A numerical model of cohesion in planetary rings

We present a numerical method that incorporates particle sticking in simulations using the N-body code pkdgrav to study motions in a local rotating frame, such as a patch of a planetary ring. Particles stick to form non-deformable but breakable aggregates that obey the (Eulerian) equations of rigid-body motion. Applications include local simulations of planetary ring dynamics and planet formation, which typically feature hundreds of thousands or more colliding bodies. Bonding and breaking thresholds are tunable parameters that can approximately mimic, for example, van der Waals forces or interlocking of surface frost layers. The bonding and breaking model does not incorporate a rigorous treatment of internal fracture; rather the method serves as motivation for first-order investigation of how semi-rigid bonding affects the evolution of particle assemblies in high-density environments.We apply the method to Saturn’s A ring, for which laboratory experiments suggest that interpenetration of thin, frost-coated surface layers may lead to weak cohesive bonding. These experiments show that frost-coated icy bodies can bond at the low impact speeds characteristic of the rings. Our investigation is further motivated by recent simulations that suggest a very low coefficient of restitution is needed to explain the amplitude of the azimuthal brightness asymmetry in Saturn’s A ring, and the hypothesis that fine structure in Saturn’s B ring may in part be caused by large-scale cohesion.This work presents the full implementation of our model in pkdgrav, as well as results from initial tests with a limited set of parameters explored. We find a combination of parameters that yields aggregate size distribution and maximum radius values in agreement with Voyager data for ring particles in Saturn’s outer A ring. We also find that the bonding and breaking parameters define two strength regimes in which fragmentation is dominated either by collisions or other stresses, such as tides. We conclude our study with a discussion of future applications of and refinements to our model.     

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

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

The 1/1 resonance in extrasolar systems

We present families of symmetric and asymmetric periodic orbits at the 1/1 resonance, for a planetary system consisting of a star and two small bodies, in comparison to the star, moving in the same plane under their mutual gravitational attraction. The stable 1/1 resonant periodic orbits belong to a family which has a planetary branch, with the two planets moving in nearly Keplerian orbits with non zero eccentricities and a satellite branch, where the gravitational interaction between the two planets dominates the attraction from the star and the two planets form a close binary which revolves around the star. The stability regions around periodic orbits along the family are studied. Next, we study the dynamical evolution in time of a planetary system with two planets which is initially trapped in a stable 1/1 resonant periodic motion, when a drag force is included in the system. We prove that if we start with a 1/1 resonant planetary system with large eccentricities, the system migrates, due to the drag force, along the family of periodic orbits and is finally trapped in a satellite orbit. This, in principle, provides a mechanism for the generation of a satellite system: we start with a planetary system and the final stage is a system where the two small bodies form a close binary whose center of mass revolves around the star.     

Formation of Asteroid Families by Catastrophic Disruption: Simulations with Fragmentation and Gravitational Reaccumulation

This paper builds on preliminary work in which numerical simulations of the collisional disruption of large asteroids (represented by the Eunomia and Koronis family parent bodies) were performed and which accounted not only for the fragmentation of the solid body through crack propagation, but also for the mutual gravitational interaction of the resulting fragments. It was found that the parent body is first completely shattered at the end of the fragmentation phase, and then subsequent gravitational reaccumulations lead to the formation of an entire family of large and small objects with dynamical properties similar to those of the parent body. In this work, we present new and improved numerical simulations in detail. As before, we use the same numerical procedure, i.e., a 3D SPH hydrocode to compute the fragmentation phase and the parallel N-body code pkdgrav to compute the subsequent gravitational reaccumulation phase. However, this reaccumulation phase is now treated more realistically by using a merging criterion based on energy and angular momentum and by allowing dissipation to occur during fragment collisions. We also extend our previous studies to the as yet unexplored intermediate impact energy regime (represented by the Flora family formation) for which the largest fragment's mass is about half that of the parent body. Finally, we examine the robustness of the results by changing various assumptions, the numerical resolution, and different numerical parameters. We find that in the lowest impact energy regime the more realistic physical approach of reaccumulation leads to results that are statistically identical to those obtained with our previous simplistic approach. Some quantitative changes arise only as the impact energy increases such that higher relative velocities are reached during fragment collisions, but they do not modify the global outcome qualitatively. As a consequence, these new simulations confirm previous main results and still lead to the conclusion that: (1) all large family members must be made of gravitationally reaccumulated fragments; (2) the original fragment size distribution and their orbital dispersion are respectively steeper and smaller than currently observed for the real families, supporting recent studies on subsequent evolution and diffusion of family members; and (3) the formation of satellites around family members is a frequent and natural outcome of collisional processes.     

High-resolution simulations of the final assembly of Earth-like planets I. Terrestrial accretion and dynamics

The final stage in the formation of terrestrial planets consists of the accumulation of ∼1000-km “planetary embryos” and a swarm of billions of 1-10 km “planetesimals.” During this process, water-rich material is accreted by the terrestrial planets via impacts of water-rich bodies from beyond roughly 2.5 AU. We present results from five high-resolution dynamical simulations. These start from 1000-2000 embryos and planetesimals, roughly 5-10 times more particles than in previous simulations. Each simulation formed 2-4 terrestrial planets with masses between 0.4 and 2.6 Earth masses. The eccentricities of most planets were ∼0.05, lower than in previous simulations, but still higher than for Venus, Earth and Mars. Each planet accreted at least the Earth's current water budget. We demonstrate several new aspects of the accretion process: (1) The feeding zones of terrestrial planets change in time, widening and moving outward. Even in the presence of Jupiter, water-rich material from beyond 2.5 AU is not accreted for several millions of years. (2) Even in the absence of secular resonances, the asteroid belt is cleared of >99% of its original mass by self-scattering of bodies into resonances with Jupiter. (3) If planetary embryos form relatively slowly, then the formation of embryos in the asteroid belt may have been stunted by the presence of Jupiter. (4) Self-interacting planetesimals feel dynamical friction from other small bodies, which has important effects on the eccentricity evolution and outcome of a simulation.     

N-Body simulations of growth from 1 km planetesimals at 0.4 AU

We present N-body simulations of planetary accretion beginning with 1 km radius planetesimals in orbit about a 1 M_⊙ star at 0.4 AU. The initial disk of planetesimals contains too many bodies for any current N-body code to integrate; therefore, we model a sample patch of the disk. Although this greatly reduces the number of bodies, we still track in excess of 10⁵ particles. We consider three initial velocity distributions and monitor the growth of the planetesimals. The masses of some particles increase by more than a factor of 100. Additionally, the escape speed of the largest particle grows considerably faster than the velocity dispersion of the particles, suggesting impending runaway growth, although no particle grows large enough to detach itself from the power law size-frequency distribution. These results are in general agreement with previous statistical and analytical results. We compute rotation rates by assuming conservation of angular momentum around the center of mass at impact and that merged planetesimals relax to spherical shapes. At the end of our simulations, the majority of bodies that have undergone at least one merger are rotating faster than the breakup frequency. This implies that the assumption of completely inelastic collisions (perfect accretion), which is made in most simulations of planetary growth at sizes 1 km and above, is inappropriate. Our simulations reveal that, subsequent to the number of particles in the patch having been decreased by mergers to half its initial value, the presence of larger bodies in neighboring regions of the disk may limit the validity of simulations employing the patch approximation.     

Effects of Planetary Migration on Natural Satellites of the Outer Planets

Numerous studies in the past few years have analyzed possible effects of planetary migration on the small bodies of the Solar System (mainly asteroids and KBOs), with the double aim of explaining certain dynamical structures in these systems, as well as placing limits on the magnitude of the radial migration of the planets. Here we undertake a similar aim, only this time concentrating on the dynamical stability of planetary satellites in a migration scenario. However, different from previous works, the strongest perturbations on satellite systems are not due to the secular variation of the semimajor axes of the planets, but from the planetesimals themselves. These perturbations result from close approaches between the planetesimals and satellites.We present results of several numerical simulations of the dynamical evolution of real and fictitious satellite systems around the outer planets, under the effects of multiple passages of a population of planetesimals representing the large-body component of a residual rocky disk. Assuming that this component dominated the total mass of the disk, our results show that the present systems of satellites of Uranus and Neptune do not seem to be compatible with a planetary migration larger than even one quarter that suggested by previous studies, unless these bodies were originated during the late stage of evaporation of the planetesimal disk. For larger variations of the semimajor axes of the planets, most of the satellites would either be ejected from the system or suffer mutual collisions due to excitation in their eccentricities. For the systems of Jupiter and Saturn, these perturbations are not so severe, and even large migrations do not introduce large instabilities.Nevertheless, even a small number of 1000-km planetesimals in the region may introduce significant excitation in the eccentricities and inclinations of satellites. Adequate values of this component may help explain the present dynamical distribution of distant satellites, including the highly peculiar orbit of Nereid.     

Formation of gas giant planets: core accretion models with fragmentation and planetary envelope

We have calculated formation of gas giant planets based on the standard core accretion model including effects of fragmentation and planetary envelope. The accretion process is found to proceed as follows. As a result of runaway growth of planetesimals with initial radii of ∼10 km, planetary embryos with a mass of ∼10²⁷ g (∼ Mars mass) are found to form in ∼10⁵ years at Jupiter's position (5.2 AU), assuming a large enough value of the surface density of solid material (25 g/cm²) in the accretion disk at that distance. Strong gravitational perturbations between the runaway planetary embryos and the remaining planetesimals cause the random velocities of the planetesimals to become large enough for collisions between small planetesimals to lead to their catastrophic disruption. This produces a large number of fragments. At the same time, the planetary embryos have envelopes, that reduce energies of fragments by gas drag and capture them. The large radius of the envelope increases the collision rate between them, resulting in rapid growth of the planetary embryos. By the combined effects of fragmentation and planetary envelope, the largest planetary embryo with 21M_⊕ forms at 5.2 AU in 3.8×10⁶ years. The planetary embryo is massive enough to start a rapid gas accretion and forms a gas giant planet.     

Formation of planetary embryos: effects of fragmentation, low relative velocity, and independent variation of eccentricity and inclination

An earlier investigation of the formation of approximately 10(26) g planetary embryos from much smaller planetesimals (G.W. Wetherill and G.R. Stewart 1989, Icarus 77, 350-357) has been extended to include the effects of collisional fragmentation, the low relative velocity regime in which the effects due to solar gravity are important, and independent perturbations of eccentricity and inclination. In agreement with this earlier work, it if found that at 1 AU runaway growth occurs on a approximately 10(-5)-year time scale as a consequence of equipartition of energy between large and small planetesimals. It is now seen that the runaway is initiated after approximately 10(4) years, when the relative velocities of the larger bodies temporarily fall into the low-velocity regime, lowering their inclinations and increasing their gravitational capture rates. After approximately 2 X 10(4) years, relative velocities between most bodies emerge from the low-velocity regime, and these higher velocities tend to inhibit further runaway growth. This rapid runaway growth is self-regulated, however, by these same higher velocities, causing fragmentation of the smaller bodies. The velocities of the collision fragments are reduced by gas drag, facilitating their capture by the growing runaway embryos. Variations in which different fragmentation models are used, or long-range forces between nonrunaway bodies are absent, give similar results. When fragmentation is not included, the time scale for growth increases to approximately 3 X 10(5) years as a result of loss of the self-regulating process described above.     

Numerical simulations of granular dynamics II: Particle dynamics in a shaken granular material

Surfaces of planets and small bodies of our Solar System are often covered by a layer of granular material that can range from a fine regolith to a gravel-like structure of varying depths. Therefore, the dynamics of granular materials are involved in many events occurring during planetary and small-body evolution thus contributing to their geological properties.We demonstrate that the new adaptation of the parallel N-body hard-sphere code pkdgrav has the capability to model accurately the key features of the collective motion of bidisperse granular materials in a dense regime as a result of shaking. As a stringent test of the numerical code we investigate the complex collective ordering and motion of granular material by direct comparison with laboratory experiments. We demonstrate that, as experimentally observed, the scale of the collective motion increases with increasing small-particle additive concentration.We then extend our investigations to assess how self-gravity and external gravity affect collective motion. In our reduced-gravity simulations both the gravitational conditions and the frequency of the vibrations roughly match the conditions on asteroids subjected to seismic shaking, though real regolith is likely to be much more heterogeneous and less ordered than in our idealised simulations. We also show that collective motion can occur in a granular material under a wide range of inter-particle gravity conditions and in the absence of an external gravitational field. These investigations demonstrate the great interest of being able to simulate conditions that are to relevant planetary science yet unreachable by Earth-based laboratory experiments.     

Accretion of the asteroids: Implications for their thermal evolution

Thermal models of asteroids generally assume that they accreted either instantaneously or over an extended interval with a prescribed growth rate. It is conventionally assumed that the onset of accretion of chondrite parent bodies was delayed until a substantial fraction of the initial ²⁶Al had decayed. However, this interval is not consistent with the early melting, and differentiation of parent bodies of iron meteorites. Formation time scales are tested by dynamical simulations of accretion from small primary planetesimals. Gravitational accretion yields rapid runaway growth of large planetary embryos until most smaller bodies are depleted. In a given simulation, all asteroid‐sized bodies have comparable growth times, regardless of size. For plausible parameters, growth times are shorter than the lifetime of ²⁶Al, consistent with thermal models that assume instantaneous accretion. Rapid growth after planetesimal formation is consistent with differentiation of parent bodies of iron meteorites, but not with the assumed delay in formation of chondritic bodies. After the initial growth stage, there is an interval of slower evolution until the belt is stirred and the embryos are dynamically removed. During this interval, a fraction of asteroid‐sized bodies experience large accretional impacts, allowing bodies of the same final size to have very different histories of radius versus time. Accretion from small primary planetesimals leaves some fraction of material in bodies small enough to preserve CAIs while avoiding heating by ²⁶Al. Unheated material can be a significant fraction of the mass that remains after large embryos are removed from the Main Belt.     

High- and low-velocity impact experiments on porous sintered glass bead targets of different compressive strengths: Outcome sensitivity and scaling

Impact experiments on porous targets consisting of sintered glass beads have been performed at different impact velocities in order to investigate the disruption impact energy threshold (also called Q^∗) of these targets, the influence of the target compressive strength on this threshold and a scaling parameter of the degree of fragmentation that takes into account material strength. A large fraction of small bodies of our Solar System are expected to be composed of highly-porous material. Depending on their location and on the period considered during the Solar System history, these bodies collide with each other at velocities which cover a wide range of values from a few m/s to several km/s. Determining the impact response of porous bodies in both high- and low-velocity regimes is thus crucial to understand their collisional evolution over the entire Solar System history, from the early stages of planetary formation through collisional accretion at low impact velocities to the current and future stages during which impact velocities are much higher and lead to their disruption. While these problems at large scale can only be addressed directly by numerical simulations, small scale impact experiments are a necessary step which allows the understanding of the physical process itself and the determination of the small scale behavior of the material used as target. Moreover, they are crucial to validate numerical codes that can then be applied to larger scales.Sintered glass beads targets of different shapes and porosity have been built and their main material properties, in particular their compressive strength and their porosity, have been measured. The outcomes of their disruptions both at low and high impact velocities have then been analyzed.We then found that the value of Q^∗ strongly depends on the target compressive strength. Measuring the particle velocities as a function of their distance to the impact point, we first found that the attenuation rate of the stress wave in our sintered glass bead targets does not depend on the impact velocity regime. Ejecta velocities as a function of the distance from the impact point can thus be well fitted by a power law with an exponent about −2 in both velocity regimes. We then looked for a scaling parameter that can apply to both regimes. We found that the scaling parameter PI, which is related to the initial peak pressure and to the stress wave attenuation can be used to represent the outcome in a general way. Future investigations will be performed to determine whether these results can be generalized to other kinds of porous materials.     

Accretion among preplanetary bodies: The many faces of runaway growth

When preplanetary bodies reach proportions of ∼1 km or larger in size, their accretion rate is enhanced due to gravitational focusing (GF). We have developed a new numerical model to calculate the collisional evolution of the gravitationally-enhanced growth stage. The numerical model is novel as it attempts to preserve the individual particle nature of the bodies (like N-body codes); yet it is statistical in nature since it must incorporate the very large number of planetesimals. We validate our approach against existing N-body and statistical codes. Using the numerical model, we explore the characteristics of the runaway growth and the oligarchic growth accretion phases starting from an initial population of single planetesimal radius R₀. In models where the initial random velocity dispersion (as derived from their eccentricity) starts out below the escape speed of the planetesimal bodies, the system experiences runaway growth. We associate the initial runaway growth phase with increasing GF-factors for the largest body. We find that during the runaway growth phase the size distribution remains continuous but evolves into a power-law at the high-mass end, consistent with previous studies. Furthermore, we find that the largest body accretes from all mass bins; a simple two-component approximation is inapplicable during this stage. However, with growth the runaway body stirs up the random motions of the planetesimal population from which it is accreting. Ultimately, this feedback stops the fast growth and the system passes into oligarchy, where competitor bodies from neighboring zones catch up in terms of mass. We identify the peak of GF with the transition between the runaway growth and oligarchy accretion stages. Compared to previous estimates, we find that the system leaves the runaway growth phase at a somewhat larger radius, especially at the outer disk. Furthermore, we assess the relevance of small, single-size fragments on the growth process. In classical models, where the initial velocity dispersion of bodies is small, these do not play a critical role during the runaway growth; however, in models that are characterized by large initial relative velocities due to external stirring of their random motions, a situation can emerge where fragments dominate the accretion, which could lead to a very fast growth.     

Evolution of Planetesimal Velocities Based on Three-Body Orbital Integrations and Growth of Protoplanets

We obtain the viscous stirring and dynamical friction rates of planetesimals with a Rayleigh distribution of eccentricities and inclinations, using three-body orbital integration and the procedure described by Ohtsuki (1999, Icarus137, 152), who evaluated these rates for ring particles. We find that these rates based on orbital integrations agree quite well with the analytic results of Stewart and Ida (2000, Icarus 143, 28) in high-velocity cases. In low-velocity cases where Kepler shear dominates the relative velocity, however, the three-body calculations show significant deviation from the formulas of Stewart and Ida, who did not investigate the rates for low velocities in detail but just presented a simple interpolation formula between their high-velocity formula and the numerical results for circular orbits. We calculate evolution of root mean square eccentricities and inclinations using the above stirring rates based on orbital integrations, and find excellent agreement with N-body simulations for both one- and two-component systems, even in the low-velocity cases. We derive semi-analytic formulas for the stirring and dynamical friction rates based on our numerical results, and confirm that they reproduce the results of N-body simulations with sufficient accuracy. Using these formulas, we calculate equilibrium velocities of planetesimals with given size distributions. At a stage before the onset of runaway growth of large bodies, the velocity distribution calculated by our new formulas are found to agree quite well with those obtained by using the formulas of Stewart and Ida or Wetherill and Stewart (1993, Icarus106, 190). However, at later stages, we find that the inclinations of small collisional fragments calculated by our new formulas can be much smaller than those calculated by the previously obtained formulas, so that they are more easily accreted by larger bodies in our case. The results essentially support the previous results such as runaway growth of protoplanets, but they could enhance their growth rate by 10-30% after early runaway growth, where those fragments with low random velocities can significantly contribute to rapid growth of runaway bodies.     

Terrestrial planet formation with strong dynamical friction

We have performed 8 numerical simulations of the final stages of accretion of the terrestrial planets, each starting with over 5× more gravitationally interacting bodies than in any previous simulations. We use a bimodal initial population spanning the region from 0.3 to 4 AU with 25 roughly Mars-mass embryos and an equal mass of material in a population of ∼1000 smaller planetesimals, consistent with models of the oligarchic growth of protoplanetary embryos. Given the large number of small planetesimals in our simulations, we are able to more accurately treat the effects of dynamical friction during the accretion process. We find that dynamical friction can significantly lower the timescales for accretion of the terrestrial planets and leads to systems of terrestrial planets that are much less dynamically excited than in previous simulations with fewer initial bodies. In addition, we study the effects of the orbits of Jupiter and Saturn on the final planetary systems by running 4 of our simulations with the present, eccentric orbits of Jupiter and Saturn (the EJS simulations) and the other 4 using a nearly circular and co-planar Jupiter and Saturn as predicted in the Nice Model of the evolution of the outer Solar System [Gomes, R., Levison, H.F., Tsiganis, K., Morbidelli, A., 2005. Nature 435, 466-469; Tsiganis, K., Gomes, R., Morbidelli, A., Levison, H.F., 2005. Nature 435, 459-461; Morbidelli, A., Levison, H.F., Tsiganis, K., Gomes, R., 2005. Nature 435, 462-465] (the CJS simulations). Our EJS simulations provide a better match to our Solar System in terms of the number and average mass of the final planets and the mass-weighted mean semi-major axis of the final planetary systems, although increased dynamical friction can potentially improve the fit of the CJS simulations as well. However, we find that in our EJS simulations, essentially no water-bearing material from the outer asteroid belt ends up in the final terrestrial planets, while a large amount is delivered in the CJS simulations. In addition, the terrestrial planets in the EJS simulations receive a late veneer of material after the last giant impact event that is likely too massive to reconcile with the siderophile abundances in the Earth's mantle, while the late veneer in the CJS simulations is much more consistent with geochemical evidence.     

Building the terrestrial planets: Constrained accretion in the inner Solar System

To date, no accretion model has succeeded in reproducing all observed constraints in the inner Solar System. These constraints include: (1) the orbits, in particular the small eccentricities, and (2) the masses of the terrestrial planets - Mars’ relatively small mass in particular has not been adequately reproduced in previous simulations; (3) the formation timescales of Earth and Mars, as interpreted from Hf/W isotopes; (4) the bulk structure of the asteroid belt, in particular the lack of an imprint of planetary embryo-sized objects; and (5) Earth’s relatively large water content, assuming that it was delivered in the form of water-rich primitive asteroidal material. Here we present results of 40 high-resolution (N = 1000-2000) dynamical simulations of late-stage planetary accretion with the goal of reproducing these constraints, although neglecting the planet Mercury. We assume that Jupiter and Saturn are fully-formed at the start of each simulation, and test orbital configurations that are both consistent with and contrary to the “Nice model”. We find that a configuration with Jupiter and Saturn on circular orbits forms low-eccentricity terrestrial planets and a water-rich Earth on the correct timescale, but Mars’ mass is too large by a factor of 5-10 and embryos are often stranded in the asteroid belt. A configuration with Jupiter and Saturn in their current locations but with slightly higher initial eccentricities (e = 0.07-0.1) produces a small Mars, an embryo-free asteroid belt, and a reasonable Earth analog but rarely allows water delivery to Earth. None of the configurations we tested reproduced all the observed constraints. Our simulations leave us with a problem: we can reasonably satisfy the observed constraints (except for Earth’s water) with a configuration of Jupiter and Saturn that is at best marginally consistent with models of the outer Solar System, as it does not allow for any outer planet migration after a few Myr. Alternately, giant planet configurations which are consistent with the Nice model fail to reproduce Mars’ small size.     

Linking the collisional history of the main asteroid belt to its dynamical excitation and depletion

The main belt is believed to have originally contained an Earth mass or more of material, enough to allow the asteroids to accrete on relatively short timescales. The present-day main belt, however, only contains ∼5×¹⁰⁻⁴ Earth masses. Numerical simulations suggest that this mass loss can be explained by the dynamical depletion of main belt material via gravitational perturbations from planetary embryos and a newly-formed Jupiter. To explore this scenario, we combined dynamical results from Petit et al. [Petit, J. Morbidelli, A., Chambers, J., 2001. The primordial excitation and clearing of the asteroid belt. Icarus 153, 338-347] with a collisional evolution code capable of tracking how the main belt undergoes comminution and dynamical depletion over 4.6 Gyr [Bottke, W.F., Durda, D., Nesvorny, D., Jedicke, R., Morbidelli, A., Vokrouhlický, D., Levison, H., 2005. The fossilized size distribution of the main asteroid belt. Icarus 175, 111-140]. Our results were constrained by the main belt's size-frequency distribution, the number of asteroid families produced by disruption events from diameter D>100 km parent bodies over the last 3-4 Gyr, the presence of a single large impact crater on Vesta's intact basaltic crust, and the relatively constant lunar and terrestrial impactor flux over the last 3 Gyr. We used our model to set limits on the initial size of the main belt as well as Jupiter's formation time. We find the most likely formation time for Jupiter was 3.3±2.6 Myr after the onset of fragmentation in the main belt. These results are consistent with the estimated mean disk lifetime of 3 Myr predicted by Haisch et al. [Haisch, K.E., Lada, E.A., Lada, C.J., 2001. Disk frequencies and lifetimes in young clusters. Astrophys. J. 553, L153-L156]. The post-accretion main belt population, in the form of diameter D?1000 km planetesimals, was likely to have been 160±40 times the current main belt's mass. This corresponds to 0.06-0.1 Earth masses, only a small fraction of the total mass thought to have existed in the main belt zone during planet formation. The remaining mass was most likely taken up by planetary embryos formed in the same region. Our results suggest that numerous D>200 km planetesimals disrupted early in Solar System history, but only a small fraction of their fragments survived the dynamical depletion event described above. We believe this may explain the limited presence of iron-rich M-type, olivine-rich A-type, and non-Vesta V-type asteroids in the main belt today. The collisional lifetimes determined for main belt asteroids agree with the cosmic ray exposure ages of stony meteorites and are consistent with the limited collisional evolution detected among large Koronis family members. Using the same model, we investigated the near-Earth object (NEO) population. We show the shape of the NEO size distribution is a reflection of the main belt population, with main belt asteroids driven to resonances by Yarkovsky thermal forces. We used our model of the NEO population over the last 3 Gyr, which is consistent with the current population determined by telescopic and satellite data, to explore whether the majority of small craters (D<0.1-1 km) formed on Mercury, the Moon, and Mars were produced by primary impacts or by secondary impacts generated by ejecta from large craters. Our results suggest that most small craters formed on these worlds were a by-product of secondary rather than primary impacts.