Touchdown of the Hayabusa Spacecraft at the Muses Sea on Itokawa

Igneous processes in the small bodies of the Solar System I. Asteroids and comets

Igneous processes were quite widespread in the small bodies of the Solar System (SBSS) and were initially fueled by short-lived radioisotopes, the proto-Sun, impact heating, and differentiation heating. Once they finished, long-lived radioisotopes continued to warm the active bodies of the Earth, (possibly) Venus, and the cryovolcanism of Enceladus. The widespread presence of olivine and pyroxenes in planets and also in SBSS suggests that they were not necessarily the product of igneous processes and they might have been recycled from previous nebular processes or entrained in comets from interstellar space. The difference in temperature between the inner and the outer Solar System has clearly favored thermal annealing of the olivine close to the proto-Sun. Transport of olivine within the Solar System probably occurred also due to protostellar jets and winds but the entrainment in SBSS from interstellar space would overcome the requirement of initial turbulent regime in the protoplanetary nebula.

Towards In-Situ Geochemical Analysis of Planetary Rocks and Soils by Laser Ablation/Ionisation Time-of-Flight Mass Spectrometry

Spectroscopic instruments were a part of payloads on orbiter and lander missions and delivered vast data sets to explore minerals, elements and molecules on air-less rocky planets, asteroids and comets on global and local scales. To answer current space science questions, the chemical composition of planetary rocks and soils at grain scale is required, as well as measurements of element (isotope) concentrations down to the part per million or lower. Only mass spectrometric methods equipped with laser sampling ion sources can deliver the necessary information. Laser sampling techniques can reduce the dimensions of the investigated sample material down to micrometre scale, allowing for the composition analysis of grain-sized objects or thin mineral layers with sufficiently high spatial resolution, such that important geological processes can be recognised and studied as they progressed in time. We describe the performance characteristics, when applied to meteorite and geological samples, of a miniaturised laser ablation/ionisation mass spectrometer (named LMS) system that has been developed in our group. The main advantages of the LMS instrument over competing techniques are illustrated by examples of high spatial (lateral and vertical) resolution studies in different meteorites, terrestrial minerals and fossil-like structures in ancient rocks for most elements of geochemical interest. Top-level parameters, such as dimension, weight, and power consumption of a possible flight design of the LMS system are presented as well.

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.

Pebbles and sand on asteroid (162173) Ryugu: In situ observation and particles returned to Earth

The Hayabusa2 spacecraft investigated the C-type (carbonaceous) asteroid (162173) Ryugu. The mission performed two landing operations to collect samples of surface and subsurface material, the latter exposed by an artificial impact. We present images of the second touchdown site, finding that ejecta from the impact crater was present at the sample location. Surface pebbles at both landing sites show morphological variations ranging from rugged to smooth, similar to Ryugu's boulders, and shapes from quasi-spherical to flattened. The samples were returned to Earth on 6 December 2020. We describe the morphology of >5 grams of returned pebbles and sand. Their diverse color, shape, and structure are consistent with the observed materials of Ryugu; we conclude that they are a representative sample of the asteroid.

German Aerospace Center's advanced robotic technology for future lunar scientific missions

The Earth's moon is currently an object of interest of many space agencies for unmanned robotic missions within this decade. Besides future prospects for building lunar gateways as support to human space flight, the Moon is an attractive location for scientific purposes. Not only will its study give insight on the foundations of the Solar System but also its location, uncontaminated by the Earth's ionosphere, represents a vantage point for the observation of the Sun and planetary bodies outside the Solar System. Lunar exploration has been traditionally conducted by means of single-agent robotic assets, which is a limiting factor for the return of scientific missions. The German Aerospace Center (DLR) is developing fundamental technologies towards increased autonomy of robotic explorers to fulfil more complex mission tasks through cooperation. This paper presents an overview of past, present and future activities of DLR towards highly autonomous systems for scientific missions targeting the Moon and other planetary bodies. The heritage from the Mobile Asteroid Scout (MASCOT), developed jointly by DLR and CNES and deployed on asteroid Ryugu on 3 October 2018 from JAXA's Hayabusa2 spacecraft, inspired the development of novel core technologies towards higher efficiency in planetary exploration. Together with the lessons learnt from the ROBEX project (2012-2017), where a mobile robot autonomously deployed seismic sensors at a Moon analogue site, this experience is shaping the future steps towards more complex space missions. They include the development of a mobile rover for JAXA's Martian Moons eXploration (MMX) in 2024 as well as demonstrations of novel multi-robot technologies at a Moon analogue site on the volcano Mt Etna in the ARCHES project. Within ARCHES, a demonstration mission is planned from the 14 June to 10 July 2021,¹ during which heterogeneous teams of robots will autonomously conduct geological and mineralogical analysis experiments and deploy an array of low-frequency antennas to measure Jovian and solar bursts. This article is part of a discussion meeting issue 'Astronomy from the Moon: the next decades'.

Novel Applications of FIB-SEM-Based ToF-SIMS in Atom Probe Tomography Workflows

Atom probe tomography (APT) is used to quantify atomic-scale elemental and isotopic compositional variations within a very small volume of material (typically <0.01 µm3). The small analytical volume ideally contains specific compositional or microstructural targets that can be placed within the context of the previously characterized surface in order to facilitate a correct interpretation of APT data. In this regard, careful targeting and preparation are paramount to ensure that the desired target, which is often smaller than 100 nm, is optimally located within the APT specimen. Needle-shaped specimens required for atom probe analysis are commonly prepared using a focused ion beam scanning electron microscope (FIB-SEM). Here, we utilize FIB-SEM-based time-of-flight secondary ion mass spectrometry (ToF-SIMS) to illustrate a novel approach to targeting <100 nm compositional and isotopic variations that can be used for targeting regions of interest for subsequent lift-out and APT analysis. We present a new method for high-spatial resolution targeting of small features that involves using FIB-SEM-based electron deposition of platinum “buttons” prior to standard lift-out and sharpening procedures for atom probe specimen manufacture. In combination, FIB-ToF-SIMS analysis and application of the “button” method ensure that even the smallest APT targets can be successfully captured in extracted needles.

Concerns of Organic Contamination for Sample Return Space Missions

Analysis of organic matter has been one of the major motivations behind solar system exploration missions. It addresses questions related to the organic inventory of our solar system and its implication for the origin of life on Earth. Sample return missions aim at returning scientifically valuable samples from target celestial bodies to Earth. By analysing the samples with the use of state-of-the-art analytical techniques in laboratories here on Earth, researchers can address extremely complicated aspects of extra-terrestrial organic matter. This level of detailed sample characterisation provides the range and depth in organic analysis that are restricted in spacecraft-based exploration missions, due to the limitations of the on-board in-situ instrumentation capabilities. So far, there are four completed and in-process sample return missions with an explicit mandate to collect organic matter: Stardust and OSIRIS-REx missions of NASA, and Hayabusa and Hayabusa2 missions of JAXA. Regardless of the target body, all sample return missions dedicate to minimise terrestrial organic contamination of the returned samples, by applying various degrees or strategies of organic contamination mitigation methods. Despite the dedicated efforts in the design and execution of contamination control, it is impossible to completely eliminate sources of organic contamination. This paper aims at providing an overview of the successes and lessons learned with regards to the identification of indigenous organic matter of the returned samples vs terrestrial contamination.

Episodes of particle ejection from the surface of the active asteroid (101955) Bennu

Active asteroids are those that show evidence of ongoing mass loss. We report repeated instances of particle ejection from the surface of (101955) Bennu, demonstrating that it is an active asteroid. The ejection events were imaged by the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer) spacecraft. For the three largest observed events, we estimated the ejected particle velocities and sizes, event times, source regions, and energies. We also determined the trajectories and photometric properties of several gravitationally bound particles that orbited temporarily in the Bennu environment. We consider multiple hypotheses for the mechanisms that lead to particle ejection for the largest events, including rotational disruption, electrostatic lofting, ice sublimation, phyllosilicate dehydration, meteoroid impacts, thermal stress fracturing, and secondary impacts.

Images from the surface of asteroid Ryugu show rocks similar to carbonaceous chondrite meteorites

The near-Earth asteroid (162173) Ryugu is a 900-m-diameter dark object expected to contain primordial material from the solar nebula. The Mobile Asteroid Surface Scout (MASCOT) landed on Ryugu's surface on 3 October 2018. We present images from the MASCOT camera (MASCam) taken during the descent and while on the surface. The surface is covered by decimeter- to meter-sized rocks, with no deposits of fine-grained material. Rocks appear either bright, with smooth faces and sharp edges, or dark, with a cauliflower-like, crumbly surface. Close-up images of a rock of the latter type reveal a dark matrix with small, bright, spectrally different inclusions, implying that it did not experience extensive aqueous alteration. The inclusions appear similar to those in carbonaceous chondrite meteorites.

Ground and In-Flight Calibration of the OSIRIS-REx Camera Suite

The OSIRIS-REx Camera Suite (OCAMS) onboard the OSIRIS-REx spacecraft is used to study the shape and surface of the mission's target, asteroid (101955) Bennu, in support of the selection of a sampling site. We present calibration methods and results for the three OCAMS cameras-MapCam, PolyCam, and SamCam-using data from pre-flight and in-flight calibration campaigns. Pre-flight calibrations established a baseline for a variety of camera properties, including bias and dark behavior, flat fields, stray light, and radiometric calibration. In-flight activities updated these calibrations where possible, allowing us to confidently measure Bennu's surface. Accurate calibration is critical not only for establishing a global understanding of Bennu, but also for enabling analyses of potential sampling locations and for providing scientific context for the returned sample.

Percussive Rock Surface Remover Driven by Solenoid with Planer Motion for Lunar Exploration

This paper deals with a percussive rock surface crusher driven with a solenoid to smoothen the sample surface by a 2-axis planar motion. The weathered rock surface should be removed and smoothened before analyzing its structure and composition precisely. The solenoid, which generates a large vibration amplitude and a large impulsive force, was used to vibrate a tool bit with engineered 1-mm pyramids made of tungsten carbide. The tool bit was fixed parallel to the feed direction or with a skew. A rock sample was moved by a stage with movable ranges for the machining of 10 mm and 20 mm in the x- and y-directions, respectively. The sample paths were randomly generated in 1 or 2 directions. In the comparisons of the surface roughness, the 2-axis motion and tool skew not only allowed isotropic and small roughness but also the removal of more amount due to the removed debris. The roughness reached several tens of micrometers without a certain special frequency component. This level allows for component analysis by X-ray fluorescence or laser-induced breakdown spectrometer.

Asteroid surface impact sampling: dependence of the cavity morphology and collected mass on projectile shape

In-situ exploration and remote thermal infrared observation revealed that a large fraction of Solar System small bodies should be covered with granular regolith. The complex and varied geology of the regolith layer may preserve the historical records of the surface modification and topographic evolution experienced by asteroids, especially cratering processes, in which the projectile shape plays a crucial role. Regarding the impact sampling scheme, the projectile-shape dependence of both the cavity morphology and the collected mass remains to be explored. This paper studies the process of the low-speed impact sampling on granular regolith using projectiles of different shapes. The results demonstrate that the projectile shape significantly influences the excavation stage, forming cavities with different morphologies, i.e., cone-shaped, bowl-shaped and U-shaped. We further indicate that the different velocity distributions of the ejecta curtains due to the various projectile shapes result in various amounts of collected mass in sampler canister, regarding which the 60° conical projectile exhibits preferable performance for impact sampling scheme. The results presented in this article are expected to reveal the dependence of the excavation process on projectile shape under micro gravity and provide further information on the optimal designs of impact sampling devices for future sample-return space missions.

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.

Size Sorting on the Rubble-Pile Asteroid Itokawa

Photographs of the asteroid Itokawa reveal unexpectedly strong size segregation between lowlands populated almost entirely by small pebbles and highlands consisting of larger boulders. We propose that this segregation may be caused by a simple and unexplored effect: pebbles accreting onto the asteroid rebound from boulders, but sink into pebbly regions. By number, overwhelmingly more particles on Itokawa are pebbles, and collisions involving these pebbles must unavoidably cause pebbly regions to grow. We carry out experiments and simulations that demonstrate that this mechanism of size sorting based on simple counting of grains produces strong lateral segregation that reliably obeys an analytic formula.

Space Weathering on Airless Bodies

Space weathering refers to alteration that occurs in the space environment with time. Lunar samples, and to some extent meteorites, have provided a benchmark for understanding the processes and products of space weathering. Lunar soils are derived principally from local materials but have accumulated a range of optically active opaque particles (OAOpq) that include nanophase metallic iron on/in rims formed on individual grains (imparting a red slope to visible and near-infrared reflectance) and larger iron particles (which darken across all wavelengths) such as are often found within the interior of recycled grains. Space weathering of other anhydrous silicate bodies, such as Mercury and some asteroids, produce different forms and relative abundance of OAOpq particles depending on the particular environment. If the development of OAOpq particles is minimized (such as at Vesta), contamination by exogenic material and regolith mixing become the dominant space weathering processes. Volatile-rich bodies and those composed of abundant hydrous minerals (dwarf planet Ceres, many dark asteroids, outer solar system satellites) are affected by space weathering processes differently than the silicate bodies of the inner solar system. However, the space weathering products of these bodies are currently poorly understood and the physics and chemistry of space weathering processes in different environments are areas of active research.

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.

Thermal fatigue as the origin of regolith on small asteroids

Space missions and thermal infrared observations have shown that small asteroids (kilometre-sized or smaller) are covered by a layer of centimetre-sized or smaller particles, which constitute the regolith. Regolith generation has traditionally been attributed to the fall back of impact ejecta and by the break-up of boulders by micrometeoroid impact. Laboratory experiments and impact models, however, show that crater ejecta velocities are typically greater than several tens of centimetres per second, which corresponds to the gravitational escape velocity of kilometre-sized asteroids. Therefore, impact debris cannot be the main source of regolith on small asteroids. Here we report that thermal fatigue, a mechanism of rock weathering and fragmentation with no subsequent ejection, is the dominant process governing regolith generation on small asteroids. We find that thermal fragmentation induced by the diurnal temperature variations breaks up rocks larger than a few centimetres more quickly than do micrometeoroid impacts. Because thermal fragmentation is independent of asteroid size, this process can also contribute to regolith production on larger asteroids. Production of fresh regolith originating in thermal fatigue fragmentation may be an important process for the rejuvenation of the surfaces of near-Earth asteroids, and may explain the observed lack of low-perihelion, carbonaceous, near-Earth asteroids.

Space environment of an asteroid preserved on micrograins returned by the Hayabusa spacecraft

Records of micrometeorite collisions at down to submicron scales were discovered on dust grains recovered from near-Earth asteroid 25143 (Itokawa). Because the grains were sampled from very near the surface of the asteroid, by the Hayabusa spacecraft, their surfaces reflect the low-gravity space environment influencing the physical nature of the asteroid exterior. The space environment was examined by description of grain surfaces and asteroidal scenes were reconstructed. Chemical and O isotope compositions of five lithic grains, with diameters near 50 μm, indicate that the uppermost layer of the rubble-pile-textured Itokawa is largely composed of equilibrated LL-ordinary-chondrite-like material with superimposed effects of collisions. The surfaces of the grains are dominated by fractures, and the fracture planes contain not only sub-μm-sized craters but also a large number of sub-μm- to several-μm-sized adhered particles, some of the latter composed of glass. The size distribution and chemical compositions of the adhered particles, together with the occurrences of the sub-μm-sized craters, suggest formation by hypervelocity collisions of micrometeorites at down to nm scales, a process expected in the physically hostile environment at an asteroid's surface. We describe impact-related phenomena, ranging in scale from 10(-9) to 10(4) meters, demonstrating the central role played by impact processes in the long-term evolution of planetary bodies. Impact appears to be an important process shaping the exteriors of not only large planetary bodies, such as the moon, but also low-gravity bodies such as asteroids.

Itokawa dust particles: a direct link between S-type asteroids and ordinary chondrites

The Hayabusa spacecraft successfully recovered dust particles from the surface of near-Earth asteroid 25143 Itokawa. Synchrotron-radiation x-ray diffraction and transmission and scanning electron microscope analyses indicate that the mineralogy and mineral chemistry of the Itokawa dust particles are identical to those of thermally metamorphosed LL chondrites, consistent with spectroscopic observations made from Earth and by the Hayabusa spacecraft. Our results directly demonstrate that ordinary chondrites, the most abundant meteorites found on Earth, come from S-type asteroids. Mineral chemistry indicates that the majority of regolith surface particles suffered long-term thermal annealing and subsequent impact shock, suggesting that Itokawa is an asteroid made of reassembled pieces of the interior portions of a once larger asteroid.

Irradiation history of Itokawa regolith material deduced from noble gases in the Hayabusa samples

Noble gas isotopes were measured in three rocky grains from asteroid Itokawa to elucidate a history of irradiation from cosmic rays and solar wind on its surface. Large amounts of solar helium (He), neon (Ne), and argon (Ar) trapped in various depths in the grains were observed, which can be explained by multiple implantations of solar wind particles into the grains, combined with preferential He loss caused by frictional wear of space-weathered rims on the grains. Short residence time of less than 8 million years was implied for the grains by an estimate on cosmic-ray-produced (21)Ne. Our results suggest that Itokawa is continuously losing its surface materials into space at a rate of tens of centimeters per million years. The lifetime of Itokawa should be much shorter than the age of our solar system.

Supernovae, neutrinos and the chirality of amino acids

A mechanism for creating an enantioenrichment in the amino acids, the building blocks of the proteins, that involves global selection of one handedness by interactions between the amino acids and neutrinos from core-collapse supernovae is defined. The chiral selection involves the dependence of the interaction cross sections on the orientations of the spins of the neutrinos and the (14)N nuclei in the amino acids, or in precursor molecules, which in turn couple to the molecular chirality. It also requires an asymmetric distribution of neutrinos emitted from the supernova. The subsequent chemical evolution and galactic mixing would ultimately populate the Galaxy with the selected species. The resulting amino acids could either be the source thereof on Earth, or could have triggered the chirality that was ultimately achieved for Earth's proteinaceous amino acids.

Laboratory technology and cosmochemistry

Recent developments in analytical instrumentation have led to revolutionary discoveries in cosmochemistry. Instrumental advances have been made along two lines: (i) increase in spatial resolution and sensitivity of detection, allowing for the study of increasingly smaller samples, and (ii) increase in the precision of isotopic analysis that allows more precise dating, the study of isotopic heterogeneity in the Solar System, and other studies. A variety of instrumental techniques are discussed, and important examples of discoveries are listed. Instrumental techniques and instruments include the ion microprobe, laser ablation gas MS, Auger EM, resonance ionization MS, accelerator MS, transmission EM, focused ion-beam microscopy, atom probe tomography, X-ray absorption near-edge structure/electron loss near-edge spectroscopy, Raman microprobe, NMR spectroscopy, and inductively coupled plasma MS.

Supernovae and the chirality of the amino acids

A mechanism for creating amino acid enantiomerism that always selects the same large-scale chirality is identified, and subsequent chemical replication and galactic mixing that would populate the Galaxy with the predominant species is described. This involves (1) the spin of the 14N in the amino acids, or in precursor molecules from which amino acids might be formed, that couples to the chirality of the molecules; (2) the neutrinos emitted from the supernova, together with the magnetic field from the nascent neutron star or black hole formed from the supernova, which selectively destroy one orientation of the 14N and thus select the chirality associated with the other 14N orientation; (3) chemical evolution, by which the molecules replicate and evolve to more complex forms of a single chirality on a relatively short timescale; and (4) galactic mixing on a longer timescale that mixes the selected molecules throughout the Galaxy.

Regolith Migration and Sorting on Asteroid Itokawa

High-resolution images of the surface of asteroid Itokawa from the Hayabusa mission reveal it to be covered with unconsolidated millimeter-sized and larger gravels. Locations and morphologic characteristics of this gravel indicate that Itokawa has experienced considerable vibrations, which have triggered global-scale granular processes in its dry, vacuum, microgravity environment. These processes likely include granular convection, landslide-like granular migrations, and particle sorting, resulting in the segregation of the fine gravels into areas of potential lows. Granular processes become major resurfacing processes because of Itokawa's small size, implying that they can occur on other small asteroids should those have regolith.

The rubble-pile asteroid Itokawa as observed by Hayabusa

During the interval from September through early December 2005, the Hayabusa spacecraft was in close proximity to near-Earth asteroid 25143 Itokawa, and a variety of data were taken on its shape, mass, and surface topography as well as its mineralogic and elemental abundances. The asteroid's orthogonal axes are 535, 294, and 209 meters, the mass is 3.51 x 10(10) kilograms, and the estimated bulk density is 1.9 +/- 0.13 grams per cubic centimeter. The correspondence between the smooth areas on the surface (Muses Sea and Sagamihara) and the gravitationally low regions suggests mass movement and an effective resurfacing process by impact jolting. Itokawa is considered to be a rubble-pile body because of its low bulk density, high porosity, boulder-rich appearance, and shape. The existence of very large boulders and pillars suggests an early collisional breakup of a preexisting parent asteroid followed by a re-agglomeration into a rubble-pile object.

Adventures in Near-Earth Object Exploration

Asteroids, because of the hazard they pose to Earth, are compelling targets for robotic and human space exploration. Yet because of their exotic low-gravity environment, simply landing on an asteroid appears to be much more challenging than we had appreciated 5 or 10 years ago. Thanks to a bold new mission from Japan that has made the first asteroid sample return attempt, this goal is now within our reach.

Near-Infrared Spectral Results of Asteroid Itokawa from the Hayabusa Spacecraft

The near-infrared spectrometer on board the Japanese Hayabusa spacecraft found a variation of more than 10% in albedo and absorption band depth in the surface reflectance of asteroid 25143 Itokawa. Spectral shape over the 1-micrometer absorption band indicates that the surface of this body has an olivine-rich mineral assemblage potentially similar to that of LL5 or LL6 chondrites. Diversity in the physical condition of Itokawa's surface appears to be larger than for other S-type asteroids previously explored by spacecraft, such as 433 Eros.