Shapes and rotational properties of thirty asteroids from photometric data

We have analyzed photometric lightcurves of 30 asteroids, and present here the obtained shapes, rotational periods and pole directions. We also present new photometric observations of five asteroids. The shape models indicate the existence of many features of varying degrees of irregularity. Even large main-belt asteroids display such features, so the resulting poles and periods are more consistent than those obtained by simple ellipsoid-like models. In some cases the new rotational parameters are rather different from those obtained previously, and in a few cases there were no proper previous estimates at all.     

YORP-Induced Long-Term Evolution of the Spin State of Small Asteroids and Meteoroids: Rubincam's Approximation

The rotation states of small asteroids and meteoroids are determined primarily by their collisions, gravitational torques due to the Sun and planets (in the case of close encounters), and internal dissipative effects (that relax the free-precession energy toward the fundamental state of principal-axis rotation). Rubincam has recently pointed out that thermal reemission on irregular-shaped bodies also results in a torque that may secularly change both the rotation rate and the orientation of the spin axis (the so-called YORP effect). Here we pursue investigation of this effect. Keeping the zero thermal-relaxation approximation of Rubincam and the assumption of the principal-axis rotation, we study the YORP effect both for precisely determined shapes of near-Earth asteroids and also for a large statistical sample of automatically generated shapes by the Gaussian-sphere technique of Muinonen. We find that the asymptotic state of the YORP evolution is characterized by an arbitrary value of the obliquity, with higher but nearly equal likelihood of 0°/180° and 90° states. At the adopted approximation, the most typical feature of this end state of the YORP evolution is secular deceleration of the rotation rate, which means that at some instant collisions will randomize the rotation state. In a minority of cases, the final state of the obliquity evolution leads to a permanent acceleration of the body's rotation, eventually resulting in rotational fission. The YORP-induced slow evolution may also play an important role in driving the rotation state of small asteroids toward the resonances between the forced precession due to the solar torque and perturbations of the orbital node and inclination. We find that for small Themis asteroids these resonances are isolated in the relevant range of frequencies, and the YORP evolving rotation may be either temporarily captured or rapidly jump across these resonances. In contrast, the possible values of the forced precession for small Flora asteroids may be resonant with clustered, nonisolated lines of the orbital perturbation. The individual rotation histories of small Flora asteroids may be thus very complicated and basically unpredictable. We comment on possible astronomical consequences of these results.     

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.     

Asteroid Models from the Pan-STARRS Photometry

We present simulations on the asteroid photometric data that will be provided by the Pan-STARRS (Panoramic Survey Telescope and Rapid Response System). The simulations were performed using realistic shape and light-scattering models, random orientation of spin axes, and rotation periods in the range 2–24 h. We show that physical models of asteroids can be reconstructed from this data with some limitations (possible multiple pole solutions). We emphasize the potential of sparse photometric data to produce models of a large number of asteroids within the next decade and we outline further tests with fast and slow rotators, tumblers, and binary asteroids.     

Flattening,pole, and albedo features of 4 vesta from photometric data

A number of large asteroids show irregular lightcurves of relatively small amplitude and/or ambiguous rotational periods. These observations and the fact that their strong gravitational binding probably results in quasi-equilibrium shapes lead to model these bodies as axisymmetric, biaxial ellipsoids covered by albedo markings. We developed a general numerical algorithm for obtaining simulated lightcurves of “spotted” asteroids and varied the most critical geometrical and physical parameters (albedo contrast, size, and position of the spots; polar coordinates, and shape of the asteroid). We then analyzed the case of 4 Vesta by assuming an axisymmetric ellipsoidal shape with a large brighter region on one hemisphere, in agreement with the results of photometric and polarimetric observations. Fitting the numerical simulations to the available data, we obtained the flattening of the ellipsoid (0.79 ± 0.03), the albedo contrast and geometry of the brighter region, and the orientation of the polar axis. If the derived flattenning corresponds to the equilibrium shape of a nearly homogeneous body, a density of 2.4 ± 0.3 g cm⁻³ can be inferred. These results show satisfactory agreement with values by different techniques. We plan to apply the same method both to other large asteroids and to smaller, irregularly shaped ones; in the latter case, this will allow us to test the uncertainties in current pole determination methods.     

Asteroid shape and spin statistics from convex models

We introduce techniques for characterizing convex shape models of asteroids with a small number of parameters, and apply these techniques to a set of 87 models from convex inversion. We present three different approaches for determining the overall dimensions of an asteroid. With the first technique, we measured the dimensions of the shapes in the direction of the rotation axis and in the equatorial plane and with the two other techniques, we derived the best-fit ellipsoid. We also computed the inertia matrix of the model shape to test how well it represents the target asteroid, i.e., to find indications of possible non-convex features or albedo variegation, which the convex shape model cannot reproduce. We used shape models for 87 asteroids to perform statistical analyses and to study dependencies between shape and rotation period, size, and taxonomic type. We detected correlations, but more data are required, especially on small and large objects, as well as slow and fast rotators, to reach a more thorough understanding about the dependencies. Results show, e.g., that convex models of asteroids are not that far from ellipsoids in root-mean-square sense, even though clearly irregular features are present. We also present new spin and shape solutions for Asteroids (31) Euphrosyne, (54) Alexandra, (79) Eurynome, (93) Minerva, (130) Elektra, (376) Geometria, (471) Papagena, and (776) Berbericia. We used a so-called semi-statistical approach to obtain a set of possible spin state solutions. The number of solutions depends on the abundancy of the data, which for Eurynome, Elektra, and Geometria was extensive enough for determining an unambiguous spin and shape solution. Data of Euphrosyne, on the other hand, provided a wide distribution of possible spin solutions, whereas the rest of the targets have two or three possible solutions.     

Asteroid rotation rates

The dependence of rotational frequency on diameter, taxonomic type, and family membership is analyzed for 217 main-belt asteroids with statistically useful periods extracted from the file published by Harris and Young ((1983). Icarus54, 59–109). It is shown that for asteroids with diameters ? 120 km, mean rotational frequency increases with increasing diameter. This trend is equally present in all subsets of M-, S-, and C-type asteroids, for both family and nonfamily members alike, and cannot be accounted for by observational selection. For asteroids with diameters ? 120 km, mean rotational frequency increases with decreasing diameter; however, within this group there is a subset of asteroids with exceptionally long rotational periods. This marked change in the distribution at diameter ～ 120 km could separate primordial asteroids from their collision products. However, it is probable that the sample is biased in favor of small asteroids with short rotational periods and that the apparent increase of mean rotational frequency with decreasing diameter for small asteroids is at least partly the product of observational selection. An observational program that could test this hypothesis is described. If asteroids of any one diameter are considered, then, on average, M asteroids rotate faster than S asteroids which in turn rotate faster than C asteroids. This shows that asteroids which have been classified by their surface properties alone have different bulk properties. There is also some evidence that for all asteroidal types, of all diameters, family members rotate faster than nonfamily members.     

Observations of asteroids with ALMA

Thermal observations of large asteroids at millimeter wavelengths have revealed high amplitude rotational lightcurves. Such lightcurves are important constraints on thermophysical models of asteroids, and provide unique insight into the nature of their surface and subsurface composition. A better understanding of asteroid surfaces provides insight into the composition, physical structures, and processing history of these surviving remnants from the formation of our solar system. In addition, detailed observations of the larger asteroids, accompanied by thermophysical models with appropriate temporal and spatial resolution, promise to decrease uncertainties in their flux predictions. Of particular interest are the near-Earth objects, which can be observed at large phase angles, permitting better assessment of the thermal response of their unilluminated surfaces. The high sensitivity of ALMA will enable us to detect many small bodies in all the major groups, to obtain lightcurves for a large sample of main-belt and near-Earth objects, to resolve the surfaces of some large objects, and to separate the emission from primary and secondary objects in binary pairs. In addition to the science goals of asteroid studies, these bodies may also prove useful operationally because those with known shapes and well-characterized lightcurves could be employed for flux calibration by ALMA and other high frequency instruments.     

Rotational fission of contact binary asteroids

The energetics and dynamics of contact binary asteroids as they approach and pass the rotational fission limit is studied. We presume that the asteroids are subject to an external torque, such as from the YORP effect, that increases their angular momentum. Furthermore, we assume the asteroids can be described by a fairly minimal model comprised of a sphere and ellipsoid resting on each other. The minimum energy configurations for contact binary asteroids at different levels of angular momentum are computed and discussed. We find distinct transitions between different configurations as the angular momentum of the system is increased. These indicate that rapidly rotating contact binary asteroids may seek out clearly different relative configurations than slowly rotating systems. We find a single end state of the systems prior to rotational fission, and distinct dynamical outcomes as a function of mass distribution and shape when the rotational fission limit is exceeded. Our theoretical results agree qualitatively with observed properties of near-Earth asteroids, and can be used to help explain the spin-rate barrier, contact binaries, and the observed morphology of most NEO binaries.     

Photometry and models of eight near-Earth asteroids

We present new observations and models of the shapes and rotational states of the eight near-Earth Asteroids (1580) Betulia, (1627) Ivar, (1980) Tezcatlipoca, (2100) Ra-Shalom, (3199) Nefertiti, (3908) Nyx, (4957) Brucemurray, and (5587) 1990 SB. We also outline some of their solar phase curves, corrected to common reference geometry with the models. Some of the targets may feature sizable global nonconvexities, but the observable solar phase angles were not sufficiently high for confirming these. None is likely to have a very densely cratered surface. We discuss the role of the intermediate topographic scale range in photometry, and surmise that this scale range is less important than large or small scale lengths.     

Distribution of spin axes and senses of rotation for 20 large asteroids

Pole determinations for 20 large asteroids are presented. This is the first determination of the sense of rotation for 11 of the objects, and a sense of rotation opposite to previous results is obtained for two of the remaining nine asteroids. The spin axes are fairly isotropically distributed, with a statistically uncertain preference for prograde rotation. The mean of the component of the spin angular velocity vectors toward the north ecliptic pole is 〈ω_z〉 = (0.8 ± 0.5) rev/day. This suggests that for large asteroids an original predominance of prograde rotators has not completely been randomized by collisions (the median diameter in the present sample is approximately 200 km). Two fundamentally different pole determination methods were combined in order to get as reliable results as possible. The first is an Amplitude-Magnitude method based on triaxial ellipsoidal models. The celestial sphere is scanned with trial poles and the one is chosen for which the best fit is obtained with semiempirical amplitude-aspect-phase and magnitude-aspect-phase relationships. Triaxial approximations to the true asteroidal shapes are also obtained with this method. The second method uses the variation of the observed synodic period of rotation to derive the axis and sense of rotation. A well-defined “standard feature” in the lightcurves is selected and is assumed to remain at a fixed rotational phase. An efficient algorithm for finding the correct number of rotational cycles between observations during different apparitions is used. This makes it possible to identify extrema observed during different apparitions with each other (it is not safe to assume that, e.g., the primary maximum at one opposition remains primary at other aspect angles). Discrimination between ambiguous rotation periods can also be made with this method. 4 Vesta is shown to have one maximum and one minimum per rotational cycle. The secular variations of the period of rotation for 7 Iris and 15 Eunomia are less than 3 × 10⁻⁴ and 2 × 10⁻⁴ sec/year, respectively.     

Triaxial equilibrium ellipsoids among the asteroids?

We present a physical model to explain the existence of a class of large-lightcurve-amplitude, rapidly rotating asteroids found most commonly among objects in the size range 100–300 km diameter. A significant correlation between rotation period and lightcurve amplitude exists for asteroids in this size range in the sense that those with larger amplitudes spin more rapidly and hence these objects have high rotational angular momenta. Since this is a property of Jacobi ellipsoids, we have investigated whether these asteriods might be examples of triaxial equilibrium ellipsoids. We find that objects rotating with periods of 6 hr must have densities between 1.1 and 1.4 g cm^?3, while those rotating in 4 hr would have densities between 2.4 and 3.2 g cm^?3. If this model is valid then at least some of these asteroids have rather low mean densities. The reality of this result and its interpretation in terms of collisional evolution of the asteroids is discussed.     

Asteroid rotation and shapes from numerical simulations of gravitational re-accumulation

We present simulations of the gravitational collapse of a mono-disperse set of spherical particles for studying shape and spin properties of re-accumulated members of asteroid families. Previous numerical studies have shown that these “gravitational aggregates” exhibit properties similar to granular continuum models described by Mohr-Coulomb theory. A large variety of shapes is thus possible, in principle consistent with the observed population of asteroid shapes.However, it remains to be verified that the re-accumulation following a catastrophic disruption is capable of naturally producing those shapes. Conversely, we find that fluid equilibrium shapes (flattened two-axis spheroids, in particular) are preferentially created by re-accumulation. This is rather unexpected, since the dynamical system used could allow for other stable configurations. Jacobi three-axial ellipsoids can also be created, but this seems to be a less common outcome.The results obtained so far seem to underline the importance of other non-disruptive shaping factors during the lifetime of rubble-pile asteroids.     

Photometric properties of outer planetary satellites

We present optical broadband photometry for the satellites J6, J7, J8, S7, S9, U3, U4, N1, and polarimetry for J6, obtained between 1970 and 1979. The outer Jovian satellites resemble C-type asteroids; J6 has a rotational lightcurve with period ～9.5 hr. The satellites beyond Jupiter also show C-like colors with the exception of S7 Hyperion. S9 Phoebe has a rotational lightcurve with period near either 11.25 or 21.1 hr. For U4 and N1 there is evidence for a lightcurve synchronous with the orbital revolution. The seven brighter Saturnian satellites show a regular relation between the ultraviolet dropoff and distance to the planet, probably related with differences in the rock component on their surfaces.     

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 rotation of small asteroids

The addition of the unbiased sample of R. P. Binzel and J. D. Mulholland (Icarus56, 519–533) nearly triples the sample size of photoelectrically determined rotational parameters for main belt asteroids with estimated diameters (D) ≤30 km. Nonparametric stattistical tests which require no assumptions about the distributions or variances of the samples are used to examine rotational parameters for all D ≤ 30 km asteroids. A comparison of photoelectric and photographic results shows that the techniques have a highly significant difference in the range of detected frequencies. This difference does not allow photographic and photoelectric observations to be combined for meaningful statistical tests since a photographic bias toward smaller sample variances can induce statistical results that appear overly significant. Photographic observations also show a highly significant bias toward detecting asteroids with larger lightcurve amplitudes. The fit of a Maxwellian to the observed rotational frequency distribution can be rejected at a highly significant confidence level but the observed distribution can be acceptably fit by two Maxwellian distributions, which is consistent with the hypothesis that there are separate populations of slow and fast rotating asteroids. The frequency distributions of <15 km main belt asteroids and Earth and Mars crossers are not found to differ significantly. However, the larger mean lightcurve amplitude of the Earth and Mars crossing asteroids is found to be statistically significant. This latter result is interesting in view of the lack of any strong inverse amplitude versus diameter relation for small asteroids. No significant diameter dependence on rotational frequency is seen among only D ≤ 30 km asteroids. However, the inverse frequency versus diameter relation for D ≤ 120 km asteroids found by S. F. Dermott, A. W. Harris, and C. D. Murray (Icarus, in press) is found to be statistically significant using a linear least-squares analysis of photoelectric data only. No significant diameter dependence on rotational lightcurve amplitude is seen using linear least-squares analysis of photoelectric data for D≤30 and D≤90 km asteroids. However, a significant inverse amplitude versus diameter relation is found when this analysis is extended to D≤120 km asteroids. This finding may be consistent with the hypothesis of Dermott et al. that near 120 km there is a transition between primordial asteroids and their collisional fragments.     

Rotational properties of asteroids: Correlations and selection effects

Rotational data on 321 asteroids observed as of late 1978 are analyzed. Selection effects within the sample are discussed and used to define a data set consisting of 134 main-belt, nonfamily asteroids having reliably determined periods and amplitudes based on photoelectric observations. In contrast to A. W. Harris and J. A. Burns (1979, Icarus40, 115–144) we found no significant correlation between rotational properties and compositional type. Smaller asteroids have a greater range of rotational amplitudes than the largest asteroids but are not, on the average, appreciably more elongated. While no definite relationship between asteroid size and rotation rate was found the distribution is not random. The largest asteroids have rotation periods near 7 hr compared with 10 hr for the smaller. A group of large, rapidly rotating, high-amplitude asteroids is recognized. A pronounced change in rotational properties occurs near this size range (diam = 200 ± 50 km) which also corresponds to the size at which a change of slope occurs in the size frequency distribution. We believe this size range represents a transition region between very large, rapidly rotating, low-amplitude (primordial?) objects and smaller ones having a considerably greater range of periods and amplitudes. Asteroids in this transition size range display an increase in rotational amplitude with increasing spin rate; other than this, however, there is no correlation between period and amplitude. The region of low spatial density in the asteroid belt centered near 2.9 AU and isolated from the inner and outer belt by the 2:5 and 3:7 commensurabilities is shown to be a region in which non-C or -S asteroids are overrepresented and which have marginally higher rotational amplitudes than those located in more dense regions. We attribute disagreements between our results and other studies of this type to the inclusion of non-main-belt asteroids and photographic data in the earlier analyses.     

Light scattering by Gaussian random particles

We introduce multivariate lognormal statistics to describe the shapes of small particles, and compute scattering phase matrices in the ray optics approximation. The results help us understand light scattering by solar system dust particles, and thereby constrain the physical properties of, for example, asteroid regoliths and cometary comae. The present stochastic geometry could turn useful in modeling the shapes of asteroids.     

Light scattering by Gaussian random particles

We introduce multivariate lognormal statistics to describe the shapes of small particles, and compute scattering phase matrices in the ray optics approximation. The results help us understand light scattering by solar system dust particles, and thereby constrain the physical properties of, for example, asteroid regoliths and cometary comae. The present stochastic geometry could turn useful in modeling the shapes of asteroids.     

Impact evolution of asteroid shapes: 1. random mass redistribution

We explore whether the cumulative effect of small-scale meteoroid bombardment can drive asteroids into nonaxisymmetric shapes comparable to those of known objects (elongated prolate forms, twin-lobed binaries, etc). We simulate impact cratering as an excavation followed by the launch, orbit, and reimpact of ejecta. Orbits are determined by the gravity and rotation of the evolving asteroid, whose shape and spin change as cratering occurs repeatedly. For simplicity we consider an end-member evolution where impactors are all much smaller than the asteroid and where all ejecta remain bound. Given those assumptions, we find that cumulative small impacts on rotating asteroids lead to oblate shapes, irrespective of the chosen value for angle of repose or for initial angular momentum. The more rapidly a body is spinning, the more flattened the outcome, but oblateness prevails. Most actual asteroids, by contrast, appear spherical to prolate. We also evaluate the timescale for reshaping by small impacts and compare it to the timescale for catastrophic disruption. For all but the steepest size distributions of impactors, reshaping from small impacts takes more than an order of magnitude longer than catastrophic disruption. We conclude that small-scale cratering is probably not dominant in shaping asteroids, unless our assumptions are naive. We believe we have ruled out the end-member scenario; future modeling shall include angular momentum evolution from impacts, mass loss in the strength regime, and craters with diameters up to the disruption threshold. The ultimate goal is to find out how asteroids get their shapes and spins and whether tidal encounters in fact play a dominant role.