The Space Shuttle Orbital Maneuvering System has Apollo Service Module heritage and while those used by the EMS won't be returning to Earth, the technology is well proven.
The first batch of ESMs have evolved as work has progressed. Lessons learned from ESM-1 filter down into ESM-2 and so on "There were a lot of changes between ESM-2 and ESM-3," said Cleaver."…ESM-3 was a slightly different size to ESM-1 and 2 because they were thinking of pushing a Gateway module up with it…"
"So it's really trying to make sure that everyone's on the same page, everybody's working the same way and everybody's respecting each other's deadlines." "With ESM-1, it's a test: 'Let's try this, let's try that.' With ESM-2 you can't do that – people's lives are stake here."
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