The OSIRIS-REx mission collected a sample from the surface of the asteroid (101955) Bennu in October 2020. Here we study the impact of the OSIRIS-REx Touch-and-Go Sampling Acquisition Mechanism (TAGSAM) interacting with the surface of an asteroid in the framework of granular physics. Traditional approaches to estimating the penetration depth of a projectile into a granular medium include force laws and scaling relationships formulated from laboratory experiments in terrestrial-gravity conditions. However, it is unclear that these formulations extend to the OSIRIS-REx scenario of a 1300-kg spacecraft interacting with regolith in a microgravity environment. We studied the TAGSAM interaction with Bennu through numerical simulations using two collisional codes, pkdgrav and GDC-i. We validated their accuracy by reproducing the results of laboratory impact experiments in terrestrial gravity. We then performed TAGSAM penetration simulations varying the following geotechnical properties of the regolith: packing fraction (P), bulk density, inter-particle cohesion (σc), and angle of friction (ɸ). We find that the outcome of a spacecraft-regolith impact has a non-linear dependence on packing fraction. Closely packed regolith (P≳0.6) can effectively resist the penetration of TAGSAM if ɸ≳28° and/or σc≳50 Pa. For loosely packed regolith (P≲0.5), the penetration depth is governed by a drag force that scales with impact velocity to the 4/3 power, consistent with energy conservation. We discuss the importance of low-speed impact studies for predicting and interpreting spacecraft-surface interactions. We show that these low-energy events also provide a framework for interpreting the burial depths of large boulders in asteroidal regolith.

Crater morphology and surface age of asteroid (162173) Ryugu are characterized using the high-resolution images obtained by the Hayabusa2 spacecraft. Our observations reveal that the abundant boulders on and under the surface of the rubble-pile asteroid affect crater morphology. Most of the craters on Ryugu exhibit well-defined circular depressions, unlike those observed on asteroid Itokawa. The craters are typically outlined by boulders remaining on the rim. Large craters (diameter >100 m) host abundant and sometimes unproportionally large boulders on their floors. Small craters (<20 m) are characterized by smooth circular floors distinguishable from the boulder-rich exterior. Such small craters tend to have dark centers of unclear origin. The correlation between crater size and boulder number density suggests that some processes sort the size of boulders in the shallow (<30 m) subsurface. Furthermore, the crater size-frequency distributions (CSFDs) of different regions on Ryugu record multiple geologic events, revealing the diverse geologic history on this 1-km asteroid. Our crater counting analyses indicate that the equatorial ridge is the oldest structure of Ryugu and was formed 23-29 Myr ago. Then, Ryugu was partially resurfaced, possibly by the impact that formed the Urashima crater 5-12 Myr ago. Subsequently, a large-scale resurfacing event formed the western bulge and the fossae 2-9 Myr ago. Following this process, the spin of Ryugu slowed down plausibly due to the YORP effect. The transition of isochrons in a CSFD suggests that Ryugu was decoupled from the main belt and transferred to a near-Earth orbit 0.2-7 Myr ago.

The rotation rate of (101955) Bennu has been observed to increase, providing evidence of the YORP effect in action. Bennu is a rubble pile with little strength. At the current spin-up rate, the rotation would result in large-scale disruption in <1 My. Such an extreme scenario is predicated on the YORP torque continuing to increase the rotation. However, YORP is sensitive to the shape and can change on a short timescale as small episodes of failure can increase oblateness, reduce spin rate, and redistribute rubble on the surface. A more comprehensive model of the shape and spin evolution of Bennu is required to understand its past and future. Here, we calculate the YORP torque on a shape model of Bennu. For a random distribution of rubble, the torques on individual blocks should cancel, and the large-scale structure should control the YORP response. However, we find the calculated torque is strongly dependent on the resolution of the shape model used, suggesting that the smaller material has an influence. As the surface roughness of the model increases, the magnitude of the torque and even its sign may change. Spin rate increases that more closely match measurements are obtained with increasing small-scale roughness. Simulated models that are coarser in resolution, but possess greater roughness than the equivalent lower-resolution shape model from observations, likewise are more consistent with the observed spin-up rate. We find that surface roughness with a non-random orientation controlled by large-scale structure determines the YORP torque. Following [1], we model the evolution of a rubble pile with Bennu’s shape subject to YORP using the granular modeling tool pkdgrav and explore how the torques change as the object is deformed. The YORP torques are calculated on the present shape and applied until particles begin to move. The torques are then recomputed on the new shape, and the iteration continues. We find negligible change in the torque until the rotation period decreases to 3.6 hr from its current 4.3-hr period. At 3.53 hr, the asteroid starts to lose mass from the equator. Our results suggest that the deformation of the asteroid’s shape due to YORP does not strongly alter rotation, and that if the initial shape is known to sufficient accuracy, the future shape and spin can be predicted. [1] Cotto-Figueroa D. et al. (2015) ApJ 803, 25.