="/wiki/File:Wiktionary-logo-en-v2.svg" class="mw-file-description"><img alt="" src="//upload.wikimedia.org/wikipedia/commons/thumb/9/99/Wiktionary-logo-en-v2.svg/40px-Wiktionary-logo-en-v2.svg.png" decoding="async" width="40" height="40" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/9/99/Wiktionary-logo-en-v2.svg/60px-Wiktionary-logo-en-v2.svg.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/9/99/Wiktionary-logo-en-v2.svg/80px-Wiktionary-logo-en-v2.svg.png 2x" data-file-width="512" data-file-height="512" /></a></span></div> <div class="side-box-text plainlist">Look up <i><b><a href="https://en.wiktionary.org/wiki/androgynous" class="extiw" title="wiktionary:androgynous">androgynous</a></b></i> in Wiktionary, the free dictionary.</div></div> </div> <p>Docking/berthing systems may be either androgynous (<a href="/wiki/Hermaphroditic_connector" class="mw-redirect" title="Hermaphroditic connector">ungendered</a>) or non-androgynous (<a href="/wiki/Gender_of_connectors_and_fasteners" title="Gender of connectors and fasteners">gendered</a>), indicating which parts of the system may mate together. </p><p>Early systems for conjoining spacecraft were all non-androgynous docking system designs. Non-androgynous designs are a form of <i>gender mating</i><sup id="cite_ref-nasa20090317_2-1" class="reference"><a href="#cite_note-nasa20090317-2"><span class="cite-bracket">[</span>2<span class="cite-bracket">]</span></a></sup> where each spacecraft to be joined has a unique design (male or female) and a specific role to play in the docking process. The roles cannot be reversed. Furthermore, two spacecraft of the same gender cannot be joined at all. </p><p>Androgynous docking (and later androgynous berthing) by contrast has an identical interface on both spacecraft. In an androgynous interface, there is a single design which can connect to a duplicate of itself. This allows system-level <a href="/wiki/Redundancy_(engineering)" title="Redundancy (engineering)">redundancy</a> (role reversing) as well as rescue and collaboration between any two spacecraft. It also provides more flexible mission design and reduces unique mission analysis and training.<sup id="cite_ref-nasa20090317_2-2" class="reference"><a href="#cite_note-nasa20090317-2"><span class="cite-bracket">[</span>2<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading3"><h3 id="List_of_mechanisms/systems"><span id="List_of_mechanisms.2Fsystems"></span>List of mechanisms/systems</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=6" title="Edit section: List of mechanisms/systems"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <table class="wikitable"> <tbody><tr> <th>Image </th> <th>Name </th> <th>Method </th> <th>Internal crew transfer </th> <th>Notes </th> <th>Type </th></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:Gemini_Docking_Mechanism_diagram_view2.png" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/e/ec/Gemini_Docking_Mechanism_diagram_view2.png/120px-Gemini_Docking_Mechanism_diagram_view2.png" decoding="async" width="120" height="86" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/e/ec/Gemini_Docking_Mechanism_diagram_view2.png/180px-Gemini_Docking_Mechanism_diagram_view2.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/e/ec/Gemini_Docking_Mechanism_diagram_view2.png/240px-Gemini_Docking_Mechanism_diagram_view2.png 2x" data-file-width="342" data-file-height="244" /></a></span> </td> <td><a href="/wiki/Gemini_Docking_Mechanism" title="Gemini Docking Mechanism">Gemini Docking Mechanism</a> </td> <td>Docking </td> <td>No </td> <td>Allowed the <a href="/wiki/Project_Gemini#Spacecraft" title="Project Gemini">Gemini Spacecraft</a> (active) to dock to the <a href="/wiki/Agena_target_vehicle" title="Agena target vehicle">Agena target vehicle</a> (passive). </td> <td>Non-Androgynous </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:S68-50869.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/d/d2/S68-50869.jpg/120px-S68-50869.jpg" decoding="async" width="120" height="90" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/d/d2/S68-50869.jpg/180px-S68-50869.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/d/d2/S68-50869.jpg/240px-S68-50869.jpg 2x" data-file-width="640" data-file-height="480" /></a></span> </td> <td><a href="/wiki/Apollo_Docking_Mechanism" title="Apollo Docking Mechanism">Apollo Docking Mechanism</a> </td> <td>Docking </td> <td>Yes </td> <td>Allowed the <a href="/wiki/Apollo_Command/Service_Module" class="mw-redirect" title="Apollo Command/Service Module">Command/Service Module</a> (active) to dock to the <a href="/wiki/Apollo_Lunar_Module" title="Apollo Lunar Module">Apollo Lunar Module</a><sup id="cite_ref-11" class="reference"><a href="#cite_note-11"><span class="cite-bracket">[</span>11<span class="cite-bracket">]</span></a></sup> (passive) and the <a href="/wiki/Skylab" title="Skylab">Skylab</a> space station (passive). Was used to dock to the Docking Module adapter (passive) during the <a href="/wiki/Apollo%E2%80%93Soyuz_Test_Project" class="mw-redirect" title="Apollo–Soyuz Test Project">Apollo–Soyuz Test Project</a> (ASTP), which enabled the crew to dock with a Soviet <a href="/wiki/Soyuz_7K-TM" title="Soyuz 7K-TM">Soyuz 7K-TM</a> spacecraft. It had a circular pass through diameter of 810 mm (32 in).<sup id="cite_ref-12" class="reference"><a href="#cite_note-12"><span class="cite-bracket">[</span>12<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-13" class="reference"><a href="#cite_note-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> </td> <td>Non-Androgynous </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:Soyuz_7K-OK_docking_system_drawing.png" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/8/84/Soyuz_7K-OK_docking_system_drawing.png/120px-Soyuz_7K-OK_docking_system_drawing.png" decoding="async" width="120" height="50" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/8/84/Soyuz_7K-OK_docking_system_drawing.png/180px-Soyuz_7K-OK_docking_system_drawing.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/8/84/Soyuz_7K-OK_docking_system_drawing.png/240px-Soyuz_7K-OK_docking_system_drawing.png 2x" data-file-width="1739" data-file-height="726" /></a></span> </td> <td>Original Russian probe and drogue docking system </td> <td>Docking </td> <td>No </td> <td>The original Soyuz probe-and-drogue docking system was used with the first generation <a href="/wiki/Soyuz_7K-OK" title="Soyuz 7K-OK">Soyuz 7K-OK</a> spacecraft from 1966 until 1970 in order to gather engineering data as a preparation for the Soviet space station program. The gathered data were subsequently used for the conversion of the Soyuz spacecraft – which was initially developed for the <a href="/wiki/Soviet_crewed_lunar_programs" title="Soviet crewed lunar programs">Soviet crewed lunar program</a> – into a space station transport craft.<sup id="cite_ref-her_1-2" class="reference"><a href="#cite_note-her-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup> <p>A first docking with two uncrewed Soyuz spacecraft – the first fully automated space docking in the history of space flight – was made with the <a href="/wiki/Kosmos_186_and_Kosmos_188" title="Kosmos 186 and Kosmos 188">Kosmos 186 and Kosmos 188</a> missions on October 30, 1967. </p> </td> <td>Non-Androgynous </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:Kontakt_docking_system.png" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/b/bc/Kontakt_docking_system.png/120px-Kontakt_docking_system.png" decoding="async" width="120" height="85" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/b/bc/Kontakt_docking_system.png/180px-Kontakt_docking_system.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/b/bc/Kontakt_docking_system.png/240px-Kontakt_docking_system.png 2x" data-file-width="458" data-file-height="323" /></a></span> </td> <td>Kontakt docking system </td> <td>Docking </td> <td>No </td> <td>Intended to be used in the <a href="/wiki/Soviet_crewed_lunar_programs" title="Soviet crewed lunar programs">Soviet crewed lunar program</a> to allow the <a href="/wiki/Soyuz_7K-LOK" title="Soyuz 7K-LOK">Soyuz 7K-LOK</a> ("Lunar Orbital Craft", active) to dock to the <a href="/wiki/LK_(spacecraft)" title="LK (spacecraft)">LK lunar lander</a> (passive).<sup id="cite_ref-Mir_14-0" class="reference"><a href="#cite_note-Mir-14"><span class="cite-bracket">[</span>14<span class="cite-bracket">]</span></a></sup> </td> <td>Non-Androgynous </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:Russian_drogue.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/d/d9/Russian_drogue.jpg/65px-Russian_drogue.jpg" decoding="async" width="65" height="61" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/d/d9/Russian_drogue.jpg/98px-Russian_drogue.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/d/d9/Russian_drogue.jpg/130px-Russian_drogue.jpg 2x" data-file-width="351" data-file-height="328" /></a></span><span typeof="mw:File"><a href="/wiki/File:Russian_probe_extended.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/9/91/Russian_probe_extended.jpg/73px-Russian_probe_extended.jpg" decoding="async" width="73" height="61" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/9/91/Russian_probe_extended.jpg/110px-Russian_probe_extended.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/9/91/Russian_probe_extended.jpg/146px-Russian_probe_extended.jpg 2x" data-file-width="754" data-file-height="632" /></a></span> </td> <td><a href="/wiki/SSVP_docking_system" title="SSVP docking system">SSVP-G4000</a> </td> <td>Docking </td> <td>Yes </td> <td>SSVP-G4000 is also known more vaguely as the Russian <i>probe and drogue</i> or simply the Russian Docking System (RDS).<sup id="cite_ref-her_1-3" class="reference"><a href="#cite_note-her-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-ESARDS_15-0" class="reference"><a href="#cite_note-ESARDS-15"><span class="cite-bracket">[</span>15<span class="cite-bracket">]</span></a></sup> In Russian, SSVP stands for <a href="/wiki/Sistema_Stykovki_i_Vnutrennego_Perekhoda" class="mw-redirect" title="Sistema Stykovki i Vnutrennego Perekhoda">Sistema Stykovki i Vnutrennego Perekhoda</a>, literally "System for docking and internal transfer".<sup id="cite_ref-rswDOCK_16-0" class="reference"><a href="#cite_note-rswDOCK-16"><span class="cite-bracket">[</span>16<span class="cite-bracket">]</span></a></sup> <p>It was used for the first docking to a space station in the history of space flight, with the <a href="/wiki/Soyuz_10" title="Soyuz 10">Soyuz 10</a> and <a href="/wiki/Soyuz_11" title="Soyuz 11">Soyuz 11</a> missions that docked to the Soviet space station <a href="/wiki/Salyut_1" title="Salyut 1">Salyut 1</a> in 1971.<sup id="cite_ref-her_1-4" class="reference"><a href="#cite_note-her-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-ESARDS_15-1" class="reference"><a href="#cite_note-ESARDS-15"><span class="cite-bracket">[</span>15<span class="cite-bracket">]</span></a></sup> The docking system was upgraded in the mid-1980s to allow the docking of 20 ton modules to the <a href="/wiki/Mir" title="Mir">Mir</a> space station.<sup id="cite_ref-rswDOCK_16-1" class="reference"><a href="#cite_note-rswDOCK-16"><span class="cite-bracket">[</span>16<span class="cite-bracket">]</span></a></sup> It has a circular transfer passage that has a diameter of 800 mm (31 in) and is manufactured by RKK Energiya.<sup id="cite_ref-ARDS_3-2" class="reference"><a href="#cite_note-ARDS-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-AdvanDock_4-2" class="reference"><a href="#cite_note-AdvanDock-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-rswDOCK_16-2" class="reference"><a href="#cite_note-rswDOCK-16"><span class="cite-bracket">[</span>16<span class="cite-bracket">]</span></a></sup> </p><p>The probe-and-drogue system allows visiting spacecraft using the probe docking interface, such as <a href="/wiki/Soyuz_(spacecraft)" title="Soyuz (spacecraft)">Soyuz</a>, <a href="/wiki/Progress_(spacecraft)" title="Progress (spacecraft)">Progress</a> and ESA's <a href="/wiki/Automated_Transfer_Vehicle" title="Automated Transfer Vehicle">ATV</a> spacecraft, to dock to space stations that offer a port with a drogue interface, like the former <a href="/wiki/Salyut_program" class="mw-redirect" title="Salyut program">Salyut</a> and <a href="/wiki/Mir" title="Mir">Mir</a> or the current <a href="/wiki/ISS" class="mw-redirect" title="ISS">ISS</a> space station. There are a total of four such docking ports available on the <a href="/wiki/Russian_Orbital_Segment" title="Russian Orbital Segment">Russian Orbital Segment</a> of ISS for visiting spacecraft; These are located on the Zvezda, Rassvet, Prichal and Poisk modules.<sup id="cite_ref-rswDOCK_16-3" class="reference"><a href="#cite_note-rswDOCK-16"><span class="cite-bracket">[</span>16<span class="cite-bracket">]</span></a></sup> Furthermore, the probe-and-drogue system was used on the ISS to dock <a href="/wiki/Rassvet_(ISS_module)" title="Rassvet (ISS module)">Rassvet</a> semipermanently to Zarya.<sup id="cite_ref-her_1-5" class="reference"><a href="#cite_note-her-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup> </p> </td> <td>Non-Androgynous </td></tr> <tr> <td><figure class="mw-halign-center" typeof="mw:File"><a href="/wiki/File:APAS-75_image_cropped_and_rotated.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/c/cc/APAS-75_image_cropped_and_rotated.jpg/80px-APAS-75_image_cropped_and_rotated.jpg" decoding="async" width="80" height="76" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/c/cc/APAS-75_image_cropped_and_rotated.jpg/120px-APAS-75_image_cropped_and_rotated.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/c/cc/APAS-75_image_cropped_and_rotated.jpg/160px-APAS-75_image_cropped_and_rotated.jpg 2x" data-file-width="3024" data-file-height="2867" /></a><figcaption></figcaption></figure> </td> <td><a href="/wiki/Androgynous_Peripheral_Docking_System#APAS-75" class="mw-redirect" title="Androgynous Peripheral Docking System">APAS-75</a> </td> <td>Docking </td> <td>Yes </td> <td>Used on the <a href="/wiki/Apollo-Soyuz_Test_Project" class="mw-redirect" title="Apollo-Soyuz Test Project">Apollo-Soyuz Test Project</a> Docking Module and <a href="/wiki/Soyuz_7K-TM" title="Soyuz 7K-TM">Soyuz 7K-TM</a>. There were variations in design between the American and Soviet version but they were still mechanically compatible. </td> <td>Androgynous </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:APAS-89_forward_docking_mechanism_on_Kristall.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/6/6f/APAS-89_forward_docking_mechanism_on_Kristall.jpg/62px-APAS-89_forward_docking_mechanism_on_Kristall.jpg" decoding="async" width="62" height="63" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/6/6f/APAS-89_forward_docking_mechanism_on_Kristall.jpg/93px-APAS-89_forward_docking_mechanism_on_Kristall.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/6/6f/APAS-89_forward_docking_mechanism_on_Kristall.jpg/124px-APAS-89_forward_docking_mechanism_on_Kristall.jpg 2x" data-file-width="2246" data-file-height="2293" /></a></span><span typeof="mw:File"><a href="/wiki/File:APAS-89_active_-_drawing.png" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/1/1b/APAS-89_active_-_drawing.png/85px-APAS-89_active_-_drawing.png" decoding="async" width="85" height="60" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/1/1b/APAS-89_active_-_drawing.png/128px-APAS-89_active_-_drawing.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/1/1b/APAS-89_active_-_drawing.png/170px-APAS-89_active_-_drawing.png 2x" data-file-width="751" data-file-height="528" /></a></span> </td> <td><a href="/wiki/Androgynous_Peripheral_Docking_System#APAS-89" class="mw-redirect" title="Androgynous Peripheral Docking System">APAS-89</a> </td> <td>Docking </td> <td>Yes </td> <td>Used on Mir (<a href="/wiki/Kristall" title="Kristall">Kristall</a>,<sup id="cite_ref-Mir_14-1" class="reference"><a href="#cite_note-Mir-14"><span class="cite-bracket">[</span>14<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-sovietspaceshuttledockingmodule_17-0" class="reference"><a href="#cite_note-sovietspaceshuttledockingmodule-17"><span class="cite-bracket">[</span>17<span class="cite-bracket">]</span></a></sup> <a href="/wiki/Mir_Docking_Module" title="Mir Docking Module">Mir Docking Module</a>), <a href="/wiki/Soyuz_TM-16" title="Soyuz TM-16">Soyuz TM-16</a>,<sup id="cite_ref-Mir_14-2" class="reference"><a href="#cite_note-Mir-14"><span class="cite-bracket">[</span>14<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-sovietspaceshuttledockingmodule_17-1" class="reference"><a href="#cite_note-sovietspaceshuttledockingmodule-17"><span class="cite-bracket">[</span>17<span class="cite-bracket">]</span></a></sup> <a href="/wiki/Buran_(spacecraft)" title="Buran (spacecraft)">Buran</a> (was planned).<sup id="cite_ref-sovietspaceshuttledockingmodule_17-2" class="reference"><a href="#cite_note-sovietspaceshuttledockingmodule-17"><span class="cite-bracket">[</span>17<span class="cite-bracket">]</span></a></sup> It had a circular transfer passage with a diameter of 800 mm (31 in).<sup id="cite_ref-her_1-6" class="reference"><a href="#cite_note-her-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-ARDS_3-3" class="reference"><a href="#cite_note-ARDS-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-AdvanDock_4-3" class="reference"><a href="#cite_note-AdvanDock-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup> </td> <td>Androgynous (Soyuz TM-16), Non-Androgynous (Kristall,<sup id="cite_ref-kristall_18-0" class="reference"><a href="#cite_note-kristall-18"><span class="cite-bracket">[</span>18<span class="cite-bracket">]</span></a></sup> Mir Docking Module<sup id="cite_ref-sts-74press_19-0" class="reference"><a href="#cite_note-sts-74press-19"><span class="cite-bracket">[</span>19<span class="cite-bracket">]</span></a></sup>) </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:APAS-95_passive_side.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/3/37/APAS-95_passive_side.jpg/62px-APAS-95_passive_side.jpg" decoding="async" width="62" height="63" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/3/37/APAS-95_passive_side.jpg/93px-APAS-95_passive_side.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/3/37/APAS-95_passive_side.jpg/124px-APAS-95_passive_side.jpg 2x" data-file-width="1857" data-file-height="1872" /></a></span><span typeof="mw:File"><a href="/wiki/File:APAS-95_active_side.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/f/fc/APAS-95_active_side.jpg/85px-APAS-95_active_side.jpg" decoding="async" width="85" height="60" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/f/fc/APAS-95_active_side.jpg/128px-APAS-95_active_side.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/f/fc/APAS-95_active_side.jpg/170px-APAS-95_active_side.jpg 2x" data-file-width="1668" data-file-height="1172" /></a></span> </td> <td><a href="/wiki/Androgynous_Peripheral_Docking_System#APAS-95" class="mw-redirect" title="Androgynous Peripheral Docking System">APAS-95</a> </td> <td>Docking </td> <td>Yes </td> <td>It was used for <a href="/wiki/Space_Shuttle" title="Space Shuttle">Space Shuttle</a> dockings to Mir and ISS,<sup id="cite_ref-sovietspaceshuttledockingmodule_17-3" class="reference"><a href="#cite_note-sovietspaceshuttledockingmodule-17"><span class="cite-bracket">[</span>17<span class="cite-bracket">]</span></a></sup> On the ISS, it was also used on Zarya module, <a href="/wiki/Russian_Orbital_Segment" title="Russian Orbital Segment">Russian Orbital Segment</a> to interface with PMA-1 on Unity module, <a href="/wiki/US_Orbital_Segment" title="US Orbital Segment">US Orbital Segment</a><sup id="cite_ref-20" class="reference"><a href="#cite_note-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> It has a diameter of 800 mm (31 in).<sup id="cite_ref-her_1-7" class="reference"><a href="#cite_note-her-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-ARDS_3-4" class="reference"><a href="#cite_note-ARDS-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-AdvanDock_4-4" class="reference"><a href="#cite_note-AdvanDock-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup> Described as "essentially the same as" APAS-89.<sup id="cite_ref-sovietspaceshuttledockingmodule_17-4" class="reference"><a href="#cite_note-sovietspaceshuttledockingmodule-17"><span class="cite-bracket">[</span>17<span class="cite-bracket">]</span></a></sup> </td> <td>Androgynous (Shuttle, Zarya<sup class="noprint Inline-Template Template-Fact" style="white-space:nowrap;">[<i><a href="/wiki/Wikipedia:Citation_needed" title="Wikipedia:Citation needed"><span title="This claim needs references to reliable sources. (May 2017)">citation needed</span></a></i>]</sup> and PMA-1<sup id="cite_ref-her_1-8" class="reference"><a href="#cite_note-her-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup>), Non-Androgynous (PMA-2 and PMA-3)<sup id="cite_ref-her_1-9" class="reference"><a href="#cite_note-her-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup> </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:Passive_hybrid_docking_system_-_from_another_angle.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/7/72/Passive_hybrid_docking_system_-_from_another_angle.jpg/70px-Passive_hybrid_docking_system_-_from_another_angle.jpg" decoding="async" width="70" height="62" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/7/72/Passive_hybrid_docking_system_-_from_another_angle.jpg/105px-Passive_hybrid_docking_system_-_from_another_angle.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/7/72/Passive_hybrid_docking_system_-_from_another_angle.jpg/140px-Passive_hybrid_docking_system_-_from_another_angle.jpg 2x" data-file-width="680" data-file-height="605" /></a></span><span typeof="mw:File"><a href="/wiki/File:ISS_S01_Pirs_airlock_cropped.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/e/e5/ISS_S01_Pirs_airlock_cropped.jpg/74px-ISS_S01_Pirs_airlock_cropped.jpg" decoding="async" width="74" height="62" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/e/e5/ISS_S01_Pirs_airlock_cropped.jpg/111px-ISS_S01_Pirs_airlock_cropped.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/e/e5/ISS_S01_Pirs_airlock_cropped.jpg/148px-ISS_S01_Pirs_airlock_cropped.jpg 2x" data-file-width="1002" data-file-height="840" /></a></span> </td> <td>SSVP-M8000 (<a href="/wiki/Sistema_Stykovki_i_Vnutrennego_Perekhoda#Hybrid" class="mw-redirect" title="Sistema Stykovki i Vnutrennego Perekhoda">Hybrid Docking System</a>) </td> <td>Docking </td> <td>Yes </td> <td>SSVP-M8000 or more commonly known as "hybrid", is a combination of a "probe and drogue" soft-dock mechanism with an APAS-95 hard-dock collar.<sup id="cite_ref-rswDOCK_16-4" class="reference"><a href="#cite_note-rswDOCK-16"><span class="cite-bracket">[</span>16<span class="cite-bracket">]</span></a></sup> It began to be manufactured in 1996.<sup id="cite_ref-rswDOCK_16-5" class="reference"><a href="#cite_note-rswDOCK-16"><span class="cite-bracket">[</span>16<span class="cite-bracket">]</span></a></sup> It is manufactured by RKK Energiya.<sup id="cite_ref-rswDOCK_16-6" class="reference"><a href="#cite_note-rswDOCK-16"><span class="cite-bracket">[</span>16<span class="cite-bracket">]</span></a></sup> <p>Used on ISS (connects <a href="/wiki/Zvezda_(ISS_module)" title="Zvezda (ISS module)">Zvezda</a> to <a href="/wiki/Zarya_(ISS_module)" title="Zarya (ISS module)">Zarya</a>, <a href="/wiki/Pirs_(ISS_module)" title="Pirs (ISS module)">Pirs</a>, <a href="/wiki/Poisk_(ISS_module)" title="Poisk (ISS module)">Poisk</a><sup id="cite_ref-her_1-10" class="reference"><a href="#cite_note-her-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup> <a href="/wiki/Nauka_(ISS_module)" title="Nauka (ISS module)">Nauka</a><sup id="cite_ref-nsf20210729_21-0" class="reference"><a href="#cite_note-nsf20210729-21"><span class="cite-bracket">[</span>21<span class="cite-bracket">]</span></a></sup> and Nauka to <a href="/wiki/Prichal_(ISS_module)" title="Prichal (ISS module)">Prichal</a>) </p> </td> <td>Non-Androgynous </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:COTS2Dragon_CBM.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/d/d7/COTS2Dragon_CBM.jpg/84px-COTS2Dragon_CBM.jpg" decoding="async" width="84" height="73" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/d/d7/COTS2Dragon_CBM.jpg/126px-COTS2Dragon_CBM.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/d/d7/COTS2Dragon_CBM.jpg/168px-COTS2Dragon_CBM.jpg 2x" data-file-width="1324" data-file-height="1152" /></a></span><span typeof="mw:File"><a href="/wiki/File:Common_Berthing_Mechanism_with_micrometeorite_layer.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/1/1c/Common_Berthing_Mechanism_with_micrometeorite_layer.jpg/73px-Common_Berthing_Mechanism_with_micrometeorite_layer.jpg" decoding="async" width="73" height="72" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/1/1c/Common_Berthing_Mechanism_with_micrometeorite_layer.jpg/110px-Common_Berthing_Mechanism_with_micrometeorite_layer.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/1/1c/Common_Berthing_Mechanism_with_micrometeorite_layer.jpg/146px-Common_Berthing_Mechanism_with_micrometeorite_layer.jpg 2x" data-file-width="888" data-file-height="876" /></a></span> </td> <td><a href="/wiki/Common_Berthing_Mechanism" title="Common Berthing Mechanism">Common Berthing Mechanism</a> </td> <td>Berthing </td> <td>Yes </td> <td>Used on <a href="/wiki/ISS" class="mw-redirect" title="ISS">ISS</a> (<a href="/wiki/US_Orbital_Segment" title="US Orbital Segment">USOS</a>), <a href="/wiki/Multi-Purpose_Logistics_Module" title="Multi-Purpose Logistics Module">MPLMs</a>, <a href="/wiki/H-II_Transfer_Vehicle" title="H-II Transfer Vehicle">HTV</a>, <a href="/wiki/SpaceX_Dragon_1" title="SpaceX Dragon 1">SpaceX Dragon 1</a>,<sup id="cite_ref-22" class="reference"><a href="#cite_note-22"><span class="cite-bracket">[</span>22<span class="cite-bracket">]</span></a></sup> <a href="/wiki/Cygnus_spacecraft" class="mw-redirect" title="Cygnus spacecraft">Cygnus</a>. The standard CBM has a pass through in the shape of a square with rounded edges and has a width of 1,300 mm (50 in).<sup id="cite_ref-AdvanDock_4-5" class="reference"><a href="#cite_note-AdvanDock-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup> The smaller hatch that Cygnus uses results in a transfer passage of the same shape but has a width of 940 mm (37 in).<sup id="cite_ref-23" class="reference"><a href="#cite_note-23"><span class="cite-bracket">[</span>23<span class="cite-bracket">]</span></a></sup> </td> <td>Non-Androgynous </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:CMS_docking_device_at_NMC.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/0/09/CMS_docking_device_at_NMC.jpg/140px-CMS_docking_device_at_NMC.jpg" decoding="async" width="140" height="93" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/0/09/CMS_docking_device_at_NMC.jpg/210px-CMS_docking_device_at_NMC.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/0/09/CMS_docking_device_at_NMC.jpg/280px-CMS_docking_device_at_NMC.jpg 2x" data-file-width="2400" data-file-height="1600" /></a></span> </td> <td><a href="/wiki/Chinese_Docking_Mechanism" title="Chinese Docking Mechanism">Chinese Docking Mechanism</a> </td> <td>Docking </td> <td>Yes </td> <td>Used by <a href="/wiki/Shenzhou_(spacecraft)" title="Shenzhou (spacecraft)">Shenzhou spacecraft</a>, beginning with Shenzhou 8, to dock to Chinese space stations. The Chinese docking mechanism is based on the Russian APAS-89/APAS-95 system; some have called it a "clone".<sup id="cite_ref-her_1-11" class="reference"><a href="#cite_note-her-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup> There have been contradicting reports by the Chinese on its compatibility with APAS-89/95.<sup id="cite_ref-:0_24-0" class="reference"><a href="#cite_note-:0-24"><span class="cite-bracket">[</span>24<span class="cite-bracket">]</span></a></sup> It has a circular transfer passage that has a diameter of 800 mm (31 in).<sup id="cite_ref-:1_25-0" class="reference"><a href="#cite_note-:1-25"><span class="cite-bracket">[</span>25<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-:2_26-0" class="reference"><a href="#cite_note-:2-26"><span class="cite-bracket">[</span>26<span class="cite-bracket">]</span></a></sup> The androgynous variant has a mass of 310 kg and the non-androgynous variant has a mass of 200 kg.<sup id="cite_ref-:3_27-0" class="reference"><a href="#cite_note-:3-27"><span class="cite-bracket">[</span>27<span class="cite-bracket">]</span></a></sup> <p>Used for the first time on <a href="/wiki/Tiangong_1" class="mw-redirect" title="Tiangong 1">Tiangong 1</a> space station and will be used on future Chinese space stations and with future Chinese cargo resupply vehicles. </p> </td> <td>Androgynous (Shenzhou)<br />Non-Androgynous (Tiangong-1) </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:Chang%27e_5_docking_(20).png" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/1/1f/Chang%27e_5_docking_%2820%29.png/140px-Chang%27e_5_docking_%2820%29.png" decoding="async" width="140" height="79" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/1/1f/Chang%27e_5_docking_%2820%29.png/210px-Chang%27e_5_docking_%2820%29.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/1/1f/Chang%27e_5_docking_%2820%29.png/280px-Chang%27e_5_docking_%2820%29.png 2x" data-file-width="1366" data-file-height="768" /></a></span> </td> <td><a href="/wiki/Chinese_Docking_Mechanism" title="Chinese Docking Mechanism">Chinese Docking Mechanism</a> </td> <td>Grappling-type </td> <td>No </td> <td>Used for <a href="/wiki/China" title="China">China</a>'s <a href="/wiki/Uncrewed" class="mw-redirect" title="Uncrewed">uncrewed</a> <a href="/wiki/Sample_return_mission" class="mw-redirect" title="Sample return mission">sample return missions</a> when ascender transfers samples to orbiter for Earth return such as <a href="/wiki/Chang%27e_5" title="Chang'e 5">Chang'e 5</a>/<a href="/wiki/Chang%27e_6" title="Chang'e 6">6</a>. </td> <td>Non-Androgynous </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:NDS_docking_tests.jpg" class="mw-file-description"><img alt="" src="//upload.wikimedia.org/wikipedia/commons/thumb/b/bb/NDS_docking_tests.jpg/140px-NDS_docking_tests.jpg" decoding="async" width="140" height="87" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/b/bb/NDS_docking_tests.jpg/210px-NDS_docking_tests.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/b/bb/NDS_docking_tests.jpg/280px-NDS_docking_tests.jpg 2x" data-file-width="1446" data-file-height="900" /></a></span> </td> <td><a href="/wiki/International_Docking_System_Standard" title="International Docking System Standard">International Docking System Standard</a> (IDSS) </td> <td>Docking or Berthing </td> <td>Yes </td> <td>Used on the ISS <a href="/wiki/International_Docking_Adapter" title="International Docking Adapter">International Docking Adapter</a>, <a href="/wiki/SpaceX_Dragon_2" title="SpaceX Dragon 2">SpaceX Dragon 2</a>, <a href="/wiki/Boeing_Starliner" title="Boeing Starliner">Boeing Starliner</a> and future vehicles. Circular transfer passage diameter is 800 mm (31 in).<sup id="cite_ref-IDSS_28-0" class="reference"><a href="#cite_note-IDSS-28"><span class="cite-bracket">[</span>28<span class="cite-bracket">]</span></a></sup> The <a href="/wiki/International_Berthing_and_Docking_Mechanism" title="International Berthing and Docking Mechanism">International Berthing and Docking Mechanism</a> (IBDM) is an implementation of IDSS to be used on <a href="/wiki/European_Space_Agency" title="European Space Agency">European Space Agency</a> spacecraft.<sup id="cite_ref-nasa20140319_29-0" class="reference"><a href="#cite_note-nasa20140319-29"><span class="cite-bracket">[</span>29<span class="cite-bracket">]</span></a></sup> IBDM will also be used on <a href="/wiki/Dream_Chaser" title="Dream Chaser">Dream Chaser</a>.<sup id="cite_ref-30" class="reference"><a href="#cite_note-30"><span class="cite-bracket">[</span>30<span class="cite-bracket">]</span></a></sup> </td> <td>Active, Passive, or Androgynous (i.e., both). Active(<a href="/wiki/Commercial_Crew_Development" class="mw-redirect" title="Commercial Crew Development">Commercial Crew Vehicle</a>, Orion);<br />Passive (<a href="/wiki/International_Docking_Adaptor" class="mw-redirect" title="International Docking Adaptor">IDA</a>) </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:AS-G_passive.png" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/3/36/AS-G_passive.png/65px-AS-G_passive.png" decoding="async" width="65" height="50" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/3/36/AS-G_passive.png/98px-AS-G_passive.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/3/36/AS-G_passive.png/130px-AS-G_passive.png 2x" data-file-width="200" data-file-height="153" /></a></span> <figure class="mw-halign-left" typeof="mw:File"><a href="/wiki/File:AS-G_Active.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/2/25/AS-G_Active.jpg/73px-AS-G_Active.jpg" decoding="async" width="73" height="41" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/2/25/AS-G_Active.jpg/110px-AS-G_Active.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/2/25/AS-G_Active.jpg/146px-AS-G_Active.jpg 2x" data-file-width="754" data-file-height="428" /></a><figcaption></figcaption></figure> </td> <td><a href="/wiki/Androgynous_Peripheral_Docking_System#ASA-G/ASP-G" class="mw-redirect" title="Androgynous Peripheral Docking System">ASA-G/ASP-G</a> </td> <td>Berthing </td> <td>Yes </td> <td>Used by <a href="/wiki/Nauka_(ISS_module)#Science_(or_Experiment)_Airlock" title="Nauka (ISS module)">Nauka Science (or Experiment) Airlock</a>, to berth to <a href="/wiki/Nauka_(ISS_module)" title="Nauka (ISS module)">nauka forward port</a>. The berthing mechanism is a unique hybrid derivative the Russian APAS-89/APAS-95 system as it has 4 petals instead of 3 along with 12 structural hooks and is a combination of an active "probe and drogue" soft-dock mechanism on port and passive target on airlock. </td> <td>Non-Androgynous </td></tr> <tr> <td> </td> <td>SSPA-GB 1/2 (<a href="/wiki/Sistema_Stykovki_i_Vnutrennego_Perekhoda#Hybrid" class="mw-redirect" title="Sistema Stykovki i Vnutrennego Perekhoda">Hybrid Docking System</a>) </td> <td>Docking </td> <td>Yes </td> <td>It is a modified passive hybrid version of SSVP-M8000. <p>Used on ISS (<a href="/wiki/Prichal_(ISS_module)" title="Prichal (ISS module)">Prichal</a> lateral ports for future add-on modules) </p> </td> <td>Non-Androgynous </td></tr> <tr> <td><span typeof="mw:File"><a href="/wiki/File:PSLV-C60,_SpaDEx_%E2%80%94_Chaser_(SDX01)_and_Target_(SDX02)_spacecrafts_during_testing.png" class="mw-file-description"><img alt="" src="//upload.wikimedia.org/wikipedia/commons/thumb/d/d5/PSLV-C60%2C_SpaDEx_%E2%80%94_Chaser_%28SDX01%29_and_Target_%28SDX02%29_spacecrafts_during_testing.png/140px-PSLV-C60%2C_SpaDEx_%E2%80%94_Chaser_%28SDX01%29_and_Target_%28SDX02%29_spacecrafts_during_testing.png" decoding="async" width="140" height="84" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/d/d5/PSLV-C60%2C_SpaDEx_%E2%80%94_Chaser_%28SDX01%29_and_Target_%28SDX02%29_spacecrafts_during_testing.png/210px-PSLV-C60%2C_SpaDEx_%E2%80%94_Chaser_%28SDX01%29_and_Target_%28SDX02%29_spacecrafts_during_testing.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/d/d5/PSLV-C60%2C_SpaDEx_%E2%80%94_Chaser_%28SDX01%29_and_Target_%28SDX02%29_spacecrafts_during_testing.png/280px-PSLV-C60%2C_SpaDEx_%E2%80%94_Chaser_%28SDX01%29_and_Target_%28SDX02%29_spacecrafts_during_testing.png 2x" data-file-width="722" data-file-height="433" /></a></span> </td> <td><a href="/wiki/SPADEX" class="mw-redirect" title="SPADEX">Bhartiya Docking System</a> (BDS) </td> <td>Docking or Berthing </td> <td>Yes </td> <td>Modified IDSS. In contrast to the 24 motors used in IDSS, the BDS only uses two. The docking port at SpaDex is 450 mm (18 in) in diameter, whereas the docking port at the Gaganyaan and Bharatiya Antariksha Station will be 800 mm (31 in) as on IDSS.<sup id="cite_ref-31" class="reference"><a href="#cite_note-31"><span class="cite-bracket">[</span>31<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-32" class="reference"><a href="#cite_note-32"><span class="cite-bracket">[</span>32<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-33" class="reference"><a href="#cite_note-33"><span class="cite-bracket">[</span>33<span class="cite-bracket">]</span></a></sup> </td> <td>Androgynous (i.e., both). Used on <a href="/wiki/SPADEX" class="mw-redirect" title="SPADEX">SpaDeX</a>, <a href="/wiki/Gaganyaan" title="Gaganyaan">Gaganyaan</a> and <a href="/wiki/Bharatiya_Antariksha_Station" title="Bharatiya Antariksha Station">Bharatiya Antariksha Station</a>. </td></tr></tbody></table> <div class="mw-heading mw-heading3"><h3 id="Adapters">Adapters</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=7" title="Edit section: Adapters"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>A docking or berthing adapter is a mechanical or electromechanical device that facilitates the connection of one type of docking or berthing interface to a different interface. Such interfaces may be docking/docking, docking/berthing, or berthing/berthing. Previously launched and planned to be launched adapters are listed below: </p> <ul><li>ASTP Docking Module: An airlock module that converted U.S. Probe and Drogue to <a href="/wiki/Androgynous_Peripheral_Attach_System" title="Androgynous Peripheral Attach System">APAS-75</a>. Built by <a href="/wiki/Rockwell_International" title="Rockwell International">Rockwell International</a> for the 1975 <a href="/wiki/Apollo%E2%80%93Soyuz_Test_Project" class="mw-redirect" title="Apollo–Soyuz Test Project">Apollo–Soyuz Test Project</a> mission.<sup id="cite_ref-ASTP_34-0" class="reference"><a href="#cite_note-ASTP-34"><span class="cite-bracket">[</span>34<span class="cite-bracket">]</span></a></sup></li> <li><a href="/wiki/Pressurized_Mating_Adapter" title="Pressurized Mating Adapter">Pressurized Mating Adapter (PMA)</a>: Converts an active <a href="/wiki/Common_Berthing_Mechanism" title="Common Berthing Mechanism">Common Berthing Mechanism</a> to <a href="/wiki/Androgynous_Peripheral_Attach_System#APAS-95" title="Androgynous Peripheral Attach System">APAS-95</a>. Three PMAs are attached to the <a href="/wiki/ISS" class="mw-redirect" title="ISS">ISS</a>, PMA-1 and PMA-2 were launched in 1998 on <a href="/wiki/STS-88" title="STS-88">STS-88</a>, PMA-3 in late 2000 on <a href="/wiki/STS-92" title="STS-92">STS-92</a>. PMA-1 is used to connect the Zarya control module with Unity node 1, Space Shuttles used PMA-2 and PMA-3 for docking.</li> <li><a href="/wiki/International_Docking_Adapter" title="International Docking Adapter">International Docking Adapter (IDA)</a>:<sup id="cite_ref-Hartman_35-0" class="reference"><a href="#cite_note-Hartman-35"><span class="cite-bracket">[</span>35<span class="cite-bracket">]</span></a></sup> Converts <a href="/wiki/Androgynous_Peripheral_Attach_System#APAS-95" title="Androgynous Peripheral Attach System">APAS-95</a> to the International Docking System Standard. IDA-1 was planned to be launched on <a href="/wiki/SpaceX_CRS-7" title="SpaceX CRS-7">SpaceX CRS-7</a> until its launch failure, and attached to Node-2's forward PMA.<sup id="cite_ref-Hartman_35-1" class="reference"><a href="#cite_note-Hartman-35"><span class="cite-bracket">[</span>35<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-launchdate_36-0" class="reference"><a href="#cite_note-launchdate-36"><span class="cite-bracket">[</span>36<span class="cite-bracket">]</span></a></sup> IDA-2 was launched on <a href="/wiki/SpaceX_CRS-9" title="SpaceX CRS-9">SpaceX CRS-9</a> and attached to Node-2's forward PMA.<sup id="cite_ref-Hartman_35-2" class="reference"><a href="#cite_note-Hartman-35"><span class="cite-bracket">[</span>35<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-launchdate_36-1" class="reference"><a href="#cite_note-launchdate-36"><span class="cite-bracket">[</span>36<span class="cite-bracket">]</span></a></sup> IDA-3, the replacement for IDA-1 launched on <a href="/wiki/SpaceX_CRS-18" title="SpaceX CRS-18">SpaceX CRS-18</a> and attached to Node-2's zenith PMA.<sup id="cite_ref-37" class="reference"><a href="#cite_note-37"><span class="cite-bracket">[</span>37<span class="cite-bracket">]</span></a></sup> The adapter is compatible with the International Docking System Standard (IDSS), which is an attempt by the ISS Multilateral Coordination Board to create a docking standard.<sup id="cite_ref-38" class="reference"><a href="#cite_note-38"><span class="cite-bracket">[</span>38<span class="cite-bracket">]</span></a></sup></li> <li>APAS to SSVP: Converts passive Hybrid Docking System to passive SSVP-G4000.<sup id="cite_ref-39" class="reference"><a href="#cite_note-39"><span class="cite-bracket">[</span>39<span class="cite-bracket">]</span></a></sup> The docking ring initially used for <a href="/wiki/Soyuz_MS-18" title="Soyuz MS-18">Soyuz MS-18</a> and <a href="/wiki/Progress_MS-17" title="Progress MS-17">Progress MS-17</a> docking on Nauka until detached by Progress MS-17 for Prichal module arrived on ISS.<sup id="cite_ref-40" class="reference"><a href="#cite_note-40"><span class="cite-bracket">[</span>40<span class="cite-bracket">]</span></a></sup> This adapter is termed as <b>SSPA-GM</b>. It was made for the Nauka nadir and Prichal nadir ports of the International Space Station, where Soyuz and Progress spacecraft had to dock to a port designated for modules. Before removal of SSPA-GM, the docking ring is 80 cm (31 in) in diameter; that becomes 120 cm (47 in) after removal.</li></ul> <ul class="gallery mw-gallery-traditional center" style="max-width: 815px;"> <li class="gallerybox" style="width: 155px"> <div class="thumb" style="width: 150px; height: 150px;"><span typeof="mw:File"><a href="/wiki/File:Apollo-soyuz_cropped.jpg" class="mw-file-description" title="ASTP Docking Module"><img alt="ASTP Docking Module" src="//upload.wikimedia.org/wikipedia/commons/thumb/c/c3/Apollo-soyuz_cropped.jpg/120px-Apollo-soyuz_cropped.jpg" decoding="async" width="120" height="88" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/c/c3/Apollo-soyuz_cropped.jpg/180px-Apollo-soyuz_cropped.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/c/c3/Apollo-soyuz_cropped.jpg/240px-Apollo-soyuz_cropped.jpg 2x" data-file-width="1000" data-file-height="737" /></a></span></div> <div class="gallerytext">ASTP Docking Module</div> </li> <li class="gallerybox" style="width: 155px"> <div class="thumb" style="width: 150px; height: 150px;"><span typeof="mw:File"><a href="/wiki/File:Space_Shuttle_docked_to_station_-_further_cropped_and_rotated.jpg" class="mw-file-description" title="Pressurized Mating Adapter"><img alt="Pressurized Mating Adapter" src="//upload.wikimedia.org/wikipedia/commons/thumb/5/57/Space_Shuttle_docked_to_station_-_further_cropped_and_rotated.jpg/120px-Space_Shuttle_docked_to_station_-_further_cropped_and_rotated.jpg" decoding="async" width="120" height="107" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/5/57/Space_Shuttle_docked_to_station_-_further_cropped_and_rotated.jpg/180px-Space_Shuttle_docked_to_station_-_further_cropped_and_rotated.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/5/57/Space_Shuttle_docked_to_station_-_further_cropped_and_rotated.jpg/240px-Space_Shuttle_docked_to_station_-_further_cropped_and_rotated.jpg 2x" data-file-width="774" data-file-height="690" /></a></span></div> <div class="gallerytext">Pressurized Mating Adapter</div> </li> <li class="gallerybox" style="width: 155px"> <div class="thumb" style="width: 150px; height: 150px;"><span typeof="mw:File"><a href="/wiki/File:IDA_attached_to_PMA.png" class="mw-file-description" title="International Docking Adapter"><img alt="International Docking Adapter" src="//upload.wikimedia.org/wikipedia/commons/thumb/9/9c/IDA_attached_to_PMA.png/118px-IDA_attached_to_PMA.png" decoding="async" width="118" height="120" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/9/9c/IDA_attached_to_PMA.png/177px-IDA_attached_to_PMA.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/9/9c/IDA_attached_to_PMA.png/236px-IDA_attached_to_PMA.png 2x" data-file-width="281" data-file-height="286" /></a></span></div> <div class="gallerytext">International Docking Adapter</div> </li> <li class="gallerybox" style="width: 155px"> <div class="thumb" style="width: 150px; height: 150px;"><span typeof="mw:File"><a href="/wiki/File:1637984492234_Progress_MS_17_undocking_and_Nauka_nadir_temporary_docking_adapter_Removal_02.jpg" class="mw-file-description" title="APAS to SSVP (SSVPA-GM) Docking Ring"><img alt="APAS to SSVP (SSVPA-GM) Docking Ring" src="//upload.wikimedia.org/wikipedia/commons/thumb/7/72/1637984492234_Progress_MS_17_undocking_and_Nauka_nadir_temporary_docking_adapter_Removal_02.jpg/120px-1637984492234_Progress_MS_17_undocking_and_Nauka_nadir_temporary_docking_adapter_Removal_02.jpg" decoding="async" width="120" height="98" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/7/72/1637984492234_Progress_MS_17_undocking_and_Nauka_nadir_temporary_docking_adapter_Removal_02.jpg/180px-1637984492234_Progress_MS_17_undocking_and_Nauka_nadir_temporary_docking_adapter_Removal_02.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/7/72/1637984492234_Progress_MS_17_undocking_and_Nauka_nadir_temporary_docking_adapter_Removal_02.jpg/240px-1637984492234_Progress_MS_17_undocking_and_Nauka_nadir_temporary_docking_adapter_Removal_02.jpg 2x" data-file-width="864" data-file-height="704" /></a></span></div> <div class="gallerytext">APAS to SSVP (SSVPA-GM) Docking Ring</div> </li> </ul> <div class="mw-heading mw-heading2"><h2 id="Docking_of_uncrewed_spacecraft">Docking of uncrewed spacecraft</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=8" title="Edit section: Docking of uncrewed spacecraft"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <figure class="mw-default-size" typeof="mw:File/Thumb"><a href="/wiki/File:Hubble_Space_Telescope_Final_Mission.png" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/3/38/Hubble_Space_Telescope_Final_Mission.png/220px-Hubble_Space_Telescope_Final_Mission.png" decoding="async" width="220" height="220" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/3/38/Hubble_Space_Telescope_Final_Mission.png/330px-Hubble_Space_Telescope_Final_Mission.png 1.5x, //upload.wikimedia.org/wikipedia/commons/3/38/Hubble_Space_Telescope_Final_Mission.png 2x" data-file-width="409" data-file-height="409" /></a><figcaption>The Soft-Capture Mechanism (SCM) added in 2009 to the <a href="/wiki/Hubble_Space_Telescope" title="Hubble Space Telescope">Hubble Space Telescope</a>. The SCM allows both crewed and uncrewed spacecraft that utilize the <a href="/wiki/NASA_Docking_System" title="NASA Docking System">NASA Docking System</a> (NDS) to dock with Hubble.</figcaption></figure> <p>For the first fifty years of spaceflight, the main objective of most <i>docking</i> and <i>berthing</i> missions was to transfer crew, construct or resupply a space station, or to test for such a mission (e.g. the docking between <a href="/wiki/Kosmos_186_and_Kosmos_188" title="Kosmos 186 and Kosmos 188">Kosmos 186 and Kosmos 188</a>). Therefore, commonly at least one of the participating spacecraft was crewed, with a pressurized habitable volume (e.g. a space station or a lunar lander) being the target—the exceptions were a few fully uncrewed Soviet docking missions (e.g. the dockings of Kosmos 1443 and Progress 23 to an uncrewed <a href="/wiki/Salyut_7" title="Salyut 7">Salyut 7</a> or <a href="/wiki/Progress_M1-5" title="Progress M1-5">Progress M1-5</a> to an uncrewed <i><a href="/wiki/Mir" title="Mir">Mir</a></i>). Another exception were a few missions of the crewed US <a href="/wiki/Space_Shuttle" title="Space Shuttle">Space Shuttles</a>, like berthings of the <a href="/wiki/Hubble_Space_Telescope" title="Hubble Space Telescope">Hubble Space Telescope</a> (HST) during the five HST servicing missions. The Japanese <a href="/wiki/ETS-VII" title="ETS-VII">ETS-VII</a> mission (nicknamed <i>Hikoboshi</i> and <i>Orihime</i>) in 1997 was designed to test uncrewed rendezvous and docking, but launched as one spacecraft which separated to join back together. </p><p>Changes to the crewed aspect began in 2015, as a number of economically driven commercial dockings of uncrewed spacecraft were planned. In 2011, two commercial spacecraft providers<sup class="noprint Inline-Template" style="white-space:nowrap;">[<i><a href="/wiki/Wikipedia:Avoid_weasel_words" class="mw-redirect" title="Wikipedia:Avoid weasel words"><span title="The material near this tag possibly uses too vague attribution or weasel words. (March 2019)">which?</span></a></i>]</sup> announced plans to provide <a href="/wiki/Autonomous_robot" title="Autonomous robot">autonomous</a>/<a href="/wiki/Teleoperation" title="Teleoperation">teleoperated</a> <a href="/wiki/Uncrewed_resupply_spacecraft" class="mw-redirect" title="Uncrewed resupply spacecraft">uncrewed resupply spacecraft</a> for servicing other uncrewed spacecraft. Notably, both of these servicing spacecraft were intending to dock with satellites that weren't designed for docking, nor for in-space servicing. </p><p>The early business model for these services was primarily in near-<a href="/wiki/Geosynchronous" class="mw-redirect" title="Geosynchronous">geosynchronous</a> orbit, although <a href="/wiki/Delta-v" title="Delta-v">large delta-v</a> <a href="/wiki/Orbital_maneuver" title="Orbital maneuver">orbital maneuvering</a> services were also envisioned.<sup id="cite_ref-av20110321_41-0" class="reference"><a href="#cite_note-av20110321-41"><span class="cite-bracket">[</span>41<span class="cite-bracket">]</span></a></sup> </p><p>Building off of the 2007 <a href="/wiki/Orbital_Express" title="Orbital Express">Orbital Express</a> mission—a <a href="/wiki/Federal_government_of_the_United_States" title="Federal government of the United States">U.S. government</a>-sponsored mission to test in-space satellite servicing with two vehicles designed from the ground up for on-orbit refueling and subsystem replacement—two companies announced plans for commercial satellite servicing missions that would require docking of two uncrewed vehicles. </p> <ul><li><a href="/wiki/Space_Infrastructure_Servicing" title="Space Infrastructure Servicing">Space Infrastructure Servicing</a> (SIS) is a <a href="/wiki/Spacecraft" title="Spacecraft">spacecraft</a> that was being developed by <a href="/wiki/Canada" title="Canada">Canadian</a> aerospace firm <a href="/wiki/MacDonald,_Dettwiler_and_Associates" class="mw-redirect" title="MacDonald, Dettwiler and Associates">MacDonald, Dettwiler and Associates</a> (MDA)—maker of <a href="/wiki/Canadarm" title="Canadarm">Canadarm</a>—to operate as a small-scale in-space <a href="/wiki/Propellant_depot" class="mw-redirect" title="Propellant depot">refueling depot</a> for <a href="/wiki/Communication_satellites" class="mw-redirect" title="Communication satellites">communication satellites</a> in <a href="/wiki/Geosynchronous_orbit" title="Geosynchronous orbit">geosynchronous orbit</a>. <a href="/wiki/Intelsat" title="Intelsat">Intelsat</a> was a <a href="/wiki/Product_requirements_document" title="Product requirements document">requirements</a> and <a href="/wiki/Project_finance" title="Project finance">funding</a> partner for the initial demonstration satellite, intended for launch in 2015.<sup id="cite_ref-cnw20110315_42-0" class="reference"><a href="#cite_note-cnw20110315-42"><span class="cite-bracket">[</span>42<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-sn20110314_43-0" class="reference"><a href="#cite_note-sn20110314-43"><span class="cite-bracket">[</span>43<span class="cite-bracket">]</span></a></sup></li></ul> <ul><li><a href="/wiki/Mission_Extension_Vehicle" title="Mission Extension Vehicle">Mission Extension Vehicle</a> (MEV)<sup id="cite_ref-vs20110328_44-0" class="reference"><a href="#cite_note-vs20110328-44"><span class="cite-bracket">[</span>44<span class="cite-bracket">]</span></a></sup> was a <a href="/wiki/Spacecraft" title="Spacecraft">spacecraft</a> being developed in 2011 by the <a href="/wiki/United_States" title="United States">U.S. firm</a> <a href="/wiki/ViviSat" class="mw-redirect" title="ViviSat">ViviSat</a>, a 50/50 joint venture of aerospace firms <a href="/w/index.php?title=U.S._Space&action=edit&redlink=1" class="new" title="U.S. Space (page does not exist)">U.S. Space</a> and <a href="/wiki/Alliant_Techsystems" title="Alliant Techsystems">ATK</a>, to operate as a small-scale in-space <a href="/wiki/Propellant_depot" class="mw-redirect" title="Propellant depot">satellite-refueling spacecraft</a>.<sup id="cite_ref-av20110321_41-1" class="reference"><a href="#cite_note-av20110321-41"><span class="cite-bracket">[</span>41<span class="cite-bracket">]</span></a></sup> MEV would dock but would not transfer fuel. Rather it would use "<a href="/wiki/Reaction_control_system" title="Reaction control system">its own thrusters</a> to supply <a href="/wiki/Spacecraft_attitude_control" class="mw-redirect" title="Spacecraft attitude control">attitude control</a> for the target."<sup id="cite_ref-av20110321_41-2" class="reference"><a href="#cite_note-av20110321-41"><span class="cite-bracket">[</span>41<span class="cite-bracket">]</span></a></sup></li></ul> <p>The SIS and MEV vehicles each planned to use a different docking technique. SIS planned to utilize a ring attachment around the <a href="/wiki/Apogee_kick_motor" title="Apogee kick motor">kick motor</a><sup id="cite_ref-sn20110318_45-0" class="reference"><a href="#cite_note-sn20110318-45"><span class="cite-bracket">[</span>45<span class="cite-bracket">]</span></a></sup> while the Mission Extension Vehicle would use a somewhat more standard insert-a-probe-into-the-nozzle-of-the-kick-motor approach.<sup id="cite_ref-av20110321_41-3" class="reference"><a href="#cite_note-av20110321-41"><span class="cite-bracket">[</span>41<span class="cite-bracket">]</span></a></sup> </p><p>A prominent spacecraft that received a mechanism for uncrewed dockings is the <a href="/wiki/Hubble_Space_Telescope" title="Hubble Space Telescope">Hubble Space Telescope</a> (HST). In 2009 the <a href="/wiki/STS-125" title="STS-125">STS-125</a> shuttle mission added the Soft-Capture Mechanism (SCM) at the aft bulkhead of the space telescope. The SCM is meant for unpressurized dockings and will be used at the end of Hubble's service lifetime to dock an uncrewed spacecraft to de-orbit Hubble. The SCM used was designed to be compatible to the <a href="/wiki/NASA_Docking_System" title="NASA Docking System">NASA Docking System</a> (NDS) interface to reserve the possibility of a servicing mission.<sup id="cite_ref-softcap_46-0" class="reference"><a href="#cite_note-softcap-46"><span class="cite-bracket">[</span>46<span class="cite-bracket">]</span></a></sup> The SCM will, compared to the system used during the five HST Servicing Missions to capture and berth the HST to the Space Shuttle,<sup class="noprint Inline-Template Template-Fact" style="white-space:nowrap;">[<i><a href="/wiki/Wikipedia:Citation_needed" title="Wikipedia:Citation needed"><span title="Citation needed for the previous system; The rest of the sentence is from the "softcap" citation. (August 2012)">citation needed</span></a></i>]</sup> significantly reduce the rendezvous and capture design complexities associated with such missions. The NDS bears some resemblance to the APAS-95 mechanism, but is not compatible with it.<sup id="cite_ref-NDSdraft_47-0" class="reference"><a href="#cite_note-NDSdraft-47"><span class="cite-bracket">[</span>47<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading2"><h2 id="Non-cooperative_docking">Non-cooperative docking</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=9" title="Edit section: Non-cooperative docking"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Docking with a spacecraft (or other human made space object) that does not have an operable attitude control system might sometimes be desirable, either in order to salvage it, or to initiate a controlled <a href="/wiki/Atmospheric_entry" title="Atmospheric entry">de-orbit</a>. Some theoretical techniques for docking with non-cooperative spacecraft have been proposed so far.<sup id="cite_ref-ieee200610_48-0" class="reference"><a href="#cite_note-ieee200610-48"><span class="cite-bracket">[</span>48<span class="cite-bracket">]</span></a></sup> Yet, with the sole exception of the <a href="/wiki/Soyuz_T-13" title="Soyuz T-13">Soyuz T-13</a> mission to salvage the crippled <a href="/wiki/Salyut_7" title="Salyut 7">Salyut 7</a> space station, as of 2006<sup class="plainlinks noexcerpt noprint asof-tag update" style="display:none;"><a class="external text" href="https://en.wikipedia.org/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit">[update]</a></sup>, all spacecraft dockings in the first fifty years of spaceflight had been accomplished with vehicles where both spacecraft involved were under either piloted, autonomous or telerobotic <a href="/wiki/Spacecraft_attitude_control" class="mw-redirect" title="Spacecraft attitude control">attitude control</a>.<sup id="cite_ref-ieee200610_48-1" class="reference"><a href="#cite_note-ieee200610-48"><span class="cite-bracket">[</span>48<span class="cite-bracket">]</span></a></sup> In 2007, however, a demonstration mission was flown that included an initial <a href="/wiki/Flight_test" title="Flight test">test</a> of a <a href="/wiki/NEXTSat" title="NEXTSat">non-cooperative spacecraft</a> captured by a <a href="/wiki/ASTRO_(satellite)" title="ASTRO (satellite)">controlled spacecraft</a> with the use of a robotic arm.<sup id="cite_ref-sfn20070704_49-0" class="reference"><a href="#cite_note-sfn20070704-49"><span class="cite-bracket">[</span>49<span class="cite-bracket">]</span></a></sup> Research and modeling work continues to support additional <a href="/wiki/Autonomous_robot" title="Autonomous robot">autonomous</a> <a href="/wiki/Noncooperative_capture" class="mw-redirect" title="Noncooperative capture">noncooperative capture</a> missions in the coming years.<sup id="cite_ref-xu201009_50-0" class="reference"><a href="#cite_note-xu201009-50"><span class="cite-bracket">[</span>50<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-yoshida2004_51-0" class="reference"><a href="#cite_note-yoshida2004-51"><span class="cite-bracket">[</span>51<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading3"><h3 id="Salyut_7_space_station_salvage_mission">Salyut 7 space station salvage mission</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=10" title="Edit section: Salyut 7 space station salvage mission"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1236090951">.mw-parser-output .hatnote{font-style:italic}.mw-parser-output div.hatnote{padding-left:1.6em;margin-bottom:0.5em}.mw-parser-output .hatnote i{font-style:normal}.mw-parser-output .hatnote+link+.hatnote{margin-top:-0.5em}@media print{body.ns-0 .mw-parser-output .hatnote{display:none!important}}</style><div role="note" class="hatnote navigation-not-searchable">Main article: <a href="/wiki/Soyuz_T-13" title="Soyuz T-13">Soyuz T-13</a></div> <link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1273380762/mw-parser-output/.tmulti" /><div class="thumb tmulti tright"><div class="thumbinner multiimageinner" style="width:358px;max-width:358px"><div class="trow"><div class="tsingle" style="width:152px;max-width:152px"><div class="thumbimage"><span typeof="mw:File"><a href="/wiki/File:USSR_stamp_Soyuz-27_1978_4k.jpg" class="mw-file-description"><img alt="" src="//upload.wikimedia.org/wikipedia/commons/thumb/f/f2/USSR_stamp_Soyuz-27_1978_4k.jpg/150px-USSR_stamp_Soyuz-27_1978_4k.jpg" decoding="async" width="150" height="208" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/f/f2/USSR_stamp_Soyuz-27_1978_4k.jpg/225px-USSR_stamp_Soyuz-27_1978_4k.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/f/f2/USSR_stamp_Soyuz-27_1978_4k.jpg/300px-USSR_stamp_Soyuz-27_1978_4k.jpg 2x" data-file-width="1796" data-file-height="2496" /></a></span></div><div class="thumbcaption">Commander Vladimir Dzhanibekov (left) with <a href="/wiki/Oleg_Grigoryevich_Makarov" class="mw-redirect" title="Oleg Grigoryevich Makarov">Oleg Grigoryevich Makarov</a> (right) on a 1978 Soviet postage stamp</div></div><div class="tsingle" style="width:202px;max-width:202px"><div class="thumbimage"><span typeof="mw:File"><a href="/wiki/File:1981._%D0%A1%D0%BE%D1%8E%D0%B7-%D0%A24_-_%D0%A1%D0%B0%D0%BB%D1%8E%D1%82-6._%D0%92.%D0%92._%D0%9A%D0%BE%D0%B2%D0%B0%D0%BB%D0%B5%D0%BD%D1%8E%D0%BA,_%D0%92.%D0%9F._%D0%A1%D0%B0%D0%B2%D0%B8%D0%BD%D1%8B%D1%85_(3).jpg" class="mw-file-description"><img alt="" src="//upload.wikimedia.org/wikipedia/commons/thumb/2/23/1981._%D0%A1%D0%BE%D1%8E%D0%B7-%D0%A24_-_%D0%A1%D0%B0%D0%BB%D1%8E%D1%82-6._%D0%92.%D0%92._%D0%9A%D0%BE%D0%B2%D0%B0%D0%BB%D0%B5%D0%BD%D1%8E%D0%BA%2C_%D0%92.%D0%9F._%D0%A1%D0%B0%D0%B2%D0%B8%D0%BD%D1%8B%D1%85_%283%29.jpg/200px-1981._%D0%A1%D0%BE%D1%8E%D0%B7-%D0%A24_-_%D0%A1%D0%B0%D0%BB%D1%8E%D1%82-6._%D0%92.%D0%92._%D0%9A%D0%BE%D0%B2%D0%B0%D0%BB%D0%B5%D0%BD%D1%8E%D0%BA%2C_%D0%92.%D0%9F._%D0%A1%D0%B0%D0%B2%D0%B8%D0%BD%D1%8B%D1%85_%283%29.jpg" decoding="async" width="200" height="200" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/2/23/1981._%D0%A1%D0%BE%D1%8E%D0%B7-%D0%A24_-_%D0%A1%D0%B0%D0%BB%D1%8E%D1%82-6._%D0%92.%D0%92._%D0%9A%D0%BE%D0%B2%D0%B0%D0%BB%D0%B5%D0%BD%D1%8E%D0%BA%2C_%D0%92.%D0%9F._%D0%A1%D0%B0%D0%B2%D0%B8%D0%BD%D1%8B%D1%85_%283%29.jpg/300px-1981._%D0%A1%D0%BE%D1%8E%D0%B7-%D0%A24_-_%D0%A1%D0%B0%D0%BB%D1%8E%D1%82-6._%D0%92.%D0%92._%D0%9A%D0%BE%D0%B2%D0%B0%D0%BB%D0%B5%D0%BD%D1%8E%D0%BA%2C_%D0%92.%D0%9F._%D0%A1%D0%B0%D0%B2%D0%B8%D0%BD%D1%8B%D1%85_%283%29.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/2/23/1981._%D0%A1%D0%BE%D1%8E%D0%B7-%D0%A24_-_%D0%A1%D0%B0%D0%BB%D1%8E%D1%82-6._%D0%92.%D0%92._%D0%9A%D0%BE%D0%B2%D0%B0%D0%BB%D0%B5%D0%BD%D1%8E%D0%BA%2C_%D0%92.%D0%9F._%D0%A1%D0%B0%D0%B2%D0%B8%D0%BD%D1%8B%D1%85_%283%29.jpg/400px-1981._%D0%A1%D0%BE%D1%8E%D0%B7-%D0%A24_-_%D0%A1%D0%B0%D0%BB%D1%8E%D1%82-6._%D0%92.%D0%92._%D0%9A%D0%BE%D0%B2%D0%B0%D0%BB%D0%B5%D0%BD%D1%8E%D0%BA%2C_%D0%92.%D0%9F._%D0%A1%D0%B0%D0%B2%D0%B8%D0%BD%D1%8B%D1%85_%283%29.jpg 2x" data-file-width="1627" data-file-height="1623" /></a></span></div><div class="thumbcaption">Doctor of technical sciences <a href="/wiki/Viktor_Savinykh" title="Viktor Savinykh">Viktor Savinykh</a> with <a href="/wiki/Vladimir_Kovalyonok" title="Vladimir Kovalyonok">Vladimir Kovalyonok</a> pictured on a Soviet postage stamp commemorating a <a href="/wiki/Salyut_6" title="Salyut 6">Salyut 6</a> mission</div></div></div></div></div> <p><a href="/wiki/Salyut_7" title="Salyut 7">Salyut 7</a>, the tenth space station of any kind launched, and <a href="/wiki/Soyuz_T-13" title="Soyuz T-13">Soyuz T-13</a> were docked in what author David S. F. Portree describes as "one of the most impressive feats of in-space repairs in history".<sup id="cite_ref-Mir_14-3" class="reference"><a href="#cite_note-Mir-14"><span class="cite-bracket">[</span>14<span class="cite-bracket">]</span></a></sup> Solar tracking failed and due to a telemetry fault the station did not report the failure to mission control while flying autonomously. Once the station ran out of electrical energy reserves it ceased communication abruptly in February 1985. Crew scheduling was interrupted to allow Soviet military commander <a href="/wiki/Vladimir_Dzhanibekov" title="Vladimir Dzhanibekov">Vladimir Dzhanibekov</a><sup id="cite_ref-52" class="reference"><a href="#cite_note-52"><span class="cite-bracket">[</span>52<span class="cite-bracket">]</span></a></sup> and technical science flight engineer <a href="/wiki/Viktor_Savinykh" title="Viktor Savinykh">Viktor Savinykh</a><sup id="cite_ref-53" class="reference"><a href="#cite_note-53"><span class="cite-bracket">[</span>53<span class="cite-bracket">]</span></a></sup> to make emergency repairs. </p><p>All Soviet and Russian space stations were equipped with automatic rendezvous and docking systems, from the first space station Salyut 1 using the IGLA system, to the <a href="/wiki/Russian_Orbital_Segment" title="Russian Orbital Segment">Russian Orbital Segment</a> of the <a href="/wiki/International_Space_Station" title="International Space Station">International Space Station</a> using the <a href="/wiki/Kurs_(docking_system)" class="mw-redirect" title="Kurs (docking system)">Kurs</a> system. The Soyuz crew found the station was not broadcasting radar or telemetry for rendezvous, and after arrival and external inspection of the tumbling station, the crew judged proximity using handheld laser rangefinders. </p><p>Dzhanibekov piloted his ship to intercept the forward port of Salyut 7, matched the station's rotation and achieved soft dock with the station. After achieving hard dock they confirmed that the station's electrical system was dead. Prior to opening the hatch, Dzhanibekov and Savinykh sampled the condition of the station's atmosphere and found it satisfactory. Attired in winter fur-lined clothing, they entered the cold station to conduct repairs. Within a week sufficient systems were brought back online to allow robot cargo ships to dock with the station. Nearly two months went by before atmospheric conditions on the space station were normalized.<sup id="cite_ref-Mir_14-4" class="reference"><a href="#cite_note-Mir-14"><span class="cite-bracket">[</span>14<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading3"><h3 id="Uncrewed_dockings_of_non-cooperative_space_objects">Uncrewed dockings of non-cooperative space objects</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=11" title="Edit section: Uncrewed dockings of non-cooperative space objects"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1251242444" /><table class="box-Globalize plainlinks metadata ambox ambox-content ambox-globalize" role="presentation"><tbody><tr><td class="mbox-image"><div class="mbox-image-div"><span typeof="mw:File"><span><img alt="Globe icon." src="//upload.wikimedia.org/wikipedia/commons/thumb/b/bd/Ambox_globe_content.svg/48px-Ambox_globe_content.svg.png" decoding="async" width="48" height="40" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/b/bd/Ambox_globe_content.svg/73px-Ambox_globe_content.svg.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/b/bd/Ambox_globe_content.svg/97px-Ambox_globe_content.svg.png 2x" data-file-width="350" data-file-height="290" /></span></span></div></td><td class="mbox-text"><div class="mbox-text-span">The examples and perspective in this article <b>deal primarily with the United States and do not represent a <a href="/wiki/Wikipedia:WikiProject_Countering_systemic_bias" title="Wikipedia:WikiProject Countering systemic bias">worldwide view</a> of the subject</b>.<span class="hide-when-compact"> You may <a class="external text" href="https://en.wikipedia.org/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit">improve this article</a>, discuss the issue on the <a href="/wiki/Talk:Docking_and_berthing_of_spacecraft" title="Talk:Docking and berthing of spacecraft">talk page</a>, or <a href="/wiki/Wikipedia:Article_wizard" title="Wikipedia:Article wizard">create a new article</a>, as appropriate.</span> <span class="date-container"><i>(<span class="date">March 2016</span>)</i></span><span class="hide-when-compact"><i> (<small><a href="/wiki/Help:Maintenance_template_removal" title="Help:Maintenance template removal">Learn how and when to remove this message</a></small>)</i></span></div></td></tr></tbody></table> <figure class="mw-default-size mw-halign-left" typeof="mw:File/Thumb"><a href="/wiki/File:Orbital_Express_2.png" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/0/08/Orbital_Express_2.png/220px-Orbital_Express_2.png" decoding="async" width="220" height="176" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/0/08/Orbital_Express_2.png 1.5x" data-file-width="274" data-file-height="219" /></a><figcaption>Orbital Express: ASTRO (left) and NEXTSat (right), 2007</figcaption></figure> <p>Non-cooperative rendezvous and capture techniques have been theorized, and <a href="/wiki/Orbital_Express" title="Orbital Express">one mission</a> has successfully been performed with uncrewed spacecraft in orbit.<sup id="cite_ref-sfn20070704_49-1" class="reference"><a href="#cite_note-sfn20070704-49"><span class="cite-bracket">[</span>49<span class="cite-bracket">]</span></a></sup> </p><p>A typical approach for solving this problem involves two phases. First, <a href="/wiki/Spacecraft_attitude_control" class="mw-redirect" title="Spacecraft attitude control">attitude</a> and <a href="/wiki/Orbit_(dynamics)" title="Orbit (dynamics)">orbital</a> changes are made to the "chaser" spacecraft until it has zero relative motion with the "target" spacecraft. Second, docking maneuvers commence that are similar to traditional cooperative spacecraft docking. A standardized docking interface on each spacecraft is assumed.<sup id="cite_ref-nmsu2008_54-0" class="reference"><a href="#cite_note-nmsu2008-54"><span class="cite-bracket">[</span>54<span class="cite-bracket">]</span></a></sup> </p><p>NASA has identified automated and autonomous rendezvous and docking — the ability of two spacecraft to rendezvous and dock "operating independently from human controllers and without other back-up, [and which requires technology] advances in sensors, software, and <a href="/wiki/Real-time_Control_System" title="Real-time Control System">realtime</a> <a href="/wiki/Orbital_station-keeping" title="Orbital station-keeping">on-orbit positioning</a> and <a href="/wiki/Attitude_control_(spacecraft)#Attitude_control_algorithms" class="mw-redirect" title="Attitude control (spacecraft)">flight control</a>, among other challenges" — as a critical technology to the "ultimate success of capabilities such as in-orbit <a href="/wiki/Propellant_depot" class="mw-redirect" title="Propellant depot">propellant storage and refueling</a>," and also for complex operations in assembling mission components for interplanetary destinations.<sup id="cite_ref-nasa20100525_55-0" class="reference"><a href="#cite_note-nasa20100525-55"><span class="cite-bracket">[</span>55<span class="cite-bracket">]</span></a></sup> </p><p>The Automated/Autonomous Rendezvous & Docking Vehicle (ARDV) is a proposed <a href="/wiki/Flagship_technology_demonstrations" class="mw-redirect" title="Flagship technology demonstrations">NASA Flagship Technology Demonstration</a> (FTD) mission, for flight as early as 2014/2015. An important NASA objective on the proposed mission is to advance the technology and demonstrate automated rendezvous and docking. One mission element defined in the 2010 analysis was the development of a laser proximity operations sensor that could be used for non-cooperative vehicles at distances between 1 metre (3 ft 3 in) and 3 kilometers (2 mi). Non-cooperative docking mechanisms were identified as critical mission elements to the success of such autonomous missions.<sup id="cite_ref-nasa20100525_55-1" class="reference"><a href="#cite_note-nasa20100525-55"><span class="cite-bracket">[</span>55<span class="cite-bracket">]</span></a></sup> </p><p><a href="/wiki/Grapple_Fixture" class="mw-redirect" title="Grapple Fixture">Grappling</a> and connecting to non-cooperative space objects was identified as a top technical challenge in the 2010 NASA Robotics, tele-robotics and autonomous systems roadmap.<sup id="cite_ref-nasa201011_56-0" class="reference"><a href="#cite_note-nasa201011-56"><span class="cite-bracket">[</span>56<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading2"><h2 id="Docking_states">Docking states</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=12" title="Edit section: Docking states"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1251242444" /><table class="box-Unreferenced_section plainlinks metadata ambox ambox-content ambox-Unreferenced" role="presentation"><tbody><tr><td class="mbox-image"><div class="mbox-image-div"><span typeof="mw:File"><a href="/wiki/File:Question_book-new.svg" class="mw-file-description"><img alt="" src="//upload.wikimedia.org/wikipedia/en/thumb/9/99/Question_book-new.svg/50px-Question_book-new.svg.png" decoding="async" width="50" height="39" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/en/thumb/9/99/Question_book-new.svg/75px-Question_book-new.svg.png 1.5x, //upload.wikimedia.org/wikipedia/en/thumb/9/99/Question_book-new.svg/100px-Question_book-new.svg.png 2x" data-file-width="512" data-file-height="399" /></a></span></div></td><td class="mbox-text"><div class="mbox-text-span">This section <b>does not <a href="/wiki/Wikipedia:Citing_sources" title="Wikipedia:Citing sources">cite</a> any <a href="/wiki/Wikipedia:Verifiability" title="Wikipedia:Verifiability">sources</a></b>.<span class="hide-when-compact"> Please help <a href="/wiki/Special:EditPage/Docking_and_berthing_of_spacecraft" title="Special:EditPage/Docking and berthing of spacecraft">improve this section</a> by <a href="/wiki/Help:Referencing_for_beginners" title="Help:Referencing for beginners">adding citations to reliable sources</a>. Unsourced material may be challenged and <a href="/wiki/Wikipedia:Verifiability#Burden_of_evidence" title="Wikipedia:Verifiability">removed</a>.</span> <span class="date-container"><i>(<span class="date">November 2020</span>)</i></span><span class="hide-when-compact"><i> (<small><a href="/wiki/Help:Maintenance_template_removal" title="Help:Maintenance template removal">Learn how and when to remove this message</a></small>)</i></span></div></td></tr></tbody></table> <p>A docking/berthing connection is referred to as either "soft" or "hard". Typically, a spacecraft first initiates a <i>soft dock</i> by making contact and latching its docking connector with that of the target vehicle. Once the soft connection is secured, if both spacecraft are pressurized, they may proceed to a <i>hard dock</i> where the docking mechanisms form an airtight seal, enabling interior hatches to be safely opened so that crew and cargo can be transferred. </p> <div class="mw-heading mw-heading2"><h2 id="Berthing_spacecraft_and_modules">Berthing spacecraft and modules</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=13" title="Edit section: Berthing spacecraft and modules"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Docking and undocking describe spacecraft using a docking port, without assistance and under their own power. Berthing takes place when a spacecraft or unpowered module cannot use a docking port or requires assistance to use one. This assistance may come from a spacecraft, such as when the <a href="/wiki/Space_Shuttle" title="Space Shuttle">Space Shuttle</a> used its robotic arm to push ISS modules into their permanent berths. In a similar fashion the <a href="/wiki/Poisk_(ISS_module)" title="Poisk (ISS module)">Poisk module</a> was permanently berthed to a docking port after it was pushed into place by a <a href="/wiki/Progress_M-MIM2" title="Progress M-MIM2">modified Progress spacecraft</a> which was then discarded. The <a href="/wiki/Cygnus_(spacecraft)" title="Cygnus (spacecraft)">Cygnus resupply spacecraft</a> arriving at the ISS does not connect to a <a href="/wiki/Androgynous_Peripheral_Attach_System#APAS-95" title="Androgynous Peripheral Attach System">docking port</a>, instead it is pulled into a berthing mechanism by the station's robotic arm and the station then closes the connection. The <a href="/wiki/Common_berthing_mechanism" class="mw-redirect" title="Common berthing mechanism">berthing mechanism</a> is used only on the <a href="/wiki/US_Orbital_Segment" title="US Orbital Segment">US segment</a> of the ISS, the <a href="/wiki/Russian_Orbital_Segment" title="Russian Orbital Segment">Russian segment</a> of the ISS uses <a href="/wiki/Androgynous_Peripheral_Attach_System#APAS-95" title="Androgynous Peripheral Attach System">docking ports</a> for permanent berths. </p> <div class="mw-heading mw-heading2"><h2 id="Mars_surface_docking">Mars surface docking</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=14" title="Edit section: Mars surface docking"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <figure class="mw-halign-right" typeof="mw:File"><a href="/wiki/File:Small_Pressurized_Rover-_components.jpg" class="mw-file-description" title="SEV components"><img alt="SEV components" src="//upload.wikimedia.org/wikipedia/commons/thumb/1/10/Small_Pressurized_Rover-_components.jpg/400px-Small_Pressurized_Rover-_components.jpg" decoding="async" width="400" height="270" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/1/10/Small_Pressurized_Rover-_components.jpg/600px-Small_Pressurized_Rover-_components.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/1/10/Small_Pressurized_Rover-_components.jpg/800px-Small_Pressurized_Rover-_components.jpg 2x" data-file-width="2604" data-file-height="1760" /></a><figcaption>SEV components</figcaption></figure> <p>Docking has been discussed by NASA in regards to a <a href="/wiki/Crewed_Mars_rover" title="Crewed Mars rover">Crewed Mars rover</a>, such as with <a href="/wiki/Mars_habitat" title="Mars habitat">Mars habitat</a> or ascent stage.<sup id="cite_ref-SEVC-2010_57-0" class="reference"><a href="#cite_note-SEVC-2010-57"><span class="cite-bracket">[</span>57<span class="cite-bracket">]</span></a></sup> The <a href="/wiki/Space_Exploration_Vehicle" title="Space Exploration Vehicle">Martian surface vehicle</a> (and surface habitats) would have a large rectangular docking hatch, approximately 2 by 1 meter (6.6 by 3.3 ft).<sup id="cite_ref-SEVC-2010_57-1" class="reference"><a href="#cite_note-SEVC-2010-57"><span class="cite-bracket">[</span>57<span class="cite-bracket">]</span></a></sup><sup class="noprint Inline-Template" style="white-space:nowrap;">[<i><a href="/wiki/Wikipedia:Verifiability" title="Wikipedia:Verifiability"><span title="The material near this tag failed verification of its source citation(s). (October 2020)">failed verification</span></a></i>]</sup> </p> <div class="mw-heading mw-heading2"><h2 id="Gallery">Gallery</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=15" title="Edit section: Gallery"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul class="gallery mw-gallery-traditional"> <li class="gallerybox" style="width: 155px"> <div class="thumb" style="width: 150px; height: 150px;"><span typeof="mw:File"><a href="/wiki/File:ISS_undocking_-_Timelapse_01_-_20180328_034651_547.gif" class="mw-file-description" title="Timelapse of undocking of a Soyuz spacecraft from the International Space Station"><img alt="Timelapse of undocking of a Soyuz spacecraft from the International Space Station" src="//upload.wikimedia.org/wikipedia/commons/thumb/a/a0/ISS_undocking_-_Timelapse_01_-_20180328_034651_547.gif/120px-ISS_undocking_-_Timelapse_01_-_20180328_034651_547.gif" decoding="async" width="120" height="67" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/a/a0/ISS_undocking_-_Timelapse_01_-_20180328_034651_547.gif/180px-ISS_undocking_-_Timelapse_01_-_20180328_034651_547.gif 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/a/a0/ISS_undocking_-_Timelapse_01_-_20180328_034651_547.gif/240px-ISS_undocking_-_Timelapse_01_-_20180328_034651_547.gif 2x" data-file-width="480" data-file-height="266" /></a></span></div> <div class="gallerytext">Timelapse of undocking of a <a href="/wiki/Soyuz_(spacecraft)" title="Soyuz (spacecraft)">Soyuz spacecraft</a> from the <a href="/wiki/International_Space_Station" title="International Space Station">International Space Station</a></div> </li> </ul> <div class="mw-heading mw-heading2"><h2 id="References">References</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Docking_and_berthing_of_spacecraft&action=edit&section=16" title="Edit section: References"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1239543626">.mw-parser-output .reflist{margin-bottom:0.5em;list-style-type:decimal}@media screen{.mw-parser-output .reflist{font-size:90%}}.mw-parser-output .reflist .references{font-size:100%;margin-bottom:0;list-style-type:inherit}.mw-parser-output .reflist-columns-2{column-width:30em}.mw-parser-output .reflist-columns-3{column-width:25em}.mw-parser-output .reflist-columns{margin-top:0.3em}.mw-parser-output .reflist-columns ol{margin-top:0}.mw-parser-output .reflist-columns li{page-break-inside:avoid;break-inside:avoid-column}.mw-parser-output .reflist-upper-alpha{list-style-type:upper-alpha}.mw-parser-output .reflist-upper-roman{list-style-type:upper-roman}.mw-parser-output .reflist-lower-alpha{list-style-type:lower-alpha}.mw-parser-output .reflist-lower-greek{list-style-type:lower-greek}.mw-parser-output .reflist-lower-roman{list-style-type:lower-roman}</style><div class="reflist"> <div class="mw-references-wrap mw-references-columns"><ol class="references"> <li id="cite_note-her-1"><span class="mw-cite-backlink">^ <a href="#cite_ref-her_1-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-her_1-1"><sup><i><b>b</b></i></sup></a> <a href="#cite_ref-her_1-2"><sup><i><b>c</b></i></sup></a> <a href="#cite_ref-her_1-3"><sup><i><b>d</b></i></sup></a> <a href="#cite_ref-her_1-4"><sup><i><b>e</b></i></sup></a> <a href="#cite_ref-her_1-5"><sup><i><b>f</b></i></sup></a> <a href="#cite_ref-her_1-6"><sup><i><b>g</b></i></sup></a> <a href="#cite_ref-her_1-7"><sup><i><b>h</b></i></sup></a> <a href="#cite_ref-her_1-8"><sup><i><b>i</b></i></sup></a> <a href="#cite_ref-her_1-9"><sup><i><b>j</b></i></sup></a> <a href="#cite_ref-her_1-10"><sup><i><b>k</b></i></sup></a> <a href="#cite_ref-her_1-11"><sup><i><b>l</b></i></sup></a></span> <span class="reference-text"><style data-mw-deduplicate="TemplateStyles:r1238218222">.mw-parser-output cite.citation{font-style:inherit;word-wrap:break-word}.mw-parser-output .citation q{quotes:"\"""\"""'""'"}.mw-parser-output .citation:target{background-color:rgba(0,127,255,0.133)}.mw-parser-output .id-lock-free.id-lock-free a{background:url("//upload.wikimedia.org/wikipedia/commons/6/65/Lock-green.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-limited.id-lock-limited a,.mw-parser-output .id-lock-registration.id-lock-registration a{background:url("//upload.wikimedia.org/wikipedia/commons/d/d6/Lock-gray-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-subscription.id-lock-subscription a{background:url("//upload.wikimedia.org/wikipedia/commons/a/aa/Lock-red-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .cs1-ws-icon a{background:url("//upload.wikimedia.org/wikipedia/commons/4/4c/Wikisource-logo.svg")right 0.1em center/12px no-repeat}body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-free a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-limited a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-registration a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-subscription a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .cs1-ws-icon a{background-size:contain;padding:0 1em 0 0}.mw-parser-output .cs1-code{color:inherit;background:inherit;border:none;padding:inherit}.mw-parser-output .cs1-hidden-error{display:none;color:var(--color-error,#d33)}.mw-parser-output .cs1-visible-error{color:var(--color-error,#d33)}.mw-parser-output .cs1-maint{display:none;color:#085;margin-left:0.3em}.mw-parser-output .cs1-kern-left{padding-left:0.2em}.mw-parser-output .cs1-kern-right{padding-right:0.2em}.mw-parser-output .citation .mw-selflink{font-weight:inherit}@media screen{.mw-parser-output .cs1-format{font-size:95%}html.skin-theme-clientpref-night .mw-parser-output .cs1-maint{color:#18911f}}@media screen and (prefers-color-scheme:dark){html.skin-theme-clientpref-os .mw-parser-output .cs1-maint{color:#18911f}}</style><cite id="CITEREFJohn_CookValery_AksamentovThomas_HoffmanWes_Bruner2011" class="citation web cs1">John Cook; Valery Aksamentov; Thomas Hoffman; Wes Bruner (January 1, 2011). <a rel="nofollow" class="external text" href="https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20110010964.pdf">"ISS Interface Mechanisms and their Heritage"</a> <span class="cs1-format">(PDF)</span>. Houston, Texas: Boeing<span class="reference-accessdate">. Retrieved <span class="nowrap">March 31,</span> 2015</span>. <q>Docking is when one incoming spacecraft rendezvous with another spacecraft and flies a controlled collision trajectory in such a manner so as to align and mesh the interface mechanisms. The spacecraft docking mechanisms typically enter what is called soft capture, followed by a load attenuation phase, and then the hard docked position which establishes an air-tight structural connection between spacecraft. Berthing, by contrast, is when an incoming spacecraft is grappled by a robotic arm and its interface mechanism is placed in close proximity of the stationary interface mechanism. Then typically there is a capture process, coarse alignment and fine alignment and then structural attachment.</q></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=ISS+Interface+Mechanisms+and+their+Heritage&rft.place=Houston%2C+Texas&rft.pub=Boeing&rft.date=2011-01-01&rft.au=John+Cook&rft.au=Valery+Aksamentov&rft.au=Thomas+Hoffman&rft.au=Wes+Bruner&rft_id=https%3A%2F%2Fntrs.nasa.gov%2Farchive%2Fnasa%2Fcasi.ntrs.nasa.gov%2F20110010964.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-nasa20090317-2"><span class="mw-cite-backlink">^ <a href="#cite_ref-nasa20090317_2-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-nasa20090317_2-1"><sup><i><b>b</b></i></sup></a> <a href="#cite_ref-nasa20090317_2-2"><sup><i><b>c</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://ntrs.nasa.gov/api/citations/20090014038/downloads/20090014038.pdf">"International Docking Standardization"</a> <span class="cs1-format">(PDF)</span>. <i>NTRS - NASA Technical Reports Server</i>. NASA. March 17, 2009. p. 15<span class="reference-accessdate">. Retrieved <span class="nowrap">October 25,</span> 2024</span>. <q>Docking: The joining or coming together of two separate free flying space vehicles</q></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=NTRS+-+NASA+Technical+Reports+Server&rft.atitle=International+Docking+Standardization&rft.pages=15&rft.date=2009-03-17&rft_id=https%3A%2F%2Fntrs.nasa.gov%2Fapi%2Fcitations%2F20090014038%2Fdownloads%2F20090014038.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-ARDS-3"><span class="mw-cite-backlink">^ <a href="#cite_ref-ARDS_3-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-ARDS_3-1"><sup><i><b>b</b></i></sup></a> <a href="#cite_ref-ARDS_3-2"><sup><i><b>c</b></i></sup></a> <a href="#cite_ref-ARDS_3-3"><sup><i><b>d</b></i></sup></a> <a href="#cite_ref-ARDS_3-4"><sup><i><b>e</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFFehse2003" class="citation book cs1">Fehse, Wigbert (2003). <i>Automated Rendezvous and Docking of Spacecraft</i>. Cambridge, UK: Cambridge University Press. <a href="/wiki/ISBN_(identifier)" class="mw-redirect" title="ISBN (identifier)">ISBN</a> <a href="/wiki/Special:BookSources/978-0521824927" title="Special:BookSources/978-0521824927"><bdi>978-0521824927</bdi></a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=book&rft.btitle=Automated+Rendezvous+and+Docking+of+Spacecraft&rft.place=Cambridge%2C+UK&rft.pub=Cambridge+University+Press&rft.date=2003&rft.isbn=978-0521824927&rft.aulast=Fehse&rft.aufirst=Wigbert&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-AdvanDock-4"><span class="mw-cite-backlink">^ <a href="#cite_ref-AdvanDock_4-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-AdvanDock_4-1"><sup><i><b>b</b></i></sup></a> <a href="#cite_ref-AdvanDock_4-2"><sup><i><b>c</b></i></sup></a> <a href="#cite_ref-AdvanDock_4-3"><sup><i><b>d</b></i></sup></a> <a href="#cite_ref-AdvanDock_4-4"><sup><i><b>e</b></i></sup></a> <a href="#cite_ref-AdvanDock_4-5"><sup><i><b>f</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://web.archive.org/web/20110922084406/http://gltrs.grc.nasa.gov/reports/2005/CP-2005-213655-VOL1/15Robertson.pdf">"Advanced Docking/Berthing System – NASA Seal Workshop"</a> <span class="cs1-format">(PDF)</span>. NASA. November 4, 2004. p. 15. Archived from <a rel="nofollow" class="external text" href="https://gltrs.grc.nasa.gov/reports/2005/CP-2005-213655-VOL1/15Robertson.pdf">the original</a> <span class="cs1-format">(PDF)</span> on September 22, 2011<span class="reference-accessdate">. Retrieved <span class="nowrap">March 4,</span> 2011</span>. <q>Berthing refers to mating operations where an inactive module/vehicle is placed into the mating interface using a Remote Manipulator System-RMS. Docking refers to mating operations where an active vehicle flies into the mating interface under its own power.</q></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Advanced+Docking%2FBerthing+System+%E2%80%93+NASA+Seal+Workshop&rft.pages=15&rft.pub=NASA&rft.date=2004-11-04&rft_id=http%3A%2F%2Fgltrs.grc.nasa.gov%2Freports%2F2005%2FCP-2005-213655-VOL1%2F15Robertson.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-5"><span class="mw-cite-backlink"><b><a href="#cite_ref-5">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFPete_Harding2015" class="citation news cs1">Pete Harding (February 25, 2015). <a rel="nofollow" class="external text" href="https://www.nasaspaceflight.com/2015/02/astronauts-spacewalk-re-wire-iss-commercial-crew/">"EVA-30 concludes latest ISS commercial crew preparations"</a>. <i><a href="/wiki/NASASpaceFlight.com" class="mw-redirect" title="NASASpaceFlight.com">NASASpaceFlight.com</a></i><span class="reference-accessdate">. Retrieved <span class="nowrap">April 9,</span> 2023</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=NASASpaceFlight.com&rft.atitle=EVA-30+concludes+latest+ISS+commercial+crew+preparations&rft.date=2015-02-25&rft.au=Pete+Harding&rft_id=https%3A%2F%2Fwww.nasaspaceflight.com%2F2015%2F02%2Fastronauts-spacewalk-re-wire-iss-commercial-crew%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-MirHH-6"><span class="mw-cite-backlink">^ <a href="#cite_ref-MirHH_6-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-MirHH_6-1"><sup><i><b>b</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://web.archive.org/web/20171226011559/https://history.nasa.gov/SP-4225/documentation/mhh/mirhh-part1.pdf">"Mir Hardware Heritage Part 1: Soyuz"</a> <span class="cs1-format">(PDF)</span>. NASA. p. 10. Archived from <a rel="nofollow" class="external text" href="https://history.nasa.gov/SP-4225/documentation/mhh/mirhh-part1.pdf">the original</a> <span class="cs1-format">(PDF)</span> on December 26, 2017<span class="reference-accessdate">. Retrieved <span class="nowrap">October 3,</span> 2018</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Mir+Hardware+Heritage+Part+1%3A+Soyuz&rft.pages=10&rft.pub=NASA&rft_id=https%3A%2F%2Fhistory.nasa.gov%2FSP-4225%2Fdocumentation%2Fmhh%2Fmirhh-part1.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-7"><span class="mw-cite-backlink"><b><a href="#cite_ref-7">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://web.archive.org/web/20080424051917/http://www.niitp.ru/en/directions/02/history/">"History"</a>. Archived from <a rel="nofollow" class="external text" href="http://www.niitp.ru/en/directions/02/history/">the original</a> on April 24, 2008<span class="reference-accessdate">. Retrieved <span class="nowrap">June 23,</span> 2010</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=History&rft_id=http%3A%2F%2Fwww.niitp.ru%2Fen%2Fdirections%2F02%2Fhistory%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-MAAS_Collection-8"><span class="mw-cite-backlink"><b><a href="#cite_ref-MAAS_Collection_8-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://collection.maas.museum/object/157010">"Model of a Soyuz-4-5 spacecraft"</a>. <i>MAAS Collection</i><span class="reference-accessdate">. Retrieved <span class="nowrap">October 22,</span> 2021</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=MAAS+Collection&rft.atitle=Model+of+a+Soyuz-4-5+spacecraft&rft_id=https%3A%2F%2Fcollection.maas.museum%2Fobject%2F157010&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-NASA-9"><span class="mw-cite-backlink"><b><a href="#cite_ref-NASA_9-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1 cs1-prop-foreign-lang-source"><a rel="nofollow" class="external text" href="https://nssdc.gsfc.nasa.gov/nmc/spacecraft/display.action?id=1969-004A">"NSSDCA – Spacecraft – Details"</a>. <i>NASA</i> (in Norwegian)<span class="reference-accessdate">. Retrieved <span class="nowrap">October 22,</span> 2021</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=NASA&rft.atitle=NSSDCA+%E2%80%93+Spacecraft+%E2%80%93+Details&rft_id=https%3A%2F%2Fnssdc.gsfc.nasa.gov%2Fnmc%2Fspacecraft%2Fdisplay.action%3Fid%3D1969-004A&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-10"><span class="mw-cite-backlink"><b><a href="#cite_ref-10">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://everyspec.com/NASA/NASA-NSTS-ISS-PUBS/NSTS_21492_2333/">"NSTS 21492 Space Shuttle Program Payload Bay Payload User's Guide (Basic)"</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=NSTS+21492+Space+Shuttle+Program+Payload+Bay+Payload+User%27s+Guide+%28Basic%29&rft_id=http%3A%2F%2Feveryspec.com%2FNASA%2FNASA-NSTS-ISS-PUBS%2FNSTS_21492_2333%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span>(Lyndon B. Johnson Space Center, Houston Texas, 2000)</span> </li> <li id="cite_note-11"><span class="mw-cite-backlink"><b><a href="#cite_ref-11">^</a></b></span> <span class="reference-text"><a rel="nofollow" class="external text" href="https://dockingstandard.nasa.gov/Documents/US%20Docking%20History%20Poster%20(2).ppt">History of U.S. Docking Systems (10/05/2010)</a> <a rel="nofollow" class="external text" href="https://web.archive.org/web/20110524050255/http://dockingstandard.nasa.gov/Documents/US%20Docking%20History%20Poster%20%282%29.ppt">Archived</a> May 24, 2011, at the <a href="/wiki/Wayback_Machine" title="Wayback Machine">Wayback Machine</a></span> </li> <li id="cite_note-12"><span class="mw-cite-backlink"><b><a href="#cite_ref-12">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://www.siamoandatisullaluna.com/images/download/NASA-Apollo9PressKit.pdf">"Apollo 9 Press Kit"</a> <span class="cs1-format">(PDF)</span>. NASA. February 23, 1969. p. 43<span class="reference-accessdate">. Retrieved <span class="nowrap">March 17,</span> 2015</span>. <q>The tunnel is 32 inches (.81 cm) in diameter and is used for crew transfer between the CSM and LM by crewmen in either pressurized or unpressurized extravehicular mobility units (EMU).</q></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Apollo+9+Press+Kit&rft.pages=43&rft.pub=NASA&rft.date=1969-02-23&rft_id=http%3A%2F%2Fwww.siamoandatisullaluna.com%2Fimages%2Fdownload%2FNASA-Apollo9PressKit.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-13"><span class="mw-cite-backlink"><b><a href="#cite_ref-13">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFHarland2011" class="citation book cs1">Harland, David (2011). <i>Apollo 12 – On the Ocean of Storms: On the Ocean of Storms</i>. New York: Springer. p. 138.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=book&rft.btitle=Apollo+12+%E2%80%93+On+the+Ocean+of+Storms%3A+On+the+Ocean+of+Storms&rft.place=New+York&rft.pages=138&rft.pub=Springer&rft.date=2011&rft.aulast=Harland&rft.aufirst=David&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-Mir-14"><span class="mw-cite-backlink">^ <a href="#cite_ref-Mir_14-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-Mir_14-1"><sup><i><b>b</b></i></sup></a> <a href="#cite_ref-Mir_14-2"><sup><i><b>c</b></i></sup></a> <a href="#cite_ref-Mir_14-3"><sup><i><b>d</b></i></sup></a> <a href="#cite_ref-Mir_14-4"><sup><i><b>e</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFPortree1995" class="citation web cs1">Portree, David (March 1995). <a rel="nofollow" class="external text" href="https://web.archive.org/web/20090907191412/http://ston.jsc.nasa.gov/collections/TRS/_techrep/RP1357.pdf">"Mir Hardware Heritage"</a> <span class="cs1-format">(PDF)</span>. NASA. Archived from <a rel="nofollow" class="external text" href="https://ston.jsc.nasa.gov/collections/TRS/_techrep/RP1357.pdf">the original</a> <span class="cs1-format">(PDF)</span> on September 7, 2009<span class="reference-accessdate">. Retrieved <span class="nowrap">December 11,</span> 2011</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Mir+Hardware+Heritage&rft.pub=NASA&rft.date=1995-03&rft.aulast=Portree&rft.aufirst=David&rft_id=http%3A%2F%2Fston.jsc.nasa.gov%2Fcollections%2FTRS%2F_techrep%2FRP1357.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-ESARDS-15"><span class="mw-cite-backlink">^ <a href="#cite_ref-ESARDS_15-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-ESARDS_15-1"><sup><i><b>b</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFM.CislaghiC.Santini2008" class="citation web cs1">M.Cislaghi; C.Santini (October 2008). <a rel="nofollow" class="external text" href="https://web.archive.org/web/20130203014131/http://www.congrex.nl/08a11/presentations/day1_S02/S02_03_Cislaghi.pdf">"The Russian Docking System and the Automated Transfer Vehicle: a safe integrated concept"</a> <span class="cs1-format">(PDF)</span>. ESA. Archived from <a rel="nofollow" class="external text" href="http://www.congrex.nl/08a11/presentations/day1_S02/S02_03_Cislaghi.pdf">the original</a> <span class="cs1-format">(PDF)</span> on February 3, 2013<span class="reference-accessdate">. Retrieved <span class="nowrap">May 14,</span> 2016</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=The+Russian+Docking+System+and+the+Automated+Transfer+Vehicle%3A+a+safe+integrated+concept&rft.pub=ESA&rft.date=2008-10&rft.au=M.Cislaghi&rft.au=C.Santini&rft_id=http%3A%2F%2Fwww.congrex.nl%2F08a11%2Fpresentations%2Fday1_S02%2FS02_03_Cislaghi.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-rswDOCK-16"><span class="mw-cite-backlink">^ <a href="#cite_ref-rswDOCK_16-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-rswDOCK_16-1"><sup><i><b>b</b></i></sup></a> <a href="#cite_ref-rswDOCK_16-2"><sup><i><b>c</b></i></sup></a> <a href="#cite_ref-rswDOCK_16-3"><sup><i><b>d</b></i></sup></a> <a href="#cite_ref-rswDOCK_16-4"><sup><i><b>e</b></i></sup></a> <a href="#cite_ref-rswDOCK_16-5"><sup><i><b>f</b></i></sup></a> <a href="#cite_ref-rswDOCK_16-6"><sup><i><b>g</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://www.russianspaceweb.com/docking.html">"Docking Systems"</a>. <i>RussianSpaceWeb.com</i><span class="reference-accessdate">. Retrieved <span class="nowrap">September 2,</span> 2012</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=RussianSpaceWeb.com&rft.atitle=Docking+Systems&rft_id=http%3A%2F%2Fwww.russianspaceweb.com%2Fdocking.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-sovietspaceshuttledockingmodule-17"><span class="mw-cite-backlink">^ <a href="#cite_ref-sovietspaceshuttledockingmodule_17-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-sovietspaceshuttledockingmodule_17-1"><sup><i><b>b</b></i></sup></a> <a href="#cite_ref-sovietspaceshuttledockingmodule_17-2"><sup><i><b>c</b></i></sup></a> <a href="#cite_ref-sovietspaceshuttledockingmodule_17-3"><sup><i><b>d</b></i></sup></a> <a href="#cite_ref-sovietspaceshuttledockingmodule_17-4"><sup><i><b>e</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFBart_HendrickxBert_Vis2007" class="citation book cs1">Bart Hendrickx; Bert Vis (2007). <a rel="nofollow" class="external text" href="https://books.google.com/books?id=VRb1yAGVWNsC&q=%22APAS-95%22+nasa"><i>Energiya-Buran: The Soviet Space Shuttle</i></a>. Chichester, UK: Praxis Publishing Ltd. pp. <span class="nowrap">379–</span>381. <a href="/wiki/ISBN_(identifier)" class="mw-redirect" title="ISBN (identifier)">ISBN</a> <a href="/wiki/Special:BookSources/978-0-387-69848-9" title="Special:BookSources/978-0-387-69848-9"><bdi>978-0-387-69848-9</bdi></a>. <q>For space station missions Buran would have carried a Docking Module (SM) in the forward part of the payload bay. It consisted of a spherical section (2.55 m in diameter) topped with a cylindrical tunnel (2.2 m in diameter) with an APAS-89 androgynous docking port, a modified version of the APAS-75 system developed by NPO Energiya for the 1975 Apollo-Soyuz Test Project (Page 141). The plan was for the orbiter to be launched uncrewed and fly to the Mir space station, where it would dock with the axial APAS-89 docking port of the Kristall module (Page 246). In the late 1980s NPO Energiya was ordered to build three Soyuz spacecraft (serial numbers 101, 102, 103) with APAS-89 docking ports (Page 246). Soyuz craft nr. 101 was eventually launched as Soyuz TM-16 on January 1993, carrying another resident crew (Gennadiy Manakov and Aleksandr Poleshchuk) to Mir space station. Equipped with an APAS-89 docking port, it was the only Soyuz vehicle to ever docking with the Kristall module. Soyuz "rescue" vehicle nr. 102 and 103, which had only been partially assembled, were modified as ordinary Soyuz TM spacecraft with standard probe docking mechanisms and were given new serial numbers (Page 249). In July 1992 NASA initiated the development of the Orbiter Docking System (ODS) to support Shuttle flights to Mir. Mounted in the forward end of the payload bay, the ODS consists of an external airlock, a supporting truss structure, and an APAS docking port. While the first two elements were built by Rockwell, the APAS was manufactured by RKK Energiya. Although Energiya's internal designator for the Shuttle APAS is APAS-95, it is essentially the same as Buran's APAS-89. While the ODS was slightly modified for Shuttle missions to ISS, APAS remained unchanged (Page 380).</q></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=book&rft.btitle=Energiya-Buran%3A+The+Soviet+Space+Shuttle&rft.place=Chichester%2C+UK&rft.pages=%3Cspan+class%3D%22nowrap%22%3E379-%3C%2Fspan%3E381&rft.pub=Praxis+Publishing+Ltd.&rft.date=2007&rft.isbn=978-0-387-69848-9&rft.au=Bart+Hendrickx&rft.au=Bert+Vis&rft_id=https%3A%2F%2Fbooks.google.com%2Fbooks%3Fid%3DVRb1yAGVWNsC%26q%3D%2522APAS-95%2522%2Bnasa&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-kristall-18"><span class="mw-cite-backlink"><b><a href="#cite_ref-kristall_18-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://www.russianspaceweb.com/mir_kristall.html">"Kristall module (77KST)"</a>. <i>www.russianspaceweb.com</i>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=www.russianspaceweb.com&rft.atitle=Kristall+module+%2877KST%29&rft_id=http%3A%2F%2Fwww.russianspaceweb.com%2Fmir_kristall.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-sts-74press-19"><span class="mw-cite-backlink"><b><a href="#cite_ref-sts-74press_19-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://www.shuttlepresskit.com/sts-74/sts74.pdf">"Space Shuttle Mission STS-74 Press Kit"</a> <span class="cs1-format">(PDF)</span>. NASA<span class="reference-accessdate">. Retrieved <span class="nowrap">December 28,</span> 2011</span>. <q>Atlantis will carry the Russian-built Docking Module, which has multi-mission androgynous docking mechanisms at top and bottom</q></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Space+Shuttle+Mission+STS-74+Press+Kit&rft.pub=NASA&rft_id=http%3A%2F%2Fwww.shuttlepresskit.com%2Fsts-74%2Fsts74.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-20"><span class="mw-cite-backlink"><b><a href="#cite_ref-20">^</a></b></span> <span class="reference-text"><a rel="nofollow" class="external text" href="https://web.archive.org/web/20000817055811/http://spaceflight.nasa.gov/spacenews/factsheets/pdfs/unity.pdf">NASA.gov</a></span> </li> <li id="cite_note-nsf20210729-21"><span class="mw-cite-backlink"><b><a href="#cite_ref-nsf20210729_21-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFHarding2021" class="citation news cs1">Harding, Pete (July 29, 2021). <a rel="nofollow" class="external text" href="https://www.nasaspaceflight.com/2021/07/nauka-docking/">"MLM Nauka docks to ISS, malfunctions shortly thereafter"</a>. <i><a href="/wiki/NASASpaceFlight" class="mw-redirect" title="NASASpaceFlight">NASASpaceFlight</a></i><span class="reference-accessdate">. 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Retrieved <span class="nowrap">March 21,</span> 2011</span>. <q><i>ViviSat, a new 50-50 joint venture of U.S. Space and ATK, is marketing a satellite-refueling spacecraft that connects to a target spacecraft using the same probe-in-the-kick-motor approach as MDA, but does not transfer its fuel. Instead, the vehicle becomes a new fuel tank, using its own thrusters to supply attitude control for the target. ... [the ViviSat] concept is not as far along as MDA. ... In addition to extending the life of an out-of-fuel satellite, the company could also rescue fueled spacecraft like <a href="/wiki/AEHF-1" class="mw-redirect" title="AEHF-1">AEHF-1</a> by docking with it in its low orbit, using its own motor and fuel to place it in the right orbit, and then moving to another target.</i></q></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Aviation+Week&rft.atitle=An+End+to+Space+Trash%3F&rft.date=2011-03-22&rft.aulast=Morring&rft.aufirst=Frank+Jr.&rft_id=http%3A%2F%2Fwww.aviationweek.com%2Faw%2Fgeneric%2Fstory.jsp%3Fid%3Dnews%2Fawst%2F2011%2F03%2F21%2FAW_03_21_2011_p23-297586.xml%26headline%3DAn%2520End%2520to%2520Space%2520Trash%3F%26channel%3Dawst&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-cnw20110315-42"><span class="mw-cite-backlink"><b><a href="#cite_ref-cnw20110315_42-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://web.archive.org/web/20110512175952/http://www.canadanewswire.ca/en/releases/archive/March2011/15/c2866.html">"Intelsat Picks MacDonald, Dettwiler and Associates Ltd. for Satellite Servicing"</a>. <i>press release</i>. CNW Group. Archived from <a rel="nofollow" class="external text" href="http://www.canadanewswire.ca/en/releases/archive/March2011/15/c2866.html">the original</a> on May 12, 2011<span class="reference-accessdate">. Retrieved <span class="nowrap">March 15,</span> 2011</span>. <q><i>MDA planned to launch its Space Infrastructure Servicing ("SIS") vehicle into near geosynchronous orbit, where it would service commercial and government satellites in need of additional fuel, re-positioning or other maintenance. The first refueling mission was to be available 3.5 years following the commencement of the build phase. ... The services provided by MDA to Intelsat under this agreement are valued at more than US$280 million.</i></q></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=press+release&rft.atitle=Intelsat+Picks+MacDonald%2C+Dettwiler+and+Associates+Ltd.+for+Satellite+Servicing&rft_id=http%3A%2F%2Fwww.canadanewswire.ca%2Fen%2Freleases%2Farchive%2FMarch2011%2F15%2Fc2866.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-sn20110314-43"><span class="mw-cite-backlink"><b><a href="#cite_ref-sn20110314_43-0">^</a></b></span> <span class="reference-text"> <link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFde_Selding2011" class="citation news cs1">de Selding, Peter B. 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This assumed that four or five satellites would be given around 200 kilograms each of fuel.</i></q></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Space+News&rft.atitle=Intelsat+Signs+Up+for+Satellite+Refueling+Service&rft.date=2011-03-14&rft.aulast=de+Selding&rft.aufirst=Peter+B.&rft_id=http%3A%2F%2Fwww.spacenews.com%2Fsatellite_telecom%2Fintelsat-signs-for-satellite-refueling-service.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-vs20110328-44"><span class="mw-cite-backlink"><b><a href="#cite_ref-vs20110328_44-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://web.archive.org/web/20180124183419/http://www.usspacellc.com/in-orbit-servicing/vivisat">"ViviSat Corporate Overview"</a>. <i>company website</i>. 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With ground teams governing the movements, the SIS robotic arm will reach through the nozzle of the apogee motor to find and unscrew the satellite's fuel cap. The SIS vehicle will reclose the fuel cap after delivering the agreed amount of propellant and then head to its next mission. ... Key to the business model is MDA's ability to launch replacement fuel canisters that would be grappled by SIS and used to refuel dozens of satellites over a period of years. These canisters would be much lighter than the SIS vehicle and thus much less expensive to launch. </i></q></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Space+News&rft.atitle=Intelsat+Signs+Up+for+MDA%27s+Satellite+Refueling+Service&rft.date=2011-03-18&rft.aulast=de+Selding&rft.aufirst=Peter+B.&rft_id=http%3A%2F%2Fwww.sbv.spacenews.com%2Fsatellite_telecom%2F110318intelsat-signs-for-mdas-satellite-refueling-service.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-softcap-46"><span class="mw-cite-backlink"><b><a href="#cite_ref-softcap_46-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFNASA2008" class="citation web cs1">NASA (2008). <a rel="nofollow" class="external text" href="https://web.archive.org/web/20080911224222/http://www.nasa.gov/mission_pages/hubble/servicing/SM4/main/SCRS_FS_HTML.html">"The Soft Capture and Rendezvous System"</a>. 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Retrieved <span class="nowrap">May 22,</span> 2009</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=The+Soft+Capture+and+Rendezvous+System&rft.pub=NASA&rft.date=2008&rft.au=NASA&rft_id=http%3A%2F%2Fwww.nasa.gov%2Fmission_pages%2Fhubble%2Fservicing%2FSM4%2Fmain%2FSCRS_FS_HTML.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-NDSdraft-47"><span class="mw-cite-backlink"><b><a href="#cite_ref-NDSdraft_47-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFParma2011" class="citation web cs1">Parma, George (May 20, 2011). <a rel="nofollow" class="external text" href="https://web.archive.org/web/20111015075220/http://dockingstandard.nasa.gov/Documents/AIAA_ATS_NDS-IDSS_Overview_Draft1.pdf">"Overview of the NASA Docking System and the International Docking System Standard"</a> <span class="cs1-format">(PDF)</span>. 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Retrieved <span class="nowrap">November 16,</span> 2014</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Robotica&rft.atitle=Autonomous+rendezvous+and+robotic+capturing+of+non-cooperative+target+in+space&rft.volume=28&rft.issue=5&rft.pages=%3Cspan+class%3D%22nowrap%22%3E705-%3C%2Fspan%3E718&rft.date=2010-09&rft_id=info%3Adoi%2F10.1017%2FS0263574709990397&rft_id=https%3A%2F%2Fapi.semanticscholar.org%2FCorpusID%3A43527059%23id-name%3DS2CID&rft.aulast=Xu&rft.aufirst=Wenfu&rft_id=http%3A%2F%2Fjournals.cambridge.org%2Faction%2FdisplayAbstract%3FfromPage%3Donline%26aid%3D7871150%26fileId%3DS0263574709990397&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-yoshida2004-51"><span class="mw-cite-backlink"><b><a href="#cite_ref-yoshida2004_51-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFYoshida2004" class="citation journal cs1">Yoshida, Kazuya (2004). 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Retrieved <span class="nowrap">August 5,</span> 2013</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Savinykh&rft.pub=Astronautix.com&rft_id=http%3A%2F%2Fwww.astronautix.com%2Fs%2Fsavinykh.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-nmsu2008-54"><span class="mw-cite-backlink"><b><a href="#cite_ref-nmsu2008_54-0">^</a></b></span> <span class="reference-text"> <link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://web.archive.org/web/20130605175755/http://mae.nmsu.edu/~oma/Posters/Satellite_RnD_Ma.pdf">"Optimal Control of Rendezvous and Docking with a Non-Cooperative Satellite"</a> <span class="cs1-format">(PDF)</span>. New Mexico State University. 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Development and testing of autonomous robotic capture of non-cooperative target vehicles in which the target does not have capture aids such as grapple fixtures or docking mechanisms is needed to support satellite servicing/rescue.</i></q></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Robotics%2C+Tele-Robotics+and+Autonomous+systems+Roadmap+%28Draft%29&rft.pub=NASA&rft.date=2010-11&rft.aulast=Ambrose&rft.aufirst=Rob&rft_id=http%3A%2F%2Fwww.nasa.gov%2Fpdf%2F501622main_TA04-Robotics-DRAFT-Nov2010-A.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADocking+and+berthing+of+spacecraft" class="Z3988"></span></span> </li> <li id="cite_note-SEVC-2010-57"><span class="mw-cite-backlink">^ <a href="#cite_ref-SEVC-2010_57-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-SEVC-2010_57-1"><sup><i><b>b</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://web.archive.org/web/20200925204215/https://www.nasa.gov/pdf/464826main_SEV_Concept_FactSheet.pdf">"<i>Space Exploration Vehicle Concept</i> 2010"</a> <span class="cs1-format">(PDF)</span>. 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srcset="//upload.wikimedia.org/wikipedia/commons/thumb/6/65/Progress_M-05M_docking.jpg/150px-Progress_M-05M_docking.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/6/65/Progress_M-05M_docking.jpg/200px-Progress_M-05M_docking.jpg 2x" data-file-width="2221" data-file-height="1848" /></a></span></div></td><th scope="row" class="navbox-group" style="width:1%">Adapters</th><td class="navbox-list-with-group navbox-list navbox-odd hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/International_Docking_Adapter" title="International Docking Adapter">International Docking Adapter</a> (IDA)</li> <li><a href="/wiki/Pressurized_Mating_Adapter" title="Pressurized Mating Adapter">Pressurized Mating Adapter</a> (PMA)</li></ul> </div></td><td class="noviewer navbox-image" rowspan="3" style="width:1px;padding:0 0 0 2px"><div><span typeof="mw:File"><a href="/wiki/File:COTS2_Dragon_is_berthed.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/c/cf/COTS2_Dragon_is_berthed.jpg/100px-COTS2_Dragon_is_berthed.jpg" decoding="async" width="100" height="83" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/c/cf/COTS2_Dragon_is_berthed.jpg/150px-COTS2_Dragon_is_berthed.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/c/cf/COTS2_Dragon_is_berthed.jpg/200px-COTS2_Dragon_is_berthed.jpg 2x" data-file-width="3402" data-file-height="2832" /></a></span></div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Mechanisms</th><td class="navbox-list-with-group navbox-list navbox-even hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Androgynous_Peripheral_Attach_System" title="Androgynous Peripheral Attach System">APAS</a></li> <li><a href="/wiki/Apollo_Docking_Mechanism" title="Apollo Docking Mechanism">Apollo</a></li> <li><a href="/wiki/Chinese_Docking_Mechanism" title="Chinese Docking Mechanism">Chinese Docking Mechanism</a></li> <li><a href="/wiki/Common_Berthing_Mechanism" title="Common Berthing Mechanism">Common Berthing Mechanism</a></li> <li><a href="/wiki/Front-end_Robotics_Enabling_Near-term_Demonstration" title="Front-end Robotics Enabling Near-term Demonstration">FREND</a> docking mechanism</li> <li><a href="/wiki/Gemini_Docking_Mechanism" title="Gemini Docking Mechanism">Gemini</a></li> <li><a href="/wiki/International_Docking_System_Standard" title="International Docking System Standard">IDSS</a> <ul><li><a href="/wiki/International_Berthing_and_Docking_Mechanism" title="International Berthing and Docking Mechanism">IBDM</a></li> <li><a href="/wiki/NASA_Docking_System" title="NASA Docking System">NDS</a></li></ul></li> <li><a href="/wiki/Soyuz_Kontakt" title="Soyuz Kontakt">Soyuz Kontakt</a></li> <li><a href="/wiki/SSVP_docking_system" title="SSVP docking system">SSVP</a></li> <li><a href="/wiki/Universal_Space_Interface_Standard" title="Universal Space Interface Standard">USIS</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Navigation systems</th><td class="navbox-list-with-group navbox-list navbox-odd hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Canadarm" title="Canadarm">Canadarm</a></li> <li><a href="/wiki/Canadarm2" class="mw-redirect" title="Canadarm2">Canadarm2</a></li> <li><a href="/wiki/Igla_(spacecraft_docking_system)" title="Igla (spacecraft docking system)">Igla</a></li> <li><a href="/wiki/Kurs_(docking_navigation_system)" title="Kurs (docking navigation system)">Kurs</a></li> <li><a href="/wiki/Lyappa_arm" title="Lyappa arm">Lyappa</a></li> <li><a href="/wiki/TORU" title="TORU">TORU</a></li></ul> </div></td></tr><tr><td class="navbox-abovebelow" colspan="4"><div><i><a href="/wiki/Category:Spacecraft_docking_systems" title="Category:Spacecraft docking systems">Category:Spacecraft docking 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