The geology of 433 Eros

Abstract— The global high‐resolution imaging of asteroid 433 Eros by the Near‐Earth Asteroid Rendezvous (NEAR) Shoemaker spacecraft has made it possible to develop the first comprehensive picture of the geology of a small S‐type asteroid. Eros displays a variety of surface features, and evidence of a substantial regolith. Large scale facets, grooves, and ridges indicate the presence of at least one global planar structure. Directional and superposition relations of smaller structural features suggest that fracturing has occurred throughout the object. As with other small objects, impact craters dominate the overall shape as well as the small‐scale topography of Eros. Depth/diameter ratios of craters on Eros average ～0.13, but the freshest craters approach lunar values of ～0.2. Ejecta block production from craters is highly variable; the majority of large blocks appear to have originated from one 7.6 km crater (Shoemaker). The interior morphology of craters does not reveal the influence of discrete mechanical boundaries at depth in the manner of craters formed on lunar mare regolith and on some parts of Phobos. This lack of mechanical boundaries, and the abundant evidence of regolith in nearly every high‐resolution image, suggests a gradation in the porosity and fracturing with depth. The density of small craters is deficient at sizes below ～200 m relative to predicted slopes of empirical saturation. This characteristic, which is also found on parts of Phobos and lunar highland areas, probably results from the efficient obliteration of small craters on a body with significant topographic slopes and a thick regolith. Eros displays a variety of regolith features, such as debris aprons, fine‐grained “ponded” deposits, talus cones, and bright and dark streamers on steep slopes indicative of efficient downslope movement of regolith. These processes serve to mix materials in the upper loose fragmental portion of the asteroid (regolith). In the instance of “ponded” materials and crater wall deposits, there is evidence of processes that segregate finer materials into discrete deposits. The NEAR observations have shown us that surface processes on small asteroids can be very complex and result in a wide variety of morphologic features and landforms that today seem exotic. Future missions to comets and asteroids will surely reveal still as yet unseen processes as well as give context to those discovered by the NEAR Shoemaker spacecraft.     

Regolith transport in craters on Eros

Images of Eros from the NEAR Shoemaker spacecraft reveal bright and dark albedo features on steep crater walls unlike markings previously observed on asteroids. These features have been attributed to the downslope movement of space-weathered regolith, exposing less weathered material (Science 292 (2001) 484; Meteor. Planet. Sci. 36 (2001) 1617; Icarus 155 (2002) 145). Here we present observations of the interiors of large craters (>1 km in diameter) to test this hypothesis and constrain the origin of the features. We find that bright regions in these craters correspond to steep slopes, consistent with previous work. The geographic distribution of craters with albedo variations shows no pattern and does not resemble the distribution of ponds, another phenomenon on Eros attributed to regolith movement. Shadows and other indications of topography are not observed at feature boundaries, implying that the transported layer is ?1 m thick. The presence of multiple bright and dark units on long slopes with sharp boundaries between them suggests that mobilized regolith may be halted by frictional or other effects before reaching the foot of the slope. Features on crater walls should darken at the same rate as bright ejecta deposits from crater formation; the lack of observed, morphologically fresh craters with bright interiors or ejecta suggests that the albedo patterns are younger than the most recently formed craters greater than about 100 m in diameter. Smaller or micrometeorite impacts, which would not necessarily leave evident deposits of bright ejecta, remain possible causes of albedo patterns. Although their effectiveness is difficult to assess, electrostatic processes and thermal creep are also candidates.     

Ponded deposits on asteroid 433 Eros

Abstract— In late January 2001 the NEAR—Shoemaker spacecraft performed low‐altitude passes over the surface of 433 Eros. Coordinated observations of the asteroid surface were obtained at submeter resolution by the NEAR laser rangefinder and the multispectral imager. This paper presents three independent, coordinated observations of a 90 m pond adjacent to a granular debris flow, including the highest resolution altimetric measurements of ponded deposits on Eros. The ponded deposits appear to have been emplaced by fluid‐like motion of dry asteroidal regolith. A simple model of seismic agitation from impacts is developed to account for pond formation on Eros. The model predicts that ponds should form readily on Eros but not on the Moon, where ponds are not observed. The model also suggests that the absence of observable ponds in the largest craters of Eros, as well as on Phobos and Deimos, may be related to regolith depth.     

Phobos,Deimos, and the Moon: Size and distribution of crater ejecta blocks

The size and radial distributions of ejecta blocks around craters (D = 0.8 to 10 km) on Phobos and Deimos have been compared to those around lunar craters (D = 0.2 to 3.5 km). The radial distribution of blocks was found to be similar on Phobos and the Moon, but more dispersed on Deimos. For the best imaged crater on Deimos (D = 800 m), the size distributions of blocks and the fraction of excavated volume present as blocks are similar to those on the Moon. The wider dispersal of blocks on Deimos is consistent with other findings on the spread of finer ejecta over the satellite.     

Near-IR Reflectance Spectroscopy of 433 Eros from the NIS Instrument on the NEAR Mission: I. Low Phase Angle Observations

From February 13 to May 13, 2000, the near-infrared spectrometer (NIS) instrument on the Near Earth Asteroid Rendezvous (NEAR) spacecraft obtained more than 200,000 spatially resolved 800- to 2500-nm reflectance spectra of the S-type asteroid 433 Eros. An important subset of the spectra was obtained during a unique opportunity on February 13 and 14, when the NEAR spacecraft flew directly through the 0° phase angle point between Eros and the Sun just prior to the orbital insertion maneuver. This low phase flyby (LPF) dataset consists of ∼2000 spectra of the northern hemisphere of Eros, obtained from 1° to 47° phase angle and at spatial resolutions of between 6×12 km to 1.25×2.50 km per spectrum. The spectra were calibrated to radiance factor (I/F, where I=observed radiance and πF=solar input radiance) and then photometrically corrected to normal albedo. The average northern hemisphere spectrum of Eros is similar to the asteroid's unresolved telescopic spectrum and exhibits absorption features near 1000 nm (Band I) and 2000 nm (Band II) consistent with an orthopyroxene to orthopyroxene+olivine (opx+ol) mixing ratio of approximately 0.38±0.08. The ensemble of NIS LPF spectra falls primarily within the S(IV) to upper S(III) fields of the Gaffey et al. (1993) S-asteroid classification scheme and exhibits Band I and Band II properties similar to those of ordinary chondrite meteorites. While some small spatially coherent spectral variations have been detected, neither the opx/opx+ol) mixing ratio nor other spectral parameters vary spatially by more than ∼1σ across the entire northern hemisphere of the asteroid, suggesting a remarkable homogeneity of the composition and mineralogy of the uppermost regolith. Spectral mixture modeling suggests that the presence of glass and/or a reddening agent like nanophase iron, likely formed from exposure of the regolith to the space environment, is a component of the surface of Eros. Reddening and darkening components could also explain the dissimilarity in overall spectral slope and albedo between Eros and other S(IV) asteroids and ordinary chondrite meteorites. The largest (but still weak) spectral variations across the surface are seen in the depths of Band I and Band II, which are greatest in and around the largest craters and at the 0° longitude “nose” of the asteroid, and in the Band II/Band I area ratio between the large impact craters Psyche and Himeros. These subtle NIS spectral variations are usually associated with albedo and surface slope variations seen in NEAR imaging and topographic data and appear to be related to downslope movement of regolith materials.     

Crater densities on the satellites of Mars

The density of craters larger than 1 km in diameter has been determined for the entire surface of Phobos, and half that of Deimos. Densities of craters as small as 10 m on Phobos and 5 m on Deimos have been measured for small areas of the satellites. On both objects, crater densities are similar and yield plots which have slopes close to -1.9 on both incremental and cumulative log-log graphs. These densities are close to those expected to obtain under equilibrium conditions. They are also near the maximum predicted, based on the fragmentation lifetimes of the two objects: that is, the densities are near to the maximum possible before such objects are likely to suffer an impact severe enough to disrupt them. While the observed crater densities cannot be converted to absolute ages in any rigorous fashion, they can be understood if the flux at Mars has been similar to that at the Moon and if the surfaces that we see today generally date back to the end of the period of heavy bombardment some 4 billion years ago. It is extremely unlikely that the surfaces are younger than 1 billion years. There are no large areas on Phobos for which crater densities differ by more than a factor of 3 from the average.     

Surface Expressions of Structural Features on Eros

NEAR Shoemaker imaging of the asteroid Eros has revealed a variety of surface forms that probably reflect underlying structures. They range from global to local in scale. The most prominent positive topographic feature is a long ridge, Rahe Dorsum, which extends over 18 km and has the morphology of a thrust fault. Two large, ancient trough systems are also present. Grooves are ubiquitous, commonly occur in suborthogonal sets, and have linear or scalloped outlines. The grooves on Eros are similar in morphology and scale to those on other small bodies such as Gaspra, Ida, and Phobos and are likely to have a similar mode of origin, namely drainage of regolith into underlying fractures. Models that use groove dimensions as indicators of regolith thickness imply depths of up to several tens of meters. Many craters have been subjected to structural control, resulting in squared outlines. We find no evidence that specific groove sets are associated with individual impact events; however, evidence exists that preexisting structures have been reactivated by later impact activity. The large scale of Rahe Dorsum and many grooves on Eros's surface suggests that the asteroid is a largely coherent, but fractured body.     

Phobos: Surface density of impact craters

The preliminary conclusion of the Mariner 9 Television Team that the surfaces of Phobos and Deimos are saturated with craters larger than 0.2 km in diameter is reconsidered on the basis of more extensive and uniform crater counts. For Phobos, it is verified that the surface appears saturated with craters larger than 1 km in diameter. For craters smaller than 1 km, the data points fall below the saturation curve, and it is not clear that all the departure can be explained in terms of loss of resolution. For Deimos, because of the paucity of craters visible in the Mariner 9 images, a statistically meaningful crater density curve cannot be constructed. Definitive crater density curves for subkilometer craters can only be established once additional imagery at a resolution of better than 100 m is obtained. Such imagery will be provided by the 1976 Viking Orbiters.     

The photometric functions of Phobos and Deimos. III. Surface photometry of Phobos

At least three large areas on the surface of Phobos are covered by a dark material of complex texture which scatters light according to the Hapke-Irvine Law. The average 20° to 80° intrinsic and disc-integrated phase coefficients of this material are β_i = 0.020 ± 0.001 mag/deg and β = 0.033 mag/deg, respectively. These values are slightly greater than the values found for Deimos in Paper II (preceding article). On the largest scale the surface of Phobos is rougher than the surface of Deimos, perhaps accounting for the slightly greater phase coefficients. Contrary to the situation on Deimos, no definite regions of intrinsically brighter material are apparent on Phobos. This difference could account for the slightly lower average reflectance of Phobos relative to Deimos. No evidence for large exposures of solid rock has been found in the three areas studied.     

The new Martian nomenclature of the international Astronomical Union

A new nomenclature for Martian regions and topographic features uncovered by Mariner 9, as officially adopted by the International Astronomical Union, is described. About 180 craters, generally of diameters >100 km, have been named, as well as 13 classes of topographic features designated catena, chasma, dorsum, fossa, labyrinthus, mensa, mons, patera, planitia, planum, tholus, vallis, and vastitas. In addition seven craters and the Kepler Dorsum are named on Phobos, and two craters on Deimos. Coordinates and maps of each named features are displayed.     

Computer simulation of regolith vertical structure and exposure age of small satellites of planets

The simulation has shown that the regolith layers several hundred meters thick can be formed on the small satellites of planets of Phobos and Deimos type providing that almost all the material lost at meteorite impacts return to the satellite. The existence of a global layer on Deimos that filled the craters for the depth of about 5 m can be explained by the crater presence of diameter of about 4 km and the age of less than 350 Myr on its hemisphere almost unstudied. Dust belts with dust concentration by 3 orders greater than round the Earth can exist in the region of satellite orbits.     

NEAR Infrared Spectrometer Photometry of Asteroid 433 Eros

We present near-infrared spectrometer (NIS) observations (0.8 to 2.4 μm) of the S-type asteroid 433 Eros obtained by the NEAR Shoemaker spacecraft and report results of our Hapke photometric model analysis of data obtained at phase angles ranging from 1.2° to 111.0° and at spatial resolutions of 1.25×2.5 to 2.75×5.5 km/spectrum. Our Hapke model fits successfully to the NEAR spectroscopic data for systematic color variations that accompany changing viewing and illumination geometry. Model parameters imply a geometric albedo at 0.946 μm of 0.27±0.04, which corresponds to a geometric albedo at 0.550 μm of 0.25±0.05. We find that Eros exhibits phase reddening of up to 10% across the phase angle range of 0-100°. We observe a 10% increase in the 1-μm band depth at high phase angles. In contrast, we observe only a 5% increase in continuum slope from 1.486 to 2.363 μm and essentially no difference in the 2-μm band depth at higher phase angles. These contrasting phase effects imply that there are phase-dependent differences in the parametric measurements of 1- and 2-μm band areas, and in their ratio. The Hapke model fits suggest that Eros exhibits a weaker opposition surge than either 951 Gaspra or 243 Ida (the only other S-type asteroids for which we possess disk-resolved photometric observations). On average, we find that Eros at 0.946 μm has a higher geometric albedo and a higher single-scatter albedo than Gaspra or Ida at 0.56 μm; however, Eros's single-particle phase function asymmetry and average surface macroscopic roughness parameters are intermediate between Gaspra and Ida. Only two of the five Hapke model parameters exhibit a notable wavelength dependence: (1) The single-scatter albedo mimics the spectrum of Eros, and (2) there is a decrease in angular width of the opposition surge with increasing wavelength from 0.8 to 1.7 μm. Such opposition surge behavior is not adequately modeled with our shadow-hiding Hapke model, consistent with coherent backscattering phenomena near zero phase.     

The photometric functions of Phobos and Deimos I. Disc-integrated photometry

We have used the integrated brightnesses from Mariner 9 high-resolution images to determine the large phase angle (20° to 80°) phase curves of Phobos and Deimos. The derived phase coefficients are β = 0.032 ± 0.001 mag/deg for Phobos and β = 0.030 ± 0.001 mag/deg for Deimos, while the corresponding phase integrals are q_Phobos = 0.52 and q_Deimos = 0.57. The predicted intrinsic phase coefficients of the surface material are β_i = 0.019 mag/deg and β_i = 0.017 mag/deg for Phobos and Deimos, respectively. The phase curves, phase coefficients and phase integrals are typical of objects whose surface layers are dark and intricate in texture, and are consistent with the presence of a regolith on both satellites. The relative reflectance of Deimos to Phobos is 1.15±0.10. The presence of several bright patches on Deimos could account for this slight difference in average reflectance.     

Fundamentally distinct outcomes of asteroid collisional evolution and catastrophic disruption

The outcomes of asteroid collisional evolution are presently unclear: are most asteroids larger than 1 km size gravitational aggregates reaccreted from fragments of a parent body that was collisionally disrupted, while much smaller asteroids are collisional shards that were never completely disrupted? The 16 km mean diameter S-type asteroid 433 Eros, visited by the NEAR mission, has surface geology consistent with being a fractured shard. A ubiquitous fabric of linear structural features is found on the surface of Eros and probably indicates a globally consolidated structure beneath its regolith cover. Despite the differences in absolute scale and in lighting conditions for NEAR and Hayabusa, similar features should have been found on 25143 Itokawa if present. This much smaller, 320 m diameter S-asteroid was visited by the Hayabusa spacecraft. Comparative analyses of Itokawa and Eros geology reveal fundamental differences, and interpretation of Eros geology is illuminated by comparison with Itokawa. Itokawa lacks a global lineament fabric, and its blocks, craters, and regolith may be inconsistent with formation and evolution as a fractured shard, unlike Eros. An object as small as Itokawa can form as a rubble pile, while much larger Eros formed as a fractured shard. Itokawa is not a scaled-down Eros, but formed by catastrophic disruption and reaccumulation.     

Impact History of Eros: Craters and Boulders

Preliminary measurements of craters and boulders have been made in various locations on Eros from images acquired during the first nine months of NEAR Shoemaker's orbital mission, including the October 2000 low altitude flyover. (We offer some very preliminary, qualitative analysis of later LAF images and very high-resolution images obtained during NEAR's landing on 12 February 2001). Craters on Eros >100 m diameter closely resemble the saturated crater population of Ida; Eros is more heavily cratered than Gaspra but lacks the saturated giant craters of Mathilde. These craters and the other large-scale geological features were formed over a duration of very roughly 2 Gyr while Eros was in the main asteroid belt, between the time when its parent body was disrupted and Eros was injected into an Earth-approaching orbit (probably tens of Myr ago). Saturation equilibrium had been expected to shape Eros' crater population down to very small sizes, as on the lunar maria. However, craters <200 m diameter are instead progressively depleted toward smaller sizes and are a factor of ∼200 below empirical saturation at diameters of 4 m. Conversely, boulders and positive relief features (PRFs) rise rapidly in numbers (differential power-law index ∼−5) and those <10 m in size dominate the landscape at high resolutions. The pervasive boulders and minimal craters on Eros is radically different from the lunar surface at similar scales. This may be partly explained by a major depletion of meter-scale projectiles in the asteroid belt (due to the Yarkovsky Effect: Bell 2001), which thus form few small craters and destroy few boulders. Additionally, the small size and low gravity of Eros may result in redistribution or loss of ejecta due to seismic shaking, thus preferentially destroying small craters formed in such regolith. Possibly Eros has only a patchy, thin regolith of mobile fines; the smaller PRFs may then reflect exposures of fractured bedrock or piles of large ejecta blocks, which might further inhibit formation of craters <10 m in size. Eros may well have been largely detached dynamically and collisionally from the main asteroid belt for the past tens of Myr, in which case its cratering rate would have dropped by two orders of magnitude, perhaps enhancing the relative efficacy of other processes that would normally be negligible in competition with cratering. Such processes include thermal creep, electrostatic levitation and redistribution of fines, and space weathering (e.g., bombardment by micrometeorites and solar wind particles). Combined with other small-body responses to impact cratering (e.g., greater widespread distribution of bouldery ejecta), such processes may also help explain the unexpected small-scale character of geology on Eros. If there was a recent virtual hiatus in cratering of Eros (during which only craters <∼300 m diameter would be expected to have formed), space weathering may have reached maturity, thus explaining Eros' remarkable spectral homogeneity compared with Ida.     

Surface features of Phobos and Deimos

Viking Orbiter images have provided nearly complete coverage of the two satellites of Mars and have been used to construct maps of the surface features of Phobos and Deimos. The satellites have radically different appearances although nearly all features on both objects were formed directly or indirectly by impact cratering. Phobos has an extensive network of linear depressions (grooves) that probably were formed indirectly by the largest impact recorded on Phobos. Deimos lacks grooves as well as the large number of ridges that occur on Phobos. Craters on Deimos have substantial sediment fill; those on Phobos have none. Evidence of downslope movement of debris is prominent on Deimos but is rare on Phobos. Many of the differences between Phobos and Deimos may be caused by modest differences in mechanical properties. However, the lack of a very large crater on Deimos may be responsible for its lack of grooves.     

Are Phobos and Deimos the result of a giant impact?

Despite many efforts an adequate theory describing the origin of Phobos and Deimos has not been realized. In recent years a number of separate observations suggest the possibility that the martian satellites may have been the result of giant impact. Similar to the Earth–Moon system, Mars has too much angular momentum. A planetesimal with 0.02 Mars masses must have collided with that planet early in its history in order for Mars to spin at its current rate (Dones, L., Tremaine, S. [1993]. Science 259, 350–354). Although subject to considerable error, current crater-scaling laws and an analysis of the largest known impact basins on the martian surface suggest that this planetesimal could have formed either the proposed 10,600 by 8500-km-diameter Borealis basin, the 4970-km-diameter Elysium basin, the 4500-km-diameter Daedalia basin or, alternatively, some other basin that is no longer identifiable. It is also probable that this object impacted Mars at a velocity great enough to vaporize rock (>7 km/s), which is necessary to place large amounts of material into orbit. If material vaporized from the collision with the Mars-spinning planetesimal were placed into orbit, an accretion disk would have resulted. It is possible that as material condensed and dissipated beyond the Roche limit forming small, low-mass satellites due to gravity instabilities within the disk. Once the accretion disk dissipated, tidal forces and libration would have pulled these satellites back down toward the martian surface. In this scenario, Phobos and Deimos would have been among the first two satellites to form, and Deimos the only satellite formed—and preserved—beyond synchronous rotation. The low mass of Phobos and Deimos is explained by the possibility that they are composed of loosely aggregated material from the accretion disk, which also implies that they do not contain any volatile elements. Their orbital eccentricity and inclination, which are the most difficult parameters to explain easily with the various capture scenarios, are the natural result of accretion from a circum-planetary disk.     

Space weathering on Eros: Constraints from albedo and spectral measurements of Psyche crater

Abstract— We present combined multi‐spectral imager (MSI) (0.95 μm) and near‐infrared spectrometer (NIS) (0.8–2.4 μm) observations of Psyche crater on S‐type asteroid 433 Eros obtained by the Near‐Earth Asteroid Rendezvous (NEAR)—Shoemaker spacecraft. At 5.3 km in diameter, Psyche is one of the largest craters on Eros which exhibit distinctive brightness patterns consistent with downslope motion of dark regolith material overlying a substrate of brighter material. At spatial scales of 620 m/ spectrum, Psyche crater wall materials exhibit albedo contrasts of 32–40% at 0.946 μm. Associated spectral variations occur at a much lower level of 4–8% (±2–4%). We report results of scattering model and lunar analogy investigations into several possible causes for these albedo and spectral trends: grain size differences, olivine, pyroxene, and troilite variations, and optical surface maturation. We find that the albedo contrasts in Psyche crater are not consistent with a cause due solely to variations in grain size, olivine, pyroxene or lunar‐like optical maturation. A grain size change sufficient to explain the observed albedo contrasts would result in strong color variations that are not observed. Olivine and pyroxene variations would produce strong band‐correlated variations that are not observed. A simple lunar‐like optical maturation effect would produce strong reddening that is not observed. The contrasts and associated spectral variation trends are most consistent with a combination of enhanced troilite (a dark spectrally neutral component simulating optical effects of shock) and lunar‐like optical maturation. These results suggest that space weathering processes may affect the spectral properties of Eros materials, causing surface exposures to differ optically from subsurface bedrock. However, there are significant spectral differences between Eros' proposed analog meteorites (ordinary chondrites and/or primitive achondrites), and Eros' freshest exposures of subsurface bright materials. After accounting for all differences in the measurement units of our reflectance comparisons, we have found that the bright materials on Eros have reflectance values at 0.946 μm consistent with meteorites, but spectral continua that are much redder than meteorites from 1.5 to 2.4 μm. Most importantly, we calculate that average Eros surface materials are 30–40% darker than meteorites.     

Near-Infrared Spectrophotometry of Phobos and Deimos

We have observed the leading and trailing hemispheres of Phobos from 1.65 to 3.5 μm and Deimos from 1.65 to 3.12 μm near opposition. We find the trailing hemisphere of Phobos to be brighter than its leading hemisphere by 0.24±0.06 magnitude at 1.65 μm and brighter than Deimos by 0.98±0.07 magnitude at 1.65 μm. We see no difference larger than observational uncertainties in spectral slope between the leading and trailing hemispheres when the spectra are normalized to 1.65 μm. We find no 3-μm absorption feature due to hydrated minerals on either hemisphere to a level of ∼5-10% on Phobos and ∼20% on Deimos. When the infrared data are joined to visible and near-IR data obtained by previous workers, our data suggest the leading (Stickney-dominated) side of Phobos is best matched by T-class asteroids. The spectral slope of the trailing side of Phobos and leading side of Deimos are bracketed by the D-class asteroids. The best laboratory spectral matches to these parts of Phobos are mature lunar soils and heated carbonaceous chondrites. The lack of 3-μm absorption features on either side of Phobos argues against the presence of a large interior reservoir of water ice according to current models of Phobos' interior (F. P. Fanale and J. R. Salvail 1989, Geophys. Res. Lett.16, 287-290; Icarus88, 380-395).