Space shuttle Atlantis has launched from the US Kennedy Space Center in Florida, the first mission of 2007.
The shuttle took off in clear weather. It reached orbit less than nine minutes after lift-off, Nasa said.
The seven astronauts aboard Atlantis will fly to the International Space Station to continue installation work, including a new pair of solar panels.
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Space shuttle Atlantis is approaching the International Space Station (ISS), on the first shuttle mission of 2007.
The shuttle is due to dock with the ISS at 1938 GMT, as news emerged that it suffered some damage during Saturday's launch.
Nasa scientists have been examining the damage, which left a tear on a thermal blanket.
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The Atlantis space shuttle mission will be extended from 11 to 13 days so that astronauts can attempt to fix a thermal blanket that peeled back during launch.
The repairs could be made during a planned third spacewalk or a fourth, extra one, Nasa managers have said.
Engineers think the blanket was loosened by aerodynamic forces during lift-off, and was not hit by debris.
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