Origins, Spectral Interpretation, Resource Identification, And Security–Regolith Explorer Research Articles

Comparison of optical spectra between asteroids Ryugu and Bennu: I. Cross calibration between Hayabusa2/ONC-T and OSIRIS-REx/MapCam

Asteroids (162173) Ryugu and (101955) Bennu observed by Hayabusa2 and Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer (OSIRIS-REx) share many global properties, but high-spatial-resolution spectral observations by the telescopic Optical Navigation Camera (ONC-T) and MapCam detected subtle but significant differences (e.g., opposite space weathering trends), which may reflect differences in their origin and evolution. Comparing these differences on the same absolute scale is necessary for understanding their causes and obtaining implications for C-complex asteroids. However, ONC-T and MapCam have a large imager-to-imager systematic error of up to 15% caused by the difference in radiometric calibration targets. To resolve this problem, we cross calibrated albedo and color data between the two instruments using the Moon as the common calibration standard. The images of the Moon taken by ONC-T and MapCam were compared with those simulated using photometry models developed from lunar orbiter data. Our results show that the cross-calibrated reflectance of Ryugu and Bennu can be obtained by upscaling the pre-cross-calibrated reflectance of Bennu by 13.3 ± 1.6% at b band, 13.2 ± 1.5% at v band, 13.6 ± 1.7% at w band, and 14.8 ± 1.8% at x band, while those for Ryugu are kept the same. These factors compensate for the imager-to-imager bias caused by differences in targets used for radiometric calibration and solar irradiance models used for data reduction. Need for such large upscaling underscore the importance of using the cross-calibrated data for accurately comparing the Ryugu and Bennu data. The uncertainty in these factors show that the reflectance of Ryugu and Bennu can be compared with <2% accuracy after applying our results. By applying our cross calibration, the geometric albedo of Bennu became consistent with those observed by ground-based telescopes and the OSIRIS-REx Visible and InfraRed Spectrometer (OVIRS). Our result can be simply applied by multiplying a constant to the publicly available data and enables accurate comparison of the optical spectra of Ryugu and Bennu in future studies.

Rocks with Extremely Low Thermal Inertia at the OSIRIS-REx Sample Site on Asteroid Bennu

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission recently returned a sample of rocks and dust collected from asteroid Bennu. We analyzed the highest-resolution thermal data obtained by the OSIRIS-REx Thermal Emission Spectrometer (OTES) to gain insight into the thermal and physical properties of the sampling site, including rocks that may have been sampled, and the immediately surrounding Hokioi Crater. After correcting the pointing of the OTES data sets, we find that OTES fortuitously observed two dark rocks moments before they were contacted by the spacecraft. We derived thermal inertias of 100–150 (±50) J m−2 K−1 s−1/2 for these two rocks—exceptionally low even compared with other previously analyzed dark rocks on Bennu (180–250 J m−2 K−1 s−1/2). Our simulations indicate that monolayer coatings of sand- to pebble-sized particles, as observed on one of these rocks, could significantly reduce the apparent thermal inertia and largely mask the properties of the substrate. However, the other low-thermal-inertia rock that was contacted is not obviously covered in particles. Moreover, this rock appears to have been partially crushed, and thus potentially sampled, by the spacecraft. We conclude that this rock may be highly fractured and that it should be sought in the returned sample to better understand its origin in Bennu’s parent body and the relationship between its thermal and physical properties.

Characterization and implications of a mass movement site in Bennu’s Bralgah Crater

Rubble-pile asteroids such as Bennu and Ryugu have boulder-covered surfaces and latitude-dependent slope distributions, signifying that mass movement of boulders could contribute significantly to the surface evolution of these small bodies. The OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer) mission documented numerous locations on Bennu exhibiting evidence of such mass movements, including one contained within Bralgah Crater. This area was considered (though not used) by the mission as a candidate site for sample collection; thus, high-resolution images collected during reconnaissance of this area enabled us to resolve a smaller minimum boulder size than would be possible elsewhere. Through boulder mapping and topographic analysis, we found evidence of a pileup behind a large central boulder, a flow “wake” downhill with a relative lack of medium-sized boulders, as well as a strong orientational preference of the boulders in this area, with the long axes of the boulders pointing westward of the expected direction of motion. We performed dynamical simulations of seismic shaking using the discrete-element N-body code PKDGRAV to better constrain the conditions that may have formed the landscape. In these simulations, we were able to replicate the pileup of material uphill from the central boulder and the wake downhill from it. Comparisons with previous simulations of seismic shaking–induced mass movements show that material transport is not directly related to the shaking intensity, but instead can be maximized by dominant shaking frequencies. Simulations also showed a preferential orientation emerging, with a strong possibility for preferential orientation parallel to direction of motion. Combined with the orientational preference observed in this and other studies of Bennu's landscape, this indicates that the Coriolis effect could be a major factor in the surface evolution of Bennu and other small bodies. Finally, we estimated the impactor sizes that would instigate our simulated shaking parameters, showing that Bennu could have encountered such impactors within its near-Earth lifetime.

Investigating the impact of x‐ray computed tomography imaging on soluble organic matter in the Murchison meteorite: Implications for Bennu sample analyses

AbstractX‐ray computed tomography (XCT) is a valuable reconnaissance tool for three‐dimensional imaging and identification of distinct lithologies in extraterrestrial samples. It will be used as part of the preliminary examination of samples returned from asteroid (101955) Bennu by the Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS‐REx) mission. However, it must first be established whether x‐rays generated during XCT could degrade or alter the organic composition of the returned samples by radiolysis. To test this, we split a crushed sample of the Murchison CM2 meteorite, kept one portion as a control, and irradiated the other portion up to the maximum x‐ray dosage (~180 Gy) that a Bennu sample would experience during an XCT imaging experiment. We then extracted organic compounds from both splits and conducted (i) nontargeted soluble organic analyses to compare the chemical distributions of C‐, H‐, O‐, N‐, and S‐bearing species and (ii) targeted measurements to quantify the abundances of 96 individual soluble organic molecules that included protein amino acids, amines, carboxylic acids, hydroxy acids, carbonyl compounds, polycyclic aromatic hydrocarbons, alcohols, sugars, and N‐heterocycles. We found that XCT imaging of the Murchison meteorite had no measurable impact on the relative abundances or enantiomeric compositions of most of the soluble organic compounds targeted in this study. Elevated total abundances of several soluble organic compound classes were observed in the XCT‐scanned Murchison sample relative to the control. This is likely related to particle size heterogeneity and specific surface area differences between the sample aliquots used for the extractions, rather than a result of the x‐ray exposure. Assuming the samples returned from asteroid Bennu by OSIRIS‐REx have a similar composition to carbonaceous chondrites, these data provide confidence that XCT will not significantly alter their soluble organic compositions.

The nature of insoluble organic matter in Sutter's Mill and Murchison carbonaceous chondrites: Testing the effect of x‐ray computed tomography and exploring parent body organic molecular evolution

AbstractThis study analyzed samples of the Murchison and Sutter's Mill carbonaceous chondrite meteorites in support of the future analysis of samples returned from the asteroid (10155) Bennu by the OSIRIS‐REx (Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer) mission. Focusing specifically on the insoluble organic matter (IOM), this study establishes that a total of 1.3 g of bulk sample from a single chondritic meteorite are sufficient to obtain a wide range of cosmochemical information, including light element analysis (H, C, and N), isotopic analysis (D/H, 13C/12C, and 15N/14N), and x‐ray fluorescence spectroscopy for major elemental abundances. IOM isolated from the bulk meteorite samples was analyzed by light element and isotopic analysis as described above, 1H and 13C solid‐state nuclear magnetic resonance spectroscopy, Raman spectroscopy, and complete noble gas analyses (abundances and isotopes). The samples studied included a pair from Murchison (CM2), one of which had been irradiated with high‐energy x‐rays in the course of computed tomographic imaging. No differences between the irradiated and non‐irradiated Murchison samples were observed in the many different chemical and spectroscopic analyses, indicating that any x‐ray–derived sample damage is below levels of detection. Elemental, isotopic, and molecular spectroscopic data derived from IOM isolated from the Sutter's Mill sample reveals evidence that this meteorite falls into the class of heated CM chondrites.

OSIRIS-APEX: An OSIRIS-REx Extended Mission to Asteroid Apophis

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft mission characterized and collected a sample from asteroid (101955) Bennu. After the OSIRIS-REx Sample Return Capsule released to Earth’s surface in 2023 September, the spacecraft diverted into a new orbit that encounters asteroid (99942) Apophis in 2029, enabling a second mission with the same unique capabilities: OSIRIS–Apophis Explorer (APEX). On 2029 April 13, the 340 m diameter Apophis will draw within ∼32,000 km of Earth’s surface, less than 1/10 the lunar distance. Apophis will be the largest object to approach Earth this closely in recorded history. This rare planetary encounter will alter Apophis’s orbit, will subject it to tidal forces that change its spin state, and may seismically disturb its surface. APEX will distantly observe Apophis during the Earth encounter and capture its evolution in real time, revealing the consequences of an asteroid undergoing tidal disturbance by a major planet. Beginning in 2029 July, the spacecraft’s instrument suite will begin providing high-resolution data of this “stony” asteroid—advancing knowledge of these objects and their connection to meteorites. Near the mission’s end, APEX will use its thrusters to excavate regolith, a technique demonstrated at Bennu. Observations before, during, and after excavation will provide insight into the subsurface and material properties of stony asteroids. Furthermore, Apophis’s material and structure have critical implications for planetary defense.

Phyllosilicate decomposition on Bennu due to prolonged surface exposure

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission to carbonaceous asteroid (101955) Bennu performed detailed mapping with a suite of instruments to characterize the composition and geology of its surface. Here we use data from the OSIRIS-REx Thermal Emission Spectrometer (OTES) instrument to investigate the relationship of OTES-derived spectral indices to other derived data products from OTES, the OSIRIS-REx Camera Suite (OCAMS), and the OSIRIS-REx Visible and InfraRed Spectrometer (OVIRS) at global and local scales. We quantitatively confirm that high values of the OTES silicate stretching slope (from ∼10 to ∼12 μm) in midday spectra that are indicative of thin and/or patchy dust cover are strongly associated with low thermal inertia (high porosity), low albedo boulders on Bennu. These high porosity boulders have brecciated textures with embedded clasts that likely originated on Bennu's parent body or during its disruption. The high porosity of these boulders is a key factor in the local production of the dust or its entrapment, as some large, brecciated boulders with a lower porosity have little evidence of dust. A second OTES spectral parameter, the silicate bending band depth near 22.7 μm applied to early evening spectra, is not correlated to thermal inertia, but is weakly to strongly correlated to albedo, OVIRS-derived 1.05 μm and 2.74 μm band depths, OVIRS-derived hydrogen abundance, and modeled nanophase troilite abundance. In several regions on Bennu there is a strong spatial relationship between these parameters, whereby areas with shallower silicate bending bands also have shallower 1.05 μm and 2.74 μm bands and lower albedo with higher nanophase troilite abundances. These correlations, combined with analysis of the silicate bending band in laboratory experiments of space weathered and mildly heated carbonaceous chondrites, suggests that decreased silicate bending band depths signify decomposition of phyllosilicates, likely Fe-bearing, due to space weathering or mild heating (<600 °C) via solar radiation during Bennu's time in near-Earth space. There is a strong association of larger silicate bending band depths in areas dominated by small rocks and unresolved material and in areas with small (≤ 25 m) craters identified as the spectrally reddest on Bennu, suggesting that this material has been more recently exposed due to impact and/or mass wasting processes. The shallowest silicate bending depths are associated with larger rocks and boulders that appear to have the longest surface exposure history, although there is band depth variation among them suggesting either initial composition variation that resulted in different responses to space weathering or heating, or varied exposure history of individual boulders themselves. We predict that any grains returned from Bennu with a significant surface exposure history will be characterized by shallower 22.7 μm, 1.05 μm and 2.7 μm band depths and increased sulfide (troilite) abundance, as well as textural and chemical evidence for phyllosilicate dehydration.

A Review of Infrasound and Seismic Observations of Sample Return Capsules since the End of the Apollo Era in Anticipation of the OSIRIS-REx Arrival

Advancements in space exploration and sample return technology present a unique opportunity to leverage sample return capsules (SRCs) towards studying atmospheric entry of meteoroids and asteroids. Specifically engineered for the secure transport of valuable extraterrestrial samples from interplanetary space to Earth, SRCs offer unexpected benefits that reach beyond their intended purpose. As SRCs enter the Earth’s atmosphere at hypervelocity, they are analogous to naturally occurring meteoroids and thus, for all intents and purposes, can be considered artificial meteors. Furthermore, SRCs are capable of generating shockwaves upon reaching the lower transitional flow regime, and thus can be detected by strategically positioned geophysical instrumentation. NASA’s OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer) SRC is one of only a handful of artificial objects to re-enter the Earth’s atmosphere from interplanetary space since the end of the Apollo era and it will provide an unprecedented observational opportunity. This review summarizes past infrasound and seismic observational studies of SRC re-entries since the end of the Apollo era and presents their utility towards the better characterization of meteoroid flight through the atmosphere.

Stereophotoclinometry for OSIRIS-REx Spacecraft Navigation

We summarize a decade of effort by the Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission team to build up the unique capabilities, processes, and procedures required to accomplish the unprecedented navigation performance required during proximity operations at asteroid (101955) Bennu. Stereophotoclinometry was a key technology used for digital terrain model (DTM) generation and landmark navigation, enabling estimation of spacecraft trajectories and Bennu’s geophysical parameters. We outline the concept of operations for OSIRIS-REx landmark navigation and the wide array of testing and verification efforts leading up to OSIRIS-REx’s arrival at Bennu. We relate the outcome of these efforts to the experiences during proximity operations. We discuss navigation and DTM performance during operations, including detailed lessons learned to carry forward for future missions.

Post-flight Evaluation of Lidar-based Digital Terrain Models for OSIRIS-REx Navigation at Bennu

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft spent more than 2 yr characterizing near-Earth asteroid (101955) Bennu. The OSIRIS-REx Laser Altimeter (OLA) was responsible for producing the most accurate reconstruction of the asteroid’s surface—down to a global resolution of around 5 cm with a data precision of ±1.25 cm. However, the best-quality global OLA digital terrain model (DTM), version 21 (v21), was not available for navigation during proximity operations, nor was the utility of this model evaluated for processing images and altimeter data for navigation. The focus of this paper is the post-flight assessment of the final OLA v21 DTM, its performance for navigation-related analysis, and estimates of corrections needed for the DTM and measurement models. We created 15 cm resolution maplets for processing optical navigation (OpNav) data, and 5 cm resolution DTMs for processing altimeter data, to estimate a combined spacecraft trajectory over five phases of the mission. Our estimated corrections to the OLA instrument model produce altimeter data residuals with a precision of 7.12 cm (1σ; one standard deviation from the mean). The OpNav maplets produce image residuals at 0.2 px (1σ) and estimated landmark locations accurate to ±6 cm, outperforming DTM navigation-related performance requirements. Finally, our estimate of the global DTM scale is more precise and within 1.1σ of previously reported values. We find that a slight discrepancy persists between the image and altimeter data, with image data suggesting that the DTM is too small by 0.049%, but nevertheless is exceptional for navigation.

Simulating impact-induced shaking as a triggering mechanism for mass movements on Bennu

Observations of near-Earth asteroid Bennu have revealed a dynamic surface composed of unconsolidated material. The OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer) mission found numerous locations exhibiting evidence of mass movements of surface material. Mass movements can be a major factor in the surface evolution of a small near-Earth asteroid, and the Small Carry-on Impactor (SCI) experiment on asteroid Ryugu has shown that seismic shaking can trigger it. We selected one mass movement site on Bennu to conduct a detailed survey of the surface boulder arrangement and geomorphology. Using these data, we created dynamical simulations of mass movement events at this site initiated by seismic shaking, and we found a mass flux comparable to estimates from the site survey. The frequency ranges of the shakings are similar to what would be produced by a 0.5-m-diameter impactor, for which the expected crater size is of a scale widely seen on Bennu (32 m). In addition, the simulation exhibited the Brazil nut effect, where finer particles percolate towards greater depth, in this case up to 1.5 m. Our results demonstrate that impact-induced seismic shaking is a viable mechanism for the initiation of mass movements, and a plausible explanation for the scarcity of fine regolith, on Bennu's surface.

Building a High-resolution Digital Terrain Model of Bennu from Laser Altimetry Data

The Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer (OSIRIS-REx) spacecraft orbited the near-Earth asteroid (101955) Bennu to characterize the asteroid prior to sampling. One important aspect of this characterization was the creation of a high-resolution (5–7 cm) global shape model using the OSIRIS-REx Laser Altimeter (OLA). We describe the data collected by OLA, along with the approach used to register overlapping topography using keypoints and keypoint descriptors in order to produce a globally self-consistent set of data. These globally registered sets of topographic scans were used to generate digital terrain models at both global and regional scales. We also describe efforts to correct for a change in behavior of the scanning mirror after the launch and highlight the improvements to the data after implementing an updated calibration of the mirror. The resulting model represents the highest-fidelity global OLA data set.

High‐Resolution Thermophysical Analysis of the OSIRIS‐REx Sample Site and Three Other Regions of Interest on Bennu

AbstractThe OSIRIS‐REx (Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer) spacecraft sampled asteroid (101955) Bennu on 20 October 2020 and will return the collected regolith to Earth in 2023. Before sample collection, spectral observations of four regions of interest on Bennu's surface were acquired at high spatial resolution (2–9 m per spectrometer spot) to identify the most suitable site for sampling and provide contextual information for the returned sample. In this study, we investigate thermal‐infrared (6–50 μm) observations of these four regions, including the site that OSIRIS‐REx ultimately sampled, using the Advanced Thermophysical Model with input digital terrain models derived from laser altimetry. From model‐to‐measurement comparisons, we find that the observed brightness temperatures depend strongly on small‐scale topography, local variations in thermal inertia, and the observation phase angle. Thermal inertia mapping reveals spatial variations that distinguish the different boulder types found on Bennu. A boulder bearing carbonate veins has higher thermal inertia than average, suggesting that cementation processes reduced its porosity. The thermal inertia of the site sampled is 190 ± 30 J m−2 K−1 s−1/2, which is consistent with observations of a fine‐grained regolith mixed with porous rocks. Thermophysical modeling of the site sampled predicts that the maximum temperatures experienced by the collected sample while on Bennu were 357 ± 3 and 261 ± 3 K for the surface and 50 cm depth, respectively. We predict that OSIRIS‐REx will return a sample with thermophysical properties unique from those of meteorites.

Alignment of fractures on Bennu’s boulders indicative of rapid asteroid surface evolution

On asteroids, fractures develop due to stresses driven by diurnal temperature variations at spatial scales ranging from sub-millimetres to metres. However, the timescales of such rock fracturing by thermal fatigue are poorly constrained by observations. Here we analyse images of the asteroid (101955) Bennu obtained by the Origins, Spectral Interpretation, Resource Identification and Security-Regolith Explorer (OSIRIS-REx) mission and show that metre-scale fractures on the boulders exposed at the surface have a preferential meridional orientation, consistent with cracking induced by diurnal temperature variations. Using an analytical model of fracture propagation, we suggest that fractures the length of those on Bennu’s boulders can be produced in 104–105 years. This is a comparable or shorter timescale than mass movement processes that act to expose fresh surfaces and reorient boulders and any preferential direction signature. We propose that boulder surface fracturing happens rapidly compared with the lifetime in near-Earth space of Bennu and other carbonaceous asteroids. The damage due to this space-weathering process has consequences for the material properties of these asteroids, with implications for the preservation of the primordial signature acquired during the accretional phases in the protoplanetary disk of our solar system. Fractures on the asteroid Bennu imaged by the OSIRIS-REx spacecraft are consistent with cracking induced by diurnal temperature variations over geologically rapid timescales.

Autonomous Navigation Performance Using Natural Feature Tracking during the OSIRIS-REx Touch-and-Go Sample Collection Event

When the Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft collected a sample of surface material from asteroid Bennu in 2020 October, it was the first time that an autonomous optical navigation system relying on natural terrain features had been used to guide a spacecraft to a planetary surface. This system, called Natural Feature Tracking (NFT), works by rendering features from digital terrain models and then correlating them with the terrain in real-time navigation images to estimate the spacecraft's position and velocity with respect to the asteroid. Here we describe how the OSIRIS-REx mission built the catalog of features for NFT and how those features performed during rehearsals for and execution of the Touch-and-Go (TAG) sample collection event. Feature performance (quality and accuracy of match) in the rendering and correlation process is the basis of the NFT measurement. All features scored well above the minimum correlation threshold thanks to the effort invested in selecting and modeling them. Residuals across the TAG trajectory were small, indicating that features in the catalog were defined consistently relative to each other. NFT delivered the spacecraft to within 1 m of the targeted location, with a difference of only 3.5 cm and 1.4 s from the predicted location and time of touch. This exceptional performance was crucial for spacecraft safety given Bennu's rough and hazardous terrain.

Quality Assessment of Stereophotoclinometry as a Shape Modeling Method Using a Synthetic Asteroid

The stereophotoclinometry (SPC) software suite has been used to generate global digital terrain models (DTMs) of many asteroids and moons, and was the primary tool used by the Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer (OSIRIS-REx) mission to model the shape of asteroid Bennu. We describe the dedicated preflight testing of SPC for the OSIRIS-REx mission using a synthetic “truth” asteroid model. SPC has metrics that determine the internal consistency of a DTM, but it was not known how these metrics are related to the absolute accuracy of a DTM, which was important for the operational needs of the mission. The absolute accuracy of an SPC-generated DTM cannot be determined without knowing the truth topography. Consequently, we developed a realistic, but synthetic, computer-generated representation of asteroid Bennu, photographed this synthetic truth model in an imaging campaign similar to that planned for the OSIRIS-REx mission, and then generated a global SPC DTM from these images. We compared the SPC DTM, which was represented by a radius every 70 cm across the asteroid surface, to the synthetic truth model to assess the absolute accuracy. We found that the internal consistency can be used to determine the 3D root-mean-square accuracy of the model to within a factor of two of the absolute accuracy.

Ground Testing of Digital Terrain Models to Prepare for OSIRIS-REx Autonomous Vision Navigation Using Natural Feature Tracking

The OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer) spacecraft collected a sample from the asteroid Bennu in 2020. This achievement leveraged an autonomous optical navigation approach called Natural Feature Tracking (NFT). NFT provided spacecraft state updates by correlating asteroid surface features rendered from previously acquired terrain data with images taken by the onboard navigation camera. The success of NFT was the culmination of years of preparation and collaboration to ensure that feature data would meet navigation requirements. This paper presents the findings from ground testing performed prior to the spacecraft's arrival at Bennu, in which synthetic data were used to develop and validate the technical approach for building NFT features. Correlation sensitivity testing using synthetic models of Bennu enabled the team to characterize the terrain properties that worked well for feature correlation, the challenges posed by smoother terrain, and the impact of imaging conditions on correlation performance. The team found that models constructed from image data by means of stereophotoclinometry (SPC) worked better than those constructed from laser altimetry data, except when test image pixel sizes were more than a factor of 2 smaller than those of the images used for SPC, and when topography was underrepresented and resulted in incorrect shadows in rendered features. Degradation of laser altimetry data related to noise and spatial sampling also led to poor correlation performance. Albedo variation was found to be a key contributor to correlation performance; topographic data alone were insufficient for NFT.

The Use of Digital Terrain Models for Natural Feature Tracking at Asteroid Bennu

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission rendezvoused with asteroid (101955) Bennu in 2018 with the primary objective of collecting a sample of regolith from the surface. As the first NASA asteroid sample return mission, OSIRIS-REx deployed several new technologies to achieve program objectives. Here we present an overview of Natural Feature Tracking (NFT), a system developed to autonomously guide the spacecraft to the desired sampling site using optical navigation and the natural terrain on the surface of Bennu. NFT utilized a series of image-based digital terrain models (DTMs) constructed by means of stereophotoclinometry to represent patches on the surface of the asteroid. These DTMs were used to generate synthetic renderings of the terrain and identify features for use in navigating to the sampling location. In addition, high-resolution models of the sampling site constructed from scanning lidar data were used for predicting the time and location of contact with the surface. These models went through a series of validation tests to ensure the performance of the NFT system. When the spacecraft executed the sampling trajectory in 2020 October, NFT enabled real-time guidance updates that delivered it safely to the desired sampling location while also providing critical hazard avoidance capabilities in the rocky Bennu environment.

The morphometry of small impact craters on Bennu: Relationships to geologic units, boulders, and impact armoring

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission revealed that the asteroid Bennu has ~1500 impact craters (Bierhaus et al., 2022). Here we use data from the OSIRIS-REx laser altimeter (OLA) to measure the depths, d, and diameters, D, of a sample of small (D ≤ 10 m) impact craters that span a broad range of latitudes and longitudes. d/D in this sample ranges from 0.04 to 0.27, with a mean of 0.13 ± 0.04. Compared to larger (D ≥ 10 m) craters on Bennu, those studied here have a greater average d/D. The mean d/D of craters on Bennu's younger, Rugged Unit is statistically larger than the mean d/D of those on the older, Smooth Unit. One of the studied craters contains an interior mound that may indicate the presence of stronger material at depth. A large fraction of craters studied here are located near large boulders whose lengths are >50% the diameter of the crater. Some of these large boulders cross the crater rim crest, protruding into and perched above the crater interior. In the most extreme cases, the boulder length is ~2.5 times the crater diameter. The d/D of craters near large boulders is bimodal, which could be a consequence of how boulders affect crater formation. Laboratory experiments and results from Hayabusa2's Small Carry-On Impactor experiment indicate that preexisting boulders and heterogeneities affect crater formation and d/D. The abundance of small craters on Bennu makes the asteroid a rich resource for understanding impact processes.

The Formation of Terraces on Asteroid (101955) Bennu

AbstractThe surface of the rubble‐pile asteroid (101955) Bennu has been characterized in detail by the OSIRIS‐REx (Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer) mission. By examining global and local digital terrain models, we observed that Bennu possesses terraces, that is, a series of roughly latitude‐parallel, step‐like slope breaks. These partially circumscribe the poles and extend east‐west over several longitudinal quadrants at mid‐ to high (≥30°) latitudes. The terraces are subtle in amplitude, with heights ranging from 1 to 5 m. They often exhibit back‐wasting that results in V‐shaped scarps that open downslope in some locations. When boulders &gt;5–10 m are absent at or near a terrace, the steeper portion (the drop) of the terrace lacks rocks, whereas the flatter portion (the bench) of the terrace has accumulations of rocks at its crest. When boulders &gt;5–10 m are present, their steep downslope faces often make up the drop from the terrace crest, and they retain debris upslope, thereby enhancing the terrace structure. A geotechnical stability analysis indicates that Bennu's surface is likely unstable and that surface cohesion is &lt;0.6 Pa. Bennu's terraces strongly resemble scarps generated in laboratory and numerical simulations of a cohesionless granular bed as the slope of the bed increases quasi‐statically. We conclude that terraces are probably actively forming on Bennu as its surface slowly fails owing to creep induced by spin acceleration.