The equilibrium figures of Phobos and other small bodies

The shape of a close planetary satellite is distorted from a self-gravitating sphere into a triaxial ellipsoid maintained by tidal and centrifugal forces. Using the family of Roche ellipsoids calculated by Chandrasekhar, it should be possible in some cases to determine the density of an inner satellite by an accurate measurement of its shape alone. The equilibrium figure of Phobos is expected to be the most extreme of any satellite. The shape of Phobos as observed by Mariner 9 approaches but appears not to be a Roche ellipsoid, although the uncertainties of measurement remain too large to exclude the possibility. In any case, Phobos is so small that even the low mechanical strength of an impact-compressed regolith is sufficient to maintain substantial departures from the equipotential figure. If larger close satellites, particularly Amalthea, are found to be Roche ellipsoids, their densities can be estimated immediately from the data presented.Asteroids of size comparable to Phobos and Deimos appear to have more irregular shapes than the Martian satellites. This may reflect the absence of a deep regolith on those asteroids due to the low effective escape velocity for impact ejecta. For Phobos and Deimos, on the other hand, ejecta will tend to remain in orbit about Mars until swept up again by the satellite, contributing to a deeper equilibrium layer of debris.     

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.     

Orbital history of the Martian satellites with inferences on their origin

Recent Viking results indicate the Martian satellites are composed of carbonaceous chondritic material, suggesting that Phobos and Deimos were once asteroids captured by Mars. On the other hand, the low eccentricities and inclinations of their orbits on the equator of Mars argue against that hypothesis. This paper presents detailed calculations of the tidal evolution of Phobos and Deimos, considering dissipation in both Mars and its satellites simultaneously and using a new method applicable for any value of the eccentricity. In particular, including precession of the satellites' orbits indicates that they have always remained close to their Laplacian plane, so that the orbital planes of Phobos and Deimos switched from near the Martian orbital plane to the Martian equator once the perturbations due to the planetary oblateness dominated the solar perturbations, as they do presently. The results show that Deimos has been little affected by tides, but several billion (10⁹) years ago, Phobos was in a highly eccentric orbit lying near the common plane of the solar system. This outcome is obtained for very reasonable values of dissipation inside Mars and inside Phobos. Implications for the origin of the Martian satellites are discussed.     

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.     

Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2009

Every three years the IAU Working Group on Cartographic Coordinates and Rotational Elements revises tables giving the directions of the poles of rotation and the prime meridians of the planets, satellites, minor planets, and comets. This report takes into account the IAU Working Group for Planetary System Nomenclature (WGPSN) and the IAU Committee on Small Body Nomenclature (CSBN) definition of dwarf planets, introduces improved values for the pole and rotation rate of Mercury, returns the rotation rate of Jupiter to a previous value, introduces improved values for the rotation of five satellites of Saturn, and adds the equatorial radius of the Sun for comparison. It also adds or updates size and shape information for the Earth, Mars?? satellites Deimos and Phobos, the four Galilean satellites of Jupiter, and 22 satellites of Saturn. Pole, rotation, and size information has been added for the asteroids (21) Lutetia, (511) Davida, and (2867) ?teins. Pole and rotation information has been added for (2) Pallas and (21) Lutetia. Pole and rotation and mean radius information has been added for (1) Ceres. Pole information has been updated for (4) Vesta. The high precision realization for the pole and rotation rate of the Moon is updated. Alternative orientation models for Mars, Jupiter, and Saturn are noted. The Working Group also reaffirms that once an observable feature at a defined longitude is chosen, a longitude definition origin should not change except under unusual circumstances. It is also noted that alternative coordinate systems may exist for various (e.g. dynamical) purposes, but specific cartographic coordinate system information continues to be recommended for each body. The Working Group elaborates on its purpose, and also announces its plans to occasionally provide limited updates to its recommendations via its website, in order to address community needs for some updates more often than every 3 years. Brief recommendations are also made to the general planetary community regarding the need for controlled products, and improved or consensus rotation models for Mars, Jupiter, and Saturn.     

Dynamics of Mars-orbiting dust: Effects of light pressure and planetary oblateness

This paper deals with dynamics of impact ejecta from Phobos and Deimos initially on near-circular equatorial orbits around Mars. For particles emitted in a wide size regime of 1 micron and greater, and taking into account the typical particle lifetimes to be less than 100 years, the motion is governed by two perturbing forces: solar radiation pressure and influence of Mars' oblateness. The equations of motion of particles in Lagrangian non-singular elements are deduced and solved, both analytically and numerically, for different-sized ejecta. We state that the coupled effect of both forces above is essential so that on no account can the oblateness of Mars are be neglected. The dynamics of grains prove to be quite different for the ejecta of Phobos and Deimos. For Deimos, the qualitative results are relatively simple and imply oscillations of eccentricity and long-term variations of orbital inclination, with amplitudes and periods both depending on grain size. For Phobos, the dynamics are shown to be much more complicated, and we discuss it in detail. We have found an intriguous peculiar behavior of debris near 300 µm in size. Another finding is that almost all the Phobos ejecta with radii less than 30 µm (against the values of 5 to 20 µm adopted earlier by many authors) should be rapidly lost by collisions with martian surface. The results of the paper may be the base for constructing an improved model of dust belts that presumably exist around Mars.     

Internal stresses in phobos and other triaxial bodies

The unusual dynamical behavior of Phobos, its strange appearance, and its mysterious network of grooves all make it an intriguing object. Geophysical studies, though, have been hampered by the lack of suitable theories applicable to nonspherical bodies. In this paper the Martian satellites are modeled as homogeneous, elastic triaxial ellipsoids subject to tidal, rotational, and self-gravitational stresses. A novel semianalytical treatment then gives the stress and strain fields throughout their interiors. Yield phenomena and their possible surface expressions are also investigated. The results indicate that Phobos and Deimos have always been stable with respect to tidal fracture or disruption, but that Phobos will probably break up before colliding with Mars. Applications of the new formulation to other nonspherical bodies in the solar system are also discussed.     

The formation of asteroid satellites in large impacts: results from numerical simulations

We present results of 161 numerical simulations of impacts into 100-km diameter asteroids, examining debris trajectories to search for the formation of bound satellite systems. Our simulations utilize a 3-dimensional smooth-particle hydrodynamics (SPH) code to model the impact between the colliding asteroids. The outcomes of the SPH models are handed off as the initial conditions for N-body simulations, which follow the trajectories of the ejecta fragments to search for the formation of satellite systems. Our results show that catastrophic and large-scale cratering collisions create numerous fragments whose trajectories can be changed by particle-particle interactions and by the reaccretion of material onto the remaining target body. Some impact debris can enter into orbit around the remaining target body, which is a gravitationally reaccreted rubble pile, to form a SMAshed Target Satellite (SMATS). Numerous smaller fragments escaping the largest remnant may have similar trajectories such that many become bound to one another, forming Escaping Ejecta Binaries (EEBs). Our simulations so far seem to be able to produce satellite systems qualitatively similar to observed systems in the main asteroid belt. We find that impacts of 34-km diameter projectiles striking at 3 km s⁻¹ at impact angles of ∼30° appear to be particularly efficient at producing relatively large satellites around the largest remnant as well as large numbers of modest-size binaries among their escaping ejecta.     

Motion of blocks on the surface of Phobos: New constraints for the formation of grooves

Although grooves are common on asteroids, on Phobos the grooves have been the subject of various formation hypotheses for two reasons: the fact that Phobos is orbiting around Mars close to the Roche limit, implies an unusual gravity environment as well as the presence of the huge crater impact, Stickney, which seems to be related at least to a family of grooves. Among many hypotheses, it has been suggested that the grooves could have been dug by rolling Stickney ejecta, but this hypothesis was questioned using two main arguments: no block was observed at the end of the grooves, nor do they run downslope. Thus, the study of surface and near surface dynamics on Phobos can clarify the soundness of these controversial arguments.The present study explores this idea by computing the trajectory of a test mass gliding on the surface of Phobos for any initial position and velocity. An ellipsoidal model of Phobos is used for both the gravity and surface geometry, and several orbiting distances from Mars are considered. It is shown that, due to the Phobos rotation, the trajectories generally do not run downslope even for velocities as low as ∼1 m/s. In consequence the corresponding argument against the rolling blocks hypothesis is not applicable. This hypothesis, however, is clearly ruled out for the sets of parallel grooves in the polar regions because of the curvature of the computed trajectories. On the contrary the trajectories issued from the rim of Stickney close to the equator, with velocities of a few m/s, show similitude with the corresponding groove patterns, in particular for the east–west asymmetry. In some conditions the trajectories leave the surface, which may account for regions free of grooves and for trails without blocks at the end. Consequently, the rolling block hypothesis cannot be rejected outright until further analysis is carried out. Damping of the motion on the regolith is simulated introducing a solid damping coefficient in the equations. A relatively small but not unrealistic coefficient of ∼0.1 accounts for the length of the long main western hypothetic block trails. The simulations with damping confirm that the trajectories turn downslope only at the very end for velocities ?1 m/s, but valuable comparison with the observations requires a better model.     

The formation of asteroid satellites in large impacts: results from numerical simulations

We present results of 161 numerical simulations of impacts into 100-km diameter asteroids, examining debris trajectories to search for the formation of bound satellite systems. Our simulations utilize a 3-dimensional smooth-particle hydrodynamics (SPH) code to model the impact between the colliding asteroids. The outcomes of the SPH models are handed off as the initial conditions for N-body simulations, which follow the trajectories of the ejecta fragments to search for the formation of satellite systems. Our results show that catastrophic and large-scale cratering collisions create numerous fragments whose trajectories can be changed by particle-particle interactions and by the reaccretion of material onto the remaining target body. Some impact debris can enter into orbit around the remaining target body, which is a gravitationally reaccreted rubble pile, to form a SMAshed Target Satellite (SMATS). Numerous smaller fragments escaping the largest remnant may have similar trajectories such that many become bound to one another, forming Escaping Ejecta Binaries (EEBs). Our simulations so far seem to be able to produce satellite systems qualitatively similar to observed systems in the main asteroid belt. We find that impacts of 34-km diameter projectiles striking at 3 km s⁻¹ at impact angles of ∼30° appear to be particularly efficient at producing relatively large satellites around the largest remnant as well as large numbers of modest-size binaries among their escaping ejecta.     

GETEMME—a mission to explore the Martian satellites and the fundamentals of solar system physics

GETEMME (Gravity, Einstein??s Theory, and Exploration of the Martian Moons?? Environment), a mission which is being proposed in ESA??s Cosmic Vision program, shall be launched for Mars on a Soyuz Fregat in 2020. The spacecraft will initially rendezvous with Phobos and Deimos in order to carry out a comprehensive mapping and characterization of the two satellites and to deploy passive Laser retro-reflectors on their surfaces. In the second stage of the mission, the spacecraft will be transferred into a lower 1500-km Mars orbit, to carry out routine Laser range measurements to the reflectors on Phobos and Deimos. Also, asynchronous two-way Laser ranging measurements between the spacecraft and stations of the ILRS (International Laser Ranging Service) on Earth are foreseen. An onboard accelerometer will ensure a high accuracy for the spacecraft orbit determination. The inversion of all range and accelerometer data will allow us to determine or improve dramatically on a host of dynamic parameters of the Martian satellite system. From the complex motion and rotation of Phobos and Deimos we will obtain clues on internal structures and the origins of the satellites. Also, crucial data on the time-varying gravity field of Mars related to climate variation and internal structure will be obtained. Ranging measurements will also be essential to improve on several parameters in fundamental physics, such as the Post-Newtonian parameter ?? as well as time-rate changes of the gravitational constant and the Lense-Thirring effect. Measurements by GETEMME will firmly embed Mars and its satellites into the Solar System reference frame.     

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.     

The equilibrium of rubble-pile satellites: The Darwin and Roche ellipsoids for gravitationally held granular aggregates

Many new small moons of the giant planets have been discovered recently. In parallel, satellites of several asteroids, e.g., Ida, have been found. Strikingly, a majority of these new-found planetary moons are estimated to have very low densities, which, along with their hypothesized accretionary origins, suggests a rubble internal structure. This, coupled to the fact that many asteroids are also thought to be particle aggregates held together principally by self-gravity, motivates the present investigation into the possible ellipsoidal shapes that a rubble-pile satellite may achieve as it orbits an aspherical primary. Conversely, knowledge of the shape will constrain the granular aggregate's orbit—the closer it gets to a primary, both primary's tidal effect and the satellite's spin are greater. We will assume that the primary body is sufficiently massive so as not to be influenced by the satellite. However, we will incorporate the primary's possible ellipsoidal shape, e.g., flattening at its poles in the case of a planet, and the proloidal shape of asteroids. In this, the present investigation is an extension of the first classical Darwin problem to granular aggregates. General equations defining an ellipsoidal rubble pile's equilibrium about an ellipsoidal primary are developed. They are then utilized to scrutinize the possible granular nature of small inner moons of the giant planets. It is found that most satellites satisfy constraints necessary to exist as equilibrated granular aggregates. Objects like Naiad, Metis and Adrastea appear to violate these limits, but in doing so, provide clues to their internal density and/or structure. We also recover the Roche limit for a granular satellite of a spherical primary, and employ it to study the martian satellites, Phobos and Deimos, as well as to make contact with earlier work of Davidsson [Davidsson, B., 2001. Icarus 149, 375–383]. The satellite's interior will be modeled as a rigid-plastic, cohesion-less material with a Drucker–Prager yield criterion. This rheology is a reasonable first model for rubble piles. We will employ an approximate volume-averaging procedure that is based on the classical method of moments, and is an extension of the virial method [Chandrasekhar, S., 1969. Ellipsoidal Figures of Equilibrium. Yale Univ. Press, New Haven] to granular solid bodies.     

Capture of Phobos and Deimos by photoatmospheric drag

It is suggested that Phobos and Deimos are carbonaceous asteroids captured by drag in an extended protoatmosphere of solar composition. The time scales for regularization of the orbital parameters are estimated, and found to be of the order of a few years. The atmosphere is modeled as a slowly-rotating condensation in the solar nebula; the surface pressure should be a few tenths of a bar. Capture and evolution by such an atmosphere are found to be improbable. The odds are greatly improved if the atmosphere is rapidly rotating or if the pressure is 1 to 2 orders of magnitude greater. Escape of the atmosphere, after removal of the nebular pressure, takes a few years, depending on the solar heat input. But it relaxes much more quickly to a state with negligible density at satellite altitudes. This relaxation is taken as the event that leaves the satellites in stable orbits. Previous candidates presumably were added to the solid body of Mars, and later ones were not captured.     

The unusual dynamical environment of Phobos and Deimos

The nonintuitive dynamical environment of Phobos and Deimos is explored using a three-dimensional numerical model. Surface gravity, escape speeds, and ejecta impact contours are calculated, both for the satellites at their present orbit distances and for orbit distances they may have had in the past. Impact loci for Stickney ejecta are computed and compared with the observed groove locations in order to evaluate a possible secondary impact origin for the grooves on Phobos. Possible effects of the dynamical environment on shaping the satellites' surfaces are discussed.     

Mariner 9: An instrument of dynamical science

We review and evaluate the contributions of Mariner 9 in improving our knowledge of the dynamical characteristics of Mars and its two satellites, Phobos and Deimos. Primary results include the discovery of the large gravitational and topographical bulge in the Tharsis region, the development of a detailed gravity model representable as coefficients in a spherical harmonic expansion, the development of a topographic model exhibiting a three kilometer displacement of the center of figure from the center of mass, and the determination of the size, shape and motion of Phobos and Deimos.     

Mars: Satellite origin and angular momentum

The origin of Phobos and Deimos is considered with a view to accounting for the existence of very small satellites with circular orbits in the Martian equatorial plane, and simultaneously for the suspected angular momentum deficiency of the Mars system. All models considered failed to satisfy at least one requirement, and the problem is considered more puzzling than is at first apparent. The Martian angular momentum deficiency, if physically significant, may be unrelated to the present satellites' origin, but might relate to a large ancient satellite, long ago destroyed. Accretion onto Mars of large amounts of asteroidal dust brought in by Poynting-Robertson drag may have some bearing on the angular momentum problem.     

The origin and specific features of the martian satellites in the context of the euruption concept

The numerous problems related to the origin and evolution of Phobos and Deimos, as well as to specific features of their topography, are readily accounted for in the context of a concept presupposing the possibility of detonation (or burning) of electrolyzed ices.The explosion of an icy asteroid of mass m _A \> 10²³ g within the gravitational sphere of Mars resulted in the capture of secondary fragments into satellite orbits and the formation of a ring of icy and rocky particles. The motion of satellites in the ring reduced the eccentricities of their orbits and rendered their mutual collisions impossible. The thick regolith of Deimos is the material captured from the ring.The impact responsible for the Stickney crater on Phobos initiated a detonation in the material in the crater, and the detonation, in its turn, ignited the products of electrolysis in the bulk of the satellite. Phobos lost its regolith because of detonation-induced acceleration. As a result of the burning out of Phobos's ices, its density somewhat exeeds that of Deimos.Different grooves on Phobos have differing origins. The grooves of groups B, E, D (as specified by P. Thomas et al., J. Geophys. Res., 84, 8457–8477, 1979) are due to fracturing caused by the Sickney event; group C (which is normal to the minor axis of the Phobos ellipsoid) reflects the layered nature of the parent asteroid; while the closely arranged group A grooves, which are normal to Phobos's major axis, were formed during the contraction of the satellite as a result of the loss of burnt-out ices. A number of conclusions are drawn which can be tested by future missions to the satellites.     

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.     

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).