Space shuttle Atlantis successfully rendezvoused with the Hubble Space Telescope, and the crew used the shuttle's robotic arm to grab hold of it. So begins the meat of the final repair mission. Five spacewalks are planned, during which astronauts will carefully swap out certain components of Hubble's imaging and control systems for new ones.
Inspection of Atlantis' heat tiles revealed scuffing of some tiles on the leading edge of one wing, but NASA doesn't think it's a problem.
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