Mutual gravitational potential and torque of solid bodies via inertia integrals

The mutual gravitational potential and the mutual gravitational torque of two bodies of arbitrary shape are expanded to the fourth order. The derivations are based on Cartesian coordinates, inertia integrals with relation to the principal reference frames of each body, and the relative rotation matrix. The current formulation is convenient to utilize in high precision problems in rotational dynamics.     

Capillary action in a crack on the surface of asteroids with an application to 433 Eros

Some asteroids contain water ice, and a space mission landing on an asteroid may take liquid to the surface of the asteroid. Gas pressure is very weak on the surface of asteroids. Here we consider the capillary action in a crack on the surface of irregular asteroids. The crack is modeled as a capillary which has a fixed radius. An asteroid's irregular gravitational potential influences the height of the liquid in the capillary. The height of the liquid in the capillary on the surface of such asteroids is derived from the asteroid's irregular gravitational potential. Capillary mechanisms are expected to produce an inhomogeneaous distribution of emergent liquid on the surface. This result is applied to asteroid 433 Eros, which has an irregular, elongated, and concave shape. Two cases are considered: (1) we calculate the height of the liquid in the capillary when the direction of the capillary is perpendicular to the local surface of the asteroid; (2) we calculate the height of the liquid in the capillary when the direction of the capillary is parallel to the vector from the center of mass to the surface position. The projected height in the capillary on the local surface of the asteroid seems to depend on the assumed direction of the capillary.     

Dynamical model of binary asteroid systems using binary octahedrons

We used binary octahedrons to investigate the dynamical behaviors of binary asteroid systems. The mutual potential of the binary polyhedron method is derived from the fourth order to the sixth order. The irregular shapes, relative orbits, attitude angles, as well as the angular velocities of the binary asteroid system are included in the model. We investigated the relative trajectory of the secondary relative to the primary, the total angular momentum and total energy of the system, the three-axis attitude angular velocity of the binary system, as well as the angular momentum of the two components. The relative errors of the total angular momentum and the total energy indicate that the calculation has a high precision. It is found that the influence of the orbital and attitude motion of the primary from the gravitational force of the secondary is obvious. This study is useful in understanding the complicated dynamical behaviors of the binary asteroid systems discovered in our Solar system.     

Simulation of the full two rigid body problem using polyhedral mutual potential and potential derivatives approach

Herein we investigate the coupled orbital and rotational dynamics of two rigid bodies modelled as polyhedra, under the influence of their mutual gravitational potential. The bodies may possess any arbitrary shape and mass distribution. A method of calculating the mutual potential’s derivatives with respect to relative position and attitude is derived. Relative equations of motion for the two body system are presented and an implementation of the equations of motion with the potential gradients approach is described. Results obtained with this dynamic simulation software package are presented for multiple cases to validate the approach and illustrate its utility. This simulation capability is useful both for addressing questions in dynamical astronomy and for enabling spacecraft missions to binary asteroid systems.     

The two-body interaction potential in the STF tensor formalism: an application to binary asteroids

The symmetric trace free (STF) tensor formalism, developed by Hartmann et al. (Celest Mech Dyn Astron 60:139–159. doi:10.1007/BF00693097, 1994), is a nice tool, not much used in Celestial Mechanics. It is fully equivalent to the usual spherical harmonics but permits more elegant and compact formulations. The coupling between the gravitational fields of extended bodies with this formalism has been used in Mathis and Le Poncin-Lafitte (Astron Astrophys 497:889–910. doi:10.1051/0004-6361/20079054, 2009) for binary stars or planetary systems, but not yet applied to binary asteroids. However, binary asteroids are common in the Solar System and usually their study requires a full two rigid body approach. The formulation of the two-body interaction potential in the STF formalism in the full two rigid body problem is detailed and completed in this article. An application to the binary asteroid (66391) 1999 KW4 is presented with a comparison of our results with other results of the literature for validation.     

Exterior gravitation of a polyhedron derived and compared with harmonic and mascon gravitation representations of asteroid 4769 Castalia

The exterior gravitation of a constant-density polyhedron is derived analytically in closed form. Expressions for potential, attraction, and gravity gradient matrix involve one logarithm term per edge and one arctangent term per face, The Laplacian can be used to determine whether a field point is inside or outside the polyhedron, This polyhedral method is well suited to evaluating the gravitational field of an irregularly shaped body such as an asteroid or comet, Conventional harmonic and mascon potential and attraction expressions suffer large errors when evaluated close to a polyhedral model of asteroid 4769 Castalia.     

Equilibrium points and associated periodic orbits in the gravity of binary asteroid systems: (66391) 1999 KW4 as an example

The motion of a massless particle in the gravity of a binary asteroid system, referred as the restricted full three-body problem (RF3BP), is fundamental, not only for the evolution of the binary system, but also for the design of relevant space missions. In this paper, equilibrium points and associated periodic orbit families in the gravity of a binary system are investigated, with the binary (66391) 1999 KW4 as an example. The polyhedron shape model is used to describe irregular shapes and corresponding gravity fields of the primary and secondary of (66391) 1999 KW4, which is more accurate than the ellipsoid shape model in previous studies and provides a high-fidelity representation of the gravitational environment. Both of the synchronous and non-synchronous states of the binary system are considered. For the synchronous binary system, the equilibrium points and their stability are determined, and periodic orbit families emanating from each equilibrium point are generated by using the shooting (multiple shooting) method and the homotopy method, where the homotopy function connects the circular restricted three-body problem and RF3BP. In the non-synchronous binary system, trajectories of equivalent equilibrium points are calculated, and the associated periodic orbits are obtained by using the homotopy method, where the homotopy function connects the synchronous and non-synchronous systems. Although only the binary (66391) 1999 KW4 is considered, our methods will also be well applicable to other binary systems with polyhedron shape data. Our results on equilibrium points and associated periodic orbits provide general insights into the dynamical environment and orbital behaviors in proximity of small binary asteroids and enable the trajectory design and mission operations in future binary system explorations.     

Photometry of asteroids

Photometry is one of the most efficient investigation techniques. It provided a large body of data on albedos, sizes, shapes, rotation, optical properties, and structural characteristics of asteroids and other minor bodies of the solar system. The contribution of photometry to the determination of asteroid parameters was most crucial. This review summarizes main results of asteroid studies in three most important areas: i) determination of the shape and rotation parameters of asteroids, ii) investigation of optical properties of asteroid surfaces, and iii) detection and investigation of binary asteroid systems.     

Binary asteroid population. 2. Anisotropic distribution of orbit poles of small,inner main-belt binaries

Our photometric observations of 18 main-belt binary systems in more than one apparition revealed a strikingly high number of 15 having positively re-observed mutual events in the return apparitions. Our simulations of the survey showed that it cannot be due to an observational selection effect and that the data strongly suggest that poles of mutual orbits between components of binary asteroids in the primary size range 3–8 km are not distributed randomly: The null hypothesis of an isotropic distribution of the orbit poles is rejected at a confidence level greater than 99.99%. Binary orbit poles concentrate at high ecliptic latitudes, within 30° of the poles of the ecliptic. We propose that the binary orbit poles oriented preferentially up/down-right are due to either of the two processes: (i) the YORP tilt of spin axes of their parent bodies toward the asymptotic states near obliquities 0° and 180° (pre-formation mechanism) or (ii) the YORP tilt of spin axes of the primary components of already formed binary systems toward the asymptotic states near obliquities 0° and 180° (post-formation mechanism). The alternative process of elimination of binaries with poles closer to the ecliptic by dynamical instability, such as the Kozai effect due to gravitational perturbations from the Sun, does not explain the observed orbit pole concentration. This is because for close binary asteroid systems, the gravitational effects of primary’s irregular shape dominate the solar-tide effect.     

The large crater on the small Asteroid (2867) Steins

The maximum size of impact craters on finite bodies marks the largest impact that can occur short of impact induced disruption of the body. Recently attention has started to focus on large craters on small bodies such as asteroids and rocky and icy satellites. Here the large crater on the recently imaged Asteroid (2867) Steins (with crater diameter to mean asteroid radius ratio of 0.79) is shown to follow a limit set by other similar sized bodies with moderate macroporosity (i.e. fractured asteroids). Thus whilst large, the crater size is not novel, nor does it require Steins to possess an extremely large porosity. In one of the components of the binary Asteroid (90) Antiope there is the recently reported presence of an extremely large depression, possibly a crater, with depression diameter to mean asteroid radius ratio of ∼(1.4–1.62). This is consistent with the maximum size of a crater expected from previous observations of very porous rocky bodies (i.e. rubble-pile asteroids). Finally, a relationship between crater diameter (normalised to body radius) is proposed as a function of body porosity which suggests that the doubling of porosity between fractured asteroids and rubble-pile asteroids, nearly doubles the size (D/R value) of the largest crater sustainable on a rocky body.     

Catastrophic disruption of asteroids and family formation: a review of numerical simulations including both fragmentation and gravitational reaccumulations

In the last few years, thanks to the development of sophisticated numerical codes, a major breakthrough has been achieved in our understanding of the processes involved in small body collisions. In this review, we summarize the most recent results provided by numerical simulations, accounting for both the fragmentation of an asteroid and the gravitational interactions of the generated fragments. These studies have greatly improved our knowledge of the mechanisms that are at the origin of some observed features in the asteroid belt. In particular, the simulations have demonstrated that, for bodies larger than several kilometers, the collisional process not only involves the fragmentation of the asteroid but also the gravitational interactions between the ejected fragments. This latter mechanism can lead to the formation of large aggregates by gravitational reaccumulation of smaller fragments, and helps explain the presence of large members within asteroid families. Numerical simulations of the complete process have thus reproduced successfully for the first time the main properties of asteroid families, each formed by the disruption of a large parent body, and provided information on the possible internal structure of the parent bodies. A large amount of work remains necessary, however, to understand in deeper detail the physical process as a function of material properties and internal structures that are relevant to asteroids, and to determine in a more quantitative way the outcome properties such as fragment shapes and rotational states.     

Secular spin dynamics of inner main-belt asteroids

Understanding the evolution of asteroid spin states is challenging work, in part because asteroids have a variety of orbits, shapes, spin states, and collisional histories but also because they are strongly influenced by gravitational and non-gravitational (YORP) torques. Using efficient numerical models designed to investigate asteroid orbit and spin dynamics, we study here how several individual asteroids have had their spin states modified over time in response to these torques (i.e., 951 Gaspra, 60 Echo, 32 Pomona, 230 Athamantis, 105 Artemis). These test cases which sample semimajor axis and inclination space in the inner main belt, were chosen as probes into the large parameter space described above. The ultimate goal is to use these data to statistically characterize how all asteroids in the main belt population have reached their present-day spin states. We found that the spin dynamics of prograde-rotating asteroids in the inner main belt is generally less regular than that of the retrograde-rotating ones because of numerous overlapping secular spin-orbit resonances. These resonances strongly affect the spin histories of all bodies, while those of small asteroids (?40 km) are additionally influenced by YORP torques. In most cases, gravitational and non-gravitational torques cause asteroid spin axis orientations to vary widely over short (?1 My) timescales. Our results show that (951) Gaspra has a highly chaotic rotation state induced by an overlap of the s and s₆ spin-orbit resonances. This hinders our ability to investigate its past evolution and infer whether thermal torques have acted on Gaspra's spin axis since its origin.     

Tidal evolution of close binary asteroid systems

We provide a generalized discussion of tidal evolution to arbitrary order in the expansion of the gravitational potential between two spherical bodies of any mass ratio. To accurately reproduce the tidal evolution of a system at separations less than 5 times the radius of the larger primary component, the tidal potential due to the presence of a smaller secondary component is expanded in terms of Legendre polynomials to arbitrary order rather than truncated at leading order as is typically done in studies of well-separated system like the Earth and Moon. The equations of tidal evolution including tidal torques, the changes in spin rates of the components, and the change in semimajor axis (orbital separation) are then derived for binary asteroid systems with circular and equatorial mutual orbits. Accounting for higher-order terms in the tidal potential serves to speed up the tidal evolution of the system leading to underestimates in the time rates of change of the spin rates, semimajor axis, and mean motion in the mutual orbit if such corrections are ignored. Special attention is given to the effect of close orbits on the calculation of material properties of the components, in terms of the rigidity and tidal dissipation function, based on the tidal evolution of the system. It is found that accurate determinations of the physical parameters of the system, e.g., densities, sizes, and current separation, are typically more important than accounting for higher-order terms in the potential when calculating material properties. In the scope of the long-term tidal evolution of the semimajor axis and the component spin rates, correcting for close orbits is a small effect, but for an instantaneous rate of change in spin rate, semimajor axis, or mean motion, the close-orbit correction can be on the order of tens of percent. This work has possible implications for the determination of the Roche limit and for spin-state alteration during close flybys.     

Minimum energy asteroid reconfigurations and catastrophic disruptions

Dramatic alteration of an asteroid's morphology need not involve high energy impacts between bodies. Simple sunlight shining on an asteroid can, through the YORP effect, cause it to undergo dramatic reconfigurations, fission into a binary asteroid or, in some cases, even undergo a catastrophic disruption with the asteroid losing a large fraction of its initial mass. This paper discusses the system level constraints and conditions for these reconfigurations to occur for a body modeled as a collection of rigid bodies as its spin rate changes.     

Dynamics of rotationally fissioned asteroids: Source of observed small asteroid systems

We present a model of near-Earth asteroid (NEA) rotational fission and ensuing dynamics that describes the creation of synchronous binaries and all other observed NEA systems including: doubly synchronous binaries, high-e binaries, ternary systems, and contact binaries. Our model only presupposes the Yarkovsky-O’Keefe-Radzievskii-Paddack (YORP) effect, “rubble pile” asteroid geophysics, and gravitational interactions. The YORP effect torques a “rubble pile” asteroid until the asteroid reaches its fission spin limit and the components enter orbit about each other (Scheeres, D.J. [2007]. Icarus 189, 370-385). Non-spherical gravitational potentials couple the spin states to the orbit state and chaotically drive the system towards the observed asteroid classes along two evolutionary tracks primarily distinguished by mass ratio. Related to this is a new binary process termed secondary fission - the secondary asteroid of the binary system is rotationally accelerated via gravitational torques until it fissions, thus creating a chaotic ternary system. The initially chaotic binary can be stabilized to create a synchronous binary by components of the fissioned secondary asteroid impacting the primary asteroid, solar gravitational perturbations, and mutual body tides. These results emphasize the importance of the initial component size distribution and configuration within the parent asteroid. NEAs may go through multiple binary cycles and many YORP-induced rotational fissions during their approximately 10 Myr lifetime in the inner Solar System. Rotational fission and the ensuing dynamics are responsible for all NEA systems including the most commonly observed synchronous binaries.     

The dynamical evolution of uniformly rotating asteroids subject to YORP

A detailed derivation is given of the effect of solar radiation on the rotational dynamics of asteroids, commonly called the YORP effect. The current derivation goes beyond previous discussions published in the literature and provides a comprehensive secular dynamical analysis of the effect of solar radiation torques acting on a uniformly rotating body, and the evolution of its rotation state over time. Our predicted model has the global radiation properties of the asteroid as explicit parameters, and hence can be specified independent of these parameters. The resulting secular equations for the rotation rate and rotation pole are characterized by three parameters of the body's shape and explicitly includes the effect of thermal inertia on the evolution of these rotation state parameters. With this detailed model, in conjunction with estimated asteroid shapes and poles, we compute the expected YORP torques and dynamic response of several asteroids and the change in rotation rate for specific shapes as a function of obliquity. Finally, we define a convenient dimensionless parameter that is only a function of the body geometry and that can be used to characterize the effects of YORP.     

The role of regolith redistribution in influencing the evolution of the shapes of asteroids

Abstract— ‐Major surface fissures and relatively large‐scale, angular surface irregularities are expected to have been present on many asteroids at early stages in their histories as a byproduct of at least two processes (impact disruption and reassembly into rubble piles for all classes of asteroid and, for carbonaceous chondrite parent bodies, aqueous alteration) which led to the low bulk densities currently being observed for asteroids. However, in all cases where high‐enough resolution images exist, such abrupt, deep irregularities are not observed. We model the spatial redistribution of impact‐generated regolith on an asteroid with an idealized irregular shape to show how the complex gravitational field of such a body will lead to the systematic infilling of deep valleys in the surface. Our analysis emphasizes the high efficiency with which regolith redistribution can act to disguise the internal structures of asteroids with sizes in the 20–100 km range.     

Determination of Large Asteroid Masses by the Dynamical Method

Masses of 19 asteroids have been determined from the analysis of their gravitational effect on the motion of perturbed bodies. The following asteroids were selected as perturbed bodies: (1) those which had single close encounters with the perturbing asteroid; (2) those whose mean motion was in a 1 : 1 commensurability with that of the perturber and which had close or moderate recurrent encounters with the perturber. The perturber mass was determined from observations of several tens of perturbed asteroids that were selected from these two groups. The selection criterion was the error of the mass determined from observations of only one asteroid. Positional observations of the asteroids on the interval 1900–2002 were used. The masses were determined with errors by an order-half an order of magnitude smaller than the masses found. The results are compared with those of other authors.     

The cool surfaces of binary near-Earth asteroids

Here we show results from thermal-infrared observations of km-sized binary near-Earth asteroids (NEAs). We combine previously published thermal properties for NEAs with newly derived values for three binary NEAs. The η value derived from the near-Earth asteroid thermal model (NEATM) for each object is then used to estimate an average thermal inertia for the population of binary NEAs and compared against similar estimates for the population of non-binaries. We find that these objects have, in general, surface temperatures cooler than the average values for non-binary NEAs as suggested by elevated η values. We discuss how this may be evidence of higher-than-average surface thermal inertia. This latter physical parameter is a sensitive indicator of the presence or absence of regolith: bodies covered with fine regolith, such as the Earth’s moon, have low thermal inertia, whereas a surface with little or no regolith displays high thermal inertia. Our results are suggestive of a binary formation mechanism capable of altering surface properties, possibly removing regolith: an obvious candidate is the YORP effect.We present also newly determined sizes and geometric visible albedos derived from thermal-infrared observations of three binary NEAs: (5381) Sekhmet, (153591) 2001 SN₂₆₃, and (164121) 2003 YT₁. The diameters of these asteroids are 1.41 ± 0.21 km, 1.56 ± 0.31 km, and 2.63 ± 0.40 km, respectively. Their albedos are 0.23 ± 0.13, 0.24 ± 0.16, and 0.048 ± 0.015, respectively.