COMETARY SCIENCE. The landing(s) of Philae and inferences about comet surface mechanical properties

ESA's Cometary Mission Rosetta—Re‐Characterization of the COSAC Mass Spectrometry Results

The most pristine material of the Solar System is assumed to be preserved in comets in the form of dust and ice as refractory matter. ESA's mission Rosetta and its lander Philae had been developed to investigate the nucleus of comet 67P/Churyumov–Gerasimenko in situ. Twenty‐five minutes after the initial touchdown of Philae on the surface of comet 67P in November 2014, a mass spectrum was recorded by the time‐of‐flight mass spectrometer COSAC onboard Philae. The new characterization of this mass spectrum through non‐negative least squares fitting and Monte Carlo simulations reveals the chemical composition of comet 67P. A suite of 12 organic molecules, 9 of which also found in the original analysis of this data, exhibit high statistical probability to be present in the grains sampled from the cometary nucleus. These volatile molecules are among the most abundant in the comet's chemical composition and represent an inventory of the first raw materials present in the early Solar System.

Near-zero cohesion and loose packing of Bennu's near subsurface revealed by spacecraft contact

When the OSIRIS-REx spacecraft pressed its sample collection mechanism into the surface of Bennu, it provided a direct test of the poorly understood near-subsurface physical properties of rubble-pile asteroids, which consist of rock fragments at rest in microgravity. Here, we find that the forces measured by the spacecraft are best modeled as a granular bed with near-zero cohesion that is half as dense as the bulk asteroid. The low gravity of a small rubble-pile asteroid such as Bennu effectively weakens its near subsurface by not compressing the upper layers, thereby minimizing the influence of interparticle cohesion on surface geology. The underdensity and weak near subsurface should be global properties of Bennu and not localized to the contact point.

COSAC's Only Gas Chromatogram Taken on Comet 67P/Churyumov-Gerasimenko

The Philae lander of the Rosetta space mission made a non-nominal landing on comet 67P/Churyumov-Gerasimenko on November 12, 2014. Shortly after, using the limited power available from Philae's batteries, the COSAC instrument performed a single 18-minutes gas chromatogram, which has remained unpublished until now due to the lack of identifiable elution. This work shows that, despite the unsuccessful drilling of the comet and deposition of surface material in the SD2 ovens, the measurements from the COSAC instrument were executed nominally. We describe an automated search for extremely small deviations from noise and discuss the possibility of a signal from ethylene glycol at m/z 31. Arguments for and against this detection are listed, but the results remain inconclusive. Still, the successful operations of an analytical chemistry laboratory on a cometary nucleus gives great hope for the future of space exploration.

Soft Robotic Perspective and Concept for Planetary Small Body Exploration

Tens of thousands of planetary small bodies (asteroids, comets, and small moons) are flying beside our Earth with little understanding. Explorers on the surfaces of these bodies, unlike the Lunar or Mars rovers, have only few attempts and no sophisticated solution. Current concerns mainly focus on landing uncertainties and mobility limitations, which soft robots may suitably aid utilizing their compliance and adaptivity. In this study, we present a perspective of designating soft robots for the surface exploration. Based on the lessons from recent space missions and an astronomy survey, we summarize the surface features of typical small bodies and the associated challenges for possible soft robotic design. Different kinds of soft mobile robots are reviewed, whose morphology and locomotion are analyzed for the microgravity, rugged environment. We also propose an alternative to current asteroid hoppers, as a case of applying progress in soft material. Specifically, the structure is a deployable cube whose outer shell is made of shape memory polymer, so that it can achieve morphing and variable stiffness between liftoff and landing phases. Dynamic simulations of the free-fall landing are carried out with a rigid counterpart for comparison. The results show that the soft deployed shell can effectively contribute to dissipating the kinetic energy and attenuating the excessive rebounds.

Ricochets on Asteroids: Experimental study of low velocity grazing impacts into granular media

Spin off events and impacts can eject boulders from an asteroid surface and rubble pile asteroids can accumulate from debris following a collision between large asteroids. These processes produce a population of gravitational bound objects in orbit that can impact an asteroid surface at low velocity and with a distribution of impact angles. We present laboratory experiments of low velocity spherical projectiles into a fine granular medium, sand. We delineate velocity and impact angles giving ricochets, those giving projectiles that roll-out from the impact crater and those that stop within their impact crater. With high speed camera images and fluorescent markers on the projectiles we track spin and projectile trajectories during impact. We find that the projectile only reaches a rolling without slipping condition well after the marble has reached peak penetration depth. The required friction coefficient during the penetration phase of impact is 4-5 times lower than that of the sand suggesting that the sand is fluidized near the projectile surface during penetration. We find that the critical grazing impact critical angle dividing ricochets from roll-outs, increases with increasing impact velocity. The critical angles for ricochet and for roll-out as a function of velocity can be matched by an empirical model during the rebound phase that balances a lift force against gravity. We estimate constraints on projectile radius, velocity and impact angle that would allow projectiles on asteroids to ricochet or roll away from impact, finally coming to rest distant from their initial impact sites.

The Philae lander reveals low-strength primitive ice inside cometary boulders

On 12 November 2014, the Philae lander descended towards comet 67P/Churyumov-Gerasimenko, bounced twice off the surface, then arrived under an overhanging cliff in the Abydos region. The landing process provided insights into the properties of a cometary nucleus^1-3. Here we report an investigation of the previously undiscovered site of the second touchdown, where Philae spent almost two minutes of its cross-comet journey, producing four distinct surface contacts on two adjoining cometary boulders. It exposed primitive water ice-that is, water ice from the time of the comet's formation 4.5 billion years ago-in their interiors while travelling through a crevice between the boulders. Our multi-instrument observations made 19 months later found that this water ice, mixed with ubiquitous dark organic-rich material, has a local dust/ice mass ratio of [Formula: see text], matching values previously observed in freshly exposed water ice from outbursts⁴ and water ice in shadow^5,6. At the end of the crevice, Philae made a 0.25-metre-deep impression in the boulder ice, providing in situ measurements confirming that primitive ice has a very low compressive strength (less than 12 pascals, softer than freshly fallen light snow) and allowing a key estimation to be made of the porosity (75 ± 7 per cent) of the boulders' icy interiors. Our results provide constraints for cometary landers seeking access to a volatile-rich ice sample.

A New Mechanism for Soft Landing in Robotic Space Exploration

Landing safely is the key to successful exploration of the solar system; the mitigation of the connected effects of collision in mechanical systems relies on the conversion of kinetic energy into heat or potential energy. An effective landing-system design should minimize the acceleration acting on the payload. In this paper, we focus on the application of a special class of nonlinear preloaded mechanisms, which take advantage of a variable radius drum (VRD) to produce a constant reactive force during deceleration. Static and dynamic models of the mechanism are presented. Numerical results show that the system allows for very efficient kinetic energy accumulation during impact, approaching the theoretical limit.

Traveling to the origins of the Solar System

Asteroid data from the Hayabusa2 mission support collisional evolution of a pristine body

The Philae lander mission and science overview

The Philae lander accomplished the first soft landing and the first scientific experiments of a human-made spacecraft on the surface of a comet. Planned, expected and unexpected activities and events happened during the descent, the touch-downs, the hopping across and the stay and operations on the surface. The key results were obtained during 12-14 November 2014, at 3 AU from the Sun, during the 63 h long period of the descent and of the first science sequence on the surface. Thereafter, Philae went into hibernation, waking up again in late April 2015 with subsequent communication periods with Earth (via the orbiter), too short to enable new scientific activities. The science return of the mission comes from eight of the 10 instruments on-board and focuses on morphological, thermal, mechanical and electrical properties of the surface as well as on the surface composition. It allows a first characterization of the local environment of the touch-down and landing sites. Unique conclusions on the organics in the cometary material, the nucleus interior, the comet formation and evolution became available through measurements of the Philae lander in the context of the Rosetta mission.This article is part of the themed issue 'Cometary science after Rosetta'.

The Rosetta mission orbiter science overview: the comet phase

The international Rosetta mission was launched in 2004 and consists of the orbiter spacecraft Rosetta and the lander Philae. The aim of the mission is to map the comet 67P/Churyumov-Gerasimenko by remote sensing, and to examine its environment in situ and its evolution in the inner Solar System. Rosetta was the first spacecraft to rendezvous with and orbit a comet, accompanying it as it passes through the inner Solar System, and to deploy a lander, Philae, and perform in situ science on the comet's surface. The primary goals of the mission were to: characterize the comet's nucleus; examine the chemical, mineralogical and isotopic composition of volatiles and refractories; examine the physical properties and interrelation of volatiles and refractories in a cometary nucleus; study the development of cometary activity and the processes in the surface layer of the nucleus and in the coma; detail the origin of comets, the relationship between cometary and interstellar material and the implications for the origin of the Solar System; and characterize asteroids 2867 Steins and 21 Lutetia. This paper presents a summary of mission operations and science, focusing on the Rosetta orbiter component of the mission during its comet phase, from early 2014 up to September 2016.This article is part of the themed issue 'Cometary science after Rosetta'.

Comets: looking ahead

We outline the key questions about comets that must be answered in order to understand cometary formation in the context of the protoplanetary disc and the role of comets in the formation and evolution of the solar system. We then discuss the new understanding of comets from Rosetta and from other recent advances, including work presented by others at the discussion meeting. Finally, we suggest some key directions for future projects to better address the above questions.This article is part of the themed issue 'Cometary science after Rosetta'.

A cubesat centrifuge for long duration milligravity research

We advocate a low-cost strategy for long-duration research into the ‘milligravity’ environment of asteroids, comets and small moons, where surface gravity is a vector field typically less than 1/1000 the gravity of Earth. Unlike the microgravity environment of space, there is a directionality that gives rise, over time, to strangely familiar geologic textures and landforms. In addition to advancing planetary science, and furthering technologies for hazardous asteroid mitigation and in situ resource utilization, simplified access to long-duration milligravity offers significant potential for advancing human spaceflight, biomedicine and manufacturing. We show that a commodity 3U (10 × 10 × 34 cm³) cubesat containing a laboratory of loose materials can be spun to 1 r.p.m. = 2π/60 s⁻¹ on its long axis, creating a centrifugal force equivalent to the surface gravity of a kilometer-sized asteroid. We describe the first flight demonstration, where small meteorite fragments will pile up to create a patch of real regolith under realistic asteroid conditions, paving the way for subsequent missions where landing and mobility technology can be flight-proven in the operational environment, in low-Earth orbit. The 3U design can be adapted for use onboard the International Space Station to allow for variable gravity experiments under ambient temperature and pressure for a broader range of experiments.

A novel facility for reduced-gravity testing: A setup for studying low-velocity collisions into granular surfaces

This work presents an experimental design for studying low-velocity collisions into granular surfaces in low-gravity. In the experiment apparatus, reduced-gravity is simulated by releasing a free-falling projectile into a surface container with a downward acceleration less than that of Earth's gravity. The acceleration of the surface is controlled through the use of an Atwood machine, or a system of pulleys and counterweights. The starting height of the surface container and the initial separation distance between the projectile and surface are variable and chosen to accommodate collision velocities up to 20 cm/s and effective accelerations of ∼0.1 to 1.0 m/s(2). Accelerometers, placed on the surface container and inside the projectile, provide acceleration data, while high-speed cameras capture the collision and act as secondary data sources. The experiment is built into an existing 5.5 m drop tower frame and requires the custom design of all components, including the projectile, surface sample container, release mechanism, and deceleration system. Data from calibration tests verify the efficiency of the experiment's deceleration system and provide a quantitative understanding of the performance of the Atwood system.

Fission and reconfiguration of bilobate comets as revealed by 67P/Churyumov-Gerasimenko

The solid, central part of a comet--its nucleus--is subject to destructive processes, which cause nuclei to split at a rate of about 0.01 per year per comet. These destructive events are due to a range of possible thermophysical effects; however, the geophysical expressions of these effects are unknown. Separately, over two-thirds of comet nuclei that have been imaged at high resolution show bilobate shapes, including the nucleus of comet 67P/Churyumov-Gerasimenko (67P), visited by the Rosetta spacecraft. Analysis of the Rosetta observations suggests that 67P's components were brought together at low speed after their separate formation. Here, we study the structure and dynamics of 67P's nucleus. We find that sublimation torques have caused the nucleus to spin up in the past to form the large cracks observed on its neck. However, the chaotic evolution of its spin state has so far forestalled its splitting, although it should eventually reach a rapid enough spin rate to do so. Once this occurs, the separated components will be unable to escape each other; they will orbit each other for a time, ultimately undergoing a low-speed merger that will result in a new bilobate configuration. The components of four other imaged bilobate nuclei have volume ratios that are consistent with a similar reconfiguration cycle, pointing to such cycles as a fundamental process in the evolution of short-period comet nuclei. It has been shown that comets were not strong contributors to the so-called late heavy bombardment about 4 billion years ago. The reconfiguration process suggested here would preferentially decimate comet nuclei during migration to the inner solar system, perhaps explaining this lack of a substantial cometary flux.

COMETARY SCIENCE. Thermal and mechanical properties of the near-surface layers of comet 67P/Churyumov-Gerasimenko

Thermal and mechanical material properties determine comet evolution and even solar system formation because comets are considered remnant volatile-rich planetesimals. Using data from the Multipurpose Sensors for Surface and Sub-Surface Science (MUPUS) instrument package gathered at the Philae landing site Abydos on comet 67P/Churyumov-Gerasimenko, we found the diurnal temperature to vary between 90 and 130 K. The surface emissivity was 0.97, and the local thermal inertia was 85 ± 35 J m(-2) K(-1)s(-1/2). The MUPUS thermal probe did not fully penetrate the near-surface layers, suggesting a local resistance of the ground to penetration of >4 megapascals, equivalent to >2 megapascal uniaxial compressive strength. A sintered near-surface microporous dust-ice layer with a porosity of 30 to 65% is consistent with the data.

COMETARY SCIENCE. Properties of the 67P/Churyumov-Gerasimenko interior revealed by CONSERT radar

The Philae lander provides a unique opportunity to investigate the internal structure of a comet nucleus, providing information about its formation and evolution in the early solar system. We present Comet Nucleus Sounding Experiment by Radiowave Transmission (CONSERT) measurements of the interior of Comet 67P/Churyumov-Gerasimenko. From the propagation time and form of the signals, the upper part of the "head" of 67P is fairly homogeneous on a spatial scale of tens of meters. CONSERT also reduced the size of the uncertainty of Philae's final landing site down to approximately 21 by 34 square meters. The average permittivity is about 1.27, suggesting that this region has a volumetric dust/ice ratio of 0.4 to 2.6 and a porosity of 75 to 85%. The dust component may be comparable to that of carbonaceous chondrites.

COMETARY SCIENCE. The structure of the regolith on 67P/Churyumov-Gerasimenko from ROLIS descent imaging

The structure of the upper layer of a comet is a product of its surface activity. The Rosetta Lander Imaging System (ROLIS) on board Philae acquired close-range images of the Agilkia site during its descent onto comet 67P/Churyumov-Gerasimenko. These images reveal a photometrically uniform surface covered by regolith composed of debris and blocks ranging in size from centimeters to 5 meters. At the highest resolution of 1 centimeter per pixel, the surface appears granular, with no apparent deposits of unresolved sand-sized particles. The thickness of the regolith varies across the imaged field from 0 to 1 to 2 meters. The presence of aeolian-like features resembling wind tails hints at regolith mobilization and erosion processes. Modeling suggests that abrasion driven by airfall-induced particle "splashing" is responsible for the observed formations.