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The rotation state of small asteroids is affected in the long term by perturbing torques of gravitational and radiative origin (the YORP effect). Direct observational evidence of the YORP effect is the primary goal of our work. We carried out photometric observations of five near-Earth asteroids: (1862) Apollo, (2100) Ra-Shalom, (85989) 1999 JD6, (138852) 2000 WN10, and (161989) Cacus. Then we applied the light-curve inversion method to all available data to determine the spin state and a convex shape model for each of the five studied asteroids. In the case of (2100) Ra-Shalom, the analysis required that the spin-axis precession due to the solar gravitational torque also be included. We obtained two new detections of the YORP effect: (i) $(2.9 \pm 2.0)\times 10^{-9}\,\mathrm{rad\,d}^{-2}$ for (2100) Ra-Shalom, and (ii) $(5.5\pm 0.7)\times 10^{-8}\,\mathrm{rad\,d}^{-2}$ for (138852) 2000 WN10. The analysis of Ra-Shalom also reveals a precession of the spin axis with a precession constant $\sim 3000''\,\mathrm{yr}^{-1}$. This is the first such detection from Earth-bound photometric data. For the other two asteroids, we improved the accuracy of the previously reported YORP detection: (i) $(4.94 \pm 0.09)\times 10^{-8}\,\mathrm{rad\,d}^{-2}$ for (1862) Apollo, and (ii) $(1.86\pm 0.09)\times 10^{-8}\,\mathrm{rad\,d}^{-2}$ for (161989) Cacus. Despite the recent report of a detected YORP effect for (85989) 1999 JD6, we show that the model without YORP cannot be rejected statistically. Therefore, the detection of the YORP effect for this asteroid requires future observations. The spin-axis precession constant of Ra-Shalom determined from observations matches the theoretically expected value. The total number of asteroids with a YORP detection has increased to 12. In all cases, the rotation frequency increases in time.

As evidenced by recent survey results, majority of asteroids are slow rotators (P>12 h), but lack spin and shape models due to selection bias. This bias is skewing our overall understanding of the spins, shapes, and sizes of asteroids, as well as of their other properties. Also, diameter determinations for large (>60km) and medium-sized asteroids (between 30 and 60 km) often vary by over 30% for multiple reasons. Our long-term project is focused on a few tens of slow rotators with periods of up to 60 hours. We aim to obtain their full light curves and reconstruct their spins and shapes. We also precisely scale the models, typically with an accuracy of a few percent. We used wide sets of dense light curves for spin and shape reconstructions via light-curve inversion. Precisely scaling them with thermal data was not possible here because of poor infrared data: large bodies are too bright for WISE mission. Therefore, we recently launched a campaign among stellar occultation observers, to scale these models and to verify the shape solutions, often allowing us to break the mirror pole ambiguity. The presented scheme resulted in shape models for 16 slow rotators, most of them for the first time. Fitting them to stellar occultations resolved previous inconsistencies in size determinations. For around half of the targets, this fitting also allowed us to identify a clearly preferred pole solution, thus removing the ambiguity inherent to light-curve inversion. We also address the influence of the uncertainty of the shape models on the derived diameters. Overall, our project has already provided reliable models for around 50 slow rotators. Such well-determined and scaled asteroid shapes will, e.g. constitute a solid basis for density determinations when coupled with mass information. Spin and shape models continue to fill the gaps caused by various biases., Comment: Accepted to Astronomy & Astrophysics. 12 pages + appendices

The satellite Linus orbiting the main-belt asteroid (22) Kalliope exhibited occultation and transit events in late 2021. A photometric campaign was organized and observations were taken by the TRAPPIST-South, SPECULOOS-Artemis, OWL-Net, and BOAO telescopes, with the goal to constrain models of this system. Our dynamical model is complex, with multipoles (up to the order $\ell = 2$), internal tides, and external tides. The model was constrained by astrometry (spanning 2001--2021), occultations, adaptive-optics imaging, calibrated photometry, as well as relative photometry. Our photometric model was substantially improved. A new precise (${<}\,0.1\,{\rm mmag}$) light curve algorithm was implemented, based on polygon intersections, which are computed exactly -- by including partial eclipses and partial visibility of polygons. Moreover, we implemented a `cliptracing' algorithm, based again on polygon intersections, in which partial contributions to individual pixels are computed exactly. Both synthetic light curves and synthetic images are then very smooth. Based on our combined solution, we confirmed the size of Linus, $(28\pm 1)\,{\rm km}$. However, this solution exhibits some tension between the light curves and the PISCO speckle-interferometry dataset. In most solutions, Linus is darker than Kalliope, with the albedos $A_{\rm w} = 0.40$ vs. $0.44$. This is confirmed on deconvolved images. A~detailed revision of astrometric data allowed us to revise also the $J_2 \equiv -C_{20}$ value of Kalliope. Most importantly, a~homogeneous body is excluded. For a differentiated body, two solutions exist: low-oblateness ($C_{20} \simeq -0.12$), with a~spherical iron core, and alternatively, high-oblateness ($C_{20} \simeq -0.22$) with an elongated iron core. These correspond to the low- and high-energy collisions, respectively, studied by means of SPH simulations in our previous work., Comment: Astronomy and Astrophysics, accepted

One of the main complications for the interpretation of reflectance spectra of airless planetary bodies is surface alteration by space weathering caused by irradiation by solar wind and micrometeoroid particles. We aim to evaluate the damage to the samples from H and laser irradiation and relate it to the observed alteration in the spectra. We used olivine (OL) and pyroxene (OPX) pellets irradiated by 5 keV H ions and individual fs laser pulses and measured their visible (VIS) and near-infrared (NIR) spectra. We observed the pellets with scanning and transmission electron microscopy. We studied structural, mineralogical, and chemical modifications in the samples and connected them to changes in the reflectance spectra. In both minerals, H irradiation induces partially amorphous sub-surface layers containing small vesicles. In OL pellets, these vesicles are more tightly packed than in OPX ones. Related spectral change is mainly in the VIS spectral slope. Changes due to laser irradiation are mostly dependent on material's melting temperature. Only the laser-irradiated OL contains nanophase Fe particles, which induce detectable spectral slope change throughout the measured spectral range. Our results suggest that spectral changes at VIS-NIR wavelengths are mainly dependent on thickness of (partially) amorphous sub-surface layers. Amorphisation smooths microroughness, increasing the contribution of volume scattering and absorption over surface scattering. Soon after exposure to the space environment, the appearance of partially amorphous sub-surface layers results in rapid changes in the VIS spectral slope. In later stages (onset of micrometeoroid bombardment), we expect an emergence of nanoparticles to also mildly affect the NIR spectral slope. An increase in dimensions of amorphous layers and vesicles in the more space-weathered material will only cause band-depth variation and darkening., Comment: 9 pages, 8 figures, 1 table. Abstract was modified to comply with the required maximum number of characters of arXiv abstracts

The orbit of the outer satellite Alexhelios of (216) Kleopatra is already constrained by adaptive-optics astrometry, obtained with the VLT/SPHERE instrument. However, there is also a preceding occultation event in 1980 attributed to this satellite. Hereinafter, we try to link all observations, spanning 1980--2018. We find the nominal orbit exhibits an unexplained shift by $+60^\circ$ in the true longitude. Using both periodogram analysis and an $\ell = 10$ multipole model suitable for the motion of mutually interacting moons about the irregular body, we confirmed that it is not possible to adjust the respective osculating period $P_2$. Instead, we were forced to use a model with tidal dissipation (and increasing orbital periods) to explain the shift. We also analyzed light curves, spanning 1977--2021, and searched for the expected spin deceleration of Kleopatra. According to our best-fit model, the observed period rate is $\dot P_2 = (1.8\pm 0.1)\cdot 10^{-8}\,{\rm d}\,{\rm d}^{-1}$ and the corresponding time lag $\Delta t_2 = 42\,{\rm s}$ of tides, for the assumed value of the Love number $k_2 = 0.3$. It is the first detection of tidal evolution for moons orbiting 100-km asteroids. The corresponding dissipation factor $Q$ is comparable with other terrestrial bodies, albeit at a higher loading frequency $2|\omega-n|$. We also predict a secular evolution of the inner moon, $\dot P_1 = 5.0\cdot 10^{-8}$, as well as a spin deceleration of Kleopatra, $\dot P_0 = 1.9\cdot 10^{-12}$. In alternative models, with moons captured in the 3:2 mean-motion resonance or more massive moons, the respective values of $\Delta t_2$ are a factor of 2--3 lower. Future astrometric observations by direct imaging or occultations should allow to distinguish between these models, which is important for the internal structure and mechanical properties of (216) Kleopatra., Comment: accepted in A&A

The rotation state of small asteroids is affected by the Yarkovsky-O'Keefe-Radzievskii-Paddack (YORP) effect, which is a net torque caused by solar radiation directly reflected and thermally reemitted from the surface. Due to this effect, the rotation period slowly changes, which can be most easily measured in light curves because the shift in the rotation phase accumulates over time quadratically. We collected archived light curves and carried out new photometric observations for asteroids (10115) 1992 SK, (1620) Geographos, and (1685) Toro. We applied the method of light curve inversion to fit observations with a convex shape model. The YORP effect was modeled as a linear change of the rotation frequency $\upsilon \equiv \mathrm{d}\omega / \mathrm{d}t$ and optimized together with other spin and shape parameters. We detected the acceleration $\upsilon = (8.3 \pm 0.6) \times 10^{-8}\,\mathrm{rad}\,\mathrm{d}^{-2}$ of the rotation for asteroid (10115) 1992 SK. This observed value agrees well with the theoretical value of YORP-induced spin-up computed for our shape and spin model. For (1685) Toro, we obtained $\upsilon = (3.3 \pm 0.3) \times 10^{-9}\,\mathrm{rad}\,\mathrm{d}^{-2}$, which confirms an earlier tentative YORP detection. For (1620) Geographos, we confirmed the previously detected YORP acceleration and derived an updated value of $\upsilon$ with a smaller uncertainty. We also included the effect of solar precession into our inversion algorithm, and we show that there are hints of this effect in Geographos' data. The detected change of the spin rate of (10115) 1992 SK has increased the total number of asteroids with YORP detection to ten. In all ten cases, the $\mathrm{d}\omega / \mathrm{d}t$ value is positive, so the rotation of these asteroids is accelerated. It is unlikely to be just a statistical fluke, but it is probably a real feature that needs to be explained.

Results from the TESS mission showed that previous studies strngly underestimated the number of slow rotators, revealing the importance of studying those asteroids. For most slowly rotating asteroids (P > 12), no spin and shape model is available because of observation selection effects. This hampers determination of their thermal parameters and accurate sizes. We continue our campaign in minimising selection effects among main belt asteroids. Our targets are slow rotators with low light-curve amplitudes. The goal is to provide their scaled spin and shape models together with thermal inertia, albedo, and surface roughness to complete the statistics. Rich multi-apparition datasets of dense light curves are supplemented with data from Kepler and TESS. In addition to data in the visible range, we also use thermal data from infrared space observatories (IRAS, Akari and WISE) in a combined optimisation process using the Convex Inversion Thermophysical Model (CITPM). This novel method has so far been applied to only a few targets, and in this work we further validate the method. We present the models of 16 slow rotators. All provide good fits to both thermal and visible data. The obtained sizes are on average accurate at the 5% precision, with diameters in the range from 25 to 145 km. The rotation periods of our targets range from 11 to 59 hours, and the thermal inertia covers a wide range of values, from 2 to <400 SI units, not showing any correlation with the period. With this work we increase the sample of slow rotators with reliable spin and shape models and known thermal inertia by 40%. The thermal inertia values of our sample do not display a previously suggested increasing trend with rotation period, which might be due to their small skin depth., Comment: Accepted to Astronomy & Astrophysics. 10 pages + appendices

Context. The recent estimates of the 3D shape of the M/Xe-type triple asteroid system (216) Kleopatra indicated a density of 5 g.cm$^{-3}$. Such a high density implies a high metal content and a low porosity which is not easy to reconcile with its peculiar dumbbell shape. Aims. Given the unprecedented angular resolution of the VLT/SPHERE/ZIMPOL camera, we aim to constrain the mass and the shape of Kleopatra with high accuracy, hence its density. Methods. We combined our new VLT/SPHERE observations of Kleopatra recorded in 2017 and 2018 with archival data, as well as lightcurve, occultation, and delay-Doppler images, to derive its 3D shape model using two different algorithms (ADAM, MPCD). Furthermore, an N-body dynamical model allowed us to retrieve the orbital elements of the two moons as explained in the accompanying paper. Results. The shape of Kleopatra is very close to an equilibrium dumbbell figure with two lobes and a thick neck. Its volume equivalent diameter (118.75$\pm$1.40) km and mass (2.97$\pm$0.32) 10$^{18}$ kg imply a bulk density of (3.38$\pm$0.50) g cm$^{-3}$. Such a low density for a supposedly metal-rich body indicates a substantial porosity within the primary. This porous structure along with its near-equilibrium shape is compatible with a formation scenario including a giant impact followed by reaccumulation. Kleopatra's current rotation period and dumbbell shape imply that it is in a critically rotating state. The low effective gravity along the equator of the body, together with the equatorial orbits of the moons and possibly rubble-pile structure, opens the possibility that the moons formed via mass shedding. Conclusions. Kleopatra is a puzzling multiple system due to the unique characteristics of the primary. It deserves particular attention in the future, with the Extremely Large Telescopes and possibly a dedicated space mission., Comment: Accepted for publication in Astronomy and Astrophysics

Space weathering is a process that changes the surface of airless planetary bodies. Prime space weathering agents are solar wind irradiation and micrometeoroid bombardment. These processes alter planetary reflectance spectra and often modify their compositional diagnostic features. In this work we focused on simulating and comparing the spectral changes caused by solar wind irradiation and by micrometeoroid bombardment to gain a better understanding of these individual space weathering processes. We used olivine and pyroxene pellets as proxies for planetary materials. To simulate solar wind irradiation we used hydrogen, helium, and argon ions with energies from 5 to 40 keV and fluences of up to $10^{18}$ particles/cm$^2$. To simulate micrometeoroid bombardment we used individual femtosecond laser pulses. We analysed the corresponding evolution of different spectral parameters, which we determined by applying the Modified Gaussian Model, and we also conducted principal component analysis. The original mineralogy of the surface influences the spectral evolution more than the weathering agent, as seen from the diverse evolution of the spectral slope of olivine and pyroxene upon irradiation. The spectral slope changes seen in olivine are consistent with observations of A-type asteroids, while the moderate to no slope changes observed in pyroxene are consistent with asteroid (4) Vesta. We also observed some differences in the spectral effects induced by the two weathering agents. Ions simulating solar wind have a smaller influence on longer wavelengths of the spectra than laser irradiation simulating micrometeoroid impacts. This is most likely due to the different penetration depths of ions and laser pulses. Our results suggest that in some instances it might be possible to distinguish between the contributions of the two agents on a weathered surface., Comment: Astronomy and Astrophysics

To interpret adaptive-optics observations of (216) Kleopatra, we need to describe an evolution of multiple moons, orbiting an extremely irregular body and including their mutual interactions. Such orbits are generally non-Keplerian and orbital elements are not constants. Consequently, we use a modified $N$-body integrator, which was significantly extended to include the multipole expansion of the gravitational field up to the order $\ell = 10$. Its convergence was verified against the `brute-force' algorithm. We computed the coefficients $C_{\ell m},S_{\!\ell m}$ for Kleopatra's shape, assuming a~constant bulk density. For solar-system applications, it was also necessary to implement a variable distance and geometry of observations. Our $\chi^2$ metric then accounts for the absolute astrometry, the relative astrometry (2nd moon with respect to 1st), angular velocities, and also silhouettes, constraining the pole orientation. This allowed us to derive the orbital elements of Kleopatra's two moons. Using both archival astrometric data and new VLT/SPHERE observations (ESO LP 199.C-0074), we were able to identify the true periods of the moons, $P_1 = (1.822359\pm0.004156)\,{\rm d}$, $P_2 = (2.745820\pm0.004820)\,{\rm d}$. They orbit very close to the 3:2 mean-motion resonance, but their osculating eccentricities are too small compared to other perturbations (multipole, mutual), so that regular librations of the critical argument are not present. The resulting mass of Kleopatra, $m_1 = (1.49\pm0.16)\cdot10^{-12}\,M_\odot$ or $2.97\cdot10^{18}\,{\rm kg}$, is significantly lower than previously thought. An implication explained in the accompanying paper (Marchis et al.) is that (216) Kleopatra is a critically rotating body., Comment: accepted in A&A

The largest asteroids in the Koronis family (sizes $\geq 25$ km) have very peculiar rotation state properties, with the retrograde- and prograde-rotating objects being distinctly different. A recent e-analysis of observations suggests that one of the asteroids formerly thought to be retrograde-rotating, 208~Lacrimosa, in reality exhibits prograde rotation, yet other properties of this object are discrepant with other members this group. We seek to understand whether the new spin solution of Lacrimosa invalidates the previously proposed model of the Koronis large members or simply reveals more possibilities for the long-term evolutionary paths, including some that have not yet been explored. We confirm and substantiate the previously suggested prograde rotation of Lacrimosa. Its spin vector has an ecliptic longitude and latitude of $(\lambda,\beta)=(15^\circ \pm 2^\circ, 67^\circ\pm 2^\circ)$ and a sidereal rotation period $P=14.085734\pm 0.000007$ hr. The thermal and occultation data allow us to calibrate a volume equivalent size of $D=44\pm 2$ km of Lacrimosa. The observations also constrain the shape model relatively well. Assuming uniform density, the dynamical ellipticity is $\Delta=0.35\pm 0.05$. Unlike other large prograde-rotating Koronis members, Lacrimosa spin is not captured in the Slivan state. We propose that Lacrimosa differed from this group in that it had initially slightly larger obliquity and longer rotation period. With those parameters, it jumped over the Slivan state instead of being captured and slowly evolved into the present spin configuration. In the future, it is likely to be captured in the Slivan state corresponding to the proper (instead of forced) mode of the orbital plane precession in the inertial space., Comment: 18 pages, 13 figures, accepted for publication in Astronomy and Astrophysics

Dynamical models of Solar System evolution have suggested that P-/D-type volatile-rich asteroids formed in the outer Solar System and may be genetically related to the Jupiter Trojans, the comets and small KBOs. Indeed, their spectral properties resemble that of anhydrous cometary dust. High-angular-resolution images of P-type asteroid (87) Sylvia with VLT/SPHERE were used to reconstruct its 3D shape, and to study the dynamics of its two satellites. We also model Sylvia's thermal evolution. The shape of Sylvia appears flattened and elongated. We derive a volume-equivalent diameter of 271 +/- 5 km, and a low density of 1378 +/- 45 kg.m-3. The two satellites orbit Sylvia on circular, equatorial orbits. The oblateness of Sylvia should imply a detectable nodal precession which contrasts with the fully-Keplerian dynamics of the satellites. This reveals an inhomogeneous internal structure, suggesting that Sylvia is differentiated. Sylvia's low density and differentiated interior can be explained by partial melting and mass redistribution through water percolation. The outer shell would be composed of material similar to interplanetary dust particles (IDPs) and the core similar to aqueously altered IDPs or carbonaceous chondrite meteorites such as the Tagish Lake meteorite. Numerical simulations of the thermal evolution of Sylvia show that for a body of such size, partial melting was unavoidable due to the decay of long-lived radionuclides. In addition, we show that bodies as small as 130-150 km in diameter should have followed a similar thermal evolution, while smaller objects, such as comets and the KBO Arrokoth, must have remained pristine, in agreement with in situ observations of these bodies. NASA Lucy mission target (617) Patroclus (diameter~140 km) may, however, be differentiated., Comment: Accepted for publication in A&A

The Asteroid Terrestrial-impact Last Alert System (ATLAS) is an all-sky survey primarily aimed at detecting potentially hazardous near-Earth asteroids. Apart from the astrometry of asteroids, it also produces their photometric measurements that contain information about asteroid rotation and their shape. To increase the current number of asteroids with a known shape and spin state, we reconstructed asteroid models from ATLAS photometry that was available for approximately 180,000 asteroids observed between 2015 and 2018. We made use of the light-curve inversion method implemented in the Asteroid@home project to process ATLAS photometry for roughly 100,000 asteroids with more than a hundred individual brightness measurements. By scanning the period and pole parameter space, we selected those best-fit models that were, according to our setup, a unique solution for the inverse problem. We derived ~2750 unique models, 950 of them were already reconstructed from other data and published. The remaining 1800 models are new. About half of them are only partial models, with an unconstrained pole ecliptic longitude. Together with the shape and spin, we also determined for each modeled asteroid its color index from the cyan and orange filter used by the ATLAS survey. We also show the correlations between the color index, albedo, and slope of the phase-angle function. The current analysis is the first inversion of ATLAS asteroid photometry, and it is the first step in exploiting the huge scientific potential that ATLAS photometry has. ATLAS continues to observe, and in the future, this data, together with other independent photometric measurements, can be inverted to produce more refined asteroid models.

Asteroid (31) Euphrosyne is one of the biggest objects in the asteroid main belt and the Euphrosyne family occupies a highly inclined region in the outer main belt and contains a remarkably large number of members, which is interpreted as an outcome of a disruptive cratering event. The goals of this adaptive-optics imaging study were threefold: to characterize the shape of Euphrosyne, to constrain its density, and to search for the large craters that may be associated with the family formation event. We obtained disk-resolved images of Euphrosyne using SPHERE/ZIMPOL at ESO's 8.2-m VLT as part of our large program (ID: 199.C-0074, PI: Vernazza). We reconstructed its 3D-shape using the adam shape modeling algorithm based on the SPHERE images and the available lightcurves of this asteroid. We analyzed the dynamics of the satellite with the genoid meta-heuristic algorithm. Finally, we studied the shape of Euphrosyne using hydrostatic equilibrium models. Our SPHERE observations show that Euphrosyne has a nearly spherical shape with the sphericity index of 0.9888 and its surface lacks large impact craters. Euphrosyne's diameter is 268+/-6 km, making it one of the top 10 largest main belt asteroids. We detected a satellite of Euphrosyne -- S/2019 (31) 1-- that is about 4 km across, on an circular orbit. The mass determined from the orbit of the satellite together with the volume computed from the shape model imply a density of 1665+/-242 kg/m^3, suggesting that Euphrosyne probably contain a large fraction of water ice in its interior. We find that the spherical shape of Euphrosyne is a result of the reaccumulation process following the impact, as in the case of (10) Hygiea. However, our shape analysis reveals that, contrary to Hygiea, the axis ratios of Euphrosyne significantly differ from the ones suggested by fluid hydrostatic equilibrium following reaccumulation., Comment: 12 pages, 6 figures, accepted to be published in A&A

Context. The study of non-principal axis (NPA) rotators can provide important clues to the evolution of the spin state of asteroids. However, so far, very few studies have focused on NPA-rotating main-belt asteroids (MBAs). One of MBAs that are known to be in an excited rotation state is asteroid (5247) Krylov. Aims. By using disk-integrated photometric data, we construct a physical model of (5247) Krylov including shape and spin state. Methods. We apply the light curve convex inversion method employing optical light curves obtained by using ground-based telescopes in three apparitions during 2006, 2016, and 2017, along with infrared light curves obtained by the Wide-field Infrared Survey Explorer (WISE) satellite in 2010. Results. Asteroid (5247)~Krylov is spinning in a short axis mode (SAM) characterized by rotation and precession periods of 368.7 hr and 67.27 hr, respectively. The angular momentum vector orientation of Krylov is found to be $\lambda_{L} = 298^\circ$ and $\beta_{L} = -58^\circ$. The ratio of the rotational kinetic energy to the basic spin state energy $E/E_{0} \simeq 1.02$ shows that the (5247) Krylov is about 2% excited state compared to the Principal Axis (PA) rotation state. The shape of (5247) Krylov can be approximated by an elongated prolate ellipsoid with a ratio of moments of inertia of $I_{a}:I_{b}:I_{c}=0.36:0.96:1$. This is the first physical model of NPA rotator among MBAs. The physical processes that led to the current NPA rotation cannot be unambiguously reconstructed., Comment: 10 pages, 2 figures; Accepted for publication on Astronomy & Astrophysics

With an estimated diameter in the 320 to 350 km range, (704) Interamnia is the fifth largest main belt asteroid and one of the few bodies that fills the gap in size between the four largest bodies with $D$ > 400 km (Ceres, Vesta, Pallas and Hygiea) and the numerous smaller bodies with $D$ $\lesssim$ 200 km. However, despite its large size, little is known about the shape and spin state of Interamnia and, therefore, about its bulk composition and past collisional evolution. We aimed to test at what size and mass the shape of a small body departs from a nearly ellipsoidal equilibrium shape (as observed in the case of the four largest asteroids) to an irregular shape as routinely observed in the case of smaller ($D$ $\lesssim$ 200 km) bodies. We observed Interamnia as part of our ESO VLT/SPHERE large program (ID: 199.C-0074) at thirteen different epochs. In addition, several new optical lightcurves were recorded. These data, along with stellar occultation data from the literature, were fed to the All-Data Asteroid Modeling (ADAM) algorithm to reconstruct the 3D-shape model of Interamnia and to determine its spin state. Interamnia's volume-equivalent diameter of 332 $\pm$ 6 km implies a bulk density of $\rho$=1.98 $\pm$ 0.68 gcm$^{-3}$ , which suggests that Interamnia - like Ceres and Hygiea - contains a high fraction of water ice, consistent with the paucity of apparent craters. Our observations reveal a shape that can be well approximated by an ellipsoid, and that is compatible with a fluid hydrostatic equilibrium at the 2 $\sigma$ level. The rather regular shape of Interamnia implies that the size and mass limit, under which the shapes of minor bodies with a high amount of water ice in the subsurface become irregular, has to be searched among smaller ($D$ $\lesssim$ 300km) less massive ($m$ $\lesssim$ 3x10$^{19}$ kg) bodies., Comment: Accepted for publication in Astronomy and Astrophysics

The nature and physical properties of asteroids, in particular those orbiting in the near-Earth space, are of scientific interest and practical importance. Exoplanet surveys can be excellent resources to detect asteroids, both already known and new objects. This is due their similar observing requirements: large fields of view, long sequences, and short cadence. If the targeted fields are not located far from the ecliptic, many asteroids will cross occasionally the field of view. We present two complementary methodologies to identify asteroids serendipitously observed in large-area astronomical surveys. One methodology focuses on detecting already known asteroids using the Virtual Observatory tool SkyBoT, which predicts their positions and motions in the sky at a specific epoch. The other methodology applies the ssos pipeline, which is able to identify known and new asteroids based on their apparent motion. The application of these methods to the 6.4 deg 2 of the sky covered by the Wide-Field CAMera Transit Survey in the J-band is described. We identified 15 661 positions of 1 821 different asteroids. Of them, 182 are potential new discoveries. A publicly accessible online, Virtual Observatory compliant catalogue was created. We obtained the shapes and periods for five of our asteroids from their light-curves built with additional photometry taken from external archives. We demonstrated that our methodologies are robust and reliable approaches to find, at zero cost of observing time, asteroids observed by chance in astronomical surveys. Our future goal is to apply them to other surveys with adequate temporal coverage.

Asteroid (7) Iris is an ideal target for disk-resolved imaging owing to its brightness (V$\sim$7-8) and large angular size of 0.33 arcsec during its apparitions. Iris is believed to belong to the category of large unfragmented asteroids that avoided internal differentiation, implying that its current shape and topography may record the first few 100 Myr of the solar system's collisional evolution. We recovered information about the shape and surface topography of Iris from disk-resolved VLT/SPHERE/ZIMPOL images acquired in the frame of our ESO large program. We used the All-Data Asteroid Modeling (ADAM) shape reconstruction algorithm to model the 3D shape of Iris, using optical disk-integrated data and disk-resolved images from SPHERE as inputs. We analyzed the SPHERE images to infer the asteroid's global shape and the morphology of its main craters. We present the volume-equivalent diameter D$_{{\rm eq}}$=214$\pm$5 km, and bulk density $\rho$=2.7$\pm$0.3 g cm$^{-3}$ of Iris. Its shape appears to be consistent with that of an oblate spheroid with a large equatorial excavation. We identified eight putative surface features 20--40 km in diameter detected at several epochs, which we interpret as impact craters. Craters on Iris have depth-to-diameter ratios that are similar to those of analogous 10 km craters on Vesta. The bulk density of Iris is consistent with that of its meteoritic analog, namely LL ordinary chondrites. Considering the absence of a collisional family related to Iris and the number of large craters on its surface, we suggest that its equatorial depression may be the remnant of an ancient (at least 3 Gyr) impact. Iris's shape further opens the possibility that large planetesimals formed as almost perfect oblate spheroids. Finally, we attribute the difference in crater morphology between Iris and Vesta to their different surface gravities., Comment: Accepted for publication in Astronomy and Astrophysics

We studied 93 asteroid pairs. We estimated times elapsed since separation of pair members that are between 7*10^3 and a few 10^6 yr. We derived the rotation periods for all the primaries and a sample of secondaries. We derived the absolute magnitude differences of the asteroid pairs that provide their mass ratios. We refined their WISE geometric albedos and estimated their taxonomic classifications. For 17 pairs, we determined their pole positions. In 2 pairs where we obtained the spin poles for both components, we saw the same sense of rotation for both components and constrained the angles between their original spin vectors at the time of their separation. We found that the primaries of 13 pairs are actually binary or triple systems, i.e., they have one or two bound secondaries (satellites). As by-product, we found 3 new young asteroid clusters (each of them consisting of three known asteroids on highly similar orbits). We compared the obtained asteroid pair data with theoretical predictions and discussed their implications. We found that 86 of the 93 studied pairs follow the trend of primary rotation period vs mass ratio that was found by Pravec et al. (2010). Of the 7 outliers, 3 appear insignificant (may be due to our uncertain or incomplete knowledge), but 4 are high mass ratio pairs that were unpredicted by the theory of asteroid pair formation by rotational fission. We discuss a (remotely) possible way that they could be created by rotational fission of flattened parent bodies followed by re-shaping of the formed components. The 13 pairs with binary primaries are particularly interesting systems that place important constraints on formation and evolution of asteroid pairs. We present two hypotheses for their formation: The pairs having both bound and unbound secondaries could be `failed asteroid clusters', or they could be formed by a cascade primary spin fission process., Comment: Submitted to Icarus on 2019 January 7. The Electronic Supplementary Information to this paper is at http://www.asu.cas.cz/~asteroid/astpairscomplex_si.pdf

Context. CM-like asteroids (Ch and Cgh classes) are a major population within the broader C-complex, encompassing about 10% of the mass of the main asteroid belt. Their internal structure has been predicted to be homogeneous, based on their compositional similarity as inferred from spectroscopy (Vernazza et al., 2016, AJ 152, 154) and numerical modeling of their early thermal evolution (Bland & Travis, 2017, Sci. Adv. 3, e1602514). Aims. Here we aim to test this hypothesis by deriving the density of the CM-like asteroid (41) Daphne from detailed modeling of its shape and the orbit of its small satellite. Methods. We observed Daphne and its satellite within our imaging survey with the Very Large Telescope extreme adaptive-optics SPHERE/ZIMPOL camera (ID 199.C-0074, PI P. Vernazza) and complemented this data set with earlier Keck/NIRC2 and VLT/NACO observations. We analyzed the dynamics of the satellite with our Genoid meta-heuristic algorithm. Combining our high-angular resolution images with optical lightcurves and stellar occultations, we determine the spin period, orientation, and 3-D shape, using our ADAM shape modeling algorithm. Results. The satellite orbits Daphne on an equatorial, quasi-circular, prograde orbit, like the satellites of many other large main-belt asteroids. The shape model of Daphne reveals several large flat areas that could be large impact craters. The mass determined from this orbit combined with the volume computed from the shape model implies a density for Daphne of 1.77+/-0.26 g/cm3 (3 {\sigma}). This density is consistent with a primordial CM-like homogeneous internal structure with some level of macroporosity (~17%). Conclusions. Based on our analysis of the density of Daphne and 75 other Ch/Cgh-type asteroids gathered from the literature, we conclude that the primordial internal structure of the CM parent bodies was homogeneous.

Asteroid (16) Psyche is the target of the NASA Psyche mission. It is considered one of the few main-belt bodies that could be an exposed proto-planetary metallic core and that would thus be related to iron meteorites. Such an association is however challenged by both its near- and mid-infrared spectral properties and the reported estimates of its density. Here, we aim to refine the density of (16) Psyche to set further constraints on its bulk composition and determine its potential meteoritic analog. We observed (16) Psyche with ESO VLT/SPHERE/ZIMPOL as part of our large program (ID 199.C-0074). We used the high angular resolution of these observations to refine Psyche's three-dimensional (3D) shape model and subsequently its density when combined with the most recent mass estimates. In addition, we searched for potential companions around the asteroid. We derived a bulk density of 3.99\,$\pm$\,0.26\,g$\cdot$cm$^{-3}$ for Psyche. While such density is incompatible at the 3-sigma level with any iron meteorites ($\sim$7.8\,g$\cdot$cm$^{-3}$), it appears fully consistent with that of stony-iron meteorites such as mesosiderites (density $\sim$4.25\,$\cdot$cm$^{-3}$). In addition, we found no satellite in our images and set an upper limit on the diameter of any non-detected satellite of 1460\,$\pm$\,200}\,m at 150\,km from Psyche (0.2\%\,$\times$\,R$_{Hill}$, the Hill radius) and 800\,$\pm$\,200\,m at 2,000\,km (3\%\,$\times$\,$R_{Hill}$). Considering that the visible and near-infrared spectral properties of mesosiderites are similar to those of Psyche, there is merit to a long-published initial hypothesis that Psyche could be a plausible candidate parent body for mesosiderites., Comment: 16 pages

The rotation states of small asteroids are affected by a net torque arising from an anisotropic sunlight reflection and thermal radiation from the asteroids' surfaces. On long timescales, this so-called YORP effect can change asteroid spin directions and their rotation periods. We analyzed lightcurves of four selected near-Earth asteroids with the aim of detecting secular changes in their rotation rates that are caused by YORP. We use the lightcurve inversion method to model the observed lightcurves and include the change in the rotation rate $\mathrm{d} \omega / \mathrm{d} t$ as a free parameter of optimization. We collected more than 70 new lightcurves. For asteroids Toro and Cacus, we used thermal infrared data from the WISE spacecraft and estimated their size and thermal inertia. We also used the currently available optical and radar astrometry of Toro, Ra-Shalom, and Cacus to infer the Yarkovsky effect. We detected a YORP acceleration of $\mathrm{d}\omega / \mathrm{d} t = (1.9 \pm 0.3) \times 10^{-8}\,\mathrm{rad}\,\mathrm{d}^{-2}$ for asteroid Cacus. For Toro, we have a tentative ($2\sigma$) detection of YORP from a significant improvement of the lightcurve fit for a nonzero value of $\mathrm{d}\omega / \mathrm{d} t = 3.0 \times 10^{-9}\,\mathrm{rad}\,\mathrm{d}^{-2}$. For asteroid Eger, we confirmed the previously published YORP detection with more data and updated the YORP value to $(1.1 \pm 0.5) \times 10^{-8}\,\mathrm{rad}\,\mathrm{d}^{-2}$. We also updated the shape model of asteroid Ra-Shalom and put an upper limit for the change of the rotation rate to $|\mathrm{d}\omega / \mathrm{d} t| \lesssim 1.5 \times 10^{-8}\,\mathrm{rad}\,\mathrm{d}^{-2}$. Ra-Shalom has a greater than $3\sigma$ Yarkovsky detection with a theoretical value consistent with observations assuming its size and/or density is slightly larger than the nominally expected values.

Context. A lot of photometric data is produced by surveys such as Pan-STARRS, LONEOS, WISE or Catalina. These data are a rich source of information about the physical properties of asteroids. There are several possible approaches for utilizing these data. Lightcurve inversion is a typical method that works with individual asteroids. Our approach in this paper is statistical when we focused on large groups of asteroids like dynamical families and taxonomic classes, and the data were not sufficient for individual models. Aims. Our aim was to study the distributions of shape elongation $b/a$ and the spin axis latitude $\beta$ for various subpopulations of asteroids and to compare our results, based on Pan-STARRS1 survey, with statistics previously done using different photometric data (Lowell database, WISE data). Methods. We use the LEADER algorithm to compare the $b/a$ and $\beta$ distributions for different subpopulations of asteroids. The algorithm creates a cumulative distributive function (CDF) of observed brightness variations, and computes the $b/a$ and $\beta$ distributions using analytical basis functions that yield the observed CDF. A variant of LEADER is used to solve the joint distributions for synthetic populations to test the validity of the method. Results. When comparing distributions of shape elongation for groups of asteroids with different diameters $D$, we found that there are no differences for $D < 25$ km. We also constructed distributions for asteroids with different rotation periods and revealed that the fastest rotators with $P = 0 - 4$ h are more spheroidal than the population with $P = 4 - 8$ h., Comment: Accepted for publication in Astronomy&Astrophysics

Eos family was created during a catastrophic impact about 1.3 Gyr ago. Rotation states of individual family members contain information about the history of the whole population. We aim to increase the number of asteroid shape models and rotation states within the Eos collision family, as well as to revise previously published shape models from the literature. Such results can be used to constrain theoretical collisional and evolution models of the family, or to estimate other physical parameters by a thermophysical modeling of the thermal infrared data. We use all available disk-integrated optical data (i.e., classical dense-in-time photometry obtained from public databases and through a large collaboration network as well as sparse-in-time individual measurements from a few sky surveys) as input for the convex inversion method, and derive 3D shape models of asteroids together with their rotation periods and orientations of rotation axes. We present updated shape models for 15 asteroids and new shape model determinations for 16 asteroids. Together with the already published models from the publicly available DAMIT database, we compiled a sample of 56 Eos family members with known shape models that we used in our analysis of physical properties within the family. Rotation states of asteroids smaller than ~20 km are heavily influenced by the YORP effect, whilst the large objects more or less retained their rotation state properties since the family creation. Moreover, we also present a shape model and bulk density of asteroid (423) Diotima, an interloper in the Eos family, based on the disk-resolved data obtained by the Near InfraRed Camera (Nirc2) mounted on the W.M. Keck II telescope., Comment: Accepted for publication in ICARUS Special Issue - Asteroids: Origin, Evolution & Characterization

Context. Many databases on asteroid brightnesses (e.g. ALCDEF, WISE) are potential sources for extensive asteroid shape and spin modelling. Individual lightcurve inversion models require several apparitions and hundreds of data points per target. However, we can analyse the coarse shape and spin distributions over populations of at least thousands of targets even if there are only a few points and one apparition per asteroid. This is done by examining the distribution of the brightness variations observed within the chosen population. Aims. Brightness variation has been proposed as a population-scale rather than individual-target observable in two studies so far. We aim to examine this approach rigorously to establish its theoretical validity, degree of ill-posedness, and practical applicability. Methods. We model the observed brightness variation of a target population by considering its cumulative distribution function (CDF) caused by the joint distribution function of two fundamental shape and spin indicators. These are the shape elongation and the spin latitude of a simple ellipsoidal model. The main advantage of the model is that we can derive analytical basis functions that yield the observed CDF as a function of the shape and spin distribution. The inverse problem can be treated linearly. Even though the inaccuracy of the model is considerable, databases of thousands of targets should yield some information on the distribution. Results. We establish the theoretical soundness and the typical accuracy limits of the approach both analytically and numerically. Using simulations, we derive a practical estimate of the model distribution in the (shape, spin)-plane. We show that databases such as Wide-field Infrared Survey Explorer (WISE) yield coarse but robust estimates of this distribution, and as an example compare various asteroid families with each other., Comment: 16 pages, 21 figures, manuscript accepted in Astronomy & Astrophysics, to be published in section 10. Planets and planetary systems

The JAXA Hayabusa-2 mission was approved in 2010 and launched on December 3, 2014. The spacecraft will arrive at the near-Earth asteroid 162173 Ryugu in 2018 where it will perform a survey, land and obtain surface material, then depart in Dec 2019 and return to Earth in Dec 2020. We observed Ryugu with the Herschel Space Observatory in Apr 2012 at far-IR thermal wavelengths, supported by several ground-based observations to obtain optical lightcurves. We reanalysed previously published Subaru-COMICS and AKARI-IRC observations and merged them with a Spitzer-IRS data set. In addition, we used a large set of Spitzer-IRAC observations obtained in the period Jan to May, 2013. The data set includes two complete rotational lightcurves and a series of ten "point-and-shoot" observations. The almost spherical shape of the target together with the insufficient lightcurve quality forced us to combine radiometric and lightcurve inversion techniques in different ways to find the object's key physical and thermal parameters. We find that the solution which best matches our data sets leads to this C class asteroid having a retrograde rotation with a spin-axis orientation of (lambda = 310-340 deg; beta = -40+/-15 deg) in ecliptic coordinates, an effective diameter (of an equal-volume sphere) of 850 to 880 m, a geometric albedo of 0.044 to 0.050 and a thermal inertia in the range 150 to 300 Jm-2s-0.5K-1. Based on estimated thermal conductivities of the top-layer surface in the range 0.1 to 0.6 WK-1m-1, we calculated that the grain sizes are approximately equal to between 1 and 10 mm. The finely constrained values for this asteroid serve as a `design reference model', which is currently used for various planning, operational and modelling purposes by the Hayabusa2 team., Comment: Accepted for publication in Astronomy & Astrophysics, 28 pages, 16 figures

We use the lightcurve inversion method to derive new shape models and spin states of asteroids from the sparse-in-time photometry compiled in the Lowell Photometric Database. To speed up the time-consuming process of scanning the period parameter space through the use of convex shape models, we use the distributed computing project Asteroids@home, running on the Berkeley Open Infrastructure for Network Computing (BOINC) platform. This way, the period-search interval is divided into hundreds of smaller intervals. These intervals are scanned separately by different volunteers and then joined together. We also use an alternative, faster, approach when searching the best-fit period by using a model of triaxial ellipsoid. By this, we can independently confirm periods found with convex models and also find rotation periods for some of those asteroids for which the convex-model approach gives too many solutions. From the analysis of Lowell photometric data of the first 100,000 numbered asteroids, we derived 328 new models. This almost doubles the number of available models. We tested the reliability of our results by comparing models that were derived from purely Lowell data with those based on dense lightcurves, and we found that the rate of false-positive solutions is very low. We also present updated plots of the distribution of spin obliquities and pole ecliptic longitudes that confirm previous findings about a non-uniform distribution of spin axes. However, the models reconstructed from noisy sparse data are heavily biased towards more elongated bodies with high lightcurve amplitudes.

Asteroid modeling efforts in the last decade resulted in a comprehensive dataset of almost 400 convex shape models and their rotation states. This amount already provided a deep insight into physical properties of main-belt asteroids or large collisional families. We aim to increase the number of asteroid shape models and rotation states. Such results are an important input for various further studies such as analysis of asteroid physical properties in different populations, including smaller collisional families, thermophysical modeling, and scaling shape models by disk-resolved images, or stellar occultation data. This provides, in combination with known masses, bulk density estimates, but constrains also theoretical collisional and evolutional models of the Solar System. We use all available disk-integrated optical data (i.e., classical dense-in-time photometry obtained from public databases and through a large collaboration network as well as sparse-in-time individual measurements from a few sky surveys) as an input for the convex inversion method, and derive 3D shape models of asteroids, together with their rotation periods and orientations of rotation axes. The key ingredient is the support of more that one hundred observers who submit their optical data to publicly available databases. We present updated shape models for 36 asteroids, for which mass estimates are currently available in the literature or their masses will be most likely determined from their gravitational influence on smaller bodies, which orbital deflection will be observed by the ESA Gaia astrometric mission. This was achieved by using additional optical data from recent apparitions for the shape optimization. Moreover, we also present new shape model determinations for 250 asteroids, including 13 Hungarias and 3 near-Earth asteroids., Comment: Accepted for publication in A&A

Infrared radiation emitted from an asteroid surface causes a torque that can significantly affect rotational state of the asteroid. The influence of small topographic features on this phenomenon, called the YORP effect, seems to be of utmost importance. In this work, we show that a lateral heat diffusion in boulders of suitable sizes leads to an emergence of a local YORP effect which magnitude is comparable to the YORP effect due to the global shape. We solve a three-dimensional heat diffusion equation in a boulder and its surroundings by the finite element method, using the FreeFem++ code. The contribution to the total torque is inferred from the computed temperature distribution. Our general approach allows us to compute the torque induced by a realistic irregular boulder. For an idealized boulder, our result is consistent with an existing one-dimensional model. We also estimated (and extrapolated) a size distribution of boulders on (25143) Itokawa from close-up images of its surface. We realized that topographic features on Itokawa can potentially induce a torque corresponding to a rotational acceleration of the order 10^-7 rad day^-2 and can therefore explain the observed phase shift in light curves., Comment: Accepted for publication in MNRAS

In the past decade, hundreds of asteroid shape models have been derived using the lightcurve inversion method. At the same time, a new framework of 3-D shape modeling based on the combined analysis of widely different data sources such as optical lightcurves, disk-resolved images, stellar occultation timings, mid-infrared thermal radiometry, optical interferometry, and radar delay-Doppler data, has been developed. This multi-data approach allows the determination of most of the physical and surface properties of asteroids in a single, coherent inversion, with spectacular results. We review the main results of asteroid lightcurve inversion and also recent advances in multi-data modeling. We show that models based on remote sensing data were confirmed by spacecraft encounters with asteroids, and we discuss how the multiplication of highly detailed 3-D models will help to refine our general knowledge of the asteroid population. The physical and surface properties of asteroids, i.e., their spin, 3-D shape, density, thermal inertia, surface roughness, are among the least known of all asteroid properties. Apart for the albedo and diameter, we have access to the whole picture for only a few hundreds of asteroids. These quantities are nevertheless very important to understand as they affect the non-gravitational Yarkovsky effect responsible for meteorite delivery to Earth, or the bulk composition and internal structure of asteroids., Comment: chapter that will appear in a Space Science Series book Asteroids IV

Using our photometric observations taken between 1996 and 2013 and other published data, we derived properties of the binary near-Earth asteroid (175706) 1996 FG3 including new measurements constraining evolution of the mutual orbit with potential consequences for the entire binary asteroid population. We also refined previously determined values of parameters of both components, making 1996 FG3 one of the most well understood binary asteroid systems. We determined the orbital vector with a substantially greater accuracy than before and we also placed constraints on a stability of the orbit. Specifically, the ecliptic longitude and latitude of the orbital pole are 266{\deg} and -83{\deg}, respectively, with the mean radius of the uncertainty area of 4{\deg}, and the orbital period is 16.1508 +/- 0.0002 h (all quoted uncertainties correspond to 3sigma). We looked for a quadratic drift of the mean anomaly of the satellite and obtained a value of 0.04 +/- 0.20 deg/yr^2, i.e., consistent with zero. The drift is substantially lower than predicted by the pure binary YORP (BYORP) theory of McMahon and Scheeres (McMahon, J., Scheeres, D. [2010]. Icarus 209, 494-509) and it is consistent with the theory of an equilibrium between BYORP and tidal torques for synchronous binary asteroids as proposed by Jacobson and Scheeres (Jacobson, S.A., Scheeres, D. [2011]. ApJ Letters, 736, L19). Based on the assumption of equilibrium, we derived a ratio of the quality factor and tidal Love number of Q/k = 2.4 x 10^5 uncertain by a factor of five. We also derived a product of the rigidity and quality factor of mu Q = 1.3 x 10^7 Pa using the theory that assumes an elastic response of the asteroid material to the tidal forces. This very low value indicates that the primary of 1996 FG3 is a 'rubble pile', and it also calls for a re-thinking of the tidal energy dissipation in close asteroid binary systems., Comment: Many changes based on referees comments

Asteroids with satellites are natural laboratories to constrain the formation and evolution of our solar system. The binary Trojan asteroid (624) Hektor is the only known Trojan asteroid to possess a small satellite. Based on W.M. Keck adaptive optics observations, we found a unique and stable orbital solution, which is uncommon in comparison to the orbits of other large multiple asteroid systems studied so far. From lightcurve observations recorded since 1957, we showed that because the large Req=125-km primary may be made of two joint lobes, the moon could be ejecta of the low-velocity encounter, which formed the system. The inferred density of Hektor's system is comparable to the L5 Trojan doublet (617) Patroclus but due to their difference in physical properties and in reflectance spectra, both captured Trojan asteroids could have a different composition and origin., Comment: 13 pages, 3 figures, 2 tables

From a set of adaptive optics (AO) observations collected with the W.M. Keck telescope between August and September 2009, we derived the orbital parameters of the most recently discovered satellites of the large C-type asteroid (93) Minerva. The satellites of Minerva, which are approximately 3 and 4 km in diameter, orbit very close to the primary $\sim$5 & $\sim$8 $\times$ Rp and $\sim$1% & $\sim$2% $\times$ RHill) in a circular manner, sharing common characteristics with most of the triple asteroid systems in the main-belt. Combining these AO observations with lightcurve data collected since 1980 and two stellar occultations in 2010 & 2011, we removed the ambiguity of the pole solution of Minerva's primary and showed that it has an almost regular shape with an equivalent diameter Deq = 154 $\pm$ 6 km in agreement with IRAS observations. The surprisingly high bulk density of 1.75 $\pm$ 0.30 g/cm$\^3$ for this C-type asteroid, suggests that this taxonomic class is composed of asteroids with different compositions, For instance, Minerva could be made of the same material as dry CR, CO, and CV meteorites. We discuss possible scenarios on the origin of the system and conclude that future observations may shine light on the nature and composition of this fifth known triple main-belt asteroid., Comment: 35 pages, 9 figures, 5 tables

Current amount of ~500 asteroid models derived from the disk-integrated photometry by the lightcurve inversion method allows us to study not only the spin-vector properties of the whole population of MBAs, but also of several individual collisional families. We create a data set of 152 asteroids that were identified by the HCM method as members of ten collisional families, among them are 31 newly derived unique models and 24 new models with well-constrained pole-ecliptic latitudes of the spin axes. The remaining models are adopted from the DAMIT database or the literature. We revise the preliminary family membership identification by the HCM method according to several additional criteria - taxonomic type, color, albedo, maximum Yarkovsky semi-major axis drift and the consistency with the size-frequency distribution of each family, and consequently we remove interlopers. We then present the spin-vector distributions for eight asteroidal families. We use a combined orbital- and spin-evolution model to explain the observed spin-vector properties of objects among collisional families. In general, we observe for studied families similar trends in the (a_p, \beta) space: (i) larger asteroids are situated in the proximity of the center of the family; (ii) asteroids with \beta>0{\deg} are usually found to the right from the family center; (iii) on the other hand, asteroids with \beta<0{\deg} to the left from the center; (iv) majority of asteroids have large pole-ecliptic latitudes (|\beta|\gtrsim 30{\deg}); and finally (v) some families have a statistically significant excess of asteroids with \beta>0{\deg} or \beta<0{\deg}. Our numerical simulation of the long-term evolution of a collisional family is capable of reproducing well the observed spin-vector properties. Using this simulation, we also independently constrain the age of families Flora (1.0\pm0.5 Gyr) and Koronis (2.5-4 Gyr)., Comment: Accepted for publication in A&A (September 16, 2013)

We select 50 main-belt asteroids with a diameter between 20 and 400 km for which we have (i) shape models derived by the lightcurve inversion method (LI) and (ii) resolved observations of good quality collected with the Keck II adaptive optics (AO) system in the near-infrared. We derive the size of these asteroids by minimizing the difference between the contours from deconvolved AO images and the projected silhouettes calculated from the shape model at the time of the AO observations. We compute the volume-equivalent diameters for 48 of these asteroids. For 15 of them, we remove the ambiguity of the pole orientation typical for shape models derived by the LI. We have found that our equivalent diameters are smaller by 3%, 7%, and 2% compared with the effective diameters derived from mid-IR photometric observations provided by IRAS, WISE and AKARI. For 40 asteroids with previously determined mass estimates, we compute their bulk densities and discuss the mass-density dependence with respect to taxonomic types., Comment: Accepted for publication in Icarus, July 16, 2013

We investigate the potential of the sparse data produced by the Catalina Sky Survey astrometric project (CSS for short) in asteroid shape and rotational state determination by the lightcurve inversion method. We show that although the photometric quality of the CSS data, compared to the dense data, is significantly worse, it is in principle possible that these data are for some asteroids with high lightcurve amplitudes sufficient for a unique shape determination. CSS data are available for $\sim$180 asteroids for which shape models were previously derived from different photometric data sets. For 13 asteroids from this sample, we derive their unique shape models based only on CSS data, compare the two independent shape models together and discuss the reliability of models derived from only CSS data. We also use CSS data to determine shape models for asteroids with already known rotational period values, derive 12 unique models and compare previously published periods with periods determined from the full 3D modeling by the lightcurve inversion method. Finally, we test different shape resolutions used in the lightcurve inversion method in order to find reliable asteroid models., Comment: Published in Planetary and Space Science, Volume 73, September 2012

The larger number of models of asteroid shapes and their rotational states derived by the lightcurve inversion give us better insight into both the nature of individual objects and the whole asteroid population. With a larger statistical sample we can study the physical properties of asteroid populations, such as main-belt asteroids or individual asteroid families, in more detail. Shape models can also be used in combination with other types of observational data (IR, adaptive optics images, stellar occultations), e.g., to determine sizes and thermal properties. We use all available photometric data of asteroids to derive their physical models by the lightcurve inversion method and compare the observed pole latitude distributions of all asteroids with known convex shape models with the simulated pole latitude distributions. We used classical dense photometric lightcurves from several sources and sparse-in-time photometry from the U.S. Naval Observatory in Flagstaff, Catalina Sky Survey, and La Palma surveys (IAU codes 689, 703, 950) in the lightcurve inversion method to determine asteroid convex models and their rotational states. We also extended a simple dynamical model for the spin evolution of asteroids used in our previous paper. We present 119 new asteroid models derived from combined dense and sparse-in-time photometry. We discuss the reliability of asteroid shape models derived only from Catalina Sky Survey data (IAU code 703) and present 20 such models. By using different values for a scaling parameter cYORP (corresponds to the magnitude of the YORP momentum) in the dynamical model for the spin evolution and by comparing synthetics and observed pole-latitude distributions, we were able to constrain the typical values of the cYORP parameter as between 0.05 and 0.6., Comment: Accepted for publication in A&A, January 15, 2013

With the adaptive optics (AO) system on the 10 m Keck-II telescope, we acquired a high quality set of 84 images at 14 epochs of asteroid (52) Europa on 2005 January 20. The epochs covered its rotation period and, by following its changing shape and orientation on the plane of sky, we obtained its triaxial ellipsoid dimensions and spin pole location. An independent determination from images at three epochs obtained in 2007 is in good agreement with these results. By combining these two data sets, along with a single epoch data set obtained in 2003, we have derived a global fit for (52) Europa of diameters (379x330x249) +/- (16x8x10) km, yielding a volume-equivalent spherical-diameter of 315 +/- 7 km, and a rotational pole within 7 deg of [RA; Dec] = [257,+12] in an Equatorial J2000 reference frame (ECJ2000: 255,+35). Using the average of all mass determinations available forEuropa, we derive a density of 1.5 +/- 0.4, typical of C-type asteroids. Comparing our images with the shape model of Michalowski et al. (A&A 416, 2004), derived from optical lightcurves, illustrates excellent agreement, although several edge features visible in the images are not rendered by the model. We therefore derived a complete 3-D description of Europa's shape using the KOALA algorithm by combining our imaging epochs with 4 stellar occultations and 49 lightcurves. We use this 3-D shape model to assess these departures from ellipsoidal shape. Flat facets (possible giant craters) appear to be less distinct on (52) Europa than on other C-types that have been imaged in detail. We show that fewer giant craters, or smaller craters, is consistent with its expected impact history. Overall, asteroid (52) Europa is still well modeled as a smooth triaxial ellipsoid with dimensions constrained by observations obtained over several apparitions., Comment: Accepted for publication in Icarus

The spin state of small asteroids can change on a long timescale by the Yarkovsky-O'Keefe-Radzievskii-Paddack (YORP) effect, the net torque that arises from anisotropically scattered sunlight and proper thermal radiation from an irregularly-shaped asteroid. The secular change in the rotation period caused by the YORP effect can be detected by analysis of asteroid photometric lightcurves. We analyzed photometric lightcurves of near-Earth asteroids (1865) Cerberus, (2100) Ra-Shalom, and (3103) Eger with the aim to detect possible deviations from the constant rotation caused by the YORP effect. We carried out new photometric observations of the three asteroids, combined the new lightcurves with archived data, and used the lightcurve inversion method to model the asteroid shape, pole direction, and rotation rate. The YORP effect was modeled as a linear change in the rotation rate in time d\omega /dt. Values of d\omega/ dt derived from observations were compared with the values predicted by theory. We derived physical models for all three asteroids. We had to model Eger as a nonconvex body because the convex model failed to fit the lightcurves observed at high phase angles. We probably detected the acceleration of the rotation rate of Eger d\omega / dt = (1.4 +/- 0.6) x 10^{-8} rad/d (3\sigma error), which corresponds to a decrease in the rotation period by 4.2 ms/yr. The photometry of Cerberus and Ra-Shalom was consistent with a constant-period model, and no secular change in the spin rate was detected. We could only constrain maximum values of |d\omega / dt| < 8 x 10^{-9} rad/d for Cerberus, and |d\omega / dt| < 3 x 10^{-8} rad/d for Ra-Shalom.

We present a comparison of our results from ground-based observations of asteroid (21) Lutetia with imaging data acquired during the flyby of the asteroid by the ESA Rosetta mission. This flyby provided a unique opportunity to evaluate and calibrate our method of determination of size, 3-D shape, and spin of an asteroid from ground-based observations. We present our 3-D shape-modeling technique KOALA which is based on multi-dataset inversion. We compare the results we obtained with KOALA, prior to the flyby, on asteroid (21) Lutetia with the high-spatial resolution images of the asteroid taken with the OSIRIS camera on-board the ESA Rosetta spacecraft, during its encounter with Lutetia. The spin axis determined with KOALA was found to be accurate to within two degrees, while the KOALA diameter determinations were within 2% of the Rosetta-derived values. The 3-D shape of the KOALA model is also confirmed by the spectacular visual agreement between both 3-D shape models (KOALA pre- and OSIRIS post-flyby). We found a typical deviation of only 2 km at local scales between the profiles from KOALA predictions and OSIRIS images, resulting in a volume uncertainty provided by KOALA better than 10%. Radiometric techniques for the interpretation of thermal infrared data also benefit greatly from the KOALA shape model: the absolute size and geometric albedo can be derived with high accuracy, and thermal properties, for example the thermal inertia, can be determined unambiguously. We consider this to be a validation of the KOALA method. Because space exploration will remain limited to only a few objects, KOALA stands as a powerful technique to study a much larger set of small bodies using Earth-based observations., Comment: 15 pages, 8 figures, 2 tables, accepted for publication in P&SS

Near-Earth asteroid 162173 (1999 JU3) is a potential flyby and rendezvous target for interplanetary missions because of its easy to reach orbit. The physical and thermal properties of the asteroid are relevant for establishing the scientific mission goals and also important in the context of near-Earth object studies in general. Our goal was to derive key physical parameters such as shape, spin-vector, size, geometric albedo, and surface properties of 162173 (1999 JU3). With three sets of published thermal observations (ground-based N-band, Akari IRC, Spitzer IRS), we applied a thermophysical model to derive the radiometric properties of the asteroid. The calculations were performed for the full range of possible shape and spin-vector solutions derived from the available sample of visual lightcurve observations. The near-Earth asteroid 162173 (1999 JU3) has an effective diameter of 0.87 +/- 0.03 km and a geometric albedo of 0.070 +/- 0.006. The chi2-test reveals a strong preference for a retrograde sense of rotation with a spin-axis orientation of lambda_ecl = 73 deg, beta_ecl = -62 deg and P_sid = 7.63 +/- 0.01 h. The most likely thermal inertia ranges between 200 and 600 Jm-2s-0.5K-1, about a factor of 2 lower than the value for 25143 Itokawa. This indicates that the surface lies somewhere between a thick-dust regolith and a rock/boulder/cm-sized, gravel-dominated surface like that of 25143 Itokawa. Our analysis represents the first time that shape and spin-vector information has been derived from a combined data set of visual lightcurves (reflected light) and mid-infrared photometry and spectroscopy (thermal emission)., Comment: 6 pages, 5 figures, 2 tables, accepted for publication in A&A (date of acceptance 05/Nov/2010)

We report on the results of a six-month photometric study of the main-belt binary C-type asteroid 121 Hermione, performed during its 2007 opposition. We took advantage of the rare observational opportunity afforded by one of the annual equinoxes of Hermione occurring close to its opposition in June 2007. The equinox provides an edge-on aspect for an Earth-based observer, which is well suited to a thorough study of Hermione's physical characteristics. The catalog of observations carried out with small telescopes is presented in this work, together with new adaptive optics (AO) imaging obtained between 2005 and 2008 with the Yepun 8-m VLT telescope and the 10-m Keck telescope. The most striking result is confirmation that Hermione is a bifurcated and elongated body, as suggested by Marchis et al., (2005). A new effective diameter of 187 +/- 6 km was calculated from the combination of AO, photometric and thermal observations. The new diameter is some 10% smaller than the hitherto accepted radiometric diameter based on IRAS data. The reason for the discrepancy is that IRAS viewed the system almost pole-on. New thermal observations with the Spitzer Space Telescope agree with the diameter derived from AO and lightcurve observations. On the basis of the new AO astrometric observations of the small 32-km diameter satellite we have refined the orbit solution and derived a new value of the bulk density of Hermione of 1.4 +0.5/-0.2 g cm-3. We infer a macroscopic porosity of ~33 +5/-20%., Comment: 39 pages, 4 Tables, 8 figures