253 SYSTEMS: ROBOTICS—THE CONSTRUCTION EQUIPMENT FOR THE INTERNATIONAL SPACE STATION CHAPTER 15 Station Arm Shuttle Arm MRM1 Figure 3. During STS-132/ ISS-ULF4 in 2010, Space Shuttle Atlantis delivered the Russian Rassvet (“Dawn”) Mini Research Module (MRM)1 to the space station. In this picture, which was taken during the mission, MRM1 has been removed from the payload bay by the shuttle arm (bottom). The station arm (closer to the camera) is also grappled to the module. The manipulators, controlled by astronauts inside both the space station and the shuttle, are performing what is called “handoff” between arms. The station arm subsequently installed MRM1 on the Russian Segment of the ISS. LEE Drawing courtesy of CSA Figure 4. Drawing of the station arm showing offset joints and the positive direction of motion for each of the seven joints is shown by the blue arrow. The direction in which each of the five joints can rotate is shown in blue. A black band is seen at the end of Boom B to differentiate one of the ends.