261 SYSTEMS: ROBOTICS—THE CONSTRUCTION EQUIPMENT FOR THE INTERNATIONAL SPACE STATION CHAPTER 15 the arm to grapple the free-flying HTV5. Crews train extensively to be able to capture a vehicle that is not completely steady. The amount of hand/eye coordination and quick responses required to grapple a free flyer precludes the flight controllers in Houston or Montreal from being able to capture a vehicle. Once the HTV5 was captured, however, operations transitioned back to the ground. The ROBO took over the operations and maneuvered HTV5 to mate with the Node 2 nadir-facing Common Berthing Mechanism. Working in concert with the on-board crew members who operate the common berthing mechanism, the ground team installed the HTV5 on the Node 2 nadir port (Figure 16). See also Chapter 3. Figure 15. Flight Director Royce Renfrew and his team watch as the HTV5 arrives at the capture point, oriented such that its grapple fixture is directly in front of the LEE. The gold-colored material (left in the view) is part of the thermal covering of the vehicle. The white circle in the center of the gold-colored area is the grapple fixture. JAXA astronaut Koichi Wakata is sitting to the right of the Flight Director. Figure 16. The HTV5 being maneuvered toward the Node 2 nadir Common Berthing Mechanism on the ISS (top of image).