docking mechanism is again turned on to draw the head from the socket and finally insert the rod. The size of the hatches with the docking mechanisms installed in them is reduced as far as possible to insure full opening. To increase the bearing capacity of the joint one can use a second set of locks on the docking frame on the passive assembly. They are actuated by commands from Earth or from the craft. For example, the second set of locks were used for the orbital station Salyut-6 [17, 22] when the joint experienced a load from substantial torque during a long period of time (during the operation of the orientation system to make maneuvers and correct orbit, and during the physical exercises of the cosmonauts). Before the hatch of the transition tunnel is opened, its hermeticity must be verified. Verification begins with preliminary evaluation of leakage through both seals by applying pressure to the so-called “small cavity” between the seals. The cosmonauts determine the fall in pressure over a given time and compare it with data contained in tables. After preliminary estimates, the “large cavity” is pressurized (the space of the tunnel between the hatches), and a final verification of the hermeticity of the joint is made. After the hermeticity is verified, the hatches of the transition tunnel are opened simultaneously. Before undocking the cosmonauts first remove the seal from the opening of the valve which removes pressure in the tunnel, which prevents accidental or spontaneous dehermetization through the valve. The seal is installed by the cosmonauts immediately after docking. Then the hatches are closed, the valve is opened, and the pressure is removed from the tunnel. Afterwards, the valve is closed and the pressure in the tunnel is monitored. The absence of an increase in pressure indicates the hermetic sealing of both hatches. After the necessary blocking is removed, the command is issued for undocking. The drive of the locks of the docking frame are switched on to open the active clamps. After the clamps are opened, the spring plungers separate the joints of the frames. Sensors under the plungers which monitor the undocking are activated, and the signal is given to turn on the engines of the jet control system to separate the spacecraft.
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