Photo taken on June 13, 2013 shows the screen at the Beijing Aerospace Control Center capturing the three astronauts of Shenzhou X waving their hands to staff on the ground through a camera in Tiangong-1. [Photo/Xinhua]

BEIJING - The astronauts of the Shenzhou X spacecraft entered space module Tiangong-1 on Thursday afternoon, said the Beijing Aerospace Control Center (BACC).

The three astronauts - Nie Haisheng, Zhang Xiaoguang and Wang Yaping - opened the hatch of Tiangong-1 at 4:17 pm on Thursday, after the spacecraft completed an automated docking procedure with the orbiting Tiangong-1 at 1:18 pm on Thursday.

After a series of preparations, the three astronauts entered the orbital compartment of the Shenzhou X, taking off their intravehicular mobility unit spacesuits and changing into blue-colored jumpsuits.

The BACC ordered them to enter Tiangong-1 after staff on the ground checked the intravehicular environment of the space module.

With the help of Zhang, Nie successfully opened the hatch of Tiangong-1, then the three astronauts entered it one by one in a floating state, and waved their hands to staff on the ground through a camera in Tiangong-1.

They will conduct a number of scientific and technical experiments during the flight, in a bid to gather experience for future space station.

The docking procedure was the fifth between Shenzhou-type spacecraft and Tiangong-1. Previous dockings included two automated operations by the unmanned Shenzhou-8 in 2011 and both an automated and manual docking by the manned Shenzhou-9 in 2012.

The Shenzhou X spacecraft, which was launched on Tuesday afternoon from northwest China's Gobi desert, began to approach Tiangong-1 automatically at 10:48 am on Thursday and made contact with the space module at 1:11 pm.

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Shenzhou X docks with space module

China's Shenzhou X manned spacecraft successfully completed an automated docking procedure with the orbiting Tiangong-1 space module at 1:18 pm Thursday, according to the Beijing Aerospace Control Center.

The docking procedure was the fifth to take place between Shenzhou-type spacecraft and the space module. Previous dockings include two automated operations by the unmanned Shenzhou VIII in 2011 and both an automated and manual docking by the manned Shenzhou IX in 2012.

The Shenzhou X, which was launched Tuesday afternoon from northwest China's Gobi desert, began to approach the Tiangong-1 automatically at 10:48 am Thursday and made contact with the space module at 1:11 pm.

Three astronauts aboard the Shenzhou monitored and reported the docking operation to the control center.

According to their mission schedule, the astronauts will enter the space module later and carry out scientific and technical experiments.

The Shenzhou X is China's fifth manned spacecraft and it is the first application-orientated flight under China's space program since the country introduced its manned space program in 1992.

The astronauts are scheduled to conduct a manual docking with the space module during their 15-day journey in space, as well as give a lecture to Earth-bound students.

China is the third country after the United States and Russia to acquire the technologies and skills necessary for space rendezvous and docking procedures, as well as supply manpower and material for an orbiting module via different docking methods.

The Tiangong-1 space lab has been in orbit for about 620 days. It will remain in service for another three months.

The module is considered the first step in building a permanent space station, which the country aims to do by 2020.