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Mobile Servicing System

The Mobile Servicing System (MSS) is a robotic infrastructure developed by the Canadian Space Agency (CSA) as its primary contribution to the International Space Station (ISS), consisting of the Space Station Remote Manipulator System (Canadarm2), the Special Purpose Dexterous Manipulator (Dextre), and the Mobile Base System (MBS).^[1] This integrated system supports the assembly, maintenance, inspection, and operational logistics of the ISS by enabling precise manipulation of equipment, supplies, and payloads in the harsh environment of space, thereby minimizing the need for astronaut extravehicular activities (EVAs).^[2] The development of the MSS originated in the late 1980s and 1990s, evolving from Canada's experience with the original Shuttle Remote Manipulator System (Canadarm) on the Space Shuttle program, as part of international agreements for the ISS.^[3] Canadarm2, the core manipulator arm, was launched on April 19, 2001, aboard Space Shuttle mission STS-100 and installed on the ISS on April 22, 2001.^[1] The MBS, which provides translational mobility along the station's main truss, was delivered on June 5, 2002, during STS-110 and installed on June 10, 2002.^[4] Dextre, the fine-dexterity component, arrived on March 11, 2008, via STS-123 and was operational by March 18, 2008.^[1] All components were designed and built by MacDonald, Dettwiler and Associates Ltd. (now MDA) in Brampton, Ontario, with ongoing support from CSA and NASA.^[2] As of 2025, the MSS continues to support ISS operations, having marked over 20 years of service for Canadarm2 since 2021.^[5] Canadarm2 is a 17-meter-long, seven-jointed robotic arm weighing 1,497 kg, capable of handling payloads up to 116,000 kg and featuring latching end effectors for secure grappling and power/data transfer.^[2] It performs "walk-off" maneuvers by alternately attaching its ends to power data grapple fixtures on the ISS, allowing it to reposition itself, transport the MBS and Dextre, move supplies or astronauts, and even capture uncrewed visiting vehicles such as cargo spacecraft.^[1] Dextre, a two-armed "handyman" robot standing about 3.5 meters tall and weighing 1,662 kg, is equipped with seven degrees of freedom per arm, integrated tools like motorized wrenches and cameras, and is designed for intricate tasks such as replacing orbital replacement units (ORUs), including batteries, pumps, and cameras, often at night to avoid thermal issues.^[6] The MBS, measuring 5.7 by 4.5 by 2.9 meters and weighing 1,450 kg, serves as a mobile platform that glides along the ISS truss rails at up to 1.5 meters per minute (0.025 m/s), providing structural support, power (up to 825 W peak), and storage for tools and ORUs while anchoring the other components.^[4] Operated collaboratively from NASA's Johnson Space Center in Houston, Texas, and the CSA's John H. Chapman Space Centre in Longueuil, Quebec, the MSS has executed thousands of robotic tasks since its deployment, including critical ISS assembly phases, routine maintenance, and technology demonstrations like the Robotic Refueling Mission to test satellite servicing techniques.^[1] Its reliability has significantly reduced EVA requirements, enhanced station safety, and paved the way for future applications in on-orbit assembly and repair, such as those envisioned for the Lunar Gateway.^[6]

Introduction

Overview and Purpose

The Mobile Servicing System (MSS) is an integrated robotic system installed on the International Space Station (ISS), comprising articulated arms, a mobile platform, and associated tools designed to perform external operations in the vacuum of space.^[1]^[7] Developed by the Canadian Space Agency as part of Canada's contribution to the ISS program, the MSS enables precise manipulation and transport of large payloads without direct human intervention.^[2] The primary purposes of the MSS include supporting the assembly of ISS modules, handling cargo and supplies, berthing and unberthing visiting spacecraft and satellites, conducting extravehicular maintenance tasks, and facilitating scientific experiments—all while minimizing the need for astronaut spacewalks to enhance safety and efficiency.^[1]^[7] For instance, it has been instrumental in attaching major structural elements such as the Japanese Kibo laboratory in 2008.^[7]^[2] Key capabilities of the MSS encompass mobility along the ISS's external truss structure via rail systems, advanced force and moment sensing for handling delicate operations, and versatility in both pressurized and unpressurized environments to support a wide range of tasks.^[7] These features allow the system, including its main components like Canadarm2 and Dextre, to transport equipment weighing up to hundreds of tons across the station.^[1]^[7] Since its operational debut in 2001, the MSS has supported over 100 spacewalks by the end of 2012 and continues to perform routine maintenance and logistics operations weekly, demonstrating its enduring reliability over more than two decades on orbit. As of 2025, the MSS continues to support ISS operations, with its service life extended to at least 2030.^[7]^[2]^[8]

Development History

Canada's involvement in the International Space Station (ISS) program began with the signing of a Memorandum of Understanding (MOU) in 1988, under which the country committed to providing the Mobile Servicing System (MSS) as its primary contribution in exchange for utilization rights and other benefits, with the system valued at approximately CAD 1.2 billion.^[9] This agreement, initially for the Space Station Freedom project that evolved into the ISS, positioned the MSS as a critical barter element for assembly, maintenance, and operations support on the orbital laboratory. Development of the MSS was led by MDA (formerly Spar Aerospace) starting in the early 1990s, drawing directly on the engineering heritage of the Canadarm1 robotic arm from the Space Shuttle program to enhance capabilities for the more complex ISS environment.^[10] In 1991, the Canadian government awarded a CAD 195 million Phase C contract to Spar Aerospace for advanced design work on the MSS, marking the formal onset of detailed engineering efforts that incorporated lessons from over a decade of Shuttle operations.^[10] By the mid-1990s, the project had progressed to key technical validations, including the 1997 Critical Design Review, which confirmed the system's readiness for fabrication and integration.^[11] Major milestones in MSS deployment followed in the early 2000s. The primary robotic arm, Canadarm2 (or Space Station Remote Manipulator System), launched aboard Space Shuttle Endeavour on mission STS-100 in April 2001 and was successfully installed on the ISS's Destiny module.^[12] The Mobile Base System (MBS), providing mobility for the arm along the station's truss, was delivered by Space Shuttle Endeavour on STS-111 in June 2002, enabling full traversal of the ISS exterior.^[7] Completion of the system came in 2008 with the launch of the Special Purpose Dexterous Manipulator (Dextre) aboard Space Shuttle Endeavour on STS-123 in March, adding fine-scale servicing capabilities to the MSS suite.^[13] The MSS development relied on robust international partnerships, with NASA providing funding for integration into the ISS architecture and the Canadian Space Agency (CSA) overseeing overall program management and operations.^[14] Contributions from the Japan Aerospace Exploration Agency (JAXA) and the European Space Agency (ESA) ensured compatibility with their respective modules, such as the Japanese Experiment Module (Kibo) and the European Columbus laboratory, through coordinated interface standards and joint testing protocols outlined in the 1998 MOU on Space Station Cooperation.^[15] Engineering challenges during development included simulating microgravity conditions and mitigating vibration effects from launch environments. Microgravity testing was conducted at the CSA's David Florida Laboratory, a key facility for assembly, integration, and verification of space hardware, where full-scale prototypes underwent vacuum and neutral buoyancy simulations to validate joint mechanisms and control systems.^[16] Vibration issues, particularly those induced by shuttle ascent profiles, were addressed through iterative design refinements and shaker table tests at the laboratory, ensuring the MSS components could withstand dynamic loads without compromising precision in orbit.^[17]

Primary Components

Canadarm2

Canadarm2, also known as the Space Station Remote Manipulator System (SSRMS), is a highly advanced robotic arm measuring 17.6 meters in length when fully extended, featuring seven degrees of freedom across its shoulder, elbow, and wrist joints to enable precise and versatile movements in the microgravity environment of the International Space Station (ISS).^[18] This articulated design allows compatibility with specialized end effectors for gripping and manipulating objects, supporting a payload handling capacity of up to 116,000 kg, equivalent to the mass of approximately eight school buses, which facilitates the transport of substantial orbital components.^[2] Developed by MacDonald, Dettwiler and Associates Ltd. for the Canadian Space Agency (CSA), the arm's structure incorporates 19 layers of high-strength carbon thermoplastic fibers, contributing to its overall mass of about 1,497 kg while ensuring durability against the harsh conditions of space.^[19] Key features of Canadarm2 include an integrated vision system equipped with multiple cameras positioned along the arm and at the end effectors, providing high-resolution targeting for operators to visualize and align with work sites during tasks such as assembly or maintenance.^[20] Force and torque sensors embedded in the joints enable compliant control, allowing the arm to sense and adjust to contact forces in real-time, mimicking a sense of touch to handle delicate operations without damaging sensitive equipment.^[20] Additionally, the system supports automatic sequencing for repetitive maneuvers, reducing operator workload by executing pre-programmed paths for routine procedures like transferring payloads between modules.^[21] Canadarm2 integrates seamlessly with the Mobile Base System (MBS), mounting directly onto this platform to translate along the ISS's truss rails, extending its reach across the station's 108-meter length for comprehensive access to worksites.^[1] It draws power from the ISS electrical system through compatible interfaces and is controlled via Orbital Replacement Unit (ORU) connections, which also facilitate data exchange and tool attachments for modular servicing.^[7] This integration enhances operational efficiency, allowing the arm to support tasks ranging from structural assembly to equipment relocation. Among its unique innovations, Canadarm2 exhibits snake-like flexibility due to its ability to alternate between either end as the anchor point, enabling end-over-end "walking" motions to navigate around curved modules and tight spaces on the ISS without fixed orientation constraints.^[2] Furthermore, advanced software incorporates collision avoidance algorithms that utilize LIDAR-like 3D vision sensing to map surrounding objects and autonomously adjust trajectories, preventing inadvertent contacts during complex maneuvers.^[20] These capabilities have proven essential in berthing cargo vehicles to the station.

Special Purpose Dexterous Manipulator (Dextre)

The Special Purpose Dexterous Manipulator (Dextre), also known as the SPDM, features two articulated arms, each measuring 3.51 meters in length and providing 7 degrees of freedom for a total of 14 degrees of freedom across the system.^[22] These arms are equipped with specialized tool interfaces designed for swapping Orbital Replacement Units (ORUs), such as batteries and pumps, enabling precise handling of small-scale components without requiring extravehicular activity (EVA).^[6] Integrated tool caddies, two in number with each capable of holding up to 6 tools, store items like motorized wrenches, cameras, lights, and power/data connectors, functioning akin to a robotic Swiss Army knife for versatile task execution.^[23] Dextre's capabilities include torque control up to 70 Newton-meters per joint, allowing it to manipulate payloads weighing up to 600 kilograms, such as refrigerator-sized equipment modules.^[23] It achieves position accuracy within 2 millimeters, supporting delicate operations like securing small caps or cables on ISS components.^[23] The system operates in manual, semi-autonomous, and fully autonomous modes, with examples including battery replacements and electrical component repairs, all controlled from ground stations or the ISS robotics workstation.^[1] Power is supplied at 220 volts DC from the ISS, with average consumption around 600 watts during operations.^[23] Dextre integrates with the Mobile Servicing System by mounting directly onto the Canadarm2's end effector for enhanced mobility across the ISS exterior, while maintaining independent power and data links via retractable connectors.^[1] The total system weighs 1,662 kilograms, enabling it to perch on power data grapple fixtures for stable, untethered work.^[1]^[22] Key innovations include provisions for ground-controlled operations during crew sleep periods, allowing continuous maintenance without interrupting astronaut rest, as demonstrated in tasks like circuit-breaker replacements. Additionally, an enhanced deployable vision system supports low-light "night" operations and fault detection through advanced imaging, improving inspection accuracy for external ISS elements.^[24]

Mobile Base System

The Mobile Base System (MBS) is a cart-like mobile platform integral to the International Space Station's (ISS) robotic infrastructure, designed to provide mobility for the Canadarm2 and Special Purpose Dexterous Manipulator (Dextre) along the station's primary truss structure. Mounted on the U.S.-provided Mobile Transporter (MT), the MBS features a robust frame with motorized wheels that traverse dedicated rails installed on the S0 truss segment, enabling precise navigation across the ISS's integrated truss assembly. Measuring 5.7 meters in length, 4.5 meters in width, and 2.9 meters in height, the system has a mass of 1,584 kilograms and incorporates four Power Data Grapple Fixtures (PDGFs) to securely attach and power the robotic arms while transferring payloads.^[4]^[7] Key features of the MBS include its integration with the ISS's electrical power and data management subsystems, allowing seamless connectivity for command, control, video feeds, and power distribution up to 825 watts peak. Precise positioning is achieved through onboard encoders that monitor wheel rotation and track location to within millimeters, ensuring safe and accurate alignment at operational sites. The MT's translation mechanism operates at a maximum speed of approximately 0.025 meters per second (1 inch per second), prioritizing stability over rapidity to minimize vibrations that could affect sensitive station equipment or ongoing experiments. This design supports the overall load of the attached Canadarm2, which can handle payloads up to 116,000 kilograms, including the arm's own mass and transported items.^[25]^[7]^[26] The MBS enhances operational flexibility by parking at up to eight designated worksites along the truss, such as positions near the Quest airlock or external payload bays, facilitating efficient transitions between tasks. By traversing the full length of the main truss—spanning over 100 meters—the system enables near-360-degree circumferential access around the ISS, allowing the robotic arms to reach virtually any external location without requiring disassembly or repositioning of the station itself. This mobility was critical for supporting Canadarm2 in complex maneuvers, such as transferring heavy modules or ORUs (Orbital Replacement Units).^[4]^[27] Developed by MacDonald, Dettwiler and Associates Ltd. (now MDA) in Canada as part of the Mobile Servicing System contribution to the ISS program, the MBS was launched aboard Space Shuttle Endeavour during mission STS-111 on June 5, 2002, and installed on June 10, 2002, by the Canadarm2 itself. Its first major operational use occurred in 2007 during STS-120, when it facilitated the relocation of the P6 integrated truss segment and its solar arrays to their permanent position on the port side of the station, demonstrating the system's role in large-scale assembly tasks.^[4]^[27]^[28]

Auxiliary Systems and Tools

Latching End Effectors

The Latching End Effector (LEE) serves as the primary grapple interface for the Mobile Servicing System (MSS) on the International Space Station (ISS), enabling secure attachment to payloads, orbital replacement units (ORUs), and station structures. Developed by MDA Space (formerly MacDonald, Dettwiler and Associates) for the Canadian Space Agency (CSA), the LEE integrates with the Canadarm2 arm to facilitate assembly, maintenance, and resupply operations in microgravity.^[2] Its design emphasizes reliability, with redundant mechanisms to ensure capture and retention under dynamic conditions.^[29] The core of the LEE's design is a snare-wire mechanism featuring three motorized cables that encircle and tighten around a standard 12.7 cm (5-inch) diameter grapple pin on compatible fixtures, such as power data grapple fixtures (PDGFs) or flight releasable grapple fixtures (FRGFs).^[30] This passive capture mode allows initial alignment without precise positioning, followed by active rigidization where the cables draw the pin into micro-conical alignment pins for enhanced stability and force distribution.^[31] Force-limiting snubbers within the assembly absorb impact loads during engagement, preventing damage to the end effector or target while supporting latching forces up to 67 kN (15,000 lbf).^[32] The overall interface is standardized for ISS compatibility, allowing the LEE to connect seamlessly to structural points across the station.^[1] Several variants of the LEE exist to support MSS operations. The standard LEE is permanently integrated at both ends of Canadarm2, providing symmetrical functionality for self-relocation and payload handling.^[2] Spare LEE units, designed as orbit-replaceable assemblies, are stored externally on the ISS for contingency replacement; notable deliveries include a refurbished spare via the SpaceX CRS-15 mission in June 2018 and earlier units via Space Shuttle STS-129 in November 2009.^[33] For the Special Purpose Dexterous Manipulator (Dextre), a tool holder variant of the LEE equips the robot's central body, enabling it to grapple station fixtures while its arms perform fine manipulation tasks.^[7] These types share core design elements but are optimized for their specific roles, with Dextre's LEE supporting integration with the Canadarm2 for coordinated operations.^[34] In terms of functionality, the LEE incorporates electrical umbilicals for power and data pass-through, allowing Canadarm2 to draw from the ISS electrical system when latched to a PDGF and enabling command, telemetry, and video transmission.^[1] Alignment is aided by integrated cameras and retro-reflective vision targets on grapple fixtures, which provide real-time feedback for operators to guide capture within tolerances of ±2 cm laterally and ±5 degrees angularly.^[35] The end effector is rated to handle payloads up to 4,500 kg in microgravity, sufficient for most ORUs and resupply vehicles while contributing to the system's overall capacity for larger assemblies.^[36] Maintenance involves periodic surveys of snare cables and lubrication, conducted via robotic inspection or extravehicular activity (EVA), as demonstrated in replacements of degraded units in 2017 and 2018.^[37]

Enhanced ISS Boom Assembly

The Enhanced ISS Boom Assembly (EIBA) is a telescoping boom system that extends the operational reach of the Canadarm2 robotic arm on the International Space Station (ISS), enabling tasks requiring greater length beyond the arm's standard 17-meter span. Originally developed as the Orbiter Boom Sensor System (OBSS) for Space Shuttle thermal protection inspections, it consists of a 15.2-meter-long carbon composite structure with motorized extension and retraction capabilities. Integrated cameras and sensors at the tip provide visual and laser-based inspection functions, while attachment points along the boom support the mounting of tools, small payloads, or even crew members during extravehicular activities.^[38]^[39] Key features of the EIBA include its lightweight design at approximately 300 kg, which facilitates handling by the Canadarm2, and rapid deployment time of about 10 minutes for operational readiness. Compatibility with the Mobile Servicing System is achieved through a power and data grapple fixture (PDGF), allowing the boom to receive electrical power and data transmission directly from the arm. These attributes make it suitable for precise positioning in microgravity, supporting both inspection and manipulation roles without adding excessive mass to the station's robotic infrastructure.^[40]^[38] The Enhanced ISS Boom Assembly (EIBA), a modified Orbiter Boom Sensor System (OBSS), was delivered and permanently installed on the ISS during Space Shuttle mission STS-134 in May 2011, including the addition of a Power Data Grapple Fixture (PDGF) for integration with Canadarm2.^[41]^[39] Following installation in 2011, the EIBA has not been used operationally but remains stowed on the S1 truss for potential contingency tasks requiring extended reach, such as inspections or repairs. As of 2025, the EIBA remains unused in storage on the S1 truss, available for future contingency operations.^[41]^[42]

Operations and Support Systems

Control and Ground Operations

The control architecture for the Mobile Servicing System (MSS) primarily relies on on-orbit operations from the International Space Station (ISS) Robotics Workstations (RWS), located in the Cupola module and the Permanent Multipurpose Module (PMM). These workstations enable two crew members to operate the system using hand controllers, video monitors, and a portable computer system for real-time teleoperation of components like the Space Station Remote Manipulator System (SSRMS) and Special Purpose Dexterous Manipulator (SPDM).^[18]^[43] Backup control is provided from ground-based facilities, including the Canadian Space Agency's (CSA) Robotics Mission Control Centre in Longueuil, Quebec, with support from MacDonald, Dettwiler and Associates (MDA) robotics flight controllers based in Brampton, Ontario.^[44]^[45] MSS software supports both teleoperation and autonomous sequences, facilitating tasks such as arm positioning, latching end effector operations, and spacecraft berthing through scripted automation modes like joint and force operator control augmentation system (OCAS). Teleoperation occurs via the ISS's Ku-band communication link, which relays commands and telemetry through the Tracking and Data Relay Satellite System for near-real-time ground-to-orbit interaction.^[18]^[46] Crew members designated as robotics operators receive certification through simulator-based training at facilities like NASA's Johnson Space Center, using tools such as the Systems Engineering Simulator and Robotics On-Board Trainer (ROBoT-r) to practice maneuvers including docking and grappling. Handover protocols between on-orbit crew and ground teams ensure seamless transitions, with the ground Robotics Officer (ROBO) monitoring procedures, verifying system status, and coordinating via the Mission Control Center while crew handle primary execution during nominal operations.^[47]^[48]^[18] Safety features incorporate redundant computing systems across MSS components to tolerate single failures, fault-tolerant software for error detection and recovery, and emergency stop commands that activate non-motion modes such as brakes or standby to halt operations instantly. Ground operations account for communication latency, typically involving round-trip delays of several seconds due to processing and relay, which are mitigated through predictive displays and procedural safeguards to maintain operator performance and prevent collisions via stay-out zones and clearance monitoring.^[43]^[18]^[49]

Key Missions and Applications

The Mobile Servicing System (MSS) has been integral to the assembly of the International Space Station (ISS), building upon foundational elements installed prior to its operational deployment. The Unity connecting module was berthed to the Russian Zarya module in December 1998 during STS-88, using the Space Shuttle's remote manipulator system to establish the core structure for international collaboration.^[27] Similarly, the Z1 truss was installed in October 2000 via STS-92, providing initial structural support and integration points for power and data systems, again relying on shuttle robotics as a precursor to the MSS.^[27] Following the installation of Canadarm2 in April 2001 during STS-100, the MSS took a leading role in subsequent assembly phases, including the attachment of the S0 truss in April 2002 during STS-110 and the deployment of solar arrays such as P4 and S4 in the mid-2000s, which expanded the station's photovoltaic power generation capacity to over 100 kilowatts.^[27] In logistics operations, the MSS has enabled the safe berthing of commercial resupply vehicles, with Canadarm2 performing over 50 captures of SpaceX Dragon and Northrop Grumman Cygnus spacecraft since the first Dragon mission in 2012, facilitating the delivery of thousands of kilograms of supplies, experiments, and hardware annually.^[50] A notable recent example is the September 2025 grapple of the Cygnus XL during the NG-23 (CRS-23) mission, where Canadarm2 captured the vehicle on September 17 after its launch aboard a SpaceX Falcon 9, allowing for the transfer of more than 11,000 pounds of cargo including scientific payloads and crew provisions.^[51] Maintenance tasks represent a core application of the MSS, particularly through Dextre's precision handling of Orbital Replacement Units (ORUs) to sustain station functionality without constant crew intervention. For instance, in 2020, robotic support aided the replacement of the Alpha Magnetic Spectrometer's (AMS) pump flow control assembly during a series of extravehicular activities, restoring cooling to the particle detector and ensuring continued cosmic ray data collection.^[52] The MSS has also deployed and retrieved numerous external experiments, such as the Materials International Space Station Experiment (MISSE) series, where Canadarm2 installs sample carriers on platforms like the Japanese Experiment Module's Exposed Facility to expose materials to space environment effects for durability testing.^[53] Key milestones underscore the MSS's impact on ISS efficiency and safety. Robotic operations have avoided numerous extravehicular activities (EVAs) through automated ORU swaps and inspections, reducing crew risk during critical maintenance like battery replacements on the integrated truss structure. Overall, the MSS has executed over 20,000 tasks as of 2025, encompassing assembly, resupply, and upkeep activities that have extended the station's operational life.^[1] The MSS has navigated significant operational challenges, including anomaly resolution and adaptations to external constraints. In 2013, ground controllers addressed a power distribution issue affecting Dextre during Robotic Refueling Mission operations, troubleshooting via telemetry to restore full functionality without impacting station timeline.^[54] During the COVID-19 pandemic, MSS activities shifted to ground-only control from the Canadian Space Agency and NASA centers to limit crew exposure, successfully completing tasks such as the robotic installation of the Bartolomeo external payload platform in April 2020.^[55]

Other ISS Robotics

The International Space Station (ISS) incorporates several supplementary robotic systems beyond the core Mobile Servicing System (MSS), enhancing external and internal operations through specialized manipulators, free-flyers, and support tools. These systems, developed by international partners, facilitate module handling, experiment deployment, and station maintenance while maintaining compatibility with ISS infrastructure for power and data exchange.^[56] Russian Strela-2 cranes, telescoping manipulator arms capable of supporting up to 600 kg, are mounted on key modules in the Russian segment for extravehicular activities (EVAs), including cosmonaut translation and equipment transfer during assembly and repairs. The Functional Cargo Block (FGB, or Zarya module), launched in 1998, features two Strela-2 cranes integrated into its structure for initial ISS construction tasks, such as positioning early components.^[57] Additional Strela-2 units were installed on the Pirs docking compartment in 2001 via shuttle missions STS-96 and STS-101, enabling docking port access and payload movement.^[58] The Poisk mini-research module, added in 2009, includes a Strela-2 crane to support ongoing Russian segment expansions and EVAs.^[59] These cranes operate independently but interface with the station's power and data systems for coordinated use during complex maneuvers.^[60] The Japanese Experiment Module (JEM) Remote Manipulator System (RMS), deployed on the Kibo laboratory in 2008, consists of a 10-meter main arm and a smaller fine arm for precise handling of experiments on Kibo's Exposed Facility. This system supports the transfer of payloads up to 300 kg between the airlock and external platforms, aiding microgravity research in materials science and Earth observation without relying on the primary MSS.^[61] Inside the ISS, the Synchronized Position Hold, Engage, Reorient Experimental Satellites (SPHERES) are a trio of 0.2-meter-diameter free-flying satellites, introduced in 2006, that test formation flying algorithms and autonomous navigation in microgravity. Equipped with cold-gas thrusters and sensors, SPHERES simulate satellite rendezvous and docking, providing a low-cost platform for validating control software before deep-space applications.^[56]^[62] Emerging internal robotics include NASA's Astrobee cubesats, deployed in 2018, which are 0.3-meter autonomous free-flyers designed for inventory tracking, environmental monitoring, and crew assistance using propulsion, cameras, and AI-driven mapping. Three units—Bumble, Honey, and Queen—operate in the U.S. segment, docking to recharge via shared ISS power interfaces.^[63]^[64] For external enhancements, the 2021 installation of International Space Station Roll-Out Solar Arrays (iROSAs) utilized robotic kinematic planning and visualization tools to augment power generation by up to 20% per array pair, with deployment supported by EVA robotics for precise positioning on the station's truss.^[65]^[66] These systems demonstrate interoperability through standardized interfaces, such as the International External Robotic Interoperability Standards (IERIS), which enable shared power, video, and data connections across modules while allowing independent operations. For instance, the European Robotic Arm (ERA), a 10-meter, seven-jointed manipulator launched with the Nauka module in 2021 and activated in 2022, "walks" along handrails on the Russian segment to transport payloads up to 8,000 kg, complementing other arms via compatible electrical interfaces despite its standalone control from the Nauka console.^[67]^[68]^[69]

Future Developments

Maintenance and Upgrades

The Mobile Servicing System (MSS) requires ongoing maintenance to sustain its operational integrity amid the demanding environment of the International Space Station (ISS). Regular inspections, conducted annually by both astronaut crew members during extravehicular activities (EVAs) and autonomously by the system's robotic components like Dextre, assess joint integrity, wiring, and overall functionality to prevent failures.^[1] These efforts have identified early wear in critical components, such as the Latching End Effectors (LEE), where internal mechanisms were lubricated via EVA to extend service life after initial signs of degradation appeared.^[70] Spare parts, including replacement LEEs and other hardware, are delivered through uncrewed cargo resupply missions to facilitate on-orbit replacements and minimize downtime.^[7] Software maintenance includes periodic patches to enhance cybersecurity, protecting the MSS's control systems from potential vulnerabilities in the ISS network. Upgrades to the MSS have focused on improving precision and reliability over time. In 2015, the Canadian Space Agency awarded a contract to Neptec for the Phase A design of the Dextre Deployable Vision System (DDVS), an enhanced vision tool mounted on Dextre to provide better lighting and 3D mapping for inspections and maintenance tasks.^[71] The DDVS was subsequently developed, launched in 2020, and installed on Dextre in 2021, enabling advanced 3D mapping and inspections for ISS maintenance tasks as of 2025.^[24] This system addressed limitations in visibility during operations, enabling more accurate robotic manipulations. To support continued operations, MDA Space received a $250 million contract extension from the Canadian Space Agency in 2024, covering robotics flight control and sustainment from 2025 to 2030.^[8] The MSS faces challenges from aging hardware after more than two decades in orbit, including joint wear from repeated cycles of movement and exposure to space conditions, which can lead to reduced mobility and increased risk of malfunction. These issues are mitigated through built-in redundant systems, such as dual-force moment sensors and backup power paths, ensuring failover capabilities during critical tasks. Additionally, 3D-printed tools produced on the ISS have been utilized for on-site repairs and custom fittings, reducing dependency on Earth-supplied spares for minor hardware issues.^[72]

Transition to Next-Generation Systems

As the International Space Station (ISS) approaches its planned retirement, the Mobile Servicing System (MSS) is expected to play a supportive role in end-of-life operations, with its operational contract extended by the Canadian Space Agency through 2030 to ensure continued robotic capabilities during the deorbit phase.^[73] NASA and international partners intend to deorbit the ISS after 2030 using a dedicated U.S. Deorbit Vehicle developed by SpaceX, which is planned to attach to a forward docking port on the ISS, such as that on the Harmony module, to guide the station into a controlled reentry over the South Pacific, minimizing risks to populated areas.^[74] While specific tasks for the MSS, such as module detachment or final inspections, remain under planning, the system's proven dexterity in handling orbital replacement units and supporting extravehicular activities positions it as a key asset for safe disposal preparations.^[7] The MSS's operational data and technological legacy directly inform the development of next-generation systems, particularly Canadarm3, Canada's contribution to NASA's Lunar Gateway program. Canadarm3 builds on the foundational heritage of Canadarm2 and the broader MSS, incorporating evolutionary advancements in artificial intelligence, machine vision, and autonomous control while sharing core principles of multi-degree-of-freedom manipulation and ground-based operator training protocols.^[75] Scheduled for launch aboard a future Gateway mission, building on the foundational elements beginning deployment in the mid-2020s, Canadarm3 will enhance these capabilities with self-maintenance features and remote operation from distances up to 400,000 kilometers, ensuring seamless handover of expertise from ISS robotics to lunar exploration infrastructure.^[76] In the commercial sector, MSS technologies have inspired advancements in satellite servicing, exemplified by Northrop Grumman's Mission Extension Vehicles (MEVs), which have been operational since 2019 to extend the lifespan of geostationary satellites through docking and propulsion support.^[77] Similarly, NASA's On-orbit Servicing, Assembly, and Manufacturing-1 (OSAM-1) mission, initially planned as a demonstration of robotic refueling and assembly, was cancelled in 2024 after cost overruns and delays, though its technologies continue to influence broader in-space servicing efforts.^[78] Addressing gaps in current implementations, NASA's 2025 In-Space Servicing, Assembly, and Manufacturing (ISAM) State of Play report highlights ongoing initiatives to standardize interfaces for autonomous robotics, drawing from MSS-derived lessons to enable scalable assembly of large structures and manufacturing in orbit.^[79] Looking ahead, MSS expertise is transferring to deep-space applications, including lunar and Mars missions under NASA's Artemis program, bolstered by MDA Space's 2025 study contract to develop logistics and mobility solutions for sustained surface operations.^[80] This includes concepts for robotic systems that extend Canadarm heritage to handle cargo transfer, habitat assembly, and resource utilization on the Moon, paving the way for human missions beyond low Earth orbit.^[81]

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[PDF] The Space Shuttle's Return to Flight: Mission STS-114 ... - Stanford
Jul 26, 2005 · begins its walk-off to the Mobile Base System. (MBS). • The crew uses the OBSS to conduct a survey of Discovery's heat-protection tiles.
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STS-123 - NASA
STS-123 was the 25th shuttle mission to the International Space Station and delivered the Japanese Kibo Logistics Module and the Canadian Dextre robotics system ...
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Cooperating with countries around the world | Canadian Space ...
Dec 17, 2024 · The CSA , the European Space Agency, the Japan Aerospace Exploration Agency, NASA ( USA ) and Roscosmos (Russia) joined forces to make this ...
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ESA - Building the International Space Station
A partnership between European countries (represented by ESA), the United States (NASA), Japan (JAXA), Canada (CSA) and Russia (Roscosmos), the International ...
[15]
[PDF] h Space S Space M on Success Through Tes
David Florida Laboratory Thermal Vacuum Data Processing System. E.Choueiry ... The Mobile Remote Manipulator Development Facility (MRMDF) is a stand-alone system.
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Space testing services to resume at the David Florida Laboratory
Jun 27, 2025 · MDA Space intends to start offering services to Canada's space sector as early as fall 2025. This occupancy licence is an interim measure to ...Missing: microgravity vibration
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[PDF] Space Station Remote Manipulator System
The ISS currently has three robotic arms: the SSRMS, also referred to as the Canadarm2; the Special ... The SSRMS is. 17.6 m in length when fully extended ...
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Canadarm2's data sheet | Canadian Space Agency
May 8, 2019 · Canadarm2, launched in 2001, is 17m long, weighs 1,497kg, has 7 degrees of freedom, and is used for assembling the ISS and relocating items.Missing: payload capacity
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Canadarm, Canadarm2, and Canadarm3 – A comparative table
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Planning and Execution of Tele-Robotic Maintenance Operations on ...
The Canadarm2 is a 17m long, seven degrees-of-freedom (DOF) robotic manipulator which has been used extensively for the assembly of the ISS. The MBS is ...Missing: specifications capacity vision<|control11|><|separator|>
[21]
Dextre's data sheet
### Technical Specifications for Dextre
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Dextre, Canada's versatile space robot
Feb 13, 2025 · List of its technical specifications. Dextre Deployable Vision System. An enhanced-vision system for Dextre to inspect the outside of the Space ...
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Dextre Deployable Vision System: Taking a closer look at the ...
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[PDF] INTERNATIONAL SPACE STATION - NASA
Canadian Space Agency (CSA). Mobile Servicing System (MSS) Operations Complex (MOC). Located in Saint Hubert, Quebec, the MSS Operations Complex is composed of.
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The Slowest And Fastest Train In The Universe - Space Daily
Houston - Mar 26, 2004 - The Mobile Transporter is the slowest and fastest ... As it moves down the track, the train's top speed is about 1 inch per second.Missing: m/ s
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International Space Station Assembly Elements - NASA
The Canadarm2 is a 57.7-foot-long robotic arm that has helped assemble the International Space Station. It also maneuvers spacewalkers to their worksites and ...
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Lessons learned from the STS-120/ISS 10A robotics operations
The paper will highlight the unique challenges associated with the planning and execution of the P6 truss and Node 2 module relocation tasks, as well as the ...
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[PDF] 19950020841.pdf
The Latching End Effector consists of the snare and rigidize subassembly inside the shell (Figure 2), and four latch/umbilical subassemblies outside the shell ( ...Missing: wire | Show results with:wire
[29]
Canadarm2's Latching End Effector (LEE) - Canadian Space Agency
2018-07-11 - A close-up of Canadarm2's Latching End Effector (LEE), the robotic arm's "hand." Three snare cables inside the LEE ensure a strong grip when ...
[30]
[PDF] Robot Micro Conical Tool - NASA Technical Reports Server
The micro conical fitting is designed to be the primary interface to grasp ORUs and to provide the local torque reaction needed for turning the heads of the ORU ...
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[PDF] A Recommended New Approach on Motorization Ratio Calculations ...
The third mechanism is the latch; it adds 15,000 lbf (67,000 N) of axial preload between the. LEE end ring and the GF to permit handling large payloads and also ...Missing: wire | Show results with:wire
[32]
Unique Canadarm2 Robotic "Hand" Replaced - SpaceQ Media Inc.
Oct 30, 2017 · There are five Latching End Effector's on the ISS. There are two on the Canadarm2, one at each end. There's also one on the Mobile Base System, ...Missing: types | Show results with:types
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[PDF] SPDM H/W Overview
Mar 4, 2017 · with a Latching End Effector off the last joint of each cluster. – This allows either end of the SSRMS to be attached to ISS as the base.Missing: Servicing | Show results with:Servicing
[34]
What are the operational details of the Canadarm Latching End ...
Nov 12, 2021 · Engaging with the Latching End Effector (LEE) involves several stages. The basic capture and alignment can be illustrated by the simplest variant, the FRGF and ...
[35]
[PDF] International Space Station Data Book Ew_lution
ISS interface hardware, will have a mass no greater than the maximum allowable capability of the attached payload location of approximately. 4500 kg. The ExP ...
[36]
ISS Daily Summary Report – 10/05/2017 - NASA
Oct 5, 2017 · The primary goal of today's EVA was to remove the degraded Latching End Effector (LEE) A from the Space Station Robotic Manipulator System ( ...
[37]
[PDF] SRMS History, Evolution and Lessons Learned
Over the years it has been used for deploying and retrieving constrained and free flying payloads, maneuvering and supporting EVA astronauts, satellite repair, ...
[38]
Final Spacewalk for STS-134 - NASA
May 27, 2011 · ... STS-134 mission ... Enhanced International Space Station Boom Assembly, available to extend the reach of the space station's robotic arm.
[39]
Another View of a Spacewalk - NASA
May 29, 2011 · ... Enhanced International Space Station Boom Assembly, which extends the reach of the space station's robotic arm. The docked space shuttle ...
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[PDF] SPACE TRANSPORTATION SYSTEM HAER No. TX-116 - NASA
This mission demonstrated techniques for inspection and protection of the shuttle's TPS and replacement of critical hardware needed for future ISS assembly.Missing: Enhanced | Show results with:Enhanced
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[PDF] International Space Station Systems Engineering Case Study | NASA
In the fall of 1985, NASA put together a plan for a dual-keel design with multiple US, European and Japanese research modules along with Canada's planned Mobile ...
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Robotics Mission Control Centre | Canadian Space Agency
Jul 31, 2024 · The Robotics Mission Control Centre of the Canadian Space Agency ( CSA ) is located at CSA headquarters in Longueuil, Quebec. The ground ...
[43]
MDA Space - News Releases
Engineering and operations services contract extension includes new scope for MDA Space to provide robotics flight controllers. BRAMPTON, ON, April 18, 2024 ...
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[PDF] Preparing for Crew-Control of Surface Robots from Orbit
The astronauts used a Space Station Computer (crew laptop) and Ku-band data communications (relayed via the. Tracking and Data Relay Satellite System) to ...<|separator|>
[45]
Systems Engineering Simulator - NASA
In addition to engineering analysis work, the SES supports crew training for ISS robotic operations, including the tracking, capture and berthing of visiting ...
[46]
Performance on the Robotics On-Board Trainer (ROBoT-r ... - NIH
ROBoT-r is used by astronauts to rehearse docking and grappling maneuvers using the robotic arm on the ISS. The simulation is based on highly realistic 3D ...Missing: officer | Show results with:officer
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[PDF] Command and Telemetry Latency Effects on Operator Performance ...
Ground-based control of the ISS robotic manipulators, specifically the Special Purpose Dexterous Manipulator (SPDM), is being examined as one potential ...
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Cygnus' Spectacular Space Delivery: Astronauts Unloading 8,200 ...
Aug 7, 2024 · The crew, led by NASA Flight Engineers, efficiently captured and secured Cygnus, marking a milestone with the 50th use of the Canadarm2 robotic ...<|separator|>
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NASA Sets Coverage for Northrop Grumman CRS-23, SpaceX ...
Sep 8, 2025 · Following arrival, astronauts aboard the space station will use the Canadarm2 to grapple Cygnus XL on Wednesday, Sept. 17, before ...
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[PDF] ISS NAC May 2020_FINAL - NASA
May 11, 2020 · A set of four spacewalks successfully repaired the space station's Alpha. Magnetic Spectrometer (AMS), a renowned scientific instrument that.Missing: flow | Show results with:flow
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Science in Space: Week of Sept. 22, 2023 - Exposing Materials to ...
Sep 25, 2023 · Astronauts send MISSE Sample Carriers (MSCs) through the station's JEM airlock and use robotic arms to install them onto the facility. All ...
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[PDF] ANNUAL HIGHLIGHTS of RESULTS from the INTERNATIONAL ...
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ISS Daily Summary Report – 09/24/13 - NASA
Sep 24, 2013 · During the day today, data from Cygnus was downlinked to support anomaly resolution activities. Until root cause of the processor exceptions is ...
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Pandemic prompts few changes to busy month on space station
Apr 2, 2020 · Under the command of controllers on the ground, the station's Canadian-built robotic arm and the two-armed robotic aide Dextre installed the ...
[55]
[PDF] SPHERES International Space Station National Laboratory Facility
Inspired by a floating droid battling Luke Skywalker in the film Star Wars, the free-flying satellites known as Synchronized Position Hold, Engage, Reorient, ...
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Zarya Module - NASA
Sep 27, 2023 · The Zarya module, also known as FGB, was the first ISS component, orbited alone for 16 days, and is a U.S. component built by Russia.
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Docking Compartment, SO1, for the Russian Segment of the ISS
Two Strela ("arrow") cranes are already in place. Credit: NASA. ISS-14. Crew members from Expedition 14 onboard the ISS, pose in Russian Orlan spacesuits ...
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Jul 22, 2021 · The Nauka (that's Russian for “Science”) Multi-purpose Laboratory Module, MLM, was designed to dock to the International Space Station, ISS.
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[PDF] International External Robotic Interoperability Standards (IERIS)
Rationale: Payload capacities are derived from the maximum loads that the interface can experience. Payloads that are launched will experience significantly ...
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Remote Manipulator System:About Kibo - International Space Station
Aug 29, 2008 · Kibo's JEMRMS is a robotic system with two arms, the Main Arm and Small Fine Arm, used for experiments and maintenance, controlled by a console.
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[PDF] SPHERES Title: Synchronized Position Hold, Engage, Reorient ...
To achieve this inside the ISS cabin, bowling-ball-sized spheres perform various maneuvers (or protocols), with one to three spheres operating simultaneously .
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Astrobee - NASA
Milestones: Astrobee's docking station was launched to the space station on Nov. 17, 2018, aboard Northrop Grumman's 10th commercial resupply services mission ...NASA's Honey Astrobee Robot... · Astrobee Videos · Astrobee Working Group
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[PDF] Astrobee: A New Tool for ISS Operations
Astrobee system consists of three robots, a docking station, and a ground data system. Development began in late 2014, and Astrobee will launch to ISS in late ...
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Apr 23, 2021 · IROSA 2B/4B EVA Robotics The MAGIK Robotic analysis team provides kinematic feasibility assessments and robotic visualizations for the ISS.
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Impact Story: Roll-Out Solar Arrays - NASA
Mar 31, 2022 · With all the six iROSAs installed, the station's power generation increased to a combined total of more than 250 kW, more than a 30% increase.Missing: Assembly | Show results with:Assembly
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[PDF] International External Robotic Interface Interoperability Standards ...
3100 Nm. 3100 Nm. 2000 N. 1000 N. Notes: a) Forces and moments will be ... • The Dextre End-Effector on the ISS incorporated backup electromechanical drive.
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ESA - European Robotic Arm
The European Robotic Arm (ERA) is the first robot able to 'walk' around the Russian segment of the International Space Station.
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Newest robotic arm on ISS successfully moves payload in space
Sep 1, 2022 · The test proved what the European Robotic Arm was built for: to move and latch payloads and equipment outside the Russian segment of the Space ...
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[PDF] Canada and the International Space Station Program - STAR
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Neptec Awarded Phase A Contract for Space Station Dextre ...
Nov 25, 2015 · Neptec has been awarded a Phase A contract by the Canadian Space Agency to design a Dextre Deployable Vision System (DDVS) with the two-fold ...
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MDA SPACE AWARDED $250M CONTRACT EXTENSION TO ...
Apr 18, 2024 · Since 2001, MDA Space has worked alongside the CSA and its international partners to provide operational readiness of the Mobile Servicing ...Missing: Centre | Show results with:Centre
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[PDF] Dexterous Operations on ISS and Future Applications
The Mobile Servicing System (MSS) is a complex robotics system used extensively in the assembly, inspection and maintenance of the International Space ...
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Canada extends MDA Space's ISS robotics contract to 2030
Apr 18, 2024 · The Canadian Space Agency has awarded MDA Space a contract extension worth around $182 million to continue supporting robotics operations on ...
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NASA Selects International Space Station US Deorbit Vehicle
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Canadarm3 - MDA Space
Gateway will support both human and robotics missions to the lunar surface, serve as a science laboratory and act as a proving ground for exploration missions ...
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About Canadarm3 | Canadian Space Agency
Sep 22, 2025 · Components · a large, 8.5-metre-long arm · a smaller, more dexterous arm · a tool and on-orbit replaceable unit caddy.
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MEV-1 & 2 (Mission Extension Vehicle-1 and -2) - eoPortal
Mar 24, 2025 · The MEV-1 (Mission Extension Vehicle-1) manufactured by Northrop Grumman, is the first commercial satellite servicing spacecraft ever built. It ...
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On-orbit Servicing, Assembly, and Manufacturing 1 (OSAM-1) - NASA
Building on NASA's history of upgrading and maintaining assets in space, NASA's OSAM-1 mission is developing an unprecedented capability for a robust, ...
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In-Space Servicing, Assembly, and Manufacturing (ISAM) State of Play
Oct 1, 2025 · The future of spaceflight will yield increasingly more ambitious missions to support civil, national security, and commercial space sectors.
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MDA Space Awarded Artemis Program Study Contract by NASA
Jan 24, 2025 · NASA has awarded nine companies a combined $24 million USD including MDA Space's Houston office to support long-term lunar exploration.
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NASA Invests in Artemis Studies to Support Long-Term Lunar ...
Jan 23, 2025 · NASA awarded new study contracts Thursday to help support life and work on the lunar surface. As part of the agency's blueprint for deep space exploration.