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HTV-4 also delivered a small humanoid robot passenger, known as Kirobo (Kibo Robot Project), which, while much smaller than its bigger cousin Robonaut, has the ability to interact with humans via speech.<\/p>\n
Kirobo will stay aboard the ISS until December 2014 to test human-robot voice interaction in space, prior to being returned to Earth.<\/p>\n
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In addition to its internal cargo located in the PLC, HTV-4 brought with it a large amount of external cargo. The external cargo consisted of two spare parts \u2013 or \u201cOrbital Replacement Units (ORUs)\u201d \u2013 and one new experiment for the outside of the station.<\/p>\n
![\"HTV-4](\"https:\/\/www.nasaspaceflight.com\/wp-content\/uploads\/2013\/09\/Z31.jpg\" "\\"HTV-4")
The efforts to transfer the ORUs involved a series of complex robotic operations, involving the Space Station Remote Manipulator System (SSRMS), Special Purpose Dexterous Manipulator (SPDM), and Mobile Transporter (MT) to remove the external ORU\u2019s from HTV-4 and install them on Station.<\/p>\nAll of the operations were completed successfully and on schedule, allowing for Wednesday\u2019s on-time departure.<\/p>\n
\u201cMT move from Worksite 4 to 6, SSRMS Walk Off, Pickup SPDM \u2013 complete. Pick up Utility Transfer Assembly (UTA) and Main Bus Switching Unit (MBSU), MT from Worksite 6 to 2 \u2013 complete. MBSU goes to External Stowage Platform (ESP) 2.4, UTA goes to EXPRESS Logistics Carrier (ELC) 4.4 \u2013 complete,\u201d listed L2 ISS status information on the procedures.<\/p>\n
![\"Removing](\"https:\/\/www.nasaspaceflight.com\/wp-content\/uploads\/2013\/09\/Z2B.jpg\" "\\"Removing")
\u201cSPDM Stow, SSRMS Walk Off from MBS1 to MBS3, Pickup SPDM \u2013 complete. MT move from Worksite 2 to 7, Space Test Program-Houston (STPH)-4 goes to ELC1.3, STPH-4 activated successfully \u2013 complete. STPH-3 goes to Express Pallet (EP) for eventual disposal \u2013 complete.<\/p>\n\u201cSPDM stow, MT move from Worksite 7 to 4, SSRMS Walk Off to N2 \u2013 complete. JEM-RMS pickup EP, handoff to SSRMS, External Pallet restowed in HTV-4 \u2013 complete.\u201d<\/p>\n
With HTV-4\u2019s cargo fully transferred \u2013 and trash items loaded into its place \u2013 the Common Berthing Mechanism (CBM) hatches between the vehicle and the ISS were closed, in preparation for HTV-4\u2019s departure from the Station on Wednesday.<\/p>\n
![\"HTV-4](\"https:\/\/www.nasaspaceflight.com\/wp-content\/uploads\/2013\/09\/Z2C.jpg\" "\\"HTV-4")
Following CBM vestibule depressurization and removal of all 16 CBM bolts (in four stages of four bolts), HTV-4 was unberthed from the ISS with the SSRMS at approximately 12:02 PM GMT.<\/p>\nOver the following few hours, the SSRMS manuvered HTV-4 to the release position around 30 feet below the ISS, following which, with both ISS and HTV-4 thrusters inhibited, the SSRMS ungrappled HTV-4 at 4:20 PM GMT, signifying its release from the ISS.<\/p>\n
The release was slightly delayed due to a small misalignment in the required release attitude.<\/p>\n
After a period of 90 seconds, the ISS crew sent the retreat command to HTV-4, which initiated the departure sequence burns.<\/p>\n
In total \u2013 per the timeline \u2013 four departure burns are called for, known as ISS Departure Maneuver (IDM) -1 and -2, followed by Descending Maneuver (DSM) -1 and -2, following which ISS and HTV-4 integrated operations officially ended.<\/p>\n
Click here for HTV News Articles: http:\/\/www.nasaspaceflight.com\/tag\/htv\/<\/p>\n
Approximately two days after release, HTV-4 will conduct a series of de-orbit burns for a destructive re-entry over the Pacific Ocean.<\/p>\n
HTV-4\u2019s scientific utility will continue even after its destruction however, since two re-entry payloads are stowed inside HTV-4 to gather data to compare to computer models, in order to improve knowledge of re-entry characteristics.<\/p>\n
A specific re-entry payload inside HTV-4 is the Japanese-built i-Ball, which will record actual video footage of the HTV-4 break-up and disintegration, prior to parachuting to a landing in the Pacific Ocean for recovery and extraction of the on-board video data.<\/p>\n
(Images via L2, JAXA and NASA).<\/p>\n
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(Click here: http:\/\/www.nasaspaceflight.com\/l2\/ \u2013 to view how you can access the best space flight content on the entire internet)<\/p>\n","protected":false},"excerpt":{"rendered":"
Japan\u2019s HTV-4 cargo vehicle has departed the International Space Station (ISS) ahead of a fiery plunge back to Earth. The spacecraft delivered vital supplies both for the crew and the Station itself during its mission, with its final role now involving a cargo of ISS trash that will be disposed off during its destructive re-entry. […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":"","_links_to":"","_links_to_target":""},"categories":[2],"tags":[1839,233],"class_list":["post-39771","post","type-post","status-publish","format-standard","hentry","category-news","tag-htv","tag-iss"],"acf":[],"_links":{"self":[{"href":"https:\/\/starpath.global\/blog\/wp-json\/wp\/v2\/posts\/39771"}],"collection":[{"href":"https:\/\/starpath.global\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/starpath.global\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/starpath.global\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/starpath.global\/blog\/wp-json\/wp\/v2\/comments?post=39771"}],"version-history":[{"count":0,"href":"https:\/\/starpath.global\/blog\/wp-json\/wp\/v2\/posts\/39771\/revisions"}],"wp:attachment":[{"href":"https:\/\/starpath.global\/blog\/wp-json\/wp\/v2\/media?parent=39771"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/starpath.global\/blog\/wp-json\/wp\/v2\/categories?post=39771"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/starpath.global\/blog\/wp-json\/wp\/v2\/tags?post=39771"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}