Librations of the Galilean satellites: The influence of global internal liquid layers

The four Galilean satellites are thought to harbor one or even two global internal liquid layers beneath their surface layer. The iron core of Io and Ganymede is most likely (partially) liquid and also the core of Europa may be liquid. Furthermore, there are strong indications for the existence of a subsurface ocean in Europa, Ganymede, and Callisto. Here, we investigate whether libration observations can be used to prove the existence of these liquid layers and to constrain the thickness of the overlying solid layers. For Io, the presence of a small liquid core increases the libration of the mantle by a few percent with respect to an entirely solid Io and mantle libration observations could be used to determine the mantle thickness with a precision of several tens of kilometers given that the libration amplitude can be measured with a precision of 1 m. For Europa, Ganymede, and Callisto, the presence of a water ocean close to the surface increases by at least an order of magnitude the ice shell libration amplitude with respect to an entirely solid satellite. The shell libration depends essentially on the shell thickness and to a minor extent on the density difference between the ocean and the ice shell. The possible presence of a liquid core inside Europa and Ganymede has no noticeable influence on their shell libration. For a precision of several meters on the libration measurements, in agreement with the expected accuracy with the NASA/ESA EJSM orbiter mission to Europa and Ganymede, an error on the shell thickness of a few tens kilometers is expected. Therefore, libration measurements can be used to detect liquid layers such as Io’s core or water subsurface oceans in Europa, Ganymede, and Callisto and to constrain the thickness of the overlying solid surface layers.     

Empirical constraints on the salinity of the europan ocean and implications for a thin ice shell

Induced electrical currents within Europa inferred from Galileo spacecraft magnetometer instrument data have been interpreted as due to a salty europan ocean. Published compositional models for Europa's ocean, based on aqueous leaching of carbonaceous chondrites, range over five orders of magnitude in predicted magnesium sulfate concentrations. We combine the Galileo spacecraft magnetometer-derived oceanic conductivities and radio Doppler data-derived interior models with laboratory conductivity vs concentration data for both magnesium sulfate solutions and terrestrial seawater to determine empirically the range of salt concentrations permitted for Europa's ocean. Solutions for both a three-layer spherical model, and a five-layer half-space model, that satisfy current preferred best fits to magnetometer data imply high, near-saturation salt concentrations and require a europan ice shell of less than 15 km thick, with a best fit at 4 km ice thickness. Adding a conductive core and mantle has a negligible effect on the amplitude when ocean conductivities are greater than a few Siemens per meter. Similarly, we find that including a realistic ionosphere has a negligible effect. We examine the implications of these results for the subsurface habitability of Europa.     

Elastic ice shells of synchronous moons: Implications for cracks on Europa and non-synchronous rotation of Titan

A number of synchronous moons are thought to harbor water oceans beneath their outer ice shells. A subsurface ocean frictionally decouples the shell from the interior. This has led to proposals that a weak tidal or atmospheric torque might cause the shell to rotate differentially with respect to the synchronously rotating interior. Applications along these lines have been made to Europa and Titan. However, the shell is coupled to the ocean by an elastic torque. As a result of centrifugal and tidal forces, the ocean would assume an ellipsoidal shape with its long axis aligned toward the parent planet. Any displacement of the shell away from its equilibrium position would induce strains thereby increasing its elastic energy and giving rise to an elastic restoring torque. In the investigation reported on here, the elastic torque is compared with the tidal torque acting on Europa and the atmospheric torque acting on Titan.Regarding Europa, it is shown that the tidal torque is far too weak to produce stresses that could fracture the ice shell, thus refuting an idea that has been widely advocated. Instead, it is suggested that the cracks arise from time-dependent stresses due to non-hydrostatic gravity anomalies from tidally driven, episodic convection in the satellite’s interior.Two years of Cassini RADAR observations of Titan’s surface have been interpreted as implying an angular displacement of ∼0.24° relative to synchronous rotation. Compatibility of the amplitude and phase of the observed non-synchronous rotation with estimates of the atmospheric torque requires that Titan’s shell be decoupled from its interior. We find that the elastic torque balances the seasonal atmospheric torque at an angular displacement ?0.05°, effectively coupling the shell to the interior. Moreover, if Titan’s surface were spinning faster than synchronous, the tidal torque tending to restore synchronous rotation would almost certainly be larger than the atmospheric torque. There must either be a problem with the interpretation of the radar observations, or with our basic understanding of Titan’s atmosphere and/or interior.     

The temperature of Europa's subsurface water ocean

A 100 km deep liquid water ocean probably underlies the icy exterior of Jupiter's satellite Europa. The long-term persistence of a liquid ocean beneath an ice shell presents a thermal conundrum: Is the temperature of the ocean equal to the freezing point of water at the bottom of the ice shell, or is it equal to the somewhat warmer temperature at which water attains its maximum density? We argue that most of the ocean is at the temperature of maximum density and that the bulk of the vigorously convecting ocean is separated from the bottom of the ice shell by a thin “stratosphere” of stably stratified water which is at the freezing point, and therefore buoyant. If Europa's subsurface water ocean is warm, it could explain the widespread geologic evidence for apparent melt-through events observed on its surface and may constrain the overall age of its surface.     

Probing Europa's interior with natural sound sources

Europa's interior structure may be determined by relatively simple and robust seismo-acoustic echo sounding techniques. The strategy is to use ice cracking events or impacts that are hypothesized to occur regularly on Europa's surface as sources of opportunity. A single passive geophone on Europa's surface may then be used to estimate the thickness of its ice shell and the depth of its ocean by measuring the travel time of seismo-acoustic reflections from the corresponding internal strata. Quantitative analysis is presented with full-field seismo-acoustic modeling of the Europan environment. This includes models for Europan ambient noise and conditions on signal-to-noise ratio necessary for the proposed technique to be feasible. The possibility of determining Europa's ice layer thickness by surface wave and modal analysis with a single geophone is also investigated.     

Subsurface oceans and deep interiors of medium-sized outer planet satellites and large trans-neptunian objects

The detection of induced magnetic fields in the vicinity of the jovian satellites Europa, Ganymede, and Callisto is one of the most surprising findings of the Galileo mission to Jupiter. The observed magnetic signature cannot be generated in solid ice or in silicate rock. It rather suggests the existence of electrically conducting reservoirs of liquid water beneath the satellites' outermost icy shells that may contain even more water than all terrestrial oceans combined. The maintenance of liquid water layers is closely related to the internal structure, composition, and thermal state of the corresponding satellite interior. In this study we investigate the possibility of subsurface oceans in the medium-sized icy satellites and the largest trans-neptunian objects (TNO's). Controlling parameters for subsurface ocean formation are the radiogenic heating rate of the silicate component and the effectiveness of the heat transfer to the surface. Furthermore, the melting temperature of ice will be significantly reduced by small amounts of salts and/or incorporated volatiles such as methane and ammonia that are highly abundant in the outer Solar System. Based on the assumption that the satellites are differentiated and using an equilibrium condition between the heat production rate in the rocky cores and the heat loss through the ice shell, we find that subsurface oceans are possible on Rhea, Titania, Oberon, Triton, and Pluto and on the largest TNO's 2003 UB₃₁₃, Sedna, and 2004 DW. Subsurface oceans can even exist if only small amounts of ammonia are available. The liquid subsurface reservoirs are located deeply underneath an ice-I shell of more than 100 km thickness. However, they may be indirectly detectable by their interaction with the surrounding magnetic fields and charged particles and by the magnitude of a satellite's response to tides exerted by the primary. The latter is strongly dependent on the occurrence of a subsurface ocean which provides greater flexibility to a satellite's rigid outer ice shell.     

Thermal-orbital evolution of Io and Europa

Coupled thermal-orbital evolution models of Europa and Io are presented. It is assumed that Io, Europa, and Ganymede evolve in the Laplace resonance and that tidal dissipation of orbital energy is an internal heat source for both Io and Europa. While dissipation in Io occurs in the mantle as in the mantle dissipation model of Segatz et al. (1988, Icarus 75, 187), two models for Europa are considered. In the first model dissipation occurs in the silicate mantle while in the second model dissipation occurs in the ice shell. In the latter model, ice shell melting and variations of the shell thickness above an ocean are explicitly included. The rheology of both the ice and the rock is cast in terms of a viscoelastic Maxwell rheology with viscosity and shear modulus depending on the average temperature of the dissipating layer. Heat transfer by convection is calculated using a parameterization for strongly temperature-dependent viscosity convection. Both models are consistent with the present orbital elements of Io, Europa, and Ganymede. It is shown that there may be phases of quasi-steady evolution with large or small dissipation rates (in comparison with radiogenic heating), phases with runaway heating or cooling and oscillatory phases during which the eccentricity and the tidal heating rate will oscillate. Europa's ice thickness varies between roughly 3 and 70 km (dissipation in the silicate layer) or 10 and 60 km (dissipation in the ice layer), suggesting that Europa's ocean existed for geological timescales. The variation in ice thickness, including both convective and purely conductive phases, may be reflected in the formation of different geological surface features on Europa. Both models suggest that at present Europa's ice thickness is several tens of km thick and is increasing, while the eccentricity decreases, implying that the satellites evolve out of resonance. Including lithospheric growth in the models makes it impossible to match the high heat flux constraint for Io. Other heat transfer processes than conduction through the lithosphere must be important for the present Io.     

Comment on “Mechanics of tidally driven fractures in Europa's ice shell” by S. Lee, R.T. Pappalardo, and N.C. Makris [2005. Icarus 177, 367-379]

We show Lee, Pappalardo, and Makris' [2005. Icarus 177, 367-379] argument that surface cracks in Europa's icy shell penetrate 3-10 times deeper in the presence of subsurface ocean is not correct. We use numerical calculations to demonstrate that there is at most 50% increase in penetration depth for a crack opening in a shell of finite thickness compared to a half-space. We also propose a simple equation based on force balances to estimate the maximum thickness of an ice shell that can be opened under tensile stress. Our calculations show that a crack can only penetrate 330-m-thick ice shell under 200 kPa far-field tensile stress and half of that if the stress is 100 kPa. But the presence of water would allow crack penetrate ∼4.0 km into the ice shell with zero porosity.     

Thermal Equilibrium States of Europa's Ice Shell: Implications for Internal Ocean Thickness and Surface Heat Flow

Ice-shell thickness and ocean depth are calculated for steady state models of tidal dissipation in Europa's ice shell using the present-day values of the orbital elements. The tidal dissipation rate is obtained using a viscoelastic Maxwell rheology for the ice, the viscosity of which has been varied over a wide range, and is found to strongly increase if an (inviscid) internal ocean is present. To determine steady state values, the tidal dissipation rate is equated to the heat-transfer rate through the ice shell calculated from a parameterized model of convective heat transfer or from a thermal conduction model, if the ice layer is found to be stable against convection. Although high dissipation rates and heat fluxes of up to 300 mWm⁻² are, in principle, possible for Europa, these values are unrealistic because the states for which they are obtained are thermodynamically unstable. Equilibrium models have surface heat flows around 20 mWm⁻² and ice-layer thicknesses around 30 km, which is significantly less than the total thickness of the H₂O-layer. These results support models of Europa with ice shells a few tens of kilometers thick and around 100-km-thick subsurface oceans.     

Energy Distributions for Desorption of Sodium and Potassium from Ice: The Na/K Ratio at Europa

The sputtering and decomposition of the surface of Europa by fast ions and electrons lead to the production of an atomosphere containing sodium and potassium atoms. Here time-of-flight energy distributions are measured for Na and K sputtered from a vapor-deposited ice by 200-eV electrons. These data are then used in a Monte Carlo simulation for alkalis in Europa's atmosphere. Na/K ratios versus distance from Europa are calculated and compared to the recent observations in the range 6 to 18 Europan radii from the surface. Normalizing to the observations, the Na/K ratio for the loss rates is ∼27 and the ratio for the average surface source rates is ∼20. These ratios are very different from the Na/K ratio at Io and are larger than the Na/K ratio suggested for Europa's putative subsurface ocean, consistent with fractionation on freezing and upwelling of ocean material.     

The effect of gravitational and pressure torques on Titan's length-of-day variations

Cassini radar observations show that Titan's spin is slightly faster than synchronous spin. Angular momentum exchange between Titan's surface and the atmosphere over seasonal time scales corresponding to Saturn's orbital period of 29.5 year is the most likely cause of the observed non-synchronous rotation. We study the effect of Saturn's gravitational torque and torques between internal layers on the length-of-day (LOD) variations driven by the atmosphere. Because static tides deform Titan into an ellipsoid with the long axis approximately in the direction to Saturn, non-zero gravitational and pressure torques exist that can change the rotation rate of Titan. For the torque calculation, we estimate the flattening of Titan and its interior layers under the assumption of hydrostatic equilibrium. The gravitational forcing by Saturn, due to misalignment of the long axis of Titan with the line joining the mass centers of Titan and Saturn, reduces the LOD variations with respect to those for a spherical Titan by an order of magnitude. Internal gravitational and pressure coupling between the ice shell and the interior beneath a putative ocean tends to reduce any differential rotation between shell and interior and reduces further the LOD variations by a few times. For the current estimate of the atmospheric torque, we obtain LOD variations of a hydrostatic Titan that are more than 100 times smaller than the observations indicate when Titan has no ocean as well as when a subsurface ocean exists. Moreover, Saturn's torque causes the rotation to be slower than synchronous in contrast to the Cassini observations. The calculated LOD variations could be increased if the atmospheric torque is larger than predicted and or if fast viscous relaxation of the ice shell could reduce the gravitational coupling, but it remains to be studied if a two order of magnitude increase is possible and if these effects can explain the phase difference of the predicted rotation variations. Alternatively, the large differences with the observations may suggest that non-hydrostatic effects in Titan are important. In particular, we show that the amplitude and phase of the calculated rotation variations are similar to the observed values if non-hydrostatic effects could strongly reduce the equatorial flattening of the ice shell above an internal ocean.     

木卫二的内部结构模型和海洋层--伽利略探测的最新研究进展

伽利略探测获得了木卫二的最新探测资料，其更精确的重力探测数据使深入研究木卫二的内部结构成为可能，研究表明，木卫二有着比较复杂的内部结构，最外层是水冰层，中层是岩石幔，中心是金属核（Fe或Fe-FeS)。但重力探测数据并不能确定水冰层中水的物态。多方面的证据（如理论，地学，磁场等证据）都表明木卫二的表面冰层下存在液体的导电海洋层，其中磁场方面的证据可能最为有力，概述了对木卫地的内部结构模型和海洋层两方面的研究，并推断潮汐演化是木卫二海洋层存在重要原因。     

Fracture penetration in planetary ice shells

The proposed past eruption of liquid water on Europa and ongoing eruption of water vapor and ice on Enceladus have led to discussion about the feasibility of cracking a planetary ice shell. We use a boundary element method to model crack penetration in an ice shell subjected to tension and hydrostatic compression. We consider the presence of a region at the base of the ice shell in which the far-field extensional stresses vanish due to viscoelastic relaxation, impeding the penetration of fractures towards a subsurface ocean. The maximum extent of fracture penetration can be limited by hydrostatic pressure or by the presence of the unstressed basal layer, depending on its thickness. Our results indicate that Europa's ice shell is likely to be cracked under 1-3 MPa tension only if it is ?2.5 km thick. Enceladus' ice shell may be completely cracked if it is capable of supporting ∼1-3 MPa tension and is less than 25 km thick.     

The rotation of Janus and Epimetheus

Epimetheus, a small moon of Saturn, has a rotational libration (an oscillation about synchronous rotation) of 5.9°±1.2°, placing Epimetheus in the company of Earth’s Moon and Mars’ Phobos as the only natural satellites for which forced rotational libration has been detected. The forced libration is caused by the satellite’s slightly eccentric orbit and non-spherical shape.Detection of a moon’s forced libration allows us to probe its interior by comparing the measured amplitude to that predicted by a shape model assuming constant density. A discrepancy between the two would indicate internal density asymmetries. For Epimetheus, the uncertainties in the shape model are large enough to account for the measured libration amplitude. For Janus, on the other hand, although we cannot rule out synchronous rotation, a permanent offset of several degrees between Janus’ minimum moment of inertia (long axis) and the equilibrium sub-Saturn point may indicate that Janus does have modest internal density asymmetries.The rotation states of Janus and Epimetheus experience a perturbation every 4 years, as the two moons “swap” orbits. The sudden change in the orbital periods produces a free libration about synchronous rotation that is subsequently damped by internal friction. We calculate that this free libration is small in amplitude (<0.1°) and decays quickly (a few weeks, at most), and is thus below the current limits for detection using Cassini images.     

Nonsynchronous Rotation Evidence and Fracture History in the Bright Plains Region, Europa

A geologic map for the Bright Plains in the Conamara Chaos region of Europa is presented and is used to unravel a detailed fracture sequence using cross-cutting relationships and fracture mechanics principles. Fracture orientations in the Bright Plains region rotated with time, consistently in a clockwise sense. This conclusion agrees with the observations of other researchers' northern Europan hemisphere investigations and points strongly toward the fracture sequence being controlled by the effect of nonsynchronous rotation, whereby the outer ice crust of Europa rotates slightly faster than the satellite's interior. This is convincing evidence that Europa's crust has been decoupled from the interior, possibly due to the presence of a liquid ocean beneath the crust.Tidal stresses induced in the ice crust by the combined effects of nonsynchronous rotation and diurnal tidal flexing can be calculated using the assumption that the crust behaves elastically over relatively short time scales (i.e., no viscous relaxation of stresses). The fracture orientations in the Bright Plains area were compared to a global scale tidal stress field to determine the longitudes at which each fracture set developed. The fracture sequence points strongly to the Bright Plains region of the crust having rotated at least 720° (and perhaps up to 900°) with respect to the satellite's interior during the visible fracture history. This amount exceeds previously published estimates of nonsynchronous rotation. The orientations of the most recent surface fractures are incompatible with the current state of stress in the Bright Plains region, implying a period of a few thousand years since the most recent fracturing events based on existing nonsynchronous rotation rate estimates.     

Modeling stresses on satellites due to nonsynchronous rotation and orbital eccentricity using gravitational potential theory

The tidal stress at the surface of a satellite is derived from the gravitational potential of the satellite's parent planet, assuming that the satellite is fully differentiated into a silicate core, a global subsurface ocean, and a decoupled, viscoelastic lithospheric shell. We consider two types of time variability for the tidal force acting on the shell: one caused by the satellite's eccentric orbit within the planet's gravitational field (diurnal tides), and one due to nonsynchronous rotation (NSR) of the shell relative to the satellite's core, which is presumed to be tidally locked. In calculating surface stresses, this method allows the Love numbers h and ?, describing the satellite's tidal response, to be specified independently; it allows the use of frequency-dependent viscoelastic rheologies (e.g. a Maxwell solid); and its mathematical form is amenable to the inclusion of stresses due to individual tides. The lithosphere can respond to NSR forcing either viscously or elastically depending on the value of the parameter , where μ and η are the shear modulus and viscosity of the shell respectively, and ω is the NSR forcing frequency. Δ is proportional to the ratio of the forcing period to the viscous relaxation time. When Δ?1 the response is nearly fluid; when Δ?1 it is nearly elastic. In the elastic case, tensile stresses due to NSR on Europa can be as large as ∼3.3 MPa, which dominate the ∼50 kPa stresses predicted to result from Europa's diurnal tides. The faster the viscous relaxation the smaller the NSR stresses, such that diurnal stresses dominate when Δ?100. Given the uncertainty in current estimates of the NSR period and of the viscosity of Europa's ice shell, it is unclear which tide should be dominant. For Europa, tidal stresses are relatively insensitive both to the rheological structure beneath the ice layer and to the thickness of the icy shell. The phase shift between the tidal potential and the resulting stresses increases with Δ. This shift can displace the NSR stresses longitudinally by as much as 45° in the direction opposite of the satellite's rotation.     

The global shape of Europa: Constraints on lateral shell thickness variations

The global shape of Europa is controlled by tidal and rotational potentials and possibly by lateral variations in ice shell thickness. We use limb profiles from four Galileo images to determine the best-fit hydrostatic shape, yielding a mean radius of 1560.8±0.3 km and a radius difference a−c of 3.0±0.9 km, consistent with previous determinations and inferences from gravity observations. Adding long-wavelength topography due to proposed lateral variations in shell thickness results in poorer fits to the limb profiles. We conclude that lateral shell thickness variations and long-wavelength isostatically supported topographic variations do not exceed 7 and 0.7 km, respectively. For the range of rheologies investigated (basal viscosities from 10¹⁴ to ) the maximum permissible (conductive) shell thickness is 35 km. The relative uniformity of Europa's shell thickness is due to either a heat flux from the silicate interior, lateral ice flow at the base of the shell, or convection within the shell.     

The dependence of surface tidal stress on the internal structure of Europa: The possibility of cracking of the icy shell

This study shows dependence of the surface diurnal tidal stress on the internal structure of Europa. Its purpose is to investigate possibility of cracking of the icy shell. The stress is evaluated under the plausible model of the internal structure constrained by the gravity field data. The possible effective stress at the sub-Jovian point decreases with thickening of the shell, while it does not depend on the core radius and the thickness of the H₂O layer. The range of this value is from 0.095 to 0.161 MPa, which does not exceed the tensile strength of ice. The stress required for the surface cracking would be mainly due to longer period deformations, especially non-synchronous rotation. And/or the actual strength of the ice at the surface would be smaller because of the preexisting cracks than that at a laboratory of the same temperature.     

Habitats and taphonomy of Europa

Jupiter's moon Europa possesses an icy shell kilometers thick that may overlie a briny ocean. The inferred presence of water, tidal and volcanic energy, and nutrients suggests that Europa is potentially inhabited by some kind of life; indeed Europa is a primary target in the search for life in the Solar System although no evidence yet exists for any kind of life. The thickness of the icy crust would impose limits on life, but at least 15 broad kinds of habitats seem possible for Europa. They include several on the sea floor, at least 3 in the water column, and many in the ice itself. All of these habitats are in, or could be transported to, the icy shell where they could be exposed by geologic activity or impacts so they might be explored from the surface or orbit by future planetary missions. Taphonomic processes that transport, preserve, and expose habitats include buoyant ice removing bottom habitats and sediment to the underside of the ice, water currents depositing components of water column habitats on the ice bottom, cryovolcanoes depositing water on the surface, tidal pumping bringing water column and ice habitats to the near-surface ice, and subice freezing and diapiric action incorporating water column and bottom ice habitats into the lower parts of the icy shell. The preserved habitats could be exposed at or near the surface of Europa chiefly in newly-formed ice, tilted or rotated ice blocks, ridge debris, surface deposits, fault scarps, the sides of domes and pits, and impact craters and ejecta. Future exploration of Europa for life must consider careful targeting of sites where habitats are most likely preserved or exist close to the surface.