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We explore the effects of the 2029 Earth encounter on asteroid (99942) Apophis' non-principal axis spin state, leveraging refined orbit, spin state, and inertia information provided by more recent optical and radar observations. Propagating the asteroids' coupled orbit and rigid body attitude dynamics through the flyby, we present the range of possible post-flyby spin states. These spin state distributions will be valuable for planning Apophis observation campaigns and spacecraft missions, most notably OSIRIS-APEX. The simulations indicate that gravitationally induced changes to the asteroid's tumbling periods and rotational angular momentum direction (pole) will likely be significant and measurable. For the current spin state and inertia estimates and their uncertainties, Apophis is likely to remain in a short axis mode (SAM) tumbling state but its effective spin rate could halve or double. Its pole is likely to shift by 10 degrees or more and increase in longitude while moving closer to the ecliptic plane. These spin state changes are very sensitive to the asteroid's close approach attitude and mass distribution. With ground-based tracking of the asteroid's spin state through the encounter, this sensitivity will help refine mass distribution knowledge. We also discuss the implications of this abrupt spin state alteration for Apophis' Yarkovsky acceleration and geophysical properties, identifying possible pathways for surface and internal changes, most notably if Apophis is a contact binary. Comparison of the pre and post-flyby inertia estimates obtained from the ground-based observations will help assess the extent of possible geophysical changes.

We present a study of the current state of knowledge concerning spacecraft operations and potential hazards while operating near a comet nucleus. Starting from simple calculations comparing the cometary coma environment to benign conditions on Earth, we progress to sophisticated engineering models of spacecraft behavior, and then confront these models with recent spacecraft proximity operations experience. Finally, we make recommendations from lessons learned for future spacecraft missions that enter into orbit around a comet for long-term operations. All of these considerations indicate that, with a proper spacecraft design and operations planning, the near-nucleus environment can be a relatively safe region in which to operate, even for an active short period comet near perihelion with gas production rates as high as 1e29 molecules/s. With gas densities similar to those found in good laboratory vacuums, dust densities similar to Class 100 cleanrooms, dust particle velocities of 10s of m/s, and microgravity forces that permit slow and deliberate operations, the conditions around a comet are generally more benign than a typical day on Mars. Even in strong dust jets near the nucleus surface, dust densities tend to be only a few grains/cm3, about the same as in a typical interior room on Earth. Stochastic forces on a modern spacecraft with tens of square meters of projected surface area can be accounted for using modern Attitude Control Systems to within tens of meters navigation error; surface contamination issues are only important for spacecraft spending months to years within a few kilometers of the nucleus surface; and the issues the Rosetta spacecraft faced, confusion of celestial star trackers by sunlit dust particles flying past the spacecraft, will be addressed using the next generation of star trackers implementing improved transient rejection algorithms., Comment: 38 Pages, 15 Figures, 1 Table; accepted for publication in Acta Astronautica 25-Nov-2021

Exploration of asteroid (101955) Bennu by the OSIRIS-REx mission has provided an in-depth look at this rubble-pile near-Earth asteroid. In particular, the measured gravity field and the detailed shape model of Bennu indicate significant heterogeneities in its interior structure, compatible with a lower density at its center. Here we combine gravity inversion methods with a statistical rubble-pile model to determine the density and size-frequency distribution (SFD) index of the rubble that constitutes Bennu. The best-fitting models indicate that the SFD of the interior is consistent with that observed on the surface, with a cumulative SFD index of approximately $-2.9$. The rubble bulk density is approximately $1.35$ g/cm$^3$, corresponding to a $12$% macro-porosity. We find the largest rubble particle to be approximately $145$ m, whereas the largest void is approximately $10$ m., Comment: 14 pages, 5 figures, accepted to Icarus

We obtained thorough photometric observations of two binary near-Earth asteroids (66391) Moshup = 1999 KW4 and (88710) 2001 SL9 taken from 2000 to 2019 and derived physical and dynamical properties of the binary systems. We found that the data for 1999 KW4 are inconsistent with a constant orbital period and we obtained unique solution with a quadratic drift of the mean anomaly of the satellite of -0.65 +/- 0.16 deg/yr2 (all quoted uncertainties are 3sigma). This means that the semimajor axis of the mutual orbit of the components of this binary system increases in time with a mean rate of 1.2 +/- 0.3 cm/yr. The data for 2001 SL9 are also inconsistent with a constant orbital period and we obtained two solutions for the quadratic drift of the mean anomaly: 2.8 +/- 0.2 and 5.2 +/- 0.2 deg/yr2, implying that the semimajor axis of the mutual orbit of the components decreases in time with a mean rate of -2.8 +/- 0.2 or -5.1 +/- 0.2 cm/yr for the two solutions, respectively. The expanding orbit of 1999 KW4 may be explained by mutual tides interplaying with binary YORP (BYORP) effect (McMahon and Scheeres, 2010). However, a modeling of the BYORP drift using radar-derived shapes of the binary components predicted a much higher value of the orbital drift than the observed one. It suggests that either the radar-derived shape model of the secondary is inadequate for computing the BYORP effect, or the present theory of BYORP overestimates it. It is possible that the BYORP coefficient has instead an opposite sign than predicted; in that case, the system may be moving into an equilibrium between the BYORP and the tides. In the case of 2001 SL9, the BYORP effect is the only known physical mechanism that can cause the inward drift of its mutual orbit., Comment: 44 pages, 17 figures. Accepted for publication in Icarus journal

Asteroids and other Small Solar System Bodies (SSSBs) are of high general and scientific interest in many aspects. The origin, formation, and evolution of our Solar System (and other planetary systems) can be better understood by analysing the constitution and physical properties of small bodies in the Solar System. Currently, two space missions (Hayabusa2, OSIRIS-REx) have recently arrived at their respective targets and will bring a sample of the asteroids back to Earth. Other small body missions have also been selected by, or proposed to, space agencies. The threat posed to our planet by near-Earth objects (NEOs) is also considered at the international level, and this has prompted dedicated research on possible mitigation techniques. The DART mission, for example, will test the kinetic impact technique. Even ideas for industrial exploitation have risen during the last years. Lastly, the origin of water and life on Earth appears to be connected to asteroids. Hence, future space mission projects will undoubtedly target some asteroids or other SSSBs. In all these cases and research topics, specific knowledge of the structure and mechanical behaviour of the surface as well as the bulk of those celestial bodies is crucial. In contrast to large telluric planets and dwarf planets, a large proportion of such small bodies is believed to consist of gravitational aggregates ('rubble piles') with no -- or low -- internal cohesion, with varying macro-porosity and surface properties (from smooth regolith covered terrain, to very rough collection of boulders), and varying topography (craters, depressions, ridges) [...]., Comment: This is a pre-print version of an article to be published in AARv, and available online at https://rdcu.be/bHM9E

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

The stability of a system of $N$ equal sized mutually gravitating spheres resting on each other in a straight line and rotating in inertial space is considered. This is a generalization of the "Euler Resting" configurations previously analyzed in the finite density 3 and 4 body problems. Specific questions for the general case are how rapidly the system must spin for the configuration to stabilize, how rapidly it can spin before the components separate from each other, and how these results change as a function of $N$. This paper shows that the Euler Resting configuration can only be stable for up to 5 bodies, and that for 6 or more bodies the configuration can never be stable. This places an ideal limit of 5:1 on the aspect ratio of a rubble pile body's shape., Comment: Accepted for publication in Celestial Mechanics and Dynamical Astronomy

The implication of small amounts of cohesion within relatively small rubble pile asteroids is investigated with regard to their evolution under the persistent presence of the YORP effect. We find that below a characteristic size, which is a function of cohesive strength, density and other properties, rubble pile asteroids can enter a "disaggregation phase" in which they are subject to repeated fissions after which the formation of a stabilizing binary system is not possible. Once this threshold is passed rubble pile asteroids may be disaggregated into their constituent components within a finite time span. These constituent components will have their own spin limits -- albeit potentially at a much higher spin rate due to the greater strength of a monolithic body. The implications of this prediction are discussed and include modification of size distributions, prevalence of monolithic bodies among meteoroids and the lifetime of small rubble pile bodies in the solar system. The theory is then used to place constraints on the strength of binary asteroids characterized as a function of their type., Comment: Accepted for publication in Icarus

In May of 2011, NASA selected the Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer (OSIRIS-REx) asteroid sample return mission as the third mission in the New Frontiers program. The other two New Frontiers missions are New Horizons, which explored Pluto during a flyby in July 2015 and is on its way for a flyby of Kuiper Belt object 2014 MU69 on Jan. 1, 2019, and Juno, an orbiting mission that is studying the origin, evolution, and internal structure of Jupiter. The spacecraft departed for near-Earth asteroid (101955) Bennu aboard an United Launch Alliance Atlas V 411 evolved expendable launch vehicle at 7:05 p.m. EDT on September 8, 2016, on a seven-year journey to return samples from Bennu. The spacecraft is on an outbound-cruise trajectory that will result in a rendezvous with Bennu in August 2018. The science instruments on the spacecraft will survey Bennu to measure its physical, geological, and chemical properties, and the team will use these data to select a site on the surface to collect at least 60 g of asteroid regolith. The team will also analyze the remote-sensing data to perform a detailed study of the sample site for context, assess Bennus resource potential, refine estimates of its impact probability with Earth, and provide ground-truth data for the extensive astronomical data set collected on this asteroid. The spacecraft will leave Bennu in 2021 and return the sample to the Utah Test and Training Range (UTTR) on September 24, 2023., Comment: 89 pages, 39 figures, submitted to Space Science Reviews - OSIRIS-REx special issue

When gravitational aggregates are spun to fission they can undergo complex dynamical evolution, including escape and reconfiguration. Previous work has shown that a simple analysis of the full 2-body problem provides physically relevant insights for whether a fissioned system can lead to escape of the components and the creation of asteroid pairs. In this paper we extend the analysis to the full 3-body problem, utilizing recent advances in the understanding of fission mechanics of these systems. Specifically, we find that the full 3-body problem can eject a body with as much as 0.31 of the total system mass, significantly larger than the 0.17 mass limit previously calculated for the full 2-body problem. This paper derives rigorous limits on a fissioned 3-body system with regards to whether fissioned system components can physically escape from each other and what other stable relative equilibria they could settle in. We explore this question with a narrow focus on the Spherical Full Three Body Problem studied in detail earlier., Comment: Accepted for publication in Celestial Mechanics and Dynamical Astronomy

Context. Tangential YORP is a thermophysical effect that can alter the rotation rate of asteroids and is distinct from the "normal" YORP effect, but to date has only been studied for asteroids with zero obliquity. Aims. The tangential YORP force produced by spherical boulders on the surface of an asteroid with an arbitrary obliquity is studied. Methods. A finite element method is used to simulate heat conductivity inside a boulder, to find the recoil force experienced by it. Then an ellipsoidal asteroid uniformly covered by such boulders is considered and the torque is numerically integrated over its surface. Results. Tangential YORP is found to operate on non-zero obliquities and decreases by a factor of 2 for increasing obliquity., Comment: Accepted for publication in A&A

The relative equilibria for the spherical, finite density 3 body problem are identified. Specifically, there are 28 distinct relative equilibria in this problem which include the classical 5 relative equilibria for the point-mass 3-body problem. None of the identified relative equilibria exist or are stable over all values of angular momentum. The stability and bifurcation pathways of these relative equilibria are mapped out as the angular momentum of the system is increased. This is done under the assumption that they have equal and constant densities and that the entire system rotates about its maximum moment of inertia. The transition to finite density greatly increases the number of relative equilibria in the 3-body problem and ensures that minimum energy configurations exist for all values of angular momentum., Comment: Accepted for publication in the Journal of Nonlinear Science

We propose an analytic model for the normal YORP and diurnal Yarkovsky effects experienced by a convex asteroid. Both the YORP torque and the Yarkovsky force are expressed as integrals of a universal function over the surface of an asteroid. Although in general this function can only be calculated numerically from the solution of the heat conductivity equation, approximate solutions can be obtained in quadratures for important limiting cases. We consider 3 such simplified models: Rubincam's approximation (zero heat conductivity), low thermal inertia limit (including the next order correction and thus valid for small heat conductivity), and high thermal inertia limit (valid for large heat conductivity). All three simplified models are compared with the exact solution., Comment: 14 pages, 8 figures

The Yarkovsky effect describes a small but significant force that affects the orbital motion of meteoroids and asteroids smaller than $30-40$ kilometers in diameter. It is caused by sunlight; when these bodies heat up in the Sun, they eventually re-radiate the energy away in the thermal waveband, which in turn creates a tiny thrust. This recoil acceleration is much weaker than solar and planetary gravitational forces, but it can produce measurable orbital changes over decades and substantial orbital effects over millions to billions of years. The same physical phenomenon also creates a thermal torque that, complemented by a torque produced by scattered sunlight, can modify the rotation rates and obliquities of small bodies as well. This rotational variant has been coined the Yarkovsky-O'Keefe-Radzievskii-Paddack (YORP) effect. During the past decade or so, the Yarkovsky and YORP effects have been used to explore and potentially resolve a number of unsolved mysteries in planetary science dealing with small bodies. Here we review the main results to date, and preview the goals for future work., Comment: Chapter to appear in the Space Science Series Book: Asteroids IV

Conditions for regolith landslides to occur on spinning, gravitating spheroidal asteroids and their aftermath are studied. These conditions are developed by application of classical granular mechanics stability analysis to the asteroid environment. As part of our study we determine how slopes evolve across the surface of these bodies as a function of spin rate, the dynamical fate of material that exceeds the angle of repose, and an analysis of how the shape of the body may be modified based on these results. We find specific characteristics for body surfaces and shapes when spun near the surface disruption limit and develop what their observable implications are. The small, oblate and rapidly spinning asteroids such as 1999 KW4 Alpha and 2008 EV5 exhibit some of these observable traits. The detailed mechanisms outlined here can also provide insight and constraints on the recently observed active asteroids such as P/2013 P5, and the creation of asteroidal meteor streams., Comment: Accepted for publication in Icarus

Tangential YORP, or TYORP, has recently been demonstrated to be an important factor in the evolution of an asteroid's rotation state. It is complementary to normal YORP, or NYORP, which used to be considered previously. While NYORP is produced by non-symmetry in the large-scale geometry of an asteroid, TYORP is due to heat conductivity in stones on the surface of the asteroid. Yet to date TYORP has been studied only in a simplified 1-dimensional model, substituting stones by high long walls. This article for the first time considers TYORP in a realistic 3-dimensional model, also including shadowing and self-illumination effects via ray tracing. TYORP is simulated for spherical stones lying on regolith. The model includes only 5 free parameters, and the dependence of the TYORP on each of them is studied. The TYORP torque appears to be smaller than previous estimates from 1-dimensional model, but still comparable to the NYORP torques. These results can be used to estimate TYORP of different asteroids, and also as a basis for more sophisticated models of TYORP., Comment: Accepted to ApJ

Minimum energy configurations in celestial mechanics are investigated. It is shown that this is not a well defined problem for point-mass celestial mechanics but well-posed for finite density distributions. This naturally leads to a granular mechanics extension of usual celestial mechanics questions such as relative equilibria and stability. This paper specifically studies and finds all relative equilibria and minimum energy configurations for $N=1,2,3$ and develops hypotheses on the relative equilibria and minimum energy configurations for $N\gg 1$ bodies., Comment: Accepted for publication in Celestial Mechanics and Dynamical Astronomy

This document covers five broad topics from theory of small bodies: planetesimal formation, cosmochemistry, thermal evolution, collisions and dynamics. Each of these topics is described in a separate section, where we prioritize selected main issues over completeness. The text points out the principal unresolved problems in each area, and suggests ways how progress can be made. This includes support for new code development, observations and experimental work that can be used to constrain theory, new research directions, and studies of cross-over regimes where the system's behavior is determined by several competing processes. The suggested development areas are placed in the context of NASA space exploration., Comment: http://www.lpi.usra.edu/sbag/

Asteroid pairs sharing similar heliocentric orbits were found recently. Backward integrations of their orbits indicated that they separated gently with low relative velocities, but did not provide additional insight into their formation mechanism. A previously hypothesized rotational fission process4 may explain their formation - critical predictions are that the mass ratios are less than about 0.2 and, as the mass ratio approaches this upper limit, the spin period of the larger body becomes long. Here we report photometric observations of a sample of asteroid pairs revealing that primaries of pairs with mass ratios much less than 0.2 rotate rapidly, near their critical fission frequency. As the mass ratio approaches 0.2, the primary period grows long. This occurs as the total energy of the system approaches zero requiring the asteroid pair to extract an increasing fraction of energy from the primary's spin in order to escape. We do not find asteroid pairs with mass ratios larger than 0.2. Rotationally fissioned systems beyond this limit have insufficient energy to disrupt. We conclude that asteroid pairs are formed by the rotational fission of a parent asteroid into a proto-binary system which subsequently disrupts under its own internal system dynamics soon after formation., Comment: 12 pages, 2 figures, 1 table + Supplementary Information

The scaling of physical forces to the extremely low ambient gravitational acceleration regimes found on the surfaces of small asteroids is performed. Resulting from this, it is found that van der Waals cohesive forces between regolith grains on asteroid surfaces should be a dominant force and compete with particle weights and be greater, in general, than electrostatic and solar radiation pressure forces. Based on this scaling, we interpret previous experiments performed on cohesive powders in the terrestrial environment as being relevant for the understanding of processes on asteroid surfaces. The implications of these terrestrial experiments for interpreting observations of asteroid surfaces and macro-porosity are considered, and yield interpretations that differ from previously assumed processes for these environments. Based on this understanding, we propose a new model for the end state of small, rapidly rotating asteroids which allows them to be comprised of relatively fine regolith grains held together by van der Waals cohesive forces., Comment: 54 pages, 7 figures

Given the impressive investment by the nation in observational Astronomy and Astrophysics facilities coming on line now and in the near future, we advocate for an increased investment in applied and fundamental research on Astrophysical and Celestial Dynamics (ACD). Specifically we call for a) continued and expanded support for applied research in ACD, b) creation of support for fundamental research in ACD and its subfields, and c) the creation of a unified program to help scientists coordinate and collaborate in their research in these fields. The benefits of this proposal are threefold. First, it will enable researchers to interpret and understand the implications of newly observed phenomena that will invariably arise from new facilities and surveys. Second, research on fundamentals will foster connections between specialists, leveraging advances found in one sub-field and making them available to others. Third, a coordinated approach for applied and fundamental research in ACD will help academic institutions in the United States to produce future researchers trained and knowledgeable in essential subfields such as Mathematical Celestial Mechanics and able to continue its advancement in conjunction with the increase in observations., Comment: 6 pp. White Paper submitted for the 2010 Decadal Survey, to panels PSF, SSE, GAN, & GCT

The effect of density inhomogeneity on the YORP effect for a given shape model is investigated. A density inhomogeneity will cause an offset between the center of figure and the center of mass and a re-orientation of the principal axes away from those associated with the shape alone. Both of these effects can alter the predicted YORP rate of change in angular velocity and obliquity. We apply these corrections to the Itokawa shape model and find that its YORP angular velocity rate is sensitive to offsets between its center of mass and center of figure, with a shift on the order of 10 meters being able to change the sign of the YORP effect for that asteroid. Given the non-detection of YORP for Itokawa as of 2008, this can shed light on the density distribution within that body. The theory supports a shift of the asteroid center of mass towards Itokawa's neck region, where there is an accumulation of finer gravels. Detection of the YORP effect for Itokawa should provide some strong constraints on its density distribution. This theory could also be applied to asteroids visited by future spacecraft to constrain density inhomogeneities., Comment: 23 pages, 3 figures

Active asteroids are those that show evidence of ongoing mass loss. We report repeated instances of particle ejection from the surface of (101955) Bennu, demonstrating that it is an active asteroid. The ejection events were imaged by the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer) spacecraft. For the three largest observed events, we estimated the ejected particle velocities and sizes, event times, source regions, and energies. We also determined the trajectories and photometric properties of several gravitationally bound particles that orbited temporarily in the Bennu environment. We consider multiple hypotheses for the mechanisms that lead to particle ejection for the largest events, including rotational disruption, electrostatic lofting, ice sublimation, phyllosilicate dehydration, meteoroid impacts, thermal stress fracturing, and secondary impacts.

The current best estimates of Bennu’s gravity field will be presented, based on the independent solutions from four different teams involved on the OSIRIS-REx mission. The discovery of ejected particles about Bennu that may remain in orbit for several days or more provide a unique opportunity to probe the gravity field to higher degree and order than possible by using conventional spacecraft tracking. However, the non-gravitational forces acting on these particles must also be characterized, and their impact on solution accuracy must be assessed. This talk will present the latest results from the mission, incorporating spacecraft tracking from the lowest orbit in which the satellite will be during the mission.

Small, kilometre-sized near-Earth asteroids are expected to have young and frequently refreshed surfaces for two reasons: collisional disruptions are frequent in the main asteroid belt where they originate, and thermal or tidal processes act on them once they become near-Earth asteroids. Here we present early measurements of numerous large candidate impact craters on near-Earth asteroid (101955) Bennu by the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security- Regolith Explorer) mission, which indicate a surface that is between 100 million and 1 billion years old, predating Bennu's expected duration as a near-Earth asteroid. We also observe many fractured boulders, the morphology of which suggests an influence of impact or thermal processes over a considerable amount of time since the boulders were exposed at the surface. However, the surface also shows signs of more recent mass movement: clusters of boulders at topographic lows, a deficiency of small craters and infill of large craters. The oldest features likely record events from Bennu's time in the main asteroid belt.

Establishing the abundance and physical properties of regolith and boulders on asteroids is crucial for understanding the formation and degradation mechanisms at work on their surfaces. Using images and thermal data from NASA's Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer (OSIRIS-REx) spacecraft, we show that asteroid (101955) Bennu's surface is globally rough, dense with boulders, and low in albedo. The number of boulders is surprising given Bennu's moderate thermal inertia, suggesting that simple models linking thermal inertia to particle size do not adequately capture the complexity relating these properties. At the same time, we find evidence for a wide range of particle sizes with distinct albedo characteristics. Our findings imply that ages of Bennu's surface particles span from the disruption of the asteroid's parent body (boulders) to recent in situ production (micrometre-scale particles).

Images of asteroid (101955) Bennu acquired by the OSIRIS-­REx mission reveal a rocky world covered in rubble; Shape deviates from hydrostatic surface; Internal friction and/or cohesion even if no tensile strength; Understanding the deviation of the surface from idealized shape may help constrain mechanical properties of the interior; Geologic evolution of Bennu is driven by downslope migration of surface material and rubble; May be caused by YORP-induced spin-up, re-­accumulation, impact-induced seismic shaking, thermal stresses, or tidal disruption by close encounters to larger bodies.