Tuesday's launch of a SpaceX Falcon 9 rocket from Cape Canaveral air force station in Florida was the culmination of months of preparation for the first commercial flight to the International Space Station
The Falcon 9 rocket is introduced to the world's media in November 2011. Nasa is counting on companies such as Space Exploration Technologies – SpaceX – to take over the task of flying cargo, and eventually astronauts, to the space stationPhotograph: Jim Grossmann/NASAThe SpaceX Dragon capsule is lifted in readiness to be placed atop its cargo ring inside a processing hangar at Cape Canaveral in November 2011Photograph: Kim Shiflett/NASANasa astronaut Megan McArthur performs a crew equipment interface test with the Dragon capsule in March 2012. The SpaceX launch is part of Nasa's Commercial Orbital Transportation Services partnership with US industryPhotograph: Paul Bonness/SpaceXTechnicians stow cargo in the Dragon capsulePhotograph: Jim Grossmann/NASAThe Dragon capsule is rotated into a horizontal position for joining with the second stage of the Falcon 9 rocket on 26 AprilPhotograph: Jim Grossmann/NASAThe 178-foot (54-metre) Falcon 9 rocket on the launchpad on 18 May, a day before its first scheduled launch windowPhotograph: Erik S. Lesser/EPAFalcon 9 lifts off from Space Launch Complex 40 at 3:44 a.m. (8:44am BST) on Tuesday from a refurbished launch pad just south of where Nasa launched its space shuttlesPhotograph: Michael R. Brown/ReutersAn extended exposure of the Falcon 9 rocket as it launches from Cape Canaveral Photograph: John Raoux/APAn artist's impression of the second-stage separation Illustration: NASAPhotograph: NASAAn artist's impression of the Dragon spacecraft with solar panels deployed. It will take about a day to reach the International Space Station's orbit Illustration: SpaceXPhotograph: SpaceXDragon approaches the space station Illustration: SpaceX Photograph: SpaceXThe Dragon spacecraft at the International Space Station. Berthing at the ISS is scheduled for Friday Illustration: SpaceXPhotograph: SpaceXDragon parachutes back to Earth for a water landing Illustration: NASAPhotograph: NASA