February 2016 

NASA/TM–2016-219011 

Asteroid Redirect Mission (ARM) Formulation 

Assessment and Support Team (FAST) Final Report 

Daniel D. Mazanek and David M. Reeves, Langley Research Center, Hampton, Virginia 

Paul A. Abell, Johnson Space Center, Houston, Texas 

Erik Asphaug, Arizona State University, Tempe, Arizona 

Neyda M. Abreu, Penn State DuBois, DuBois, Pennsylvania 

James F. Bell, Arizona State University, Tempe, Arizona 

William F. Bottke, Southwest Research Institute, Boulder, Colorado 

Daniel T. Britt and Humberto Campins, University of Central Florida, Orlando, Florida 

Paul W. Chodas, Jet Propulsion Laboratory, Pasadena, California 

Carolyn M. Ernst, John Hopkins University, Laurel, Maryland 

Marc D. Fries, Johnson Space Center, Houston, Texas 

Leslie S. Gertsch, Missouri University of Science and Technology, Rolla, Missouri 

Daniel P. Glavin, Goddard Space Flight Center, Greenbelt, Maryland 

Christine M. Hartzell, University of Maryland, College Park, Maryland 

Amanda R. Hendrix, Planetary Science Institute, Niwot, Colorado 

Joseph A. Nuth, Goddard Space Flight Center, Greenbelt, Maryland 

Daniel J. Scheeres, University of Colorado, Boulder, Colorado 

Joel C. Sercel, TransAstra Corporation, Lake View Terrace, California 

Driss Takir, United States Geological Survey, Flagstaff, Arizona 

Kris Zacny, Honeybee Robotics, Pasadena, California 
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February 2016 

NASA/TM–2016-219011 

Asteroid Redirect Mission (ARM) Formulation 

Assessment and Support Team (FAST) Final Report

Daniel D. Mazanek and David M. Reeves, Langley Research Center, Hampton, Virginia 

Paul A. Abell, Johnson Space Center, Houston, Texas 

Erik Asphaug, Arizona State University, Tempe, Arizona 

Neyda M. Abreu, Penn State DuBois, DuBois, Pennsylvania 

James F. Bell, Arizona State University, Tempe, Arizona 

William F. Bottke, Southwest Research Institute, Boulder, Colorado 

Daniel T. Britt and Humberto Campins, University of Central Florida, Orlando, Florida 

Paul W. Chodas, Jet Propulsion Laboratory, Pasadena, California 

Carolyn M. Ernst, John Hopkins University, Laurel, Maryland 

Marc D. Fries, Johnson Space Center, Houston, Texas 

Leslie S. Gertsch, Missouri University of Science and Technology, Rolla, Missouri 

Daniel P. Glavin, Goddard Space Flight Center, Greenbelt, Maryland 

Christine M. Hartzell, University of Maryland, College Park, Maryland 

Amanda R. Hendrix, Planetary Science Institute, Niwot, Colorado 

Joseph A. Nuth, Goddard Space Flight Center, Greenbelt, Maryland 

Daniel J. Scheeres, University of Colorado, Boulder, Colorado 

Joel C. Sercel, TransAstra Corporation, Lake View Terrace, California 

Driss Takir, United States Geological Survey, Flagstaff, Arizona 

Kris Zacny, Honeybee Robotics, Pasadena, California 
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National Aeronautics and Space Administration.
Asteroid Redirect Mission (ARM)

Formulation Assessment and Support Team (FAST)

Final Report

February 2016
1

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Contents

Executive Summary.......................................................................................................................................3

FAST Overview ............................................................................................................................................14

Purpose ...................................................................................................................................................14

Asteroid Redirect Mission Background ...................................................................................................14

Study Request..........................................................................................................................................16

Membership............................................................................................................................................16

FAST Responses to ARRM Project Questions..............................................................................................17

Origin of 2008 EV5 ...................................................................................................................................18

Boulder Spatial and Size Distributions ....................................................................................................21

Surface Geotechnical Properties.............................................................................................................30

Boulder Physical Properties.....................................................................................................................36

Post-Collection Boulder Handling ...........................................................................................................45

Pre-ARCM Boulder Assessments for Crew Safety....................................................................................47

Containment Considerations...................................................................................................................48

Potential Investigations ..............................................................................................................................51

Potential Investigation Descriptions.......................................................................................................52

Proposed Investigations Categorization Table........................................................................................59

Summary of Public Inputs...........................................................................................................................64

Additional Findings .....................................................................................................................................72

Closing Remarks..........................................................................................................................................74

Appendices..................................................................................................................................................74

Appendix A1: Full Response on the Origin of 2008 EV5...........................................................................74

Appendix A2: Phase Function Analysis....................................................................................................81

Appendix A3: Asteroid 2008 EV5 – spectral analysis...............................................................................85

Appendix A4: Disk-integrated Photometric Models of the ARM Mission Asteroid Target 2008 EV5 ......89

Appendix B1: Full Response on the Boulder Spatial and Size Distributions ............................................93

Appendix B2: Input from Michael Busch concerning Boulders on 2008 EV5 .........................................109

Appendix C: Full Surface Geotechnical Properties Response ................................................................112

Appendix D: Additional Boulder Physical Property Information ...........................................................123

Acronym List .............................................................................................................................................124
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Executive Summary

The Formulation Assessment and Support Team (FAST) for the Asteroid Redirect Mission (ARM) was 

a two-month effort, chartered by NASA, to provide timely inputs for mission requirement formulation in 

support of the Asteroid Redirect Robotic Mission (ARRM) Requirements Closure Technical Interchange 

Meeting (TIM) held December 15-16, 2015. Additionally, the FAST was tasked with developing an initial 

list of potential mission investigations and providing input on potential hosted payloads and partnerships. 

The FAST explored several aspects of potential science benefits and knowledge gain from the ARM. 

Expertise from the science, engineering, and technology communities was represented in exploring lines 

of inquiry related to key characteristics of the ARRM reference target asteroid (2008 EV5) for engineering 

design purposes. Specific areas of interest included target origin, spatial distribution and size of boulders, 

surface geotechnical properties, boulder physical properties, and considerations for boulder handling, 

crew safety, and containment. In order to increase knowledge gain potential from the mission, 

opportunities for partnerships and accompanying payloads were also investigated. This report and 

associated public comments will be used to support mission requirements formulation and serve as an 

initial inquiry to the science and engineering communities relating to the characteristics of the ARRM 

reference target asteroid. This report also provides a suggested list of potential investigations sorted and 

grouped based on their likely benefit to ARM and potential relevance to NASA science and exploration 

goals. These potential investigations could be conducted to reduce mission risks and increase knowledge 

return in the areas of science, planetary defense, asteroid resources and in-situ resource utilization (ISRU), 

and capability and technology demonstrations. Participation in the FAST by non-civil service personnel 

was limited to providing non-consensus, non-voting input. This report represents the FAST’s final product 

for the ARM.

The ARM consists of two mission segments: 1) the ARRM, which will be the first robotic mission to 

visit a large (greater than ~100 m diameter) near-Earth asteroid (NEA), collect a multi-ton boulder and 

regolith from its surface, use the boulder to perform an enhanced gravity tractor asteroid deflection 

demonstration, and then transport the asteroidal material to a stable orbit around the Moon; and 2) the 

Asteroid Redirect Crewed Mission (ARCM), in which astronauts will explore the boulder and return 

samples to Earth. NASA originally proposed a robotic mission concept to capture an entire small asteroid 

(4-10 m in size) that would leverage several key ongoing activities in human exploration, space technology, 

and planetary defense. Subsequently, an alternate approach to collect a boulder from a large asteroid was 

also proposed. NASA evaluated both mission approaches to determine their feasibility, identify the 

important differences between them, and evaluate the key risks and figures of merit for each concept. On 

March 25, 2015, NASA announced the selection of the boulder capture option for the robotic segment of 

ARM. The ARRM is planned to launch at the end of 2020 and the ARCM is planned for late 2025.

To achieve its long-term goal of sending humans to Mars, NASA plans to proceed in a series of 

incrementally more complex human spaceflight missions. Today, human flight experience extends only to 

Low Earth Orbit (LEO); should problems arise during a mission, the crew can return to Earth in a matter of 

minutes to hours. The next logical step for human spaceflight is to gain flight experience in the vicinity of 

the Moon. These cis-lunar missions will provide a “proving ground” for the testing of systems and 

operations while still accommodating an emergency return path to the Earth that would last only several 

days. Cis-lunar mission experience will be essential for more ambitious human missions beyond the EarthMoon neighborhood, which will require weeks, months, or even years of transit time. A principle objective 

of the ARM is to develop a high-power Solar Electric Propulsion (SEP) vehicle, and demonstrate that it can

efficiently move large masses and operate for many years in interplanetary space, which is critical for 
4

deep-space exploration missions. A second prime objective of ARM is to conduct a human spaceflight 

mission involving in-space interaction with a natural object in order to provide the systems and 

operational experience that will be required for eventual human exploration of Mars, including the 

Martian moons Phobos and Deimos. The ARCM provides an opportunity for the early flights of the Orion 

program, which will take place before the infrastructure for more ambitious flights will be available. 

Astronauts will participate in the scientific, in-space investigation of nearly pristine asteroid material, 

which will be at most only minimally altered by the capture process. The ARCM will provide the 

opportunity for human explorers to work in space with asteroid material, testing the activities that would 

be performed and tools that would be needed for later exploration of primitive body surfaces in deep 

space. The operational experience would be gained close to our home planet, making it a significantly 

more affordable approach to obtaining this experience. This report was not intended to provide an indepth description of the ARM or the associated spacecraft, systems, and operations. For further details 

about the ARM, please visit http://www.nasa.gov/asteroidinitiative.

NASA has identified the NEA 2008 EV5 as the reference target for ARRM mission planning. A radarbased shape model shown in Figure 1. Note that the yellow shading in the figure denotes those areas of 

2008 EV5’s surface that were either invisible to or only seen at grazing incidence by radar observations. 

Final target selection will be made approximately a year before launch. 2008 EV5 is a carbonaceous (Ctype) asteroid that has been remotely characterized (radar, visual, and infrared wavelengths) and is 

believed to be hydrated. It provides significant return mass (boulders greater than 20 metric tons) within 

the current baseline of five years between the ARRM and the ARCM. 2008 EV5 provides a valid target that 

can be used to help with formulation and development efforts, and is the main NEA on which the FAST 

focused its attention.

Figure 1: 2008 EV5 shape model from radar observations [Busch et al., 2011].
5

The first section of this report provides an overview of the FAST, including its purpose, an overview of 

ARM, a summary of the study request, and information about the FAST selection process and 

membership. Eighteen participants were selected from exactly 100 applications received from highly

qualified individuals representing academia, industry, NASA, non-profit research institutes, and other 

organizations (see Table 2 in the “FAST Overview” section for a list of the FAST members).

The second section of this report includes responses to a set of high-priority questions that were 

derived from the ARRM engineering team’s risk analysis and needed to help design and develop the ARRM 

mission, spacecraft, and capture system. The responses were formulated to support the ARRM 

Requirements Closure TIM. The questions have been grouped into seven topics and the major findings for 

each question are summarized below. For additional details, please see the “FAST Responses to ARRM 

Project Questions” section and associated appendices and references for each topic.

1. Origin of 2008 EV5

What is the orbital history of 2008 EV5, and has that history affected the properties of the asteroid 

and candidate boulders? (Where has it been in the Solar System and for how long? Has it been 

closer/farther from the Sun than it is now?) Initial dynamical modeling indicates that 2008 EV5 likely

was produced from a much larger body in the asteroid belt (diameter greater than 100 km), probably 

from a catastrophic disruption event that resulted in a highly fractured, shattered, or reaccumulated 

object (rubble pile). Subsequently, 2008 EV5 migrated inward across the inner main belt over many 

millions of years until it reached a planetary gravitational resonance that drove it into the NEA 

population. After escaping the asteroid belt en route to its current orbit, 2008 EV5 spent considerable 

time with perihelion values less than 1 AU. Table 1 shows the probability that the surface of 2008 

EV5 exceeded the corresponding temperature. These temperature estimates are not only a function

of 2008 EV5’s proximity to the Sun but also its physical parameters (e.g., shape, size, albedo, etc.), 

which are modestly uncertain. The interiors of the boulders on 2008 EV5’s surface would have 

experienced lower temperatures. These results lead to high and low probability scenarios. For the 

former case, 2008 EV5’s boulders and subsurface likely did not experience temperatures greater than

500 K and thus common organic and hydrated compounds may be present, but are likely depleted in 

the top ~5 cm of both the surface layers of the boulders and 2008 EV5 itself. Similarly, boulder organics 

may have also been depleted via exposure to ionization radiation (e.g., cosmic rays), whose 

penetration depth is on the order of a meter. For the latter case, boulders residing near or on the 

surface may have been thermally processed. 2008 EV5 has an estimated geometric albedo that is 

higher than many carbonaceous chondrites. If 2008 EV5’s estimated albedo remains above 8%, the 

best match to 2008 EV5’s characteristics is likely a CR carbonaceous chondrite (Renazzo-type 

meteorite). However, CI (Ivuna-type), CM (Mighei-type), and CK (Karoonda-type) carbonaceous 

chondrites are also possible matches given the uncertainty of the albedo estimates and the spectral 

response of the asteroid.
6

Table 1: Results from initial dynamical modeling of 2008 EV5’s migration from its most likely origin to 

its current orbit showing the probability that 2008 EV5's surface exceeded a given temperature and 

the corresponding perihelion for each surface temperature.

2. Boulder Spatial and Size Distributions

What is the expected size-frequency distribution for boulders on 2008 EV5? Although a large 

percentage of 2008 EV5’s surface was observed by radar, only approximately half of the area 

permitted the identification of candidate boulders. Six distinct candidate 10-m-scale boulders have 

been identified in these images, indicating the existence of at least 10 such boulders over the 

asteroid’s entire surface. Based on 2008 EV5’s radar scattering properties and the highest-resolution 

images of asteroid surfaces(Eros and Itokawa) from spacecraft, there are likely millions of 10-cm scale 

cobbles on 2008 EV5. Assuming a power-law distribution of boulders on 2008 EV5 that follows that of 

the Eros global dataset, ~16,000 1-5 m boulders and ~1,300 2-3 m boulders are expected on the 

surface of 2008 EV5. If it is assumed that there is a power-law distribution of boulders on 2008 EV5

that connects the radar 10-m data to the radar 10-cm data, ~3,000 1-5 m boulders and ~360 2-3 m 

boulders would be expected on the surface of 2008 EV5. A 2-3 m boulder likely reflects the largest 

boulder that can be returned from 2008 EV5 if the ARRM is launched at the end of 2020 and the ARCM 

takes place in late 2025. Data from upcoming asteroid missions could provide more data. Hayabusa2 

will arrive at the C-type asteroid Ryugu (formerly 1999 JU3) in June of 2018. NASA’s Origins, Spectral 

Interpretation, Resource Identification, Security-Regolith Explorer (OSIRIS-REx) will arrive at the Btype asteroid Bennu in August of the same year. These will be the first primitive asteroids for which 

high-resolution images will be obtained, and they are roughly similar in size to 2008 EV5. Power-law 

fits can be made to boulder counts for bodies where sufficient data are available and a power-law 

distribution for fragments produced by fracturing could also be considered. It should be noted that 

the mechanical properties of rocks on 2008 EV5 can be expected to be significantly different than 

those on Eros and Itokawa due to differences in material properties (e.g., microporosity, mineralogy, 

etc.).

What is the expected distribution of boulder shapes for boulders on 2008 EV5? Most boulders found 

on Itokawa greater than six meters in diameter are elongated with b/a (width/length) ratios of 

approximately 0.7. The third, vertical dimension of boulders (height) cannot be determined in most 

of the Hayabusa images to provide reliable estimates of c/a ratios (height/length). Several past

laboratory impact experiments have been conducted and show that the fragments produced are 

irregular in shape and not regular 3-axis ellipsoids. An open question is whether the aspect ratio would 

be different for weaker rocks subject to thermal degradation, like those expected on 2008 EV5. This 

question will be addressed by OSIRIS-REx and Hayabusa2.

What is the expected spatial distribution of ~1-5 meter boulders on 2008 EV5? Based on the number 

of observed boulders (six distinct 10-m-scale candidates), the number of cobbles inferred from radar 

roughness, and the assumption that a power-law relationship exists between boulder diameter and 

cumulative size-frequency distribution, the number of boulders of a given size per area can be 

Probability 2% 14% 24% 44% 60% 80% 100%

Surface 

Temperature 1,030 K 730 K 600 K 510 K 460 K 420 K 340 K

Corresponding 

Perihelion 0.1 AU 0.2 AU 0.3 AU 0.4 AU 0.5 AU 0.6 AU 0.9 AU
7

calculated assuming a roughly uniform distribution across the surface. This information alone cannot 

tell us further information about the actual distribution, and it is expected that the boulders would 

preferentially settle in the equatorial or near-equatorial regions.

What is the expected distribution in safe landing areas around ~1-5 m boulders on 2008 EV5? The 

number of boulders of a given size in a 10-m diameter circle can be estimated assuming a uniform 

distribution of boulders across the surface. Multiplying this value by the asteroid’s surface area will 

yield the total number of boulders greater than or equal to a given diameter in a 10-m diameter circle. 

Generally speaking, relatively flat, boulder-populated areas are predicted on 2008 EV5; however the 

nature of these flat areas at the spatial scale of the Asteroid Redirect Vehicle (ARV) contact pads (~1 

m) requires careful consideration. Additionally, other characteristics of safe landing zones need to be 

considered (e.g., crushing stress of the particulate regolith surface).

What is the expected distribution in depth of burial for ~1-5 m boulders on 2008 EV5? Due to the 

nature of spacecraft images of Eros and Itokawa, there is minimal information with regard to the 

burial of boulders on their surfaces. Regolith does migrate on asteroids, either from potential highs 

to lows (e.g., Itokawa) or via crater ejecta (probably less important on smaller objects, as the majority 

of the ejecta is likely to exceed escape velocity). Boulders formed in fragmentation events have an

average aspect ratio a:b:c (length:width:height) of 1:0.7:0.5. Assuming these shapes, burial estimates 

could be made based on three-dimensional images taken by the ARV. If the boulder’s maximum 

dimension parallel to the ground does not coincide with the intersection with the regolith, a 

symmetric shape to the boulder could be assumed and a depth of burial estimated. Three-dimensional 

images of the boulder will be essential for this characterization. Observations of the distribution of 

regolith and surface slopes could help to inform whether regolith has moved into/out of the area and 

may have buried boulders.

3. Surface Geotechnical Properties

What are the expected surface regolith geotechnical properties of the target asteroid? The asteroid 

surface is more likely to be a pebble-rich lag depleted of fines, and as such, the near-surface porosity 

should be higher and the compaction lower than the asteroid’s bulk compaction and porosity, unless 

significant interior void space exists. This is an effect of the low surface acceleration and solar radiation 

pressure, which will tend to strip off fine particles and leave lags of larger, harder to move materials. 

Whatever the porosity and compaction, it is likely that the same processes apply within a given landing

area, so it should be fairly uniform. In turn, this should be applicable to all ARRM targets. The 

exceptions are “low” areas,such as those observed on Eros and Itokawa that were filled with relatively 

fine material. Due to 2008 EV5’s top shape and other dynamical properties, some regions (e.g., 

equator) may have significantly different particle size distributions compared to others (e.g., the 

poles). Coefficient of friction is a function of the magnitude of cohesive forces between regolith and 

the ARV’s Contact and Restraint Subsystem (CRS) contact pads. The main sources of cohesive forces 

are van der Waals and electrostatic forces, but van der Waals forces should dominate. A very rough 

analytical estimate of the expected range of bearing strength of the surface regolith is 185-4,368Pa;

however, numerical models such as Discrete Element Method (DEM) models should be used to 

provide better estimates and sensitivities. 

What is the expected distribution in cohesion between ~1-5 meter boulders and the surface of 2008 

EV5? Cohesion is a function of particle size, as well as, particle shape, compaction history, and other 

material properties. Fines have higher cohesion per unit volume than coarse material. Modeling 

predicts that fine grains will preferentially attach to larger grains, and thus larger grains embedded in 
8

a matrix of fine grains could be held in place by the strength of the matrix itself. Hence the cohesion 

between large boulders and regolith will be driven by cohesion between fine particles and is estimated 

to be 25-250 Pa. A high-resolution camera (mm/pixel or better) would be needed to provide good 

estimates of regolith size distribution. Particle size distribution could be used together with numerical

models (e.g., DEM) to assess regolith cohesion. However, if the models have not been calibrated, the 

regolith strength values could have significant uncertainty. The models can be calibrated through insitu testing of regolith properties by deploying geotechnical instruments. The geotechnical data could 

then be used analytically, or with an aid of numerical models, to estimate cohesion between the 

surface and the boulder.

4. Boulder Physical Properties

What is the expected distribution in densities for ~1-5 meter boulders on 2008 EV5? 2008 EV5

appears to be composed of material similar to CR or CM chondrite meteorites, although CI and CK 

types cannot be ruled out. For these carbonaceous chondrite groups, the bulk densities range from 

1.58-3.94 g/cm3 and porosities are between 35% for CI chondrites and 9.5% for CR chondrites. If the 

composition of the asteroidal targets can be identified, the data on asteroid bulk density for the major 

carbonaceous chondrite groups can be used to derive the upper bound on meteorite bulk density and 

mass. Some combination of remote sensing measurements prior to boulder selection and in-situ 

measurement prior to collection would identify the mineralogy of the boulder:

• Multi-wavelength spectroscopy (e.g., ultra-violet (UV), visible, near-infrared, thermal, etc.)

• Alpha particle X-ray spectrometry (APXS) and/or laser-induced breakdown spectroscopy (LiBS) 

for elemental abundances

• Neutron and gamma-ray spectroscopy for volatiles and elemental abundances

• Mössbauer spectroscopy for Fe mineralogy

• X-Ray diffraction (XRD) for general mineralogy

What is the expected distribution in the coefficient of thermal expansion of ~1-5 meter boulders 

from 2008 EV5? The coefficient of thermal expansion of CM and CR chondrites is not well studied. 

However, some informed estimates based on analogs to terrestrial materials can be made. The 

distribution of the coefficient of thermal expansion is expected to be small. Direct measurements of 

the coefficient of thermal expansion for CM chondrites are currently being conducted and results 

should be available soon. In the meantime, the FAST suggests that a coefficient of thermal expansion

in the range of 5-15 x 10-6/K,similar to that of terrestrial sandstones, dolomites, and concretes, should 

be assumed.

What is the expected distribution in minimum shear, compressive, and tensile strengths for ~1-5 

meter boulders on 2008 EV5? It is difficult to confidently predict boulder strength on 2008 EV5 because 

we have no direct measurements that can be applied without uncertainty in interpretation. Data on 

asteroid material strength comes from laboratory measurements of small meteorites and data from 

bolide entry events, from which we estimate the aerodynamic ram pressure at breakup. Other insights 

come from experience with terrestrial materials and their variation with scale; experience with 

materials from other bodies such as the Moon and Mars; and analytical models. The difficulty with 

meteorite strength data is that it is measured from small samples and its applicability to large boulders 

requires an extrapolation which is uncertain. Similarly, bolide data clearly shows a range of breakup 

altitudes that are dependent upon uncertain material properties and component sizes. However, the 

nature of those components and the body’s reaction to entry are subject to interpretation. A key 
9

question is whether the bolides themselves (asteroid materials at meter-scale) are representative of 

meter-size boulders on asteroids.

Meteorite strength fundamentally depends on composition, texture, and structure. In general, 

meteorites are bi-modal, in their strength with most meteorite types including ordinary chondrites, 

anhydrous carbonaceous chondrites, and most CMs being quite strong with compressive strengths 

greater than 40 MPa. The other major strength grouping includes CI and some petrologic type 2 

carbonaceous chondrites (C2), such as Tagish Lake, which are quite weak with compressive strengths 

less than a few MPa. However, there are notable exceptions to this generalization (i.e., weak ordinary 

chondrites), and the meteorite strength data is sparse on a number of important types (i.e., CMs, CIs 

and CRs that have few or no measurements). Additionally, it is very likely that the meteorite collection 

is biased towards stronger materials since more fragile materials are lost during atmospheric entry. 

Estimation of the overall strength of a boulder could be based on the “weakest link” approach that 

will likely be at least an order of magnitude weaker than data from individual meteorites.

Given these caveats, along with the uncertainty in 2008 EV5’s classification, it is the judgment of the 

ARM FAST members that boulders on 2008 EV5 could exhibit strength characteristics that fall within 

the following ranges:

 shear strength: 0.1-5 MPa

 compressive strength: 0.5-50 MPa

 tensile strength: 0.05-3 MPa

Of these parameters, the one that is most uncertain is tensile strength, and the possibility that tensile 

strength at large scale may be below the range above cannot be ruled out without further 

investigation. It should also be noted that there is dispute within the scientific community regarding 

the compressive strength, with some members of the FAST suggesting that boulder compressive 

strength may be as low as 0.1 MPa, derived from the assumed aerodynamic stresses during bolide 

breakup in the atmosphere. More experimental data on the relevant meteorite types and 

experiments with large-scale simulants are needed to refine these estimates.

Note: If 2008 EV5's actual albedo is near or higher than the mean albedo values presented in the 

“Origin of 2008 EV5” section, 2008 EV5 is arguably a CR chondrite (though other compositions cannot 

be definitively ruled out, such as CI, CM, CK, etc.). As a starting point for discussion and new work, it 

is probably reasonable to assume this composition when making estimates of likely boulder strengths. 

If 2008 EV5 actually has a low albedo, however, it is arguably more likely to be a CI or CM chondrite, 

which show a wide range of meteorite strengths and probable boulder strengths as well. This 

possibility is more problematic for engineering work, but it cannot be ruled out until additional 

information on the nature of 2008 EV5 becomes available. Additionally, given that other candidate 

NEAs could be hydrated CIs or CMs (the most desirable targets from an ISRU perspective), designing 

for this wide range of strengths increases mission robustness.

All other things being equal (i.e., similar mineralogy, albedo, exposure history, and shock history), just 

as with bulk density and other physical properties, a relatively narrow distribution of shear, 

compressive, and tensile strength of boulders on an individual asteroid should be expected. Because 

of thermal shock and erosion, angularity and visible fractures may be a measure of relative boulder 

strength. Stronger boulders may be more angular and weaker boulders more rounded. The physical 
10

properties of homogeneous, isotropic rock are typically normally or lognormally distributed; it can 

reasonably be expected that boulders on 2008 EV5 will exhibit a normal or lognormal distribution in 

strength. Given the uncertainties and caveats in the above discussion, it would seem prudent to work 

aggressively to refine estimates of boulder strength while exploring capture mechanisms that 

minimize the required mechanical strength of the boulder. In addition, a broader investigation of the 

issue of boulder breakup is advisable, including consideration of boulder thermal properties, 

toughness or brittleness, and ductility.

5. Post-Collection Boulder Handling

How should the boulder be handled after collection to minimize impacts to science and to the 

structural integrity of the object? In order to avoid fragmentation of the boulder after collection, 

minimizing physical handling of the boulder until it is in a stable cis-lunar orbit could be helpful. 

However, additional physical contact with the boulder after collection (e.g., drilling, brushing, or 

scraping the surface of the boulder) could provide valuable engineering data to aid in safe 

transportation and the design of tools for future robotic or human sampling of the boulder. The ARRM 

team must reach a balance between these constraints. Monitoring the boulder during the anchoring 

process (e.g., adding cameras to the ends of the robotic arms) would be highly beneficial. Imaging the 

effects of the microspine grippers scraping over the surface or the dispersion of the drilling chips for 

the anchor could provide considerable insight about the overall integrity of the boulder. Monitoring 

the performance of the drill anchors may also prove useful. Passive direct monitoring of the boulder 

during anchoring, return, and in cis-lunar space is highly desirable. Cameras could also be used to 

inspect the boulder surface to identify any particle shedding or cracking prior to the crewed mission.

6. Pre-ARCM Boulder Assessments for Crew Safety

Besides the existing capabilities of the ARV (i.e., cameras and CRS feedback loads), are there other 

ways to assess the condition of the boulder prior to crew access to determine if it’s safe to approach 

and sample? To ensure crew safety, a variety of high-heritage and/or flight-proven measurements 

and techniques could be employed during return from the asteroid or after Lunar Distant Retrograde 

Orbit (LDRO) insertion, and prior to crew interaction. Assessing the fragility, hardness, sharpness, 

volatile release potential of samples, and the presence of fractures or textures that might suggest 

spallation or breakage would be most critical to astronaut safety. The following measurements would 

be relevant to astronaut safety and/or science/knowledge gain but not as critical: 1) assessing any 

physical movement or dramatic temperature changes of the samples during the return transit; 2) 

characterizing and determining the abundance of any dust, volatiles, and/or organics in the samples; 

3) characterizing the chemistry and mineralogy of the samples prior to astronaut arrival to make 

eventual EVAs most efficient; and 4) assessing swatches of space suit material and other relevant 

witness samples during the robotic mission to influence the choice of ARCM materials, coatings, etc. 

Finally, the following were of primarily relevance to science/knowledge gain: 1) assess electrostatic 

potential in the plasma environment around the boulder; 2) use mass determination and volume of 

the boulder to estimate its density; and 3) estimate the ages of the samples.

7. Containment Considerations

Given the uncertainties in the properties of the boulders, potential for contamination, possible 

thermal effects, and potential for particulate release that could affect spacecraft or crew safety, 

should some form of containment of the boulder be considered? If so, what type of containment 

and materials should be considered? There is a high likelihood that particulates and possibly 

fragments will evolve from an unprotected boulder while it is attached to the spacecraft. These 

particles are likely to be small, have a very low relative velocity to the spacecraft, and are not expected 
11

to remain in the vicinity of the boulder due to spacecraft motion and solar radiation pressure. As such,

these particles do not present a hazard to crew operations. Thermal effects are a primary factor in 

contamination and alteration of the boulder, and thus contamination and alteration can be reduced 

with a containment designed to reduce thermal shock and peak temperature. Monitoring the boulder 

throughout the period between initial collection by ARRM and sampling operations during ARCM to 

assess debris generation, contamination, and alteration is a prudent approach. A hermetically sealed 

containment mechanism for the boulder is not desirable, but a sunshade-like “containment” device 

should be considered among the possible options. Specific requirements for physical containment of 

the boulder should be supported with further analyses. Since physical containment of the boulder is 

not necessarily suggested unless further analyses deem it necessary, a better term for this 

consideration is the “protection” of the boulder rather than “containment.”

The third section of this report includes an initial list of potential investigations, resulting from 

brainstorming activities by the FAST, which could be performed by ARM (ARRM and/or ARCM). Many of 

the identified investigations require additional sensors, subsystems, or operations that are beyond the 

scope of the current program. These could be performed with additions and modifications as identified in 

Table 12 in the “Potential Investigations” section of the report. These inputs are not intended to be 

inclusive of all possibilities, but rather to aid formulation and development of the ARRM, and reflect the 

FAST members’ experience and expertise in small bodies missions and knowledge related to science, 

planetary defense, asteroidal resources and ISRU, and relevant capabilities and technologies. In order to 

present these potential investigations in this report, the 63 areas identified have been sorted and grouped 

based on their likely benefit to ARM and relevance to NASA’s science, ISRU, planetary defense, and

exploration goals by the FAST leadership (Mazanek, Abell, and Reeves) and incorporating input from the 

rest of the FAST. Within each grouping, the investigations are listed in the order they were proposed by 

the FAST with no priority or significance implied by the order. Further descriptions of the investigations 

are presented in the “Potential Investigations” section of the report.

High Benefit to ARM and High Relevance to NASA Goals: Asteroid Surface Interaction; Dust/Particulate

Mitigation Techniques; Sample Thermal Control; Thermal Imaging of Asteroid Surface; Collect Regolith 

Samples; Surface Contact Science Package; Collect Samples From Boulder; and Characterize Boulder and 

Geotechnical Properties.

High Benefit to ARM and Medium Relevance to NASA Goals: Low-Velocity Penetrator; Mineralogy and 

Composition; Multi-Spectral Imaging of Asteroid; Global Mapping of Asteroid (e.g., imaging and radio 

science); High-Power Radar; Comprehensive Boulder Imaging; LDRO Free-flying Observer; and Asteroid 

Free-Flyer for Observation.

High Benefit to ARM and Low Relevance to NASA Goals: None identified.

Medium Benefit to ARM and High Relevance to NASA Goals: Optical Communications Demo; Small Body 

Seismic Network on Asteroid; Ultrasonic Investigation of Boulder; Anchoring Techniques; Long-term Orbit 

Determination; Contamination Environment Monitoring; and Boulder Organics and Volatiles 

Characterization.

Medium Benefit to ARM and Medium Relevance to NASA Goals: Surface & Subsurface Composition.

Medium Benefit to ARM and Low Relevance to NASA Goals: None identified.
12

Low Benefit to ARM and High Relevance to NASA Goals: Demo of Mining Techniques; Micro-g Mobility 

Demo (Robotic & Crewed); ISRU Radiation Protection; Planetary Protection (“Break the Chain of Contact”);

Tether Demo with Boulder Counterweight; High-Velocity Asteroid Impactor; Radiation Environment 

Characterization; Collect Boulder Core Sample; Large Sample Return; Cold Trap Volatile Collection Demo; 

and ISRU Product Characterization.

Low Benefit to ARM and Medium Relevance to NASA Goals: Small Body GPS; Remote Stand-off 

Interaction Demo; Future Planned Instrument Demo; Space Weathering Measurements; Plasma 

Environment Characterization; Magnetic Environment Characterization; Deploy Science Package; 

Occultation Exosphere Observations; Dust Mobility Characterization; Characterize Boulder Porosity; 

Rubble Aggregation Experiment; Observe Kinetic Impact on Asteroid; Deploy Explosive Penetrator on 

Asteroid; Additional Planetary Defense Demo(s); Plume Generation and Observation; Ablation and/or 

Spalling Test; In-Space Printing with Asteroidal Materials; Asteroidal Material Manipulation Demo; 

Instrumented Drill on Asteroid and/or Boulder; Boulder Composition Characterization; Deliver Samples to 

International Space Station (ISS); Crack the Boulder to Expose New Surfaces; Encapsulate the Boulder for 

Volatile Collection; Characterize Boulder Permeability; Soil Simulation with Asteroidal Material; 

Microwave Volatile Extraction Test; Use of Robotic Arms for Strength Tests; and Full ISRU Demo.

Low Benefit to ARM and Low Relevance to NASA Goals: None identified.

The fourth section of this report includes a list of additional findings by the FAST in combination with 

public input that is repeated here in its entirety. No prioritization is implied by the ordering of these 

findings.

 Unique Knowledge Gain from ARM: ARM provides a unique opportunity to gain a wide range 

of valuable knowledge beyond other asteroid missions or what is available in the current 

meteorite collection. For example:

o Investigating pristine sub-surface material, preserved with stratigraphic context 

(boulder core sample), that has not been significantly altered by the space 

weathering and ionizing radiation environment (e.g., how organic content, 

hydration, volatile content, etc. varies with depth). 

o Returning a multi-ton boulder, along with regolith samples for context that would 

provide valuable information about the surface of asteroids and allow for 

measurements and investigations that require large mass/samples.

o Returning multiple kilograms of samples to Earth to allow sensitive laboratory 

measurements and experiments (i.e., destructive to the sample) that aren’t possible 

with the limited primitive meteorite collection.

o Creating an "orbital laboratory” that can be used to demonstrate asteroidal ISRU 

and other technologies and instruments in an operational environment.

o Creating the opportunity to correlate observed reflectance spectrum to the sampled 

asteroid surface (“ground truth”), asteroid interior (through boulder investigations), 

and known meteorite classes.

 NASA Goal Traceability: Although the FAST did not specifically address traceability to the 

current planetary decadal survey and other NASA exploration roadmaps, many NASA goals 

could be addressed using the results and opportunities provided by this mission. 

 Pre-launch 2008 EV5 Characterization: All existing data should be analyzed to provide physical 

characterization of 2008 EV5 to understand mission risks. This includes the European Space 
13

Agency (ESA) MarcoPolo-R team investigations (e.g., observations and modeling) and 

telescopic data sets. Opportunities for acquiring new data sets should also be investigated 

(e.g., Spitzer).

 Meteorite and Simulant Analog Work: More wide-ranging laboratory studies of appropriate

candidate meteorites and simulant development are warranted (e.g., spectra, strength, 

density, etc.). Investigating the effects of grain size, packing density, and powders-on-slabs 

would provide stronger insights into the possible physical and chemical composition of 2008 

EV5.

 Characterization Precursor: A precursor to the ARRM target body in order to scout for 

boulders and provide surface and boulder physical characteristics would effectively increase 

the characterization phase duration and should be investigated further. This precursor could 

be a dedicated mission or be co-manifested with the ARV, arriving at the target earlier. 

Additional benefits would be gained if the precursor had some means of interacting with the 

surface to provide geotechnical data.

 Characterization Phase: Characterization of the target asteroid, candidate boulders, and 

associated collection areas are critically important. Increasing, to the greatest extent possible, 

the time allocated for characterization will maximize the knowledge return from the ARRM 

and probability of mission success, while minimizing the time required for data acquisition, 

transmission, processing and analysis, and decision making will reduce the overall 

characterization timeline.

 Geotechnical Property Estimation: A mechanical interaction with regolith representative of 

the boulder collection area is the only way to provide an accurate estimate of the geotechnical 

properties (e.g., cohesion, friction angle, porosity, etc.) that are critical for boulder collection. 

Before and after images of the interaction area at sub-cm/pixel resolution would provide 

context to inform cohesion mapping around target boulders.

 Boulder and Regolith Characterization: On a best-effort basis, sufficient camera resolution 

is required to characterize:

o The morphological relationship of the boulder to the surrounding terrain – subcm/pixel resolution of a representative area of boulder/regolith interface with more 

of the image devoted to the regolith than the boulder. 

o The physical integrity of the boulder (e.g., cracks, fissures, etc.) – sub-cm/pixel 

resolution over as much of the boulder surface as possible is desired.

 Thermal Imaging: The thermal inertia of boulders, and the entire asteroid surface, is 

indicative of their near-surface characteristics (e.g., porous vs. solid), and can be measured 

relatively easily with a thermal detector. Ideally this detector would have two or more 

wavelengths (e.g., 5 and 10 microns) and a spatial resolution greater than several pixels per 

boulder (a minimum of about 0.5 meters per pixel). Over an asteroid’s rotation period these 

observations can distinguish between the thermal inertia of low-density, porous aggregates 

and higher-density, potentially stronger, monolithic material, which would aid in boulder and 

site selection and in determining the homogeneity of boulder and surface properties. 

 Previously Visited Target: While selecting a C-type target that will not have been visited 

before (i.e., not Bennu or Ryugu) is compelling, there is value in returning to a previously 

visited asteroid and there would be interest in returning a boulder to cis-lunar space for 

subsequent study and sampling. (see NASA’s Small Body Assessment Group (SBAG) ARM 

Special Action Team Full Report:

http://www.lpi.usra.edu/sbag/documents/SBAG_ARM_SAT_Full_Report.pdf).
14

The fifth section of this report provides a summary of relevant public inputs and comments received

by the deadline of December 4, 2015. All public inputs directly relevant to ARM, including any additional 

comments received in response to the posting of the draft version of the report, are summarized in the 

“Summary of Public Inputs” section and are posted in their entirety on the FAST website: 

http://www.nasa.gov/feature/arm-fast.

Finally, more detailed responses to each of the ARRM Project questions are provided in the 

Appendices. These full responses are intended to provide additional information that can be utilized by 

the ARRM Project Team and are not included in this Executive Summary.

Reference:

Busch, M.W. et al. 2011. Radar Observations and the Shape of Near-Earth Asteroid 2008 EV5. Icarus 212, 

649-660.

FAST Overview

Purpose

The Formulation Assessment and Support Team (FAST) for the Asteroid Redirect Mission (ARM) was 

chartered by NASA to provide timely inputs for mission requirement formulation in support of the 

Asteroid Redirect Robotic Mission (ARRM) Requirements Closure Technical Interchange Meeting (TIM) 

held December 15-16, 2015. Additionally, the FAST was tasked with developing an initial list of potential 

mission investigations and providing input on potential hosted payloads and partnerships. To aid

formulation and development of the ARRM, the FAST focused their inputs on knowledge gain from ARM 

in the areas of science, planetary defense, asteroidal resources and in-situ resource utilization (ISRU), and 

capability and technology demonstrations, as well as providing inputs that could increase probability of 

mission success. This report represents the FAST’s final product for the ARM.

Asteroid Redirect Mission Background

ARM is part of NASA’s plan to advance the new technologies and spaceflight capabilities needed for 

a human mission to the Martian system in the 2030s, as well as other future human and robotic missions. 

ARM includes ARRM and the Asteroid Redirect Crewed Mission (ARCM), along with leveraging the global 

asteroid-observation community’s efforts to detect, track, and characterize candidate asteroids. NASA 

originally proposed a robotic mission concept to capture an entire small asteroid (4-10 m in size) that 

would leverage several key ongoing activities in human exploration, space technology, and planetary 

defense. Subsequently, an alternate approach to collect a boulder from a large asteroid was also 

proposed. NASA evaluated both mission approaches to determine their feasibility, identify the important 

differences between them, and evaluate the key risks and figures of merit for each concept. On March 25, 

2015, NASA announced the selection of the boulder capture option for the robotic segment of ARM.

ARRM will be the first robotic mission to visit a large (greater than ~100 m diameter) near-Earth 

asteroid (NEA) and collect a multi-ton boulder, along with regolith samples, from its surface. The 

spacecraft will use the multi-ton boulder to perform an Enhanced Gravity Tractor (EGT) asteroid deflection 

demonstration and then transport the asteroidal material to a stable orbit around the Moon, where 
15

astronauts will explore the boulder and return samples to Earth in the mid-2020s as a part of the ARCM. 

Subsequent human and robotic missions to the material could also be facilitated by its availability in cislunar space and would benefit scientific and partnership interests(domestic and international), expanding 

our knowledge of small celestial bodies and enabling the demonstration of mining asteroid resources for 

commercial and exploration needs. 

To achieve its long-term goal of sending humans to Mars, NASA plans to proceed in a series of 

incrementally more complex human spaceflight missions. Today, human flight experience extends only to 

LEO, and should problems arise during a mission, the crew can return to Earth in a matter of minutes to 

hours. The next logical step for human spaceflight is to gain flight experience in the vicinity of the Moon. 

These cis-lunar missions will provide a “proving ground” for the testing of systems and operations while 

still accommodating an emergency return path to the Earth that would last only several days. Cis-lunar 

mission experience will be essential for more ambitious human missions beyond the Earth-Moon 

neighborhood, which will require weeks, months, or even years of transit time. A principle objective of 

the ARM is to develop a high-power Solar Electric Propulsion (SEP) vehicle, and demonstrate that it can 

efficiently move large masses and operate for many years in interplanetary space, which is critical for 

deep-space exploration missions. A second prime objective of ARM is to conduct a human spaceflight 

mission involving in-space interaction with a natural object, in order to provide the systems and 

operational experience that will be required for eventual human exploration of Mars, including the 

Martian moons Phobos and Deimos. The ARCM provides an opportunity for the early flights of the Orion 

program, which will take place before the infrastructure for more ambitious flights will be available. 

Astronauts will participate in the scientific in-space investigation of nearly pristine asteroid material, at 

most only minimally altered by the capture process. The ARCM will provide the opportunity for human 

explorers to work in space with unaltered asteroid material, testing the activities that would be performed 

and tools that would be needed for later exploration of primitive body surfaces in deep space. The 

operational experience would be gained close to our home planet, with a relatively quick return to Earth 

if problems should arise.

The ARRM will utilize an advanced 50 kW-class SEP spacecraft along with sensors and a robotic 

Capture Module to characterize the target NEA, identify and select candidate boulders, allow contact with 

the target NEA, and collect the selected boulder from the surface. Following final restraint of the boulder, 

the ARV will transfer into a halo orbit around the target NEA and demonstrate the EGT technique, with 

the collected boulder augmenting the spacecraft mass and thereby significantly increasing the 

gravitational force between the spacecraft and the NEA. The instrumentation currently planned includes 

a sensor suite for high-resolution mapping and characterization during asteroid flybys and extended 

horizon views for onboard navigation during the descent and planetary defense demonstration phases. 

The ARV is also planned to provide images of the boulder through descent and capture. Limited 

accommodations for science/payload instrumentation (mass, power, and volume) are planned. After the

ARV returns to a Lunar Distant Retrograde Orbit (LDRO) in the mid-2020s, initial astronaut exploration and 

sampling of the returned material will be performed during the ARCM. The capabilities, systems, and 

operational experience developed and implemented by ARM and subsequent missions to the returned 

asteroidal material will advance NASA's goal of sending humans to deep-space destinations and eventually 

to the surface of Mars. Currently, the ARRM is planned to be launched at the end of 2020 and the ARCM 

is planned for late 2025.

NASA has identified the asteroid 2008 EV5 as the reference target for ARRM mission planning (see 

Figure 1 in the “Executive Summary”). 2008 EV5 has been characterized by ground-based radar and at 

optical and infrared wavelengths, and has orbital and physical characteristics that are compatible with the 
16

planned ARM timeline and operations. Specifically, significant mass return (greater than 20 t) is possible 

with launch of the ARRM at the end of 2020 and the ARCM in late 2025. Remote measurements of 2008 

EV5 show that it is a carbonaceous (C-type) asteroid that is believed to be water/volatile-rich and may 

contain significant amounts of organic materials. NASA has other candidate targets (Ryugu, Bennu, and 

Itokawa) and will continue the search for additional asteroids with final target selection occurring 

approximately one year prior to the ARRM launch. However, 2008 EV5 provides a valid target that can be 

used to help with formulation and development efforts, and is the main NEA around which the FAST 

focused its attention.

The ARM and Asteroid Grand Challenge (AGC) together make up NASA's Asteroid Initiative, by which 

the agency seeks to enhance its ongoing work in the identification and characterization of near-Earth 

objects for further scientific investigation. The AGC complements the ARM and other asteroid-related 

activities at NASA in a way that allows the agency to engage the public for science, technology, and 

planetary defense efforts in support of the challenge to “find all asteroid threats to human populations 

and know what to do about them.” This work includes locating potentially hazardous asteroids and 

identifying those in viable orbits that allow for collection and redirection of a multi-ton boulder into a 

stable lunar orbit for future exploration by astronauts.

This report was not intended to provide an in-depth description of the ARM or the associated 

spacecraft, systems, and operations. Please visit http://www.nasa.gov/asteroidinitiative for further 

details about the ARM and the AGC.

Study Request

The FAST was requested to work in collaboration with ARM management and technical personnel at 

the participating field centers to provide input during the requirements definition phase of the ARRM, 

which includes spacecraft interfaces, requirements, and design considerations as they relate to the ARCM. 

Additionally, the FAST assisted in developing an initial list of potential mission investigations focused on 

the following four main areas as they support the robotic and crewed segment objectives: science, 

planetary defense, asteroidal resources and ISRU, and capability and technology demonstrations. All ARM 

investigations will be required to operate within the ARRM and the ARCM capabilities, as well as 

programmatic constraints. Finally, the FAST provided input to NASA on potential hosted payloads and 

partnerships in coordination with NASA Headquarters and Ames Research Center, which are leading these 

areas of external cooperation. Payloads could include hosted instruments, demonstrations, deployable 

assets, and experiments related to these four main investigation areas.

Membership

FAST membership consisted of openly solicited NASA and non-NASA participants (U.S. citizens and 

permanent residents) who were selected by a committee that included key NASA Headquarters 

stakeholders, ARM leadership, and other NASA leadership. The selected members had demonstrated 

expertise and knowledge in areas highly relevant to the ARM primary areas of interest. Exactly 100

applications were received from highly qualified individuals representing academia, industry, NASA, nonprofit research institutes, and other organizations. The applications were reviewed by the ARM Mission 

Investigator, Deputy Investigator, Analysis and Integration Lead, ARRM Project Manager, HEOMD Chief 

Exploration Scientist, NASA’s NEO Programs Executive, HEOMD Program Executive, and ARM Program 

Director. Eighteen participants were selected by the above committee and were approved by NASA’s 
17

Associate Administrator on August 19, 2015. Participation in the FAST by non-civil service personnel was 

limited to providing non-consensus, non-voting input. The selected participants and their affiliations, 

along with the FAST leadership, are provided in Table 2.

Table 2: ARM FAST Membership.

Last Name First Name Roll Organization

Mazanek Dan ARM Mission Investigator NASA Langley Research Center

Abell Paul ARM Deputy Investigator NASA Johnson Space Center

Reeves David Analysis and Integration Lead NASA Langley Research Center

Asphaug Erik Member Arizona State University

Abreu Neyda Member Penn State DuBois

Bell Jim Member Arizona State University

Bottke Bill Member Southwest Research Institute

Britt Dan Member University of Central Florida

Campins Humberto Member University of Central Florida

Chodas Paul Member Jet Propulsion Laboratory

Ernst Carolyn Member Johns Hopkins University-Applied Physics Laboratory

Fries Marc Member NASA Johnson Space Center

Gertsch Leslie Member Missouri University of Science and Technology

Glavin Dan Member NASA Goddard Space Flight Center

Hartzell Christine Member University of Maryland

Hendrix Amanda Member Planetary Science Institute

Nuth Joe Member NASA Goddard Space Flight Center

Scheeres Dan Member University of Colorado

Sercel Joel Member TransAstra Corporation

Takir Driss Member United States Geological Survey

Zacny Kris Member Honeybee Robotics

FAST Responses to ARRM Project Questions

The following are answers to questions that were put forth by the ARRM Project specifically seeking 

input from the FAST. The questions were given priority and addressed by FAST sub-teams. The sub-team 

findings are provided below. The information provided by the FAST will be incorporated into the ARRM 

design parameter database and/or engineering trade studies. These data will aid in the design and 

development of systems and help make the mission robust enough to handle the uncertainties in the 

mission environment within the constraints and risk posture of the ARRM Project. For readability, the 

questions have been grouped into seven topics with references for each question set self-contained in 

that section. Additional details related to the question responses can be found in the appendices to this 

document.
18

Origin of 2008 EV5

Response Lead: Bill Bottke

Sub-team Members: Jim Bell, Humberto Campins, Paul Chodas, Carolyn Ernst, Driss Takir, and Amanda 

Hendrix

What is the orbital history of 2008 EV5 and has that history affected the properties of the asteroid and 

candidate boulders? (Where has it been in the Solar System and for how long? Has it been closer/farther 

from the Sun than it is now?) What are the leading theories on the origin of 2008 EV5? What is the prime 

source region for this object? From what type of object and where did it most likely originate? What is

known of its formation and/or history?

2008 EV5 started its existence as part of a much larger body in the asteroid belt, with a likely diameter 

greater than 100 km [Morbidelli et al., 2009] (see Appendix A1 for a more lengthy discussion of all issues 

in this section). Given its size, 2008 EV5’s parent body possibly experienced early thermal evolution from 

the decay of radiogenic nuclides [e.g., McSween et al., 2002], while its surface was battered by impacts 

for billions of years of cratering events [e.g., Bottke et al., 2005a,b]. 2008 EV5’s immediate history likely

started when its parent body experienced a large cratering event or, more likely, a catastrophic disruption 

event that resulted in a highly fractured, shattered, or reaccumulated object (rubble pile). As a result, 

2008 EV5 may have been produced as a re-assembly of ejected fragments, as suggested by numerical 

simulations of catastrophic disruptions [e.g., Michel et al., 2001] that indicate that most bodies larger than 

one hundred meters produced during such events are not intact fragments, but rather rubble piles formed 

by reaccumulation of smaller pieces due to their mutual attractions. From there, the newly-liberated 2008 

EV5 began to undergo dynamical evolution via non-gravitational torques; the Yarkovsky effect caused it

to slowly drift in semimajor axis, while the Yarkovsky-O’Keefe-Radzievskii-Paddack (YORP) effect steadily 

modified its spin vector [e.g., Bottke et al., 2006; 2015]. In fact, YORP torques probably produced sufficient 

mass movement/mass shedding for 2008 EV5 to take on a top-like appearance [Walsh et al., 2009; Busch 

et al., 2012]. 2008 EV5’s rotation period has probably been highly variable over its lifetime.

Dynamical models indicate that 2008 EV5 migrated inward across the inner main belt over long 

timescales (i.e., the order of ~0.01-1 Gyr) until it reached a main belt “escape hatch,” or planetary 

gravitational resonance, that drove it into the near-Earth asteroid (NEA) population over a timescale of 

the order of ~1 Myr. From there, gravitational interactions with both the planets and resonances allowed 

it to reach its current orbit within a few Myr to a few tens of Myr [e.g., Gladman et al., 1997]. While 2008 

EV5 was in transit, boulders exposed on the surface would be subject to comminution from impacts onto 

2008 EV5, although the same events might also allow new boulders to be created/exposed. Thermally 

induced cracking and erosion are also possible sources of boulder comminution [e.g., Delbo et al., 2014].

2008 EV5’s likely parent body, the context of other 2008 EV5-like fragments both inside and outside of 

the main belt, and where precisely 2008 EV5 departed the main belt need to be identified in order to 

better determine 2008 EV5’s collisional, dynamical, and thermal history. This requires a much more 

extensive modeling and remote observational campaign than has yet been performed. The information 

provided below is the best that can be done within the timescale, capabilities, and charter of the FAST.

Remote observation and modeling work indicates that 2008 EV5 is ~400 m in diameter [Busch et al.,

2011; Alí-Lagoa et al., 2013]. It has a reflectance spectrum consistent with carbonaceous chondrites and

is blue-sloped at wavelengths longer than 0.75 microns, with a possible absorption band in the 1 micron 
19

region [Reddy et al., 2012]. The estimated geometric albedo was obtained three ways: 1) by correcting 

the absolute magnitude for bias using Pravec et al. [2014], a geometric albedo of 9-10% ± 3% was 

obtained; 2) an analysis of the 2008 EV5 phase function by C. Hergenrother yielded 9% (+5%, -3%); and 3) 

applying an empirical photometric model by D. Takir yielded 13% (+1%, -8%) [see Appendices A1, A2, and 

A4]. These values are higher than many carbonaceous chondrites. According to an analysis by E. Cloutis

[see Appendix A3], if 2008 2008 EV5’s estimated albedo remains above 8%, the best match to 2008 EV5’s 

characteristics indicate that it is likely a CR-type carbonaceous chondrite. Note that with the uncertainty 

in the albedo and absorptions, 2008 EV5 could also be a CI, CM, or possibly a CK. If the albedo is at the low 

end of this range, it would imply a CI/CM chondrite composition [Reddy et al., 2012; see also Appendix 

A1].

Given that CR chondrites appear to be the best match to 2008 EV5’s mean albedo, it is useful to briefly 

describe them here. They are a mix of reduced, oxidized, anhydrous, hydrated, organic, and pre-solar 

components. They have highly variable, but on average roughly equal, amounts of hydrated fine-grained 

matrix and chondrules (forsteritic olivine + enstatite + feldspathic glass). Their petrographic types range 

from 1 (anhydrous silicates rare) to 3 (hydrous silicates rare); most CRs are type 2. All but one CR1 

chondrite have substantial metallic-iron blebs (10-16 wt.%) and hydrated crystalline and amorphous 

silicates (~5.7 wt.% water).

E. Cloutis’s analysis of 2008 EV5’s spectroscopic signature based on Reddy et al. [2012] indicates that 

it is an assemblage consisting of both hydrous and anhydrous silicates, specifically ferric iron-free 

phyllosilicate and iron-bearing olivine [Appendix A3]. This places it in the realm of petrologic type 2-3 

carbonaceous chondrites, but could include mildly to moderately thermally metamorphosed members 

(e.g., possible matches to CR-type meteorites that were heated to about 600°C).

Using 2008 EV5’s current orbit combined with numerical modeling work [Bottke et al., 2002; 2015], it 

can be argued that 2008 EV5 departed the inner main belt between 2.2-2.3 AU with inclinations greater 

than 8° (Appendix A1). Particular similarities were found for modeled asteroids having inclinations of ~2-

3° and 5°. This may suggest a link to large, low-albedo carbonaceous chondrite-like “asteroid families” 

(i.e., swarms of fragments produced by a disrupted asteroid) such as the Erigone, Eulalia, and New Polana 

families [Campins et al., 2010; Walsh et al., 2014; Bottke et al., 2015]. These potential matches, however, 

are contingent upon whether some members of these families have albedos like 2008 EV5. Another 

intriguing source for 2008 EV5 would be the diffuse population of higher albedo carbonaceous chondritelike asteroids residing in the innermost main belt region between 8° < i < 15°. These bodies have yet to be 

investigated in detail.

After escaping the asteroid belt, en route to its current orbit, 2008 EV5 spent considerable time with 

perihelion values q < 1 AU. By tracking modeled asteroids from the main belt all to way to 2008 EV5’s 

observed orbit and then estimating the temperatures experienced by these bodies at their subsolar points 

along the way [Marchi et al., 2009; Delbo and Michel, 2011; Alí-Lagoa et al., 2013; see also Appendix A1], 

it was determined that the median time spent by the 2008 EV5-like test asteroids with q < 0.5, 0.7, and 

1.0 AU was ~0.1, 1.4, and 7 Myr, respectively. Fewer than 50% of the test asteroids spent any time at q < 

0.5 AU.

From these model runs, Table 3 shows the probability that the surface of 2008 EV5 exceeded the 

corresponding temperature. The interiors of the boulders on or near 2008 EV5’s surface would have 

experienced lower temperatures.
20

Table 3: Results from initial dynamical modeling of 2008 EV5’s migration from its most likely origin to its 

current orbit showing the probability that 2008 EV5’s surface exceeded a given temperature and the 

corresponding perihelion for each surface temperature.

Overall, we argue that the greatest likelihood is that 2008 EV5’s boulders and subsurface did not 

experience temperatures greater than 500 K. Here common organic and hydrated compounds that break 

up at relatively moderate temperatures (e.g., 300-670 K) may still be depleted in both the surface layers 

of the boulders and 2008 EV5 itself (i.e., possibly down to 5 cm depth; [Delbo and Michel, 2011]). Similarly, 

boulder organics may have also been depleted via exposure to ionization radiation (e.g., cosmic rays), 

whose penetration depth is on the order of a meter. In the lower-probability case, 2008 EV5 spent enough 

time near the Sun that boulders currently located on its surface were thermally modified. Additional 

thermal modeling work is needed to better quantify these probabilities, with the temperatures reached 

by 2008 EV5’s current population of surface boulders being a function of 2008 EV5’s past proximity to the 

Sun, its physical parameters (including past variations in 2008 EV5’s spin axis), and the residence time of 

those boulders near the surface [Alí-Lagoa et al., 2013].

For more information on the origin of 2008 EV5, see Appendix A.

References:

Alí-Lagoa, V., Lionni, L., Delbo, M., Gundlach, B., Blum, J., Licandro, J., 2014. Thermophysical Properties of 

near-Earth Asteroid (341843) 2008 EV5 from WISE Data. Astronomy & Astrophysics 561, A45.

Bottke, W. F., et al., 2002. Debiased Orbital and Absolute Magnitude Distribution of the Near-Earth 

Objects. Icarus 156, 399-433.

Bottke, W. F., Durda, D. D., Nesvorny, D., Jedicke, R., Morbidelli, A., Vokrouhlicky, D., Levison, H. F., 2005. 

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

179, 63-94. 

Bottke, W. F., Durda, D. D., Nesvorny, D., Jedicke, R., Morbidelli, A., Vokrouhlicky, D., Levison, H., 2005. 

The fossilized size distribution of the main asteroid belt. Icarus 175, 111-140.

Bottke, W.F., D. Vokrouhlicky, D. P. Rubincam, and D. Nesvorny., 2006. The Yarkovsky and YORP Effects: 

Implications for asteroid dynamics. Ann. Rev. Earth Planet. Sci. 34, 157-191.

Bottke, W. F., et al., 2015. In Search of the Source of Asteroid (101955) Bennu: Applications of the 

Stochastic YORP Model. Icarus 247, 191-217.

Busch, M.W. et al., 2011. Radar Observations and the Shape of Near-Earth Asteroid 2008 EV5. Icarus 212, 

649-660.

Campins, H., Morbidelli, A., Tsiganis, K., de Leon, J., Licandro, J., Lauretta, D., 2010. The Origin of Asteroid 

101955 (1999 RQ36). The Astrophysical Journal 721, L53-L57.

Delbo, M., et al., 2014. Thermal Fatigue as the Origin of Regolith on Small Asteroids. Nature 508, 233-236. 

Delbo, M., Michel, P., 2011. Temperature History and Dynamical Evolution of (101955) 1999 RQ36: A 

Potential Target for Sample Return from a Primitive Asteroid. The Astrophysical Journal 728, L42.

Probability 2% 14% 24% 44% 60% 80% 100%

Surface Temperature 1,030 K 730 K 600 K 510 K 460 K 420 K 340 K

Corresponding 

Perihelion 0.1 AU 0.2 AU 0.3 AU 0.4 AU 0.5 AU 0.6 AU 0.9 AU
21

Marchi, S., Delbo’, M., Morbidelli, A., Paolicchi, P., Lazzarin, M., 2009. Heating of Near-Earth Objects and 

Meteoroids Due to Close Approaches to the Sun. Monthly Notices of the Royal Astronomical Society 

400, 147-153.

Michel, P., et al., 2001. Collisions and Gravitational Reaccumulation: Forming Asteroid Families and 

Satellites. Science 294, 1696-1700.

McSween Jr., H.Y., Ghosh, A., Grimm, R.E., Wilson, L., Young, E.D., 2002. Thermal Evolution Models of 

Asteroids. In Asteroids III (W. F. Bottke et al., eds.), U. Arizona Press, pp. 559-571.

Pravec, P., Harris, A. W., Kusnirak, P., Galad, A., Hornoch, K., 2012. Absolute Magnitudes of Asteroids and 

a Revision of Asteroid Albedo Estimates from WISE Thermal Observations. Icarus 221, 365-387.

Reddy et al., 2012. Composition of Near-Earth Asteroid 2008 EV5: Potential Target for Robotic and Human 

Exploration. Icarus 221, 678-681.

Walsh, K. J., Richardson, D. C., Michel, P., 2008. Rotational Breakup as the Origin of Small Binary Asteroids. 

Nature 454, 188-191.

Walsh, K. J., Delbo, M., Bottke, W. F., Vokrouhlicky, D., Lauretta, D. S., 2013. Introducing the Eulalia and 

New Polana Asteroid Families: Re-assessing Primitive Asteroid Families in the Inner Main Belt. Icarus 

225, 283-297.

Boulder Spatial and Size Distributions 

Response Lead: Carolyn Ernst

Sub-team Members: Erik Asphaug, Bill Bottke, Humberto Campins, Paul Chodas, Christine Hartzell, Dan 

Scheeres, and Driss Takir

What is the expected size-frequency distribution for boulders on 2008 EV5? 

 Based on the current radar data, what can we tell about the size-frequency distribution for 

boulders on 2008 EV5?

It is possible to identify six distinct candidate 10-m-scale boulders on 2008 EV5’s surface by visual 

inspection of the radar images. At least ten such boulders likely exist over the asteroid’s entire surface 

[See Appendix B2].

Based on 2008 EV5’s radar scattering properties and the highest-resolution images of asteroid surfaces

(Eros and Itokawa) from spacecraft, there are likely millions of 10-cm scale cobbles on 2008 EV5. If it is 

assumed that there is a power-law distribution of boulders on 2008 EV5 that follows that of the Eros global 

dataset, ~16,000 1-5 m boulders (~1,300 2-3 m boulders) would be expected on the surface of 2008 EV5.

A 2-3 m boulder likely reflects the largest boulder that can be returned if the ARRM islaunched at the end 

of 2020 and the ARCM takes place in late 2025. If it is assumed that there is a power-law distribution of 

boulders on 2008 EV5 that connects the radar 10-m data to the radar 10-cm data, ~3,000 1-5 m boulders 

(~360 2-3 m boulders) would be expected on the surface of 2008 EV5.
22

Figure 2: Measured block populations on Eros, Itokawa, and Phobos. The yellow rectangle indicates the

1-5 m boulder size range of interest for the ARRM. The cyan and green stars represent the 10-m boulder 

observations and the 10-cm cobble size, respectively, for 2008 EV5 based on radar [See Appendix B2]. The 

surface area of 2008 EV5, used to normalize the radar boulder counts, is taken to be 540,000 m2. The solid 

line extrapolates from the 10-m 2008 EV5 data point using the Eros global power-law distribution 

(exponent of -3.2). The dashed line connects the two 2008 EV5 data points.

 Can any relevant information be extrapolated from existing data from other C-complex 

asteroids (i.e., Bennu)?

The available data to answer this question are limited. The most appropriate data that exist today 

come from radar studies of 2005 YU55 and 1992 UY4, small C-complex asteroids in near-Earth space that 

are possibly organic-rich. Analysis suggests boulders exist on both of those bodies [Benner et al., 2015].

Available in-situ asteroid data from spacecraft come from main belt asteroids Mathilde, the ~53 km 

C-type flyby target of the Near Earth Asteroid Rendezvous (NEAR) mission, and Lutetia, the ~100 km Xcomplex flyby target of ESA’s Rosetta mission. Mathilde was only imaged at 160 m/pixel, insufficient to 

determine whether boulders exist [Thomas et al., 1999]). Boulders are observed on Lutetia, but Lutetia’s 

precise composition is debated (some scientists favor a high-albedo carbonaceous chondrite, while others 

favor an enstatite chondrite match [Barucci et al., 2015]). Boulders have been observed on bodies that 

could also be broadly characterized as C-complex, including Phobos and Deimos, the carbonaceous 

chondrite-like moons of Mars, as well as comet Churyumov-Gerasimenko, the final destination of the 

Rosetta mission (Table 4).
23

Table 4: Small bodies for which boulder counts have been made from spacecraft imaging. The minimum 

boulder sizes measured are directly related to the best image resolution available for a given object.

Name Mean 

Diameter 

(km)

Spectral 

Type

Min boulder 

size of 

global count 

(m)

Min boulder 

size of 

regional 

count (m)

Power law 

found

Data 

source

References

Eros 17 S 15 0.05 -3.2

as low as

-2.3 locally

NEAR Thomas et al., 2001;

C. Ernst, personal 

communication

Itokawa 0.35 S 6 0.1 -3.1

-3.5

as low as 

-2.2 locally

Hayabusa Michikami et al., 2010;

Mazrouei et al., 2014;

Noviello et al., 2014;

C. Ernst, personal 

communication

Toutatis 3 S n/a 10 n/a Chang’E-2 Jiang et al., 2015

Lutetia 98 M n/a 60 -5.0 Rosetta Küppers et al., 2012

Ida 31 S n/a 45 n/a Galileo Lee et al., 1996

Phobos 22 D n/a ~4 -3.3 Viking

MGS

MEX

MRO

Thomas et al., 2000;

Ernst et al., 2015;

C. Ernst, personal 

communication

Deimos 12 D n/a ~4

-3.2

Viking Lee et al., 1986; 

C. Ernst, personal 

communication

ChuryumovGerasimenko4 comet 7 n/a -3.6 global

local ranges

-2.2 to -4.0

Rosetta Pajola et al., 2015

Hayabusa2 will arrive at the C-type asteroid Ryugu (formerly 1999 JU3) in June of 2018. OSIRIS-REx will 

arrive at the B-type asteroid Bennu in August of the same year. The observations of Bennu and Ryugu will 

provide critical inputs to the ARRM, not only because these will be the first carbonaceous asteroids for 

which high-resolution images are available, but also because they are roughly similar in size and shape to 

2008 EV5. This may mean that they have undergone similar evolutions, but this is not definitive. 

Comparisons of Bennu and Ryugu to Eros and Itokawa will be vital for determining whether what is known

from the extensive literature on Eros and Itokawa can reasonably be extrapolated to other near-Earth 

asteroids (e.g., boulder size-frequency distributions, boulder spatial distributions, etc.), or whether they 

are not representative. Regardless, the data from Hayabusa2 and OSIRIX-REx, along with what is already 

known about Eros and Itokawa, will provide a more complete picture of asteroid properties for two main 

taxonomic types in the NEA population. Additionally, the observations of Bennu and Ryugu will provide 

important “ground-truthing” of Earth-based remote sensing observations and have implications for 

detecting boulders from these types of observations.

That said, OSIRIS-REx and Hayabusa2 will not arrive at Bennu or Ryugu until mid-2018—too late to 

provide inputs into the mechanical designs and mission requirements, but before the currently scheduled 

ARRM launch date.

 Is it expected that the size-frequency distribution of boulders on 2008 EV5 follows a power law 

distribution?

Power-law fits can be made to boulder size-frequency distributions where sufficient data are available 

(see Table 4). The boulders themselves may have been produced by more than one of the following 

mechanisms: 1) collisional origin of 2008 EV5; 2) impact cratering; or 3) thermal fracturing of native rock. 
24

This means the power-law measured is dependent on local geological context, material strength, and 

possibly the sizes of the boulders that break down to produce smaller boulders. A power-law index is 

observed for many terrestrial fragmented objects [Turcotte, 1997; see also Table 1 in Pajola et al., 2015]. 

Those materials listed in Pajola et al. [2015] show power law exponents ranging from -1.89 to -3.54.

In the cases of Eros, Itokawa, and Phobos, the approach of extending the size-frequency distribution 

(SFD) from large (tens-of-meter-sized) boulders to small (tens-of-centimeter-sized) boulders using a 

power-law fit to the large population yields reasonable estimates of small block populations. It is 

important to note that geologic context matters for the absolute block density. In other words, if lowerresolution counts include multiple geologic settings, they will not extrapolate accurately to local areas 

containing only one setting [Rodgers et al., submitted; Ernst et al., 2015].

 What is the expected distribution of boulder shapes for boulders on 2008 EV5?

Mazrouei et al. [2014] measured the aspect ratio for boulders greater than six meters in diameter on 

Itokawa. Most boulders of this size are found to be elongated with b/a ratios (width/length) of 0.7. The 

third, vertical dimension of boulders (height) cannot be determined in most of the Hayabusa images to 

provide reliable estimates of c/a ratios (height/length). Michikami et al. [2010] report b/a ratios for 

Itokawa boulders to be 0.62-0.68. Michikami et al. [2016] measured 21 boulders on Itokawa, finding a 

mean c/a of 0.46.

Table 5 contains a compilation of several reports of fragment dimensions based on laboratory impact 

experiments. Note that the fragments are not actually 3-axis ellipsoids, but rather are irregular in shape. 

An open question is whether the aspect ratio would be different for weaker rocks (e.g., those found on a 

C-type asteroid like 2008 EV5) and how much of an influence thermal degradation might have. This 

question will be addressed after robotic spacecraft arrive at Ryugu and Bennu in 2018.

Table 5: Compilation of fragment ratios b/a and c/a from several publications in the literature. Dimensions 

are defined to be a≥b≥c for an assumed triaxial ellipsoid shape.

Reference Target Projectile Impact 

Velocity

b/a c/a

Fujiwara et al.,

1978

Basalt Polycarbonate 

cylinders

1-4 km/s 0.73 0.50

Capaccioni et al.,

1986

Basalt

Concrete

Aluminum 

spheres

9 km/s 0.7 ± 0.15 0.5 ± 0.15

Giblin et al., 1998 Porous 

ice

Solid ice 6 km/s 0.56-0.71 ± 

0.1-0.2

0.40-0.48 ± 0.1-0.2

Durda et al., 2015 Basalt Aluminum 

spheres

4-6 km/s 0.72 ± 0.13 0.39 ± 0.13

Michikami et al., 

2016

Basalt Nylon spheres 1.6-7.0 km/s 0.7 0.5
25

What is the expected spatial distribution of ~1-5 meter boulders on 2008 EV5? 

 Where on 2008 EV5 have boulders been detected? 

Although a large percentage of 2008 EV5’s surface was observed by radar, only approximately half of 

the area permitted the identification of candidate boulders. Over this area, six distinct candidate 10-mscale boulders were observed [Appendix B2]. However, due to the nature of the radar data, the exact 

location of the boulders cannot be determined, with the exception of one prominent boulder that is 

located near the asteroid’s south pole.

 Given an assumed number of certain size boulders based on a power law, is there anything that

can said about the spatial distribution of these boulders on an asteroid’s surface? Specifically,

does spin rate play a role in concentrating certain sized boulders at certain latitudes?

Based on the number of observed boulders, the number of cobbles inferred from radar roughness, 

and the assumption that a power-law relationship exists between boulder diameter and cumulative sizefrequency distribution, the number of boulders of a given size per area (e.g., Figure 2) can be calculated

assuming a roughly uniform distribution across the surface. This information alone is not enough to 

determine the actual distribution. 

On Itokawa, potential lows are “ponds” full of cm-sized cobbles, and most of the boulders are located 

in other regions of the asteroid. If this is true for 2008 EV5, concentrations of ponds at the geopotential 

lows with boulders at higher regions within the geopotential should be expected. Where these 

geopotential lows are located is a strong function of the asteroid density. For a low density of 1.5 g/cm3, 

the low will be at the equator and within the prominent concavity seen in the radar data. For a large 

density of 2.5 g/cm3the geopotential low shifts off of the equator and no longer lies within the crater, but 

instead is at the base of the ridge.

Although multiple mechanisms can be responsible for the presence of boulders on the surface (e.g., 

reaccumulation, the Brazil nut effect, etc.), if the boulders are sourced from the likely crater that shows 

up as a large concavity in the radar shape model, the distribution of the boulders would depend upon 

ejecta patterns around an irregularly shaped body and would require much more analysis to estimate. It 

is expected that the boulders would preferentially settle in the equatorial or near-equatorial regions, 

however. 

What is the expected distribution in safe landing areas around ~1-5 m boulders on 2008 EV5? For a 10-

m diameter circle centered on the target boulder, what is the expected range and likelihood over that 

range for the following landing site properties on C-type asteroids? 

Starting with the assumption of uniform spatial distribution and a power law size-frequency 

distribution, the number of boulders of a given size in a 10-m diameter circle can be estimated assuming 

a uniform distribution of boulders across the surface. Multiplying this value by the area will yield the total 

number of boulders greater than or equal to a given diameter in a 10-m diameter circle. If the boulders 

are not roughly uniformly distributed across the surface, more assumptions must be made (this will be 

further discussed later in this section). Likely, the processes acting to move 10-m boulders would be similar 

to those acting to move 2-3-m boulders. However, the responses might differ in that massive objects tend 
26

to be more easily fragmented than smaller ones, with strength decreasing with approximately the square 

root of size, yet require more energetic events to dislodge and accelerate.

The radar images of 2008 EV5 have a resolution of 7.5 m/pixel in range [Busch et al., 2011]. Therefore, 

the shape model can provide local geometric topography to approximately 15 m. Outside of boulders and 

craters, local slopes generally would not be expected to change significantly from the 15-m scale down to 

the 1-m scale. 

Local slopes will influence landing site safety beyond the implications for hazards to the solar arrays. 

Tipping hazards will be present that could seriously affect the landing operations. Eros-sized asteroids 

have abundant fine materials compared to smaller asteroids, which are coarser due to winnowing by solar 

wind and radiation effects [Hartzell and Scheeres, 2013]. The sweeping of fines ejected by electrical forces, 

impact vibrations, and thermal shocks leaves behind coarser material in the lag deposits on asteroid 

surfaces.

Steep, cratered topography is not prevalent on the asteroids less than ~1 km that are of interest to 

the ARRM. Additionally, most small bodies seen up close and with radar appear to conform (within some 

reasonable angle of repose) to equilibriums of figure. On Itokawa, the smallest asteroid with good 

imaging, there are very few craters [Hirata et al., 2009]. On Eros, seismic shaking has acted to erase many 

(though not all) craters less than 100 meters in diameter [Chapman et al., 2002; Thomas and Robinson, 

2005], and by implication, other loose topography at that scale. Thus, Eros’ regolith is loose, perhaps up

to 100 meters globally [Robinson et al., 2002]. A thick, mobile regolith would also explain the relatively 

flat topography; less than 5% of the surface of Eros is steeper than 30° [Zuber et al., 2000]. Therefore, 

generally speaking, relatively flat, boulder-populated areas are predicted to occur on 2008 EV5.

Another environmental concern that needs to be considered is the dust environment that could be a 

potential hazard for instrumentation (e.g., camera lenses, inlets, etc.) and/or systems (seals, joints, 

exposed bearings, solar panels, etc.). The main hazards associated with the dust environment are: 1)

spacecraft sinking during landing and/or ascent; 2) high cohesion between regolith and spacecraft 

contact pad; 3) electrostatic motion of small dust grains; and 4) dust and debris liberation during the 

boulder capture process (e.g., thruster plume, contact pad interaction, boulder acquisition and 

separation). If the landing velocity leads to forces that exceed the crush stress of the particulate regolith 

surface, the asteroid material might fluidize and slide out of the way of the contact pads, instead of 

holding in place to support the Contact and Restraint Subsystem (CRS), which is discussed further in the 

“Surface Geotechnical Properties” section. Thus, care must be taken that the landing is done with 

minimal deceleration and little vibration. Additionally, the risk of the spacecraft sinking into the regolith 

during landing or ascent is dependent on the compaction of the regolith, which is expected to be 

essentially uniform about the body except immediately next to boulders, where there may be a regolith 

“apron” [Robinson et al., 2002]. The regolith apron (produced either by the migration of dust or dust 

production from thermal cycling of the boulder) is unlikely to be deep enough to produce a serious 

sinking hazard. A regolith apron is likely to be composed of small, uncompacted regolith grains, which 

would form relatively strong cohesive bonds with the spacecraft. However, the fact that this apron of 

dust is overlaying the more densely packed surface indicates that the material is likely to fracture during 

separation at this striation. The plasma environment while the spacecraft is on the surface remains 

unknown. In order to minimize the likelihood of contamination of the spacecraft by electrostatically 

driven dust, the landing operation should take place close to the subsolar point and in a region with few 

micron-sized and smaller grains, as investigated by multispectral photometry if available.
27

What is the expected distribution in depth of burial for ~1-5 m boulders on 2008 EV5? 

 Based on the theories of how asteroids and boulders form and evolve, is there anything that

can be said about the likely range or distribution of burial depths?

Due to the nature of spacecraft images of Eros and Itokawa, there is minimal information with regard 

to the burial of boulders on their surfaces. Regolith does migrate on asteroids, either from potential highs 

to lows (e.g., Itokawa) or via crater ejecta (probably less important on smaller objects, as a major fraction

of the ejecta is likely to exceed escape velocity).

A minimum regolith depth of 20-40 m on Eros has been estimated based on the excavated volume of 

all large craters [Thomas et al., 2001]. Geomorphic observations indicate 50-100 m regolith depth, possibly 

globally [Robinson et al., 2002]. On Itokawa, regolith depth estimates find a minimum of ~2.3 m in the 

lowlands, based on roughness measurements [Barnouin-Jha et al., 2008], transitioning to a global rubble 

pile structure at greater depths [Fujiwara et al., 2006].

 Is there a way to determine/estimate the depth of burial from the visual images from the 

characterization phase?

Boulders formed in fragmentation events have an average aspect ratio a:b:c (length:width:height) of 

1:0.7:0.5 (2:√2:1) (see Table 5). Assuming these shapes, burial estimates could be made based on threedimensional images taken by ARV. If the boulder’s maximum dimension parallel to the ground does not 

coincide with the intersection with the regolith, a symmetric shape to the boulder could be assumed and 

a depth of burial estimated. Three-dimensional digital images of the boulder will be essential for this 

characterization. Observations of the distribution of regolith and surface slopes/potential could help to 

inform whether regolith has moved into or out of the area and may have buried boulders.

 What other ways are there to determine/estimate the depth of burial from the visual images 

from the characterization phase? What other ways are there to determine/estimate the depth 

of burial in-situ?

Seismic shaking can dislodge and transport boulders from depth [Asphaug et al., 2001; Miyamoto et 

al., 2007] as part of a convective size-sorting (Brazil nut effect and related mechanisms). Deflation can 

leave behind exposed surface structures like remnants and clods. Many such apparent clasts may be too 

weak for ARRM boulder retrieval. Embedded boulders emerging from the subsurface could be more 

difficult to extract than boulders that have been tossed downhill onto existing regolith surfaces. Mission 

emphasis should be to identify boulders that have survived ejection or been scattered by landslide 

movements, and avoid exclusively focusing on boulders buried in smooth sediments. Boulders found in 

rougher, higher-energy environments would be stronger on average than random clasts found in regolith, 

and would be subject to a much lower possibility of small particulate cementation. Among these, boulders 

that further show evidence for meteoroid fragmentation and spallation would indicate greatest 

competency. A sampling approach that is able to operate in a boulder-strewn environment is likely to find 

very many strong, suitably-sized boulders to choose from.

If a flat operational environment is required, such as a gravel-field with an isolated boulder or a wide 

margin, then cohesion of the regolith is more of a concern. Cementation of discrete boulders by regolith 

can possibly be detected by thermal imaging as, generally speaking, a boulder cohesively coupled to the 
28

regolith would also be thermally coupled. This might show up as conductive cooling on week-long 

timescales. In principle this rock/regolith thermal coupling can be investigated by thermal cameras before 

the sampling is conducted to help in selecting among candidate boulders. 

Laser altimeter data could also be used to measure the exposed height of boulders (‘h’ in Figure 3), 

thus enabling estimates of the short-axis (‘c’) dimension. This could be compared to the expected ‘a’ 

dimension, other boulders on 2008 EV5, other boulders on Itokawa, Ryugu, and Bennu, and expected 

impact fragment dimensions (see Table 5) to place estimates on burial depth, as depicted in Figure 3.

Ground Penetrating Radar (GPR) is another approach [e.g., Hamran et al., 2014] that is a promising 

tool for rock and hazard avoidance. Generally the technique is capable of imaging dielectric contrasts 

through a few meters of loose rocky material; however, the imaging technique works best for a 

background material with relatively uniform dielectric properties. Therefore, it would be a good choice 

for imaging boulders embedded in beds of dust, for instance, but not for imaging the specific 

configurations of boulders within blocky landslides and ejecta deposits, for which multiple scattering

effects diminish the signal. As an added investigation, GPR provide valuable contrast and mitigate risks in 

dusty environments where the temptation will be to land (because it is flat), and because it can obtain

subsurface context wherever the sample is acquired. The added mass and cost of such an instrument is 

not insubstantial, but the most critical operational aspect is the possibly low SNR of the measurements. 

The radar electronics and antenna have to be isolated from the spacecraft electronics, which can become 

a strong source of noise, especially when motors are involved. The spacecraft itself is a strong radar 

reflector, and due to the relatively omnidirectional nature of GPR, it is challenging to image boulders in 

close proximity if they are comparable in size to the major spacecraft elements. If 2008 EV5 is the target 

asteroid, and if the CR-designation holds, then the high-metallic content of analogous materials would 

lead to a radar response that might enhance meter-scale imaging by providing strong contrasts (e.g., a 

metallic lag beneath silicate dust) or obscure imaging by scattering and attenuation.

Figure 3: Example of a buried boulder. The dimension h could be measured with a laser altimeter and the 

dimension ‘a’ could be measured with a camera. By assuming a typical a:c ratio from other boulders on 

the body, from boulders on Itokawa, or from impact fragment experiments, the dimension ‘c’ could be 

modeled, and the depth of burial estimated.

For more information, see Appendix B1.

References:

Asphaug, E., King, P.J., Swift, M.R., Merrifield, M.R., 2001. Brazil nuts on Eros: Size-sorting of asteroid 

regolith. LPSC 32, #1708.
29

Barnouin-Jha, O.S., Cheng, A.F., Mukai, T., Abe, S., Hirata, N., Nakamura, R., Gaskell, R.W., Saito, J., Clark, 

B.E., 2008. Small-scale topography of 25143 Itokawa from the Hayabusa laser altimeter. Icarus 198, 

108-124.

Benner, L.A.M., Busch, M.W., Giorgini, J.D., Taylor, P.A., Margot, J.-L., 2015. Radar observations of nearEarth and main-belt asteroids. In: Asteroids IV, in press.

http:// http://echo.jpl.nasa.gov/asteroids/benner.etal.radar.chapter.20150728.pdf

Barucci, M.A., Fulchignoni, J., Ji, J., Marchi, S., Thomas, N., 2015. The flybys of asteroids 2867 Steins, 21 

Lutetia, and 4179 Toutatis. In: Asteroids IV, in press.

Busch, M.W., Ostro, S.J., Benner, L.A.M., Brozovic, M., Giorgini, J.D., Jao, J.S., Scheeres, D.J., Magri, C., 

Nolan, M.C., Howell, E.S., Taylor, P.A., Margot, J.-L., Brisken, W., 2011. Radar observations and the 

shape of near-Earth asteroid 2008 EV5. Icarus 212, 649-660.

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2097-2101.

Surface Geotechnical Properties 

Response Lead: Kris Zacny

Sub-team Members: Dan Britt, Leslie Gertsch, Christine Hartzell, Dan Scheeres, and Joel Sercel

What are the expected surface regolith geotechnical properties of the target asteroid? For example: 

What is the expected range in the coefficient of friction between the target asteroid surface regolith 

and the Contact and Restraint Subsystem (CRS) contact pads? How uniform is this expected to be?

The coefficient of friction is a function of the magnitude of cohesive forces between regolith and the 

CRS contact pads. The main sources of cohesive forces are van der Waals and electrostatic forces, but van 

der Waals forces are more dominant [Scheeres, 2010]. Karafiathand and Mohr [1969] found that the

coefficient of friction is not affected by the ultra-high vacuum (Table 6). However, ultra-high vacuum 

increases the total frictional resistance by an adhesion/cohesion which is essentially constant over the 

range of normal loads in the experiment.

Table 6: Coefficient of friction between steel disc and crushed basalt in vacuum and at 1 g [Karafiathand 

and Mohr, 1969].

Between steel disc and 

crushed coarse basalt 

(250-500 micron)

Between steel disc and 

crushed fine basalt

(38-62 micron)

Between steel disc coated 

with coarse basalt and 

crushed basalt

Vacuum Air Vacuum Air Vacuum Air

Initial Coefficient of 

Friction (effect of 

regolith dilation to 

allow grain 

displacement)

0.35 0.35 No Data No Data No Data No Data

Kinetic Coefficient of 

Friction

0.28 0.27 0.20 0.18 0.28 0.20
31

 What is the expected range of surface compaction and porosity of the regolith surrounding the 

boulder? How uniform is this expected to be?

The asteroid surface is more likely to be a pebble-rich lag depleted of fines and as such the nearsurface porosity should be higher and compaction lower than the asteroid’s bulk compaction and porosity, 

unless significant interior void space exists. Whatever the porosity and compaction, it is likely that the 

same processes apply all around the selected landing area, so it should be fairly uniform. In turn, this 

should be applicable to all ARRM targets. The exceptions are “low” areas, such as those observed on Eros 

and Itokawa that were filled with relatively fine material. Due to 2008 EV5’s top shape and other dynamical 

properties, some regions (e.g., equator) may have significantly different particle size distributions 

compared to others (e.g., the poles). For reference, properties of Itokawa (S-type), Bennu (B-type), and 

253 Mathilde (C-type) are: 

 Itokawa: bulk density = 2.0 g/cm3; bulk porosity of 40.6%, or packing fraction of 0.59. [Abe et al., 

2006; Gaskell et al., 2008]

 Bennu: bulk density = 1.26 ± 0.07 g/cm3(1-sigma uncertainty) [Chesley, 2014]

 253 Mathilde: bulk density = 1.34 g/cm3[Veverka, 1999]

Figure 4 shows macroporosities and densities of asteroids [Britt et al., 2002] and Figure 5 shows 

macroporosities of asteroid and comets [Consolmagno et al., 2008]. It is worth noting that without

measurements of an asteroid’s internal structural, it is not possible to definitively determine how much 

of the estimated macroporosity (large-scale voids and fractures probably produced by the asteroid’s 

impact history) shown in Figure 4 and Figure 5 is due to microporosity (fractures, voids, and pores on the 

scale of tens of micrometers internal to the various-sized particles that form the asteroid). This 

microporosity may be particularly relevant for C-type asteroids such as 2008 EV5.

Figure 4: Macroporosities and densities of asteroids. [Britt et al., 2002].
32

Figure 5: Macroporosities of asteroid and comets [Consolmagno et al., 2008].

 What is the expected particle size-frequency distribution of the regolith, and how does this 

influence the design of the CRS contact pads and geological context samplers? 

Based on particle size-frequency distribution of rocks and boulders on Itokawa in the millimeter to 

tens of meters size range [Michikami, 2008], as well as grains from less than 100 micron down to 1 micron 

sizes returned by Hayabusa [Tsuchiyama, 2011], the cumulative size distribution of coarse and fine 

regolith is expected to have a power-index of approximately d

-2.8

.

Coarse gravel (1 cm or greater) is expected to exist on the surface overlaying fine grained material 

with the fraction of fines increasing with depth. The combination of low surface acceleration and solar 

radiation pressure tends to strip off fine particles that have been generated by comminution processes,

and leave lags of larger, harder to move materials. 

Since forces during the boulder extraction will be reacted through the CRS contact pads back to the 

asteroid, the pads need to be designed to prevent excessive sinkage. If regolith is rich in fines, its cohesion 

and bearing strength will be greater, and contact pads could therefore be made smaller. The same is true 

if regolith is more compact. If regolith is coarse, cohesion will be lower and contact pads would need to 

be larger. The same is true if regolith has low density/high porosity. Contact pads also need to leave the 

surface when the spacecraft departs with the boulder. These two steps (boulder extraction and contact

pad extraction from the surface) have competing requirements: for boulder extraction, contact pad area 

needs to be maximized, while for contact pad extraction, the area needs to be minimized. Therefore, 

mission risk is likely reduced if the three contact pads are oversized (with appropriate margin) to prevent 

excessive sinkage. The issue of departing from the surface could be eliminated by implementing 

“decoupling” subsystems that would leave the pads behind. This approach requires additional study to 

assess the ability of the capture system to perform multiple collection attempts and to retain the surface 

regolith samples obtained by the geological context samplers.

It is challenging to design a regolith sampler that will work with any and all particle sizes. The sampler 

would therefore benefit by being designed for a specific range of particle sizes.
33

 What is a set of earth analog surfaces (e.g., concrete, sand, etc.) that could be used to bound

the expected range of surface variability for use in validating the design of the landing system?

From a regolith interaction standpoint, analog material should be designed to match the regolith 

geotechnical properties. As such, parameters that are important include particle size distribution, particle 

shape, particle strength, magnetic moment, and particle density. All other material bulk properties, such 

as bulk density, porosity, and shear strength (cohesion and friction angle) are directly influenced by these 

grain properties. Environmental parameters, such as vacuum and gravity, could have a much greater 

effect on geotechnical properties of granular material, and this needs to be taken into account.

The OSIRIS-REx team has developed several asteroid simulants, including Tagish Lake 7c (TL7c)

[Hildebrand, 2015]. The University of Central Florida is currently developing several asteroid simulants

with a range of strengths and particle sizes. The use of asteroid simulants is the preferred analog material 

for validating the design of the landing system.

 What is the expected bearing strength of surface regolith? This is needed to determine if ARV

requires dampers within the three legs. 

Since asteroid gravity is negligible, Terzaghi’s equation [Terzaghi, 1943] for circular or square footing 

could be used to obtain a first order bearing capacity of the regolith. The bearing capacity of the regolith 

is defined as σ = 1.3 * (c+c’) * Nc, where c is the regolith cohesion due to van Der Waals forces, c’ is the 

apparent cohesion due to particles interlocking, and Nc is the bearing capacity factor. 

The low limit for bearing strength can be calculated assuming the friction angle φ=0° (Nc = 5.7), c = 25 

Pa and c’ = 0 Pa. Hence σ = 1.3 * (25 + 0) * 5.7 = 185 Pa.

The upper limit for bearing strength can be calculated assuming φ = 10° (Nc = 9.6), c = 250 Pa and c’ =

100 Pa. Hence σ = 1.3 * (250 + 100) * 9.6 = 4,368 Pa.

These are very rough estimates of the lower and upper limits of the bearing strength. Numerical 

modeling should be used to provide better estimates and sensitivities to different regolith and spacecraft 

parameters.

It should be noted that additional information with respect to regolith bearing strength will be 

available once the OSIRIS-REx and Hayabusa2 missions perform their sampling operations. 

What is the expected distribution in cohesion between ~1-5 meter boulders and the surface of 2008 

EV5? 

Fine grains will preferentially attach to larger grains, and thus larger grains embedded in a matrix of 

fine grains would be held in place by the strength of the matrix itself. Hence, the cohesion between large 

boulders and regolith will be driven by cohesion between fine particles, estimated to be in the range of 

25-250 Pa [Sánchez and Scheeres, 2014].
34

 How does cohesion translate into the required extraction force for a given sized boulder?

Fextraction is a sum of two forces: cohesive force and inertial force. Cohesive force is attributed to 

boulder-regolith cohesion, which is driven by regolith’s matrix and can vary from an estimated 25-250 Pa

[Sanchez and Scheeres, 2014], and the surface area of the boulder in contact with the regolith, Aboulder. 

The inertial force is a function of the acceleration the boulder achieves during the process of lifting it off 

the surface. Hence, Fextraction = cohesion * Aboulder + Forceinertia. The extraction force could potentially be 

reduced by “peeling” the boulder off the surface [Kultchitshy et al., 2015]. However, this needs to be 

traded against operational complexity and time.

 Is there a way to estimate (or narrow the uncertainty in) the cohesion between the surface and 

boulder based on the visual images from the in-situ characterization phase?

It is not possible to estimate with great certainty the cohesion between the surface and the boulder 

from visual images alone. A high-resolution camera (mm per pixel or better) would be needed to provide 

good estimates of the regolith size distribution. Particle size distribution could be used together with 

numerical models (e.g., DEM) to assess regolith cohesion. However, if models have not been calibrated,

the regolith strength values could have significant uncertainty. The models can be calibrated through insitu testing of regolith properties. The regolith strength, which drives cohesion between the boulder and 

the surface, can be determined by deploying geotechnical instruments. The geotechnical data could then 

be used analytically, or with the aid of numerical models (e.g., DEM), to estimate the cohesion between 

the surface and the boulder.

 How is the cohesive force expected to “break” during boulder extraction?

The extraction of a boulder from a regolith with a size distribution ranging down to microns to 100s 

of microns requires the breaking of cohesive bonds within the regolith. Based on DEM simulations 

[Sanchez and Scheeres, 2014], this occurs in two phases: a quasi-elastic phase followed by a plastic phase 

when the bonds between individual grains are broken. Due to the physics of cohesion, fine particles will 

preferentially adhere to a larger boulder, meaning that extraction occurs by breaking cohesive forces 

within the regolith. Figure 6 shows the results of a DEM simulation of a boulder extraction from a cohesive 

regolith [Sanchez and Scheeres 2014]. Note that the cohesive regolith preferentially adheres to the 

boulder, meaning that extraction occurs by breaking the cohesive forces within the regolith.

Figure 6: DEM simulation of a boulder extraction from a cohesive regolith [Sanchez and Scheeres 2014].
35

Figure 7 gives an example of a general shape of the Pull Force, Fp, as a function of time [Kulchitsky et 

al., 2015]. The exact shape will depend on the cohesive values as well as extraction methods (e.g., 

constant acceleration, peeling, etc.). Fc is a DEM computed cohesive force that needs to be exceeded to 

remove the boulder from the surface. In this example, a 400 N pulling force is not sufficient to separate 

the boulder from the regolith.

Figure 7. Resistance force profiles for different pull forces (Fp) in “peeling" test and regolith cohesive 

strength c = 100 Pa [Kulchitsky et al., 2015].

 Are there any other likely physical properties or mechanisms that would prevent a boulder from 

being extracted?

Unless the boulder can be inspected underneath, there will always be a risk that another rock could 

be wedging the boulder in place. Additionally, the boulder could be buried in the regolith along its long 

axis, which would likely complicate accurately determining its depth of burial. There is also some 

uncertainty related to the effect that phyllosilicate minerals have on the strength of regolith and forces 

between the regolith and boulder. Further study is required to determine if this is a significant issue.

For more information on the entire “Surface Geotechnical Properties” section, see Appendix C.

References:

Abe et al., 2006. Mass and local topography measurements of Itokawa by Hayabusa. Science 312, 1344-

1347.

Britt D.T., Yoemans D., Housen K., and Consolmagno G.J., 2002. Asteroid Density, Porosity, and Structure. 

In Asteroids III (W. Bottke, A.Cellino, P. Paolicchi, and R. P. Binzel eds.), University of Arizona Press, 

pp. 485-500.

Chesley et al., 2014. Orbit and bulk density of the OSIRIS-REx target asteroid (101955) Bennu. Icarus 235, 

10-22.

Consolmagno G.J., Britt D.T., and Macke R.J., 2008. The Significance of Meteorite Density and Porosity. 

Chemie der Erde-Geochemistry 68, 1-29 (Invited Review).

Gaskell et al., 2008. Itokawa shape model v1. 0. NASA Planetary Data System, 92.
36

Hildebrand, A.R., et al., 2015. An Asteroid Regolith Simulant for Hydrated Carbonaceous Chondrite 

Lithologies (HCCL-1). 78th Annual Meeting of the Meteoritical Society.

http://www.hou.usra.edu/meetings/metsoc2015/pdf/5368.pdf. 

Karafiath L., Mohr, G., 1969. Effect of Ultrahigh Vacuum on the Friction between Metals and Granular 

Soils, J. Vac. Sci. Technol. 6, 198, http://dx.doi.org/10.1116/1.1492659.

Kulchitsky et al., 2015. Resistance forces during boulder extraction from an asteroid. Acta Astronautica 

AA_2015_93 (Submitted).

MarcoPolo-R Integrated Sampling Mechanism (MPRISM). 

http://us-marcopolor.jhuapl.edu/mission/docs/Potential%20NASA%20contribution.pdf.

Accessed October, 2015.

Michikami et al., 2008. Size-frequency statistics of boulders on global surface of asteroid 25143 Itokawa. 

Earth, Planets and Space 60, 13-20.

Sánchez, P., Scheeres, D. J., 2014. The strength of regolith and rubble pile asteroids, Meteoritics & 

Planetary Science 49, 788-811, doi: 10.1111/maps.12293.

Scheeres, D., Hartzell, C., Sánchez, P., Swift, M., 2010. Scaling Physics to Asteroid Surfaces: The Role of 

Cohesion. Icarus 210, 968-984.

Terzaghi, K., 1943. Theoretical Soil Mechanics, Wiley, New York.

Tsuchiyama et al., 2011.Three-dimensional structure of Hayabusa samples: Origin and evolution of 

Itokawa regolith. Science 333, 1125-1128.

Veverka, J., et al., 1999. NEAR Encounter with Asteroid 253 Mathilde: Overview. Icarus 140, 3-16.

Boulder Physical Properties 

Response Lead: Dan Britt

Sub-team Members: Neyda Abreu, Erik Asphaug, Humberto Campins, Leslie Gertsch, Joel Sercel, and Kris 

Zacny

What is the expected distribution in densities for ~1-5 meter boulders on 2008 EV5? What uncertainty 

in density will exist after the in-situ visual imaging and characterization phase? 

The bulk densities, grain densities, and porosities for the subclasses of carbonaceous chondrites are 

shown in Table 7. For a given meteorite analog, the upper bound of the bulk density uncertainty should 

be in the range cited. The major uncertainty is in the lower bound of the bulk density because of 

atmospheric filter bias against weak materials. Note that the ranges of density values are powerfully 

constrained by the physics of minerals. A mineral is an arrangement of atoms set by fundamental physics. 

While a mineral assemblage (rock) can be made less dense by introducing porosity, under asteroidal 

conditions it is physically impossible to make a given mineral denser. The uncertainty will be in the 

identification of the meteorite analog and the lower bound of the bulk density.

Meteorite data are inherently biased by a range of selection effects including orbital dynamics, 

atmospheric stresses eliminating weak materials, and a limited time series of sampling. Meteorite data

should be considered upper bounds for bulk density since they are strong enough to survive entry. 

Boulders on the surfaces of asteroids may be weaker and less dense. There may be significant systematic 

differences between meteorite properties and pristine asteroid properties. In-situ sensing data, including 

reflectance spectroscopy and thermal inertia, can provide valuable insight into mineralogy, and the data 

from meteorite collections cited in this section provides an upper bound and ranges of bulk density.
37

Table 7: Carbonaceous Chondrite Physical Properties [Macke et al., 2011].

Meteorite 

Type 

Average Bulk 

Density (g/cm3)

Bulk Density 

Range (g/cm3)

Average Grain 

Density (g/cm3)

Grain Density 

range (g/cm3)

Porosity 

(%)

Porosity 

Range (%)

CI 1.58 single 

measurement

2.43 single 

measurement

35 single 

measurement

CM 2.20 1.88-2.47 2.92 2.74-3.26 24.7 15.0-36.7

CV 3.03 2.59-3.46 3.54 3.25-3.68 14.6 0.6-27.7

CO 3.03 2.18-3.48 3.52 2.99-3.78 13.6 0-41.3

CK 2.90 2.54-3.39 3.58 3.37-3.66 17.8 0-23.4

CR 3.11 2.29-3.94 3.42 3.06-3.88 9.5 0-25.0

CB 5.25 4.90-5.55 5.65 5.63-5.66 3.9 2.0-5.8

An indication of the variance in the distribution of boulder densities is provided by Macke et al. [2011].

They measured bulk density and porosity for 26 stones of two major CM falls, Murchison and Murray. The 

physical properties of these stones are homogeneous to within a few percent. Similar measurements were 

carried out for major CV, CO, and ordinary chondrite falls. Again, in all cases a similar pattern of physical 

properties was observed. It is therefore expected that the strength of boulders across a given asteroid 

would have similar physical properties.

Some combination of remote sensing measurements prior to boulder selection and in-situ 

measurement prior to collection would identify the mineralogy of the boulder: 

• Multi-wavelength spectroscopy (e.g., ultra-violet (UV), visible, near-infrared, thermal etc.)

• Alpha particle X-ray spectrometry (APXS) and/or laser-induced breakdown spectroscopy (LiBS) 

for elemental abundances

• Neutron and gamma-ray spectroscopy for volatiles and elemental abundances

• Mössbauer spectroscopy for Fe mineralogy

• X-Ray diffraction (XRD) for general mineralogy

 How can a conservative mass estimate be derived from this information in order to ensure the 

selected boulder does not exceed the ARV return capability?

If the composition of the asteroidal targets can be identified, the available data on meteorite bulk 

density for the major meteorite classes can be used to derive the upper bound on meteorite bulk density 

and mass.

What is the expected distribution in the coefficient of thermal expansion of ~1-5 meter boulders from 

2008 EV5?

The coefficient of thermal expansion (α) of CM and CR chondrites is not well studied. A thermal 

characterization of the boulder by remote sensing prior to sampling would be beneficial for studies of 

thermal response as described below. However, some informed estimates based on analogs to terrestrial 

materials can be made. Also, as with bulk density and other physical properties, the distribution of the 

coefficient of thermal expansion is expected to be small. Direct measurements of the coefficient of 

thermal expansion for CM chondrites are being conducted and results should be available soon. In the 

meantime, it is expected that α for these materials will be in the range of 5-15 x 10-6/K, similar to that of 

terrestrial sandstones, dolomites, and concretes.
38

If it is desired to determine if thermal processes are likely to break or spall the boulder, in addition to 

the coefficient of thermal expansion, other parameters such as Young’s Modulus and compressive 

strength are needed. In certain geometries involving spalling off the edges of a boulder, the thermal stress 

failure mode can actually be in shear. So in addition, the shear modulus or Poisson’s ratio along with 

thermal conductivity and specific heat is needed. Given the same caveats as provided in regard to 

coefficient of thermal expansion, reasonable expected values for these parameters are provided in Table 

8. It is also worth noting that the presence of different mineralogies within the boulder with various 

coefficients of thermal expansion also influence the thermal cracking efficiency by introducing stress 

concentrations.

Table 8: Estimated Values of Carbonaceous Chondrite Physical Properties Related to Spalling and Thermal 

Fracture.

Parameter Min Typical Max

Specific Heat (J/kg/K) 1,000 2,000 3,000

Density (kg/m3) 1,900 2,250 3,000

Thermal Conductivity 

(W/K/m)

1.0 2.0 3.0

Poisson’s Ratio 0.18 0.20 0.25

Young’s Modulus (Pa) 1.0E+10 2.0E+10 3.0E+10

Tensile Strength (Pa) 3.0E+05 1.0E+06 3.0E+06

Compressive Strength 

(Pa)

1.0E+06 3.0E+07 5.0E+07

Shear Strength (Pa) 5.0E+05 1.0E+07 2.0E+07

Coefficient of thermal 

expansion (10-6/K)

5 10 15

 Homogeneity of Major Meteorite Falls:

Heterogeneity is an important property of meteorites and disrupted meteoroids, and presumably of 

the large boulders on asteroids, so meteorite falls are important to consider. According to Macke et al. 

[2011]: “The abundance of stones for Murchison and Murray provides an excellent opportunity to explore 

the homogeneity of stones from the same fall. Murchison and Murray are relatively uniform in texture, 

and so by comparing stones from each fall it is possible to get a sense of the homogeneity of the parent 

body on the scale of the size of the original meteoroid, approximately decimeters to meters. In all 

parameters and for both meteorites, variation among stones (determined by one standard deviation) was 

less than 10% from the mean value, with the greatest degree of variability in the porosities. For Murchison, 

grain density ranged from 2.87 to 3.05 g/cm3(mean 2.96 g/cm3, with a variability of 0.05 g/cm3, or 1.6% 

of the mean value). Bulk density averaged 2.31 g/cm3, ranging from 2.15 to 2.40 g/cm3. Variability in bulk 

density was 0.07 g/cm3, or 3.1% of the mean. Porosity ranged from 18.7% to 24.9%, with a variability of 

2.2% (10.0% of the mean 22.1% porosity). Magnetic susceptibility averaged 3.73, with a range from 3.54 

to 3.90. Variability was 0.13, or 3.6% of the average. It should be noted that the mean uncertainties for 

the individual measurements were 0.01 g/cm3for grain density, 0.02 g/cm3for bulk density, 0.9% for 

porosity, and 0.09 for magnetic susceptibility. This indicates that, while measurements did vary between 

stones, the differences were not many times larger than measurement uncertainty. Overall, the stones 

from Murchison that were included in the study are homogeneous to within a few percent. Murray 

produces similar results. Bulk density varied 0.05 g/cm3(2.3% of the mean of 2.30 g/cm3), grain density 
39

varied 0.02 g/cm3(0.7% of the mean 2.91 g/cm3), porosity 1.8% (8.6% of the mean porosity of 20.8%), and 

magnetic susceptibility 0.15 (4.0% of the mean of 3.66). Mean measurement uncertainties for the stones 

were the same as for Murchison, but the overall variability is less. Thisindicates that at least for the stones 

in this survey, Murray may be more homogeneous overall than Murchison.”

What is the expected distribution in minimum shear, compressive, and tensile strengths for ~1-5 meter 

boulders on 2008 EV5? 

It is difficult to confidently predict boulder strength on 2008 EV5 because we have no direct 

measurements that can be applied without uncertainty in interpretation. Data on asteroid material 

strength comes laboratory measurements of small meteorites and data from bolide entry events, from 

which we estimate the aerodynamic ram pressure at breakup (see Table 9 and Table 10). Other insights 

come from experience with terrestrial materials and their variation with scale; experience with materials 

from other bodies such as the Moon and Mars; and analytical models. The difficulty with meteorite 

strength data is that it is measured from small samples and its applicability to large boulders requires an 

extrapolation which is uncertain. Similarly, bolide data clearly shows a range of breakup altitudes that 

are dependent upon uncertain material properties and component sizes. However, the nature of those 

components and the body’s reaction to entry are subject to interpretation. A key question is whether the

bolides themselves (asteroid materials at meter-scale) are representative of meter-size boulders on 

asteroids.

Meteorite strength fundamentally depends on composition, texture, and structure. In general, 

meteorites are bi-modal in their strength, with most meteorite types including ordinary chondrites, 

anhydrous carbonaceous chondrites, and most CMs being quite strong with compressive strengths 

greater than 40 MPa. The other major strength grouping includes CI and some petrologic type 2 

carbonaceous chondrites (C2), such as Tagish Lake, which are quite weak with compressive strengths less 

than a few MPa. However, there are notable exceptions to this generalization (i.e., weak ordinary 

chondrites), and the meteorite strength data is sparse on a number of important types (i.e., CMs, CIs and 

CRs that have few or no measurements). Additionally, it is very likely that the meteorite collection is 

biased towards stronger materials since more fragile materials are lost during atmospheric entry. 

Estimation of the overall strength of a boulder could be based on the “weakest link” approach that will 

likely be at least an order of magnitude weaker than data from individual meteorites.

Given these caveats, along with the uncertainty in 2008 EV5’s classification, it is the judgment of the 

ARM FAST members that boulders on 2008 EV5 could exhibit strength characteristics that fall within the 

following ranges:

 shear strength: 0.1-5 MPa

 compressive strength: 0.5-50 MPa

 tensile strength: 0.05-3 MPa

Of these parameters, the one that is most uncertain is tensile strength, and the possibility that tensile 

strength at large scale may be below the range above cannot be ruled out without further investigation. 

It should also be noted that there is dispute within the scientific community regarding the compressive 

strength, with some members of the FAST suggesting that boulder compressive strength may be as low 

as 0.1 MPa, derived from the assumed aerodynamic stresses during bolide breakup in the 

atmosphere. More experimental data on the relevant meteorite types and experiments with large-scale 

simulants are needed to refine these estimates.
40

Note: If 2008 EV5’s actual albedo is near or higher than the mean albedo values presented in the 

“Origin of 2008 EV5” section, 2008 EV5 is arguably a CR chondrite (though other compositions cannot be 

definitively ruled out, such as CI, CM, CK, etc.). As a starting point for discussion and new work, it is 

probably reasonable to assume this composition when making estimates of likely boulder strengths. If 

2008 EV5 actually has a low albedo, however, it is arguably more likely to be a CI or CM chondrite, which 

show a wide range of meteorite strengths and probable boulder strengths as well. This possibility is more 

problematic for engineering work, but it cannot be ruled out until additional information on the nature of 

2008 EV5 becomes available. Additionally, given that other candidate NEAs could be hydrated CIs or CMs 

(the most desirable targets from an ISRU perspective), designing for this wide range of strengths increases

mission robustness. 

All other things being equal (i.e., similar mineralogy, albedo, exposure history, and shock history), just 

as with bulk density and other physical properties, a narrow distribution of shear, compressive, and tensile 

strength of boulders on an individual asteroid should be expected. Because of thermal shock and erosion, 

angularity and visible fractures may be a measure of relative boulder strength: stronger boulders may be 

more angular and weaker boulders more rounded. The physical properties of homogeneous, isotropic 

rock are typically normally or lognormally distributed; it can reasonably be expected that boulders on 

2008 EV5 will exhibit a normal or lognormal distribution in strength.

Given the uncertainties and caveats in the above discussion, it would seem prudent to work 

aggressively to refine estimates of boulder strength while exploring capture mechanisms that minimize 

the required mechanical strength of the boulder. In addition, a broader investigation of the issue of 

boulder breakup is advisable, including consideration of boulder thermal properties, toughness or 

brittleness, and ductility.

Table 9: Compressive and Tensile Strength of Terrestrial Materials and Chondrites [Kimberley, 2011, 

Hildebrand, 2006].

Material or Meteorite Terrestrial Comment 

or Meteorite Type

Compressive 

Strength (MPa)

Tensile Strength (MPa)

Concrete (Unreinforced) Typical Sidewalk 20-40 2-5

Quartz Single Crystal 1100 55

Granite 100-140 7-25

Charcoal Briquette ~5 Not Measured

Medium dirt clod 0.2-0.4 Not Measured

Tagish Lake C2 0.25-1.2 ~0.3

Murchison CM ~50 Not Measured

Holbrook, AZ L6 6.2 Not Measured

La Lande, NM L5 373.4 Not Measured

Tsarev L5 160-420 16-62

Covert H5 75.3 Not Measured

Kunashak L5 265 49

Elenovka L5 20 2

Krymka LL3 160 22

Seminole H4 173 22.5

Plutusk H5 21.3 31
41

Table 10: Bolide Breakup Data [Popova, 2011].

Meteorite (Type) Compressive 

Strength Range of 

Meteorite Type 

(MPa)

Initial Mass 

(Metric Tons) / 

Diameter (Meters)

Compressive 

Strength at First 

Breakup (MPa)

Maximum 

Compressive 

Strength 

(Mpa)

Prıbram (H5) 77-247 1.3 / 0.9 0.9 Not observed

Lost City (H5) 77-247 0.16 / 0.45 0.7 2.8

Innisfree (L5) 20-450 0.04 / 0.28 0.1 3

Tagish Lake (C2) 0.25-1.2 65 / 4.2 0.3 2.2

Moravka (H5-6) 77-327 1.5 / 0.93 <0.9 5

Neuschwanstein 

(EL6)

Not observed 0.3 / 0.55 3.6 9.6

Park Forest (L5) 20-450 10 / 1.8 0.03 7

Villalbeto de la Pena 

(L6)

63-98 0.6 / 0.7 5.1

Bunburra Rockhole 

(Ach)

Not observed 0.022 / 0.24 0.1 0.9

Almahata Sitta (Ure, 

OC)

Not observed 70 / 4 0.2-0.3 1

Jesenice (L6) 63-98 0.17 / 0.45 0.3 3.9

Grimsby (H4-6) 77-327 0.03 / 0.13 0.03 3.6

 How homogenous are the boulder strength properties within a boulder? What is the potential, 

and likely, variability throughout the boulder? What is the potential for defects (fracture planes, 

etc.)? Is there any reason to believe the strength of boulders on an asteroid would vary with 

latitude or any other spatial parameter or orientation due to thermal cycling or other effects?

Experience with the meteorites suggests that the density of fractures in asteroidal boulders will be 

high. However, fractures can be zones of strength as well as weakness. The shock history of meteorites 

does vary across the meteorite collection, but variation within a single meteorite is small. Data from the 

major meteorite showers are homogeneous to the first order. This suggests that the material strength 

within a single boulder will be fairly homogenous, but bulk strength will be driven by macro-porosity and 

fractures.

The near surface material on an asteroid will probably be more space-weathered than the interior so 

it could be weaker and more fractured. The diurnal thermal skin depth is about 3 cm and that will be the 

major source of erosion from thermal shock. The extent of thermal shock will depend on the insolation 

distribution. Latitude variation is possible but will probably be much less important than more critical 

factors such as boulder strength, shock history, and albedo.

 How can “strong” boulders be distinguished from “weak” ones in-situ? What can be determined 

about the strength from in-situ visual and other measurements? What is the uncertainty in 

these measurements?
42

There is no definitive way to compare strengths of boulders using visual inspection alone. However, 

if only visual data is available, one possible method that merits further examination is to observe the 

boulder’s angularity. Because of thermal shock and erosion from thermal shock, angularity and visible 

fractures may be a measure of boulder strength. Stronger boulders may be more angular while weaker 

boulders become more rounded faster from the erosion driven by thermal shock. To determine the 

absolute strength of boulders will require some method of direct contact. As the spacecraft approaches 

the boulder, the following measurements could be possible: 1) from a specified distance; deploy lowspeed kinetic impactors; 2) on the surface, deploy a Schmidt Hammer-like device; or 3) once the anchoring 

process starts, use drilling telemetry.

 What is a set of Earth analog surfaces that could be used to bound the expected range of 

variability for use in validating the design of the capture system?

The Center for Lunar and Asteroid Surface Science (CLASS) and Deep Space Industries (DSI) are 

developing a family of simulants with correct compressive and shear strength. These should be available 

in quantity for capture system testing by early 2016. 

 Are smaller boulders expected to be stronger than larger ones and if so, by how much?

All other things being equal, pre-existing fractures would be a function of volume. The relative 

distribution of large fractures versus small fractures typically follows a power law distribution, so smaller 

boulders should have a smaller chance to accumulate major fractures on average. However, the expected 

difference in the 1-5 meter range would probably be minimal. That said, the following describes the 

known data on strength and the factors that go into determining a boulder’s strength.

Bolide Data Explanation: The data in Table 10 are from observed bolides with recovered meteorites. 

The second column shows the compressive strength range of that meteorite type. The third column is the 

estimate of the pre-encounter initial mass and diameter of the asteroid as it entered the atmosphere. The 

fourth column is the strength at first breakup. This is determined by the dynamic stress produced by the 

atmosphere at the observed altitude of first breakup and an indication of the overall cohesive strength of 

the asteroid as a whole. The maximum compressive strength is determined by the altitude of the major 

breakup event for the bolide. Note that the breakup strengths of the object as a whole are typically much 

less than the strength of the individual recovered meteorites, which likely indicates the presence of 

fracture planes or that the asteroid entered the atmosphere as a conglomerate.

Fracturing and Lag Surfaces: Asteroidal material is pervasively fractured because of strong collisional 

evolution over the age of the solar system. Materials in near-Earth space have experienced cycles of 

collisional fragmentation to arrive in this orbital space. The potential for defects such as fracture planes 

will be high. Figure 8 shows examples of fracturing observed in carbonaceous chondrites. Figure 8 (a) 

shows part of the CM2 Murchison fall, which has only been exposed to terrestrial weathering over a short 

amount of time and shows numerous fractures. It is difficult to ascertain whether the fractures in 

Murchison formed via asteroidal or atmospheric entry processes. However, the freshness of the fractures 

suggest that at least some of these fractures formed during atmospheric spallation and that fracturing of 

2008 EV5 boulders may not be as extensive. It is also important to recognize that terrestrial weathering 

may have affected the strength of meteoritic samples in ways that are not reflective of alteration 

mechanisms occurring in 2008 EV5. In Figure 8 (b), micro-fractures crosscutting a polished petrographic 

section of Antarctic CR2 chondrite find LAP 04516 are shown. Note that some fractures are free of mineral 
43

deposits while veins can contain minerals that are generally terrestrial in origin (e.g., ferrihydrite, an 

oxyhydroxide seen in LAP 04516) and are a consequence of terrestrial weathering in meteorite finds. 

These observations suggest that micro-fractures and cracks were probably free of mineral deposits while 

in the parent asteroid, potentially resulting in lower strengths than seen in the population of meteorite 

finds. It should be noted, however, that there are terrestrial mechanisms (e.g., freeze-thaw cycles) that 

could lower the strengths of the meteorite find samples as well.

For small asteroids, the low gravity probably results in the fine fraction of the surface material being 

depleted by micrometeorites and the solar wind. This will probably result in a pebble or cobble lag that 

builds up and armors the surface (like desert pavement).

Figure 8: Fractures in carbonaceous chondrites. Top: (a) Hand-sample (~9 cm x 9 cm) specimen of CM2 fall 

Murchison showing numerous fractures [Image Credit: Cari Corrigan, Smithsonian Institution, 2015]. 

Bottom: (b) Back-scattered electron (Z-contrast) image showing a polished petrographic thin section of 

CR2 chondrite LAP 04516 (~5 mm x 3 mm). Micro-fractures crosscutting the section are shown. Note that 

some fractures are free of mineral deposits while veins can contain minerals that are generally terrestrial 

in origin [Image Credit: Neyda Abreu, 2015].
44

Thermal Erosion: The weathered layer on a Bennu-like asteroid (similar size, orbit, albedo, rotation

as 2008 EV5) should be on the order of 2-3 cm. The annual orbital skin depth is approximately 1.5 meters. 

The annual orbital thermal pulse will affect any loosely bound or frozen volatiles down to about 1.5 

meters, known as the annual thermal skin depth. Over long periods of time a much reduced thermal pulse 

will penetrate deeper into the body, but the magnitude of this effect will require modeling. The geological 

interpretation of these data is that the outer 2-3 cm will be damaged by micrometeorites and eroded by 

thermal shock, and any low-temperature volatiles may be cooked-off by the diurnal thermal cycle. As 

suggested above, angularity of the exposed boulders may be a visual measure of relative strength. 

Essentially this would be a measure of the boulder’s resistance to tensile stress and its extent of past 

fracturing, where the rounder boulders on a given surface would be weaker. Essentially any sharp edge 

would become a focus of thermal energy and would be more likely to spall off, rounding the boulder. In 

general, the roundness of the boulder (for any given age of a surface) could be a measure of relative 

strength. Additional research and some experiments are needed to verify and calibrate the response, but 

this observational technique should work as an in-situ measurement to determine relative strength.

Homogeneity: While it is common for small amounts of exotic material to be incorporated into 

meteorites, the fraction of that material in any meteorite is small. Similarly, compositional variability 

across boulders on a given asteroid is likely to be small [e.g., Bland et al., 2004]. There is not likely to be 

much variation in the boulder field since a fair degree of homogeneity in composition, shock history, 

albedo, and thermal properties can be expected. 

Suggested Additional Research: 

1. As suggested above, angularity of the exposed boulders may be a visual measure of relative 

strength. Theoretical calculations and thermal experiments should be able to quantify this effect 

and provide a visual guide to relative strength.

2. Additional compressive and tensile strength measurements of targeted meteorite types.

3. Exploration of add-on mission implementations, especially surface interaction and remote 

sensing.

For more information, see Appendix D.

References:

Bland, P.A., Cressey, G., Menzies, O.N., 2004. Modal mineralogy of carbonaceous chondrites by X-ray 

diffraction and Mössbauer spectroscopy. Meteoritics & Planetary Science 39, 3-16.

Macke, R. J., Consolmagno G. J., Britt, D. T., 2011. Density, porosity and magnetic susceptibility of 

carbonaceous chondrites. Meteoritics & Planetary Science 46, 1842-1862.

Kimberley, J., Ramesh, K.T., 2011. The dynamic strength of an ordinary chondrite. Meteoritics &

Planetary Science 46, 1653-1669.

Hildebrand, A.R., McCausland, P.J.A., Brown, P.G., Longstaffe, F.J., Russell, S.D.J., Tagliaferr, E., Wacker,

J.F., Mazur, M.J., 2006. The fall and recovery of the Tagish Lake meteorite. Meteoritics & Planetary 

Science 41, 407-431.

Popova, O., Borovicka, J., Hartmann, W.K., Spurny, P., Gnos, E., Nemtchinov, I., Trigo-Rodriguez, J.M.,

2011. Very low strengths of interplanetary meteoroids and small asteroids. Meteoritics & Planetary 

Science 46, 1525-1550.
45

Post-Collection Boulder Handling

Response Lead: Danny Glavin

Sub-team Members: Neyda Abreu, Marc Fries, Joe Nuth, Joel Sercel, and Kris Zacny

How should the boulder be handled after collection to minimize impacts to science and to the structural 

integrity of the object? 

 What is the suggested allowable contamination of the boulder surface prior to sample 

acquisition by the crew?

 For the tools currently planned for sampling the boulder by the crew, what is the likelihood the 

boulder will shed material, fracture, or break up, due to the forces applied by these tools?

 After collection, the boulder will experience a different thermal environment than it did on the 

surface of 2008 EV5. What thermal environment constraints are reasonable for protecting the 

boulder?

Assessment: 

In order to avoid fragmentation of the boulder after collection, minimizing physical handling of the 

boulder until it is in a stable, cis-lunar orbit is suggested. However, it is recognized that additional physical 

contact with the boulder after collection (e.g., drilling, brushing, or scraping the surface of the boulder) 

could provide valuable engineering data to aid in safe transportation and the design of tools for future 

robotic or human sampling of the boulder. 

The ARM mission team must reach a balance between these constraints. Given that CR, CM, and CI 

type carbonaceous chondrites, the closest analogs to C-type asteroids, contain high water content (~3- 20 

wt.%) [Kerridge, 1985; Alexander et al., 2013] mostly bound to hydrated minerals and amorphous phases

[Garenne et al., 2014; LeGuillou et al., 2015] and are known to be highly friable meteorites, there is a high 

likelihood that the boulder will locally fragment and shed material due to the forces applied by tools (e.g.,

anchoring drills) if indeed the ARM target body is similar to CR, CM, and CI chondrites. CK chondrites have 

much lower water content (<1 wt.% in Karooda) [Kerridge, 1985].

These risks can be mitigated by conducting a full examination of the boulder, including surface imaging 

and some means to help identify internal cracks. For example, seismic measurements could be conducted 

prior to any drilling or sample coring operations. Tools that exert low cutting forces and include an efficient 

drill cuttings removal system to help contain particulate release during the coring operation can minimize 

the risk of particle shedding during drilling or other similar activities. The cuttings collected during the 

anchoring process might also make excellent samples that can be rapidly collected during the first EVA of 

the ARCM.

Monitoring: 

Monitoring the boulder during the anchoring process, such as adding cameras to the ends of the 

robotic arms, would be highly beneficial. Imaging the effects of the microspine grippers scraping over the 

surface or the dispersion of the drilling chips for the anchor could provide considerable insight about the 

overall integrity of the boulder. Monitoring the performance of the drill anchors may also prove useful. 

Passive direct monitoring of the boulder during anchoring, return, and time spent in cis-lunar space is 
46

highly desirable. Monitoring could include volatile analyses capable of monitoring compositional changes 

over time as the boulder experiences changes in the thermal environment. Cameras could also be used 

to inspect the boulder surface to identify any particle shedding or cracking prior to the ARCM.

For contamination, the OSIRIS-REx contamination control requirements for the returned boulder 

could be used as a starting point [Dworkin et al., 2015]. This would include reducing the levels of organic 

contamination on hardware surfaces (e.g., < 1000 ng carbon/cm2, < 180 ng amino acids/cm2, and < 180 

ng free hydrazine/cm2) that come into direct contact with the boulder surfaces. In practice, this means 

cleaning sample handling hardware to 100 A/2 particulate surface cleanliness levels and avoiding 

recontamination of the hardware surfaces prior to launch. The OSIRIS-REx contamination plan also 

specifies inorganic contamination limits for other elements of interest to science (e.g., K, Ni, Sn, Nd, Pb) 

[Dworkin et al., 2015]. OSIRIS-REx developed a prohibited materials list mostly driven by the organic 

contamination requirements and limits on material outgassing rates. This prohibited materials list could 

be used as a starting point for discussion by engineers and scientists working on ARM. Instead of specifying 

hard limits on specific volatiles likely to contaminate the surface of the boulder (e.g., water, xenon, NH3,

and other hydrazine thruster products), a best effort approach to reduce volatile contamination of the 

boulder surface (e.g., keep thrusters pointed away from the boulder surface) would be reasonable. In 

addition, active volatile monitoring near the boulder surface and spacecraft, and passive witness control 

materials would help document the contamination environment around the boulder surface. Witness 

materials that can trap volatiles such as water, ammonia, xenon, and organics could also be considered.

Modeling: 

Thermal models of the selected boulder on the asteroid surface and the spacecraft and boulder 

configuration should be developed for phases of the mission ranging from the target asteroid to cis-lunar 

space. If possible and straightforward to do, creating a shape model of the boulder in addition to the

thermal models is also suggested. Limiting the thermal shock (e.g., cooling/heating rate) of the boulder 

during transit to cis-lunar orbit to be no greater than the thermal cycling it experienced on the surface of 

the asteroid prior to capture will minimize the likelihood of any fracturing or other structural changes. 

Measuring mass loss of the boulder during the transit is suggested. This might be possible using an Inertial 

Measurement Unit (IMU) to monitor changes in the angular velocity and linear acceleration of the 

spacecraft-boulder system. The mass loss, coupled with the shape model taken en route and in cis-lunar 

orbit could help quantify physical changes to the boulder. Contamination modeling is also needed of the 

spacecraft thruster exhaust products, and spacecraft outgassing to include molecular mass transport 

analysis. An important potential application of this modeling activity will be to inform the advisability of 

adding a thin film or sheet metal shield to the CRS to potentially mitigate the effects of differential solar 

exposure and contamination of the boulder from spacecraft effluents. The potential benefit of such a 

shield and determination of its design cannot be evaluated without a reasonable effort in the area of 

contamination and thermal modeling.

References:

Alexander, C.M.O.’D. et al., 2013. The classification of CM and CR chondrites using bulk H, C and N 

abundances and isotopic compositions. Geochimica et Cosmochimica Acta 123, 244-260.

Dworkin, J.P., et al., 2015. OSIRIS-REx is a pathfinder for contamination control for cost controlled missions 

in the 21st century. LPSC 46, #1147.
47

Garenne, A., et al., 2014. The abundance and stability of "water" in type 1 and 2 carbonaceous chondrites 

(CI, CM, and CR). Geochimica et Cosmochimica Acta 137, 93-112.

Kerridge, J. F., 1985. Carbon, hydrogen and nitrogen in carbonaceous chondrites: Abundances and isotopic 

compositions in bulk samples. Geochimica et Cosmochimica Acta 49, 1707-1714.

Le Guillou, C., et al., 2015. Widespread oxidized and hydrated amorphous silicates in CR chondrites 

matrices: Implications for alteration conditions and H2 degassing of asteroids. Earth and Planetary 

Science Letters 420, 162-173.

Pre-ARCM Boulder Assessments for Crew Safety 

Response Lead: Jim Bell

Sub-team Members: Marc Fries, Danny Glavin, Christine Hartzell, Amanda Hendrix, Joe Nuth, Joel Sercel,

and Kris Zacny

Besides the existing capabilities of the ARV (i.e., cameras and CRS feedback loads), are there other ways 

to assess the condition of the boulder prior to crew access to determine if it’s safe to approach and 

sample? 

• What post-capture (or post-LDRO insertion) measurements should be made prior to crew 

interaction to ensure crew safety?

To ensure crew safety, a variety of high-heritage and/or flight-proven measurements and techniques

were identified could be employed during return from the asteroid or after LDRO insertion, and prior to 

crew interaction, and are listed in Table 11. They have been prioritized in the first column as (A) most 

critical to astronaut safety; (B) relevant to astronaut safety and/or science/knowledge gain but not as 

critical; and (C) primarily relevant to science/knowledge gain.

• What measurements prior to crew interaction would enhance scientific or other knowledge 

gain?

All measurements that provide information relevant to crew safety could also provide important new 

information for science or other knowledge gain (e.g., ISRU potential, planetary defense implications). In 

addition, a small number of additional measurements, also listed in Table 11, would likely be most 

relevant only for science or other knowledge gain.
48

Table 11: Post-LDRO Measurements of the Boulder and/or Contact Pad Regolith Samples to Ensure Crew 

Safety and/or to Enhance Scientific or other Knowledge Gain.

Priority Measurement Possible Methods Safety Science/

Knowledge

A

Assess fragility, hardness, sharpness, 

and volatile release potential of samples

• Acquire movies or time-lapse imaging of the 

samples while poking, pressing, drilling, brushing, 

scraping, hammering, and/or grinding

• Use simulators of end effector tools that will 

actually be used later by astronauts

 

A

Assess presence of fractures or textures 

that might suggest spallation or 

breakage

• Acquire stereo images of the boulder and regolith 

samples to construct 3-D models of their surfaces 

prior to any tool interactions

 

B

Assess any physical movement or 

dramatic temperature changes of the 

samples during the transit to the Moon

• Use CRS feedback loads (as planned)

• Obtain thermal measurements of the samples

• Use acoustic sensors to assess stability/motion

 

B

Characterize and determine abundance 

of any dust, volatiles, and/or organics in 

the samples

• Use ion Neutral Mass Spectroscopy covering 

masses relevant to potential volatiles, PAHs, or 

other potential carcinogens

• Perform high-resolution imaging survey (possibly 

including UV imaging) to assess dust environment

• Use potentially active-source (e.g., laser) analysis of 

chemistry of released gases and/or dust/fragments

 

B

Characterize the chemistry and 

mineralogy of the samples prior to 

astronauts, to make EVAs most efficient

• Perform UV, Visible, Near-IR, Mid-IR imaging 

spectroscopy

• Use APXS and/or LIBS for elemental abundance.

• Use neutron and gamma-ray spectroscopy for 

volatiles and elemental abundances

• Use Mössbauer spectroscopy for Fe mineralogy

• Use XRD for general mineralogy

 

B

Assess swatches of space suit material 

and other relevant witness samples 

during the robotic mission to influence 

ultimate choice of ARCM materials, 

coatings, etc.

• Perform microscope-scale UV, Visible, Near-IR, 

Mid-IR imaging and spectroscopy  

C

Assess electrostatic potential of the 

boulder • Include Langmuir probe, or voltmeter  

C

Use mass determination and volume of 

the boulder to estimate its density

• Perform mass determination from radio tracking

• Calculate volume from image-derived shape model 

C Estimate the ages of the samples 

• Include mass spectrometer for exposure age

• Include mini radiogenic isotope analyzer for 

absolute age



Containment Considerations 

Response Lead: Marc Fries

Sub-team Members: Neyda Abreu, Dan Britt, Danny Glavin, Joe Nuth, and Joel Sercel

Given the uncertainties in the properties of the boulders, potential for contamination, possible thermal 

effects, and potential for particulate release that could affect spacecraft or crew safety, should some 

form of containment of the boulder be considered? If so, what type of containment and materials 

should be considered?
49

Summary:

There is a high likelihood that particulates and possibly fragments will evolve from an unprotected 

boulder while it is attached to the spacecraft. These particles are likely to be small, have a very low relative 

velocity to the spacecraft, and are not expected to remain in the vicinity of the boulder due to spacecraft 

motion and solar radiation pressure. As such, these particles do not present a hazard to crew operations. 

Thermal effects are a primary factor in contamination and alteration of the boulder, and thus 

contamination and alteration can be reduced with a containment designed to reduce thermal shock and 

peak temperature. It would be beneficial to monitor the boulder throughout the period between initial 

collection by ARRM and sampling operations during ARCM to assess debris generation, contamination, 

and alteration. It was determined that a hermetically sealed containment mechanism for the boulder is 

not needed nor suggested. A sunshade-like “containment” device should be considered among the 

possible options, but specific requirements for physical containment of the boulder should be supported 

with further analyses. Since physical containment of the boulder is not necessarily suggested unless 

further analyses deem it necessary, a better term for this consideration is the “protection” of the boulder 

rather than “containment.”

Discussion:

Justification for protecting the boulder: Any need for boulder containment will arise from two 

fundamental needs: 

1) Protecting the spacecraft and crew from material arising from the boulder; and

2) Protecting the boulder from contamination/alteration arising from contaminants originating from the 

spacecraft and/or crew.

Design goals for boulder protection: Any form of physical protection offered to the boulder 

should be capable of preventing or significantly ameliorating two major effects: 

1) Thermal effects in the boulder. Thermal shock (i.e., rapid changes in temperature) can drive evolution 

of particulates and fragments from the boulder. Thermal shock can also drive loss and/or alteration 

of native volatiles from the boulder. Strong, static thermal gradients on the boulder can drive 

alteration, migration, and/or loss of native volatiles on the boulder and degrade the native state of 

the boulder ahead of sample collection.

2) Contamination of the boulder arising from the spacecraft and crew. Volatiles released from the 

spacecraft and crew can contaminate the boulder and complicate analyses of native organic species, 

obfuscating scientific and ISRU investigations. Loss of volatiles, dehydration of native hydrated phases, 

mobilization of native volatiles, chemical reaction of native species with contaminant species, and 

other similar alteration effects can also occur while the boulder is attached to the spacecraft.

Findings:

1) There is a high likelihood that particulates and possibly fragments will evolve from an unprotected 

boulder while it is attached to the spacecraft. Thermal gradients and thermal shock (i.e., rapid heating 

or cooling) are primary factors in generating fragments, volatiles, and dust from the boulder, thus 

driving the risk of spacecraft damage from boulder-generated debris. Studies of meteorites and 

meteorite analogs show that fractures and impact-derived features are common in surficial asteroidal 
50

materials, and it is reasonable to expect that the ARM boulder may spall material due to pre-existing 

fractures and other mechanical heterogeneities. Also, since the boulder may be composed of 

relatively volatile-rich carbonaceous material, it will be innately susceptible to spallation, dust 

evolution, and possible ejection of fragments at low velocity via volatile loss. These particles are likely 

to be small, have a very low relative velocity to the spacecraft, and are not expected to remain in the 

vicinity of the boulder due to spacecraft motion and solar radiation pressure. As such, these particles 

do not present a hazard to crew operations. The worst-case scenario includes sufficient disruption of 

the boulder as to compromise the ARV’s capability to restrain the boulder. The risk of disruption 

during transport may be reduced by “squeezing” it with the CRS legs prior to departure from the 

asteroid and monitoring for fragmentation. If the boulder cracks, a secondary candidate boulder 

should be considered. Containment of the boulder should address engineering needs to protect the 

spacecraft against these evolved materials and to prevent significant thermal shock to the boulder. In 

order to protect the ARRM and ARCM spacecraft from boulder debris and volatiles, the boulder should 

be protected from thermal shock and excessive static heating. A suitable upper limit for imposed 

thermal shock may be derived from modeling the thermal history of the boulder on the asteroidal 

surface prior to collection. More information is needed on the thermal environment of the boulder

plus spacecraft combination (see finding #6 below).

2) Thermal effects are a primary factor in contamination and alteration of the boulder, and thus 

contamination and alteration can be reduced with a containment designed to reduce thermal shock 

and peak temperature. The spacecraft thermal environment will drive evolution of volatiles from the 

spacecraft, evolution and alteration of volatiles in the boulder, transport of contaminants from the 

spacecraft to the boulder, and migration of contaminants on the boulder. Containment strategies 

should consider thermal effects from this perspective and should reduce or remove extended static 

heating from the boulder, as well as pronounced “cold sinks” on the boulder. Materials employed on 

the ARV should feature low-outgassing materials where possible to diminish volatile contaminant 

sources, and especially in portions of the spacecraft that will experience extended or extreme heating. 

More information is needed on the thermal environment of the boulder plus spacecraft combination

(see finding #6 below).

3) It would be beneficial to monitor the boulder throughout the period between initial collection by ARRM 

and sampling operations during ARCM to assess debris generation, contamination, and alteration.

Images of the boulder should be collected at intervals during the mission so that the ARM team can 

monitor changes in the boulder to include mass loss, volatile migration, and changes in the boulder’s 

mechanical stability. Appropriate imaging would include techniques suited to observing 

morphological, chemical, and mechanical changes in the boulder as well as watching for evolution of 

volatiles. This information may also be useful in assessing the mechanical state of the boulder prior 

to ARCM visits. Witness plates may be employed as a means to maintain “contamination knowledge,” 

collection of spacecraft contaminants on the boulder, and loss or alteration of volatiles in the boulder. 

4) A hermetically sealed containment mechanism for the boulder is not needed nor suggested. A hermetic 

seal is not a significant improvement for protecting the boulder and spacecraft but it does impose 

significant complexity upon the ARV. Pressurization of such a container due to volatile loss would be 

problematic both for spacecraft operations and crewed access to the boulder, and it would not fully 

prevent evolution, alteration, and migration of native volatiles in the boulder. Quantification of 

volatile loss and other alteration effects in the boulder can be addressed without the need to contain 

all volatile loss, through such means as witness plate employment, collection of core sample(s) to 

include interior material, collection of samples from several sites, and/or other means. In addition, 
51

many potential materials for the construction of a bag around the boulder can also outgas 

contaminants that would complicate the monitoring of internal outgassing between boulder 

collection and the first crewed mission.

5) A sunshade-like “containment” device should be considered among the possible options. Protection of 

the boulder from thermal effects, and protection of the spacecraft from evolved boulder fragments, 

might be accomplished with a sunshade-type arrangement. The guiding design principles should be 

to maintain the boulder in a near-homogenous thermal environment, and to prevent line-of-sight 

transfer of boulder fragments to the spacecraft body and solar panels to protect the ARV. Design 

options to consider include the use of optically translucent or scattering materials and materials with 

moderate to high emissivity that will minimize the presence of large temporal or spatial temperature 

gradients. As with other spacecraft components, the “sunshade” materials should present low risk of 

outgassing and particulate shedding that could contaminate the boulder. 

6) Specific requirements for physical containment of the boulder should be supported with further 

analyses. The FAST can provide estimates based on many years of experience, but data sets that are 

specific to the ARRM mission and spacecraft design are necessary for finalized mission requirements. 

Thermal modeling of the boulder and spacecraft configuration should be performed to quantify the 

expected range of temperatures and degree of thermal shock the boulder will experience. Modeling 

should also be performed with sufficient areal fidelity to predict the range of temperatures expected 

across the surface of the captured boulder, in order to identify areas where volatile loss (hot spots) 

and volatile accumulation (“cold fingers”) can be expected. These modeling results should be made 

available to the personnel responsible for the ARCM sampling plan to also inform their planning.

7) Since physical containment of the boulder is not necessarily suggested unless further analyses deem 

it necessary, a better term for this consideration is the “protection” of the boulder rather than 

“containment.” Protection in this case refers to the science and ISRU need to chemically and physically 

protect the boulder against damage, and the operational need to protect the spacecraft from damage 

arising from mass loss from the boulder.

Potential Investigations

The following is an initial list of potential investigations that could be performed by ARM (ARRM and 

ARCM) resulting from brainstorming activities by the FAST. Many of the identified investigations require 

additional sensors, subsystems, or operations that are beyond the scope of the current program. These 

could be performed with additions and modifications as identified in Table 12. This list is not meant to be 

viewed as final or comprehensive, but it does indicate that a broad range of investigations could be 

performed that would provide a benefit to the four investigation areas. This list includes only those 

investigations that could be carried out during the baseline ARM timeline and does not include the 

potential investigations that could be conducted as a part of final end-of-mission operations for the ARV.

Each potential investigation has been characterized by the applicability to each of the investigation areas, 

potential mission phases in which the investigations could be performed, likely benefit to ARM, perceived 

relevance to NASA’s science, ISRU, planetary defense, and exploration goals, potential for utilizing the

unique opportunities that ARM provides, and extent to which it is currently included in the baseline

mission plans (see http://www.nasa.gov/asteroidinitiative for further details.)
52

Potential Investigation Descriptions

For the purposes of this report, the 63 potential investigations have been sorted and grouped based

on their likely benefit to ARM and relevance to NASA’s science, ISRU, planetary defense, and exploration 

goals by the FAST leadership (Mazanek, Abell, and Reeves), and have incorporated input from the rest of 

the FAST. The investigations are numbered in the order they were proposed by the FAST with no priority 

or significance implied by the order or numbering. A short description of these investigations is included 

below with all of the full characterization performed by the FAST included in Table 12. Cost, complexity, 

and risk were not explicitly assessed for this preliminary list.

The descriptions of these investigations are presented in the following format:

Investigation Name (ID number that corresponds to Table 12): Investigation description

High Benefit to ARM and High Relevance to NASA Goals

Asteroid Surface Interaction (7): Use either an impact or small explosive test to gain asteroid surface 

property data that would be germane to future robotic and human missions and contribute to our

understanding of vehicle to surface interaction. This will provide ARM with surface property data (e.g., 

cohesion, strength, etc.) prior to boulder collection. At a minimum, the baseline includes the CRS contact 

pads interacting with the surface, and images of this interaction could be captured by the engineering 

cameras.

Dust/Particulate Mitigation Techniques (8): Demonstrate cleaning and dust/particulate mitigation 

methods and protocols for suits and EVA systems that will be brought into the crewed volume

(electrostatic, physical barriers, plasma interaction, filtration, etc.). These demonstrations could be 

conducted on both spacecraft and EVA suit materials (swatches) to understand the likelihood that dust 

will adhere to these surfaces and the effectiveness of the cleaning methods and protocols on these 

surfaces. This would feed forward to other planetary surface activities (i.e., asteroids, Moon, Mars and 

Martian moons). The complexity of this investigation depends on the specific mitigation technique. The 

benefit to ARM is dependent on whether information can be gained from ARRM in time to benefit ARCM.

Sample Thermal Control (14): Demonstrate active and passive thermal control methods for small body 

materials, both in-situ and after sample collection and stowage (i.e., keeping materials at ambient 

temperature conditions). It is desired to have a diversity of samples across the boulder, as well as the 

return of the geological context samples, following best practice contamination control. It is also desired 

that all collected samples be sealed at vacuum and ambient or colder temperatures (-80 ̊ C or lower). The 

benefit to ARM depends on whether it is determined that thermal control is needed to prevent thermal 

cracking of the boulder during return or in LDRO.

Thermal Imaging of Asteroid Surface (23): Thermal imaging of the entire asteroid surface over time in 

order to determine the thermal properties (e.g., thermal inertia) to assist in characterization of boulders, 

regolith, and the Yarkovsky and YORP effects.

Collect Regolith Samples (32): Collect regolith samples from the asteroid surface near the boulder 

collection location in order to provide geological context. The regolith has the potential to provide a more 
53

representative sample of the asteroid as a whole rather than the specific boulder composition. There are 

currently undefined (number and design) context sample collection devices on the CRS pads.

Surface Contact Science Package (36): Deploy a surface contact science package to investigate the surface 

strength, composition, and magnetic susceptibility of the target asteroid, which could help inform the 

final design of EVA tools and operations.

Collect Samples from Boulder (38): Image and collect samples from the entire boulder surface. Images 

and samples from the side of the boulder that was in contact with the asteroid are highly desirable. Having 

the capability to rotate the boulder prior to restraint in order to ideally position that side for imaging and

EVA purposes would be advantageous. Having the ability to image the entire surface would also allow the 

development of a full shape model and assist in EVA planning to ensure the most valuable samples are 

collected within the EVA capabilities. The current capability cannot image the underside of the boulder 

with arm cameras.

Characterize Boulder Geotechnical Properties (40): Characterize the geotechnical properties of the 

asteroid and boulder to inform both the ISRU investigations and the ARCM. These properties include the 

permeability, tensile strength, shear strength, volatiles, porosity, particle size, composition, etc. The 

benefit to ARM would be high if these properties could be identified prior to boulder collection. In the 

current baseline, the microspines, anchoring drill, and CRS will interact with the boulder and some data 

may be extracted from those interactions.

High Benefit to ARM and Medium Relevance to NASA Goals

Low-Velocity Penetrator (4): Use a low-velocity penetrator and observe regolith interaction in order to 

validate DEM simulations or verify minimum boulder strength. The penetrator could be controlled or 

uncontrolled. This could also be used as a deployment mechanism for other investigations. Cost and 

complexity could vary depending on specific implementation.

Mineralogy and Composition (18): Perform imaging for mineralogy and composition mapping with wellcalibrated broadband color filters and multi-wavelength sensors (UV, visual, near-IR, thermal-IR). Being 

able to refine the boulder density estimate and identifying potentially volatile-rich boulders would be the 

main benefit to ARM.

Multi-Spectral Imaging of Asteroid (21): Perform multi-spectral observation of the boulder collection site 

prior to, and as soon as possible following, boulder collection to observe the physical (e.g., thermal), 

geotechnical (e.g., cohesion), and compositional properties of the exposed asteroid surface. Repeated

multi-spectral imaging of this area to observe any changes is also desired. Depending on the collection 

site, continued imaging could be performed during Enhanced Gravity Tractor operations. Being able to 

refine the boulder density estimate and identifying potentially volatile-rich boulders would be the main 

benefit to ARM.

Global Mapping of Asteroid (22): Conduct global mapping to determine the shape, volume, and mass of 

the asteroid through imaging and radio science in order to determine bulk density, gravity field, centerof-mass, and gross internal structure. The use of a gravity gradiometer may improve the quality of these 

measurements. In the current baseline, a large majority of the asteroid will be imaged for boulder 
54

characterization and shape and gravity modeling. Higher fidelity would likely be desired for science 

investigations.

High-Power Radar (27): Utilize ground penetrating radar and radar tomography to understand boulder 

and regolith characteristics as well as imaging the internal structure of the asteroid.

Comprehensive Boulder Imaging (37): Perform an investigation of the surface dust and other surface 

properties of the boulder through imaging of the entire surface in order to help interpret remote 

observations of the ARRM target asteroid as well as other asteroids that have been and will be imaged by 

other spacecraft. It would be beneficial to have a method for imaging the side of the boulder that was in 

contact with the asteroid as well as a method to remove thin layers of the surface to understand the near 

sub-surface (e.g., sticky pads, grinder, abrader, etc.). This information would also benefit ARCM for EVA 

planning. In the current baseline, the boulder will be mapped in as much detail as possible with current 

capabilities. However, there will likely be portions of the boulder that cannot be imaged based on camera 

placement and arm length.

LDRO Free-flying Observer (41): Deploy a free-flyer that could observe the entire boulder in LDRO as well 

as observe ARCM activities from multiple angles. This would benefit knowledge return in multiple areas 

as well as public engagement.

Asteroid Free-flyer for Observation (45): Deploy a free-flying observation platform that could provide 

situational awareness, observe boulder collection (for engineering and public relations purposes), observe 

any follow-on experiments (e.g., impactors), perform long-duration orbit determination for the EGT 

verification, and/or perform long-duration observation of the target asteroid to witness any potential 

evolution of the surface properties.

High Benefit to ARM and Low Relevance to NASA Goals

None identified.

Medium Benefit to ARM and High Relevance to NASA Goals

Optical Communications Demo (1): Demonstrate Deep Space Optical communications in order to raise 

the Technology Readiness Level (TRL) and reduce risk for future robotic and crewed missions.

Small Body Seismic Network on Asteroid (2): Deploy a seismic network on the asteroid in order to gain 

knowledge of the internal structure of the asteroid, demonstrate small body deployment methods, and 

understand energy coupling. This could be enhanced with the use of subsurface (or “down hole”) 

instrumentation. The complexity of this investigation will depend on deployment method.

Ultrasonic Investigation of Boulder (3): Deploy sensors on the collected boulder to measure the seismic 

velocity through the boulder and gain knowledge of the internal structure to determine how energy is 

absorbed and how effective energy coupling and anchoring techniques would be. This could be enhanced 

with the use of subsurface (“down hole”) instrumentation. The complexity of this investigation will 

depend on the deployment method and the benefit to ARM would be increased if knowledge of boulder 

strength could be gained prior to ARCM.
55

Anchoring Techniques (9): Demonstrate multiple anchoring techniques and tools for small-body, microgravity environments. Anchoring drills on microspine grippers will demonstrate one anchoring method in 

the current baseline.

Long-term Orbit Determination (11): Deploy an asset to allow for long-term precise orbit determination 

of the asteroid following the departure of the ARV. This asset could be deployed on the surface or a longduration free-flyer. This would demonstrate the capability for future planetary defense efforts to track 

potentially hazardous NEOs. For certain targets, this could have a higher benefit for verifying the EGT 

demonstration. However, there are other methods (i.e., radar observations) by which to verify a 

deflection of 2008 EV5.

Contamination Environment Monitoring (20): Characterize the contamination environment, specifically 

any part of the spacecraft that could come in contact with the boulder or any outgassing from the ARV 

itself. This could be performed by exposing coupons (small swatches of material) or witness plates at 

various key times throughout the mission. Perform volatile monitoring for exosphere, outgassing, and 

plume composition to characterize not only the asteroid/boulder outgassing, but also the outgassing from 

the ARV in order to isolate the asteroid signal. Coordination and interaction with the curation team is 

vitally important to assess the ARRM and ARCM materials that will be used during EVA to obtain, stow, 

and contain samples.

Boulder Organics and Volatiles Characterization (39): Characterize the composition of the boulder and 

potential presence of organics and volatiles prior to EVA to help identify potential sampling locations as 

well as to determine a baseline prior to crew interaction. If volatiles are found, continuing to monitor 

them through return and crew interaction for changes would also be valuable.

Medium Benefit to ARM and Medium Relevance to NASA Goals

Surface & Subsurface Composition (26): Obtain surface and subsurface elemental composition 

measurements of both the boulder and asteroid using remote sensing instruments such as an x-ray, 

gamma-ray, or neutron spectrometer.

Medium Benefit to ARM and Low Relevance to NASA Goals

None identified.

Low Benefit to ARM and High Relevance to NASA Goals

Demo of Mining Techniques (5): Demonstrate various mining techniques, including both optical and 

physical. Include demonstrations of particle segregation by density, size, composition, etc. These 

demonstrations could span the processing and extraction of both feedstock and products. In the current 

baseline, the Capture Module will demonstrate the removal of a boulder from the surface as a potential 

mining technique.

Micro-g Mobility Demo (Robotic & Crewed) (6): Demonstrate robotic and/or crewed micro-g mobility 

techniques, both on the surface and in near-proximity of a small body. The complexity of these 

demonstrations depends on the specific method(s) being demonstrated. In the current baseline, the CRS 
56

will demonstrate landing and hopping, and the microspine technology is also applicable to mobility 

approaches (i.e., low-gravity crawlers)

ISRU Radiation Protection (15): Characterize the effectiveness of asteroidal materials for radiation 

reduction/ protection against both Galactic Cosmic Radiation (GCR) and Solar Particle Events (SPE) (e.g.,

deploying tissue-equivalent dosimeters at varying location and depths on the boulder).

Planetary Protection (“Break the Chain of Contact”) (16): Demonstrate methods and procedures for 

obtaining, collecting, and containing samples under Mars planetary protection protocols. These 

demonstrations would be focused on sample collection protocols in order to "break the chain of contact"

with the target body (sample container exterior must not be contaminated with extraterrestrial material). 

This would not be a full demonstration of Mars planetary protection requirements. Examples would be 

testing of seals and monitoring contamination during transport, but would not include cleanliness 

requirements.

Tether Demo with Boulder Counterweight (17): Tether the boulder (or a piece of the boulder) to Orion 

and spin the system to demonstrate the use of asteroidal material as a counter weight for artificial gravity 

systems. Other elements could be tethered to the boulder for demonstration of tether propulsion using 

asteroidal material as a counterweight.

High-Velocity Asteroid Impactor (29): Conduct a high/hyper-velocity impact experiment, deployed from 

the ARV, in order to characterize the dust and regolith environment, impact physics, and subsurface 

composition. This would require imaging of the plume and/or crater over time. ARV would serve as the 

imager and be at safe standoff during impact. This would occur following boulder collection.

Radiation Environment Characterization (33): Use tissue-equivalent radiation sensors on the ARV to 

monitor GCR and SPE dosage throughout the entire mission.

Collect Boulder Core Sample (34): Collect a core sample of at least a 4 cm depth from the boulder. Deeper 

is better and the extreme of a segmented core all the way through the diameter of the boulder would be 

useful. It is desired that the core be sealed and held at external ambient temperature or colder. Deeper 

holes would also allow for the ability to use an instrumented bit and/or other down-hole measurements 

(e.g., thermal conductivity, temperature, etc.) that would allow the exploration and understanding of the 

internal structure.

Large Sample Return (48): Robotically return large (>100 kg) samples for large-scale ISRU laboratory 

demonstrations on Earth.

Cold Trap Volatile Collection Demo (52): Demonstrate in-space, cold trap water collection with asteroidal 

volatiles. Use of the generated water for propulsion or other potential uses would help advance the TRL 

of these systems.

ISRU Product Characterization (62): Return all ISRU products for characterization on Earth in a laboratory.
57

Low Benefit to ARM and Medium Relevance to NASA Goals

Small Body GPS (10): Demonstrate a GPS-like-system for a small body, allowing position and orientation 

reference for surface and orbital assets.

Remote Stand-off Interaction Demo (12): Demonstrate the capability for remote stand-off active 

interaction with the surface of a low-gravity body (e.g., Laser-induced Breakdown Spectroscopy (LiBS), 

concentrated sunlight, arc lamps, lasers, etc.).

Future Planned Instrument Demo (13): Demonstrate a planned deep-space or planetary instrument in 

order to increase the TRL of these instruments for future space-flight missions. The benefit to ARM and 

complexity depends on the instrument being demonstrated.

Space Weathering Measurements (19): Perform space weathering environment measurements including 

solar wind, radiation, and micro-meteoroid impact monitoring.

Plasma Environment Characterization (24): Characterize the plasma environment, including potential 

and electric fields (Langmuir probe) near the surface of both the asteroid and boulder in order to 

understand the plasma and exosphere environment related to dust and small particle levitation.

Complexity is increased due to the addition of activities to the surface operations for asteroid 

measurements.

Magnetic Environment Characterization (25): Characterize the magnetic environment of the asteroid and 

boulder surface to understand plasma/solar wind interaction and the remnant magnetization of the 

asteroid. Measurements of the Ion Propulsion System should also be taken in order to isolate the 

spacecraft signal from the asteroid.

Deploy Science Package (28): Deploy in-situ science packages. These could be active or passive, static or 

mobile. Instrumentation could include APXS, microscope, Fourier Transform Infrared Spectroscopy (FTIR), 

etc.

Occultation Exosphere Observations (30): Use solar or stellar occultationsto examine exosphere and dust 

environment.

Dust Mobility Characterization (32): Utilize a dust detector on the CRS contact pads in order to 

understand dust mobility due to ARV initial interaction as well as active sensor/detector on the ARV to 

measure dust properties and concentrations around the asteroid. This could potentially be performed at 

a low level with the engineering cameras.

Characterize Boulder Porosity (35): Characterize the micro- and macro-porosity of the boulder. The 

micro-porosity characterization would require high-resolution imaging at the boulder and likely be a first 

order characterization, while better characterization would be through examination of returned samples. 

Macro-porosity would be determined through mass properties determination and possibly acoustic 

sounding. The benefit to ARM is low as the macro-porosity is unlikely to be determined until after 

collection. 
58

Rubble Aggregation Experiment (42): Perform a full-scale rubble pile accretion and aggregation 

experiment and observation using asteroidal material in LDRO.

Observe Kinetic Impact on Asteroid (43): Use the ARV as an observer of a kinetic impact experiment 

following the boulder collection and primary planetary defense demonstration (EGT). Additional 

observation platforms or instruments could be deployed during close proximity operations and/or 

boulder collection that could provide additional information during and after impact.

Deploy Explosive Penetrator on Asteroid (44): Deploy a high-explosive charge and/or an explosive 

penetrator that could be observed with the ARV or other deployed observing platform. The desired 

objective would be to observe both the ejecta and crater over a period of time.

Additional Planetary Defense Demo(s) (46): Demonstrate additional planetary defense techniques such 

as laser or solar ablation, alteration of the albedo, volatile plume generation for thrust, ion beam 

deflection, etc. These could be small-scale experiments that would demonstrate the feasibility of the 

technique without altering the asteroid’s trajectory such that it would interfere with the verification of 

the EGT deflection.

Plume Generation and Observation (47): Demonstrate volatile plume generation through the use of 

concentrated energy (e.g., laser, solar, arc lamp, etc.) interacting with the asteroid or boulder surface.

Ablation and/or Spalling Test (49): Conduct an ablation or thermal spalling test through the use of 

concentrated energy (e.g., laser, solar, arc lamp, etc.) and characterize any generated volatiles.

In-Space Printing with Asteroidal Materials (50): Manipulate asteroid and/or boulder material to 

generate small-scale structures. Demonstrate in-space printing using asteroid material. It would be 

desired for these materials to be brought back to Earth for analysis.

Asteroidal Material Manipulation Demo (51): Conduct size distribution, particle separation, and material 

manipulation experiments using boulder or asteroidal material.

Instrumented Drill on Asteroid and/or Boulder (53): Use an instrumented drill to measure volatiles and 

how the volatiles vary with depth. This could be conducted either at the asteroid or on the boulder.

Boulder Composition Characterization (54): Through a range of sensing techniques (e.g., gamma ray 

spectrometer, neutron detector, etc.), characterize the elemental makeup and specifically the hydrogen 

content in the boulder and asteroid. The benefit would be increased if this could be performed prior to 

collection.

Deliver Samples to ISS (55): Deliver boulder samples (either from Earth or directly from LDRO) to the 

International Space Station (ISS) for continued low-gravity experimentation.

Crack the Boulder to Expose New Surfaces (56): Access the interior of the boulder through cracking or 

other methods that would expose new surfaces as a means of accessing the potentially more volatile rich 

interior. Complexity is driven by the desire to maintain restraint on the boulder and eliminate debris 

creation.
59

Encapsulate the Boulder for Volatile Collection (57): Encapsulate asteroidal material to help with volatile 

extraction and collection (e.g., using cryotraps to capture outgassed volatiles).

Characterize Boulder Permeability (58): Introduce helium, xenon, or another noble gas into the interior 

the boulder and observe the diffusion through the boulder to measure permeability.

Soil Simulation with Asteroidal Material (59): Experiment with asteroidal material created soil simulants 

and evaluate their effectiveness for botanical purposes. This would be performed either in an Earth 

laboratory or on ISS.

Microwave Volatile Extraction Test (60): Conduct microwave volatile extraction demonstrations.

Use of Robotic Arms for Strength Tests (61): Use the robotic arms with various end-effectors as a method 

to measure the shear and tensile strength of the boulder. In the baseline, the microspines and anchor drill 

would interact with the boulder and provide some data.

Full ISRU Demo (63): Conduct an end-to-end ISRU demonstration that would include rendezvous, material 

processing, volatile capture, and storage of products.

Low Benefit to ARM and Low Relevance to NASA Goals

None Identified.

Proposed Investigations Categorization Table

Table 12 shows the full FAST characterization of all the identified potential investigations described 

above. Each investigation was characterized by the FAST and is listed and numbered in the order in which 

it was proposed. There is no priority or significance implied by the order. The investigation 

characterization areas and a key to reading the table are below.

Investigation Area:

X = Primary 

• = Secondary

Investigation Location:

Outbound: From launch to the start of the asteroid proximity operations.

At Asteroid: Includes on the surface as well as during all proximity operations.

Inbound: Transit between asteroid vicinity and insertion into LDRO.

LDRO: All uncrewed activities in the LDRO, either before or after the ARCM.

ARCM: Crewed activities, or activities while Orion is in the vicinity of or docked to the ARV.

Earth: Investigations that will be conducted with samples returned to Earth.
60

Benefit to ARM:

Low: Likely provides little to no benefit to ARM.

Med: Likely provides some enhancement to ARM but will not impact objectives or reduces 

mission risk.

High: Likely provides a major enhancement to ARM that directly impacts objectives or reduces 

mission risk.

Relevance to NASA Goals:

Low: Does not likely align directly with any identified future NASA science or exploration Goals.

Med: Likely aligns with one science or exploration goal.

High: Likely aligns with multiple science and exploration goals.

Utilizes ARM:

Yes: The investigation makes use of the unique opportunities ARM provides (e.g., high-power

SEP, asteroid interaction, boulder collection, etc.).

No: The investigation could be performed on another flight mission.

Included in the Baseline:

No: This investigation is not addressed with the baseline design and/or operations.

Low: This investigation is addressed with the baseline design and/or operations at a low level.

Med: This investigation is addressed with the baseline design and/or operations at a significant 

level.

High: This investigation is fully addressed with the baseline design and/or operations.
61

Table 12: Proposed investigation characterization.

Science PD ISRU C & T Outbound At Asteroid Inbound LDRO ARCM Earth

1

DemoOptical Communications X X X X X X Med High N o N o

2 Network on Asteroid

Small Body Seismic X X X X X Med High Yes N o

3

BoulderUltrasonic Investigation of X X X X X X Med High Yes N o

4 Low-Velocity Penetrator X • • X X High Med Yes N o5

Techniques Demo of Mining X X X X Low High Yes Low

6

(Robotic & Crewed)Micro-g Mobility Demo X X X X Low High Yes Low

7

InteractionAsteroid Surface X • • X X High High Yes Low

8

TechniquesDust/Particulate Mitigation • X X X X X High High Yes Low

9 Anchoring Techniques • • • X X X X Med High Yes Med

10 Small Body GPS • • X X Low Med Yes N o11

DeterminationLong-term Orbit X X X X Med High Yes N o

12

Interaction DemoRemote Stand-off • • • X X X X X Low Med Yes N o

13

DemoFuture Planned Instrument • X X X X X X Low Med ? N o

14 Sample Thermal Control • • X X X X X X High High Yes ?15 ISRU Radiation Protection X • X X X X X Low High Yes N o16 the Chain of Contact”)

Planetary Protection (“Break • X X X X Low High Yes N o

17 Counterweight

Tether Demo with Boulder X X Low High Yes N o

18

CompositionMineralogy and X • X X X X High Med Yes N o

19 Measurements

Space Weathering X • • X X X Low Med N o N o

20

Environment MonitoringContamination X • X X X X Med High Yes N o

21 Asteroid

Multi-Spectral Imaging of X • X High Med Yes N o

Incl. in 

Baseline Investigation # 

Benefit to 

ARM NASA Goals

Relevance to Investigation Area Investigation Location Utilizes 

ARM
62

Table 12: Proposed investigation characterization (cont.).

Science PD ISRU C & T Outbound At Asteroid Inbound LDRO ARCM Earth

22 Global Mapping of Asteroid X • • X High Med Yes Med23 Asteroid Surface

Thermal Imaging of X • X High High Yes N o

24 Characterization

Plasma Environment X X X Low Med Yes N o

25 Characterization

Magnetic Environment X • X X Low Med Yes N o

26

CompositionSurface & Subsurface X • X X X X Med Med Yes N o

27 High-Power Radar X • • X X High Med Yes N o28 Deploy Science Package X • X X Low Med Yes N o29

ImpactorHigh-Velocity Asteroid X X X X Low High Yes N o

30 Observations

Occultation Exosphere X X Low Med Yes N o

31 Characterization

Dust Mobility X X X Low Med Yes Low

32 Collect Regolith Samples X X High High Yes High33 Characterization

Radiation Environment X X X X X Low High Yes N o

34 Sample

Collect Boulder Core X • X X Low High Yes N o

35

PorosityCharacterize Boulder X • • X X X Low Med Yes N o

36 Package

Surface Contact Science X • • X X X High High Yes N o

37

ImagingComprehensive Boulder X • X X X High Med Yes Med

38 Boulder

Collect Samples from X • X X X High High Yes Med

39 Volatiles Characterization

Boulder Organics and X X X Med High Yes N o

40 Geotechnical Properties

Characterize Boulder X X • X X X High High Yes Low

41 LDRO Free-flying Observer X • X X High Med Yes N o42

ExperimentRubble Aggregation X • X Low Med Yes N o

Incl. in 

Baseline Investigation # 

Benefit to 

ARM NASA Goals

Relevance to Investigation Area Investigation Location Utilizes 

ARM
63

Table 12: Proposed investigation characterization (cont.).

Science PD ISRU C & T Outbound At Asteroid Inbound LDRO ARCM Earth

43 Asteroid

Observe Kinetic Impact on • X X Low Med Yes N o

44 Penetrator on Asteroid

Deploy Explosive X X X X Low Med Yes N o

45 Observation

Asteroid Free-flyer for • X X High Med Yes N o

46 Defense Demo(s)

Additional Planetary X X Low Med Yes N o

47 Observation

Plume Generation and X X X X X Low Med Yes N o

48 Large Sample Return • • X • X X Low High Yes N o49

TestAblation and/or Spalling • X • X X Low Med Yes N o

50 Asteroidal Material

In-Space Printing with X • X X Low Med Yes N o

51 Manipulation Demo

Asteroidal Material X • X X Low Med Yes N o

52 Collection Demo

Cold Trap Volatile • X X X Low High Yes N o

53 Asteroid and/or Boulder

Instrumented Drill on • • X • X X Low Med Yes N o

54 Characterization

Boulder Composition X X X X Low Med Yes N o

55 Deliver Samples to ISS X • X X X Low Med Yes N o56 Expose New Surfaces

Crack the Boulder to • • X X X Low Med Yes N o

57 Volatile Collection

Encapsulate the Boulder for X X X Low Med Yes N o

58 Permeability

Characterize Boulder • X X X Low Med Yes N o

59 Asteroidal Material

Soil Simulation with • X X X Low Med Yes N o

60

Extraction TestMicrowave Volatile • X • X X Low Med Yes N o

61 Strength Tests

Use of Robotic Arms for • X • X X Low Med Yes Low

62 Characterization

ISRU Product • X X Low High Yes N o

63 Full ISRU Demo • X • X Low Med Yes N o

Incl. in 

Baseline Investigation # 

Benefit to 

ARM NASA Goals

Relevance to Investigation Area Investigation Location Utilizes 

ARM
64

Summary of Public Inputs

The FAST would like to thank everyone that provided feedback. Where applicable, we have 

incorporated selected, specific comments into the content of this final report. Below is a summary of all 

public inputs received by the FAST prior to the close of the public comment period on December 4, 2015

that are relevant to the FAST Charter and in the scope of the mission formulation. The inputs are listed in 

the order that they were received. The FAST leadership and team members have endeavored to 

summarize the inputs received, but the reader is encouraged to refer to the complete inputs that are 

posted in their entirety on the FAST website: http://www.nasa.gov/feature/arm-fast. This website posting 

also includes other inputs that were applicable to the ARM in general, but were not directly relevant to 

the FAST activity and report. The FAST Charter can also be found on the FAST website.

_____________________________________________________________________________________

Input from Marshall Eubanks (Asteroid Initiatives, Inc.)

YORP Torque and Rotation State: A science goal for the ARRM should be to describe the YORP torque 

and rotation state of the target as accurately as possible during the initial “stand-off” phase of the mission 

(before the spacecraft itself can perturb the satellite’s albedo rotation). This should include:

 Characterizing the regions important to YORP and Yarkovsky radiation pressure forces.

 Determining the axial rotation and compare to previous ground-based or other observations of 

the same target asteroid.

 Observing and characterizing any polar motion (Eulerian wobble period) of the target asteroid.

These observations should be made both before and after boulder collection to determine if the 

interaction has any impact on rotation (unlikely to be large enough to detect) or albedo (more likely and 

could impact YORP and Yarkovsky).

Cause of Surface Restructuring: The physics of asteroid surface restructuring is unclear, and ARM may 

be able to provide important constraints on this process. Accurately characterizing the shape will provide 

information about any past mass motions and imaging the collection site both before and after the 

boulder collection will help identify any mass flow caused by the collection operations.

Granular Physics and Cohesion: The ARRM mission should offer numerous opportunities to 

investigate the source of cohesion, both during the boulder capture process and possibly during sampling 

or other surface operations. Among the most important regions for an in-situ surface properties 

experiment would be any “seas” or “ponds” of smooth fine material. Observations of surface restructuring 

during the boulder collection process itself should provide information on the cohesion between the 

boulder and the surrounding regolith. It is also important to observe the behavior of material shaken loose 

or dropped during the boulder acquisition process, and other surface motions caused by surface

operations. The ARRM should also map the surface slopes and local acceleration (gravitational plus

rotational) for the complete surface of the target asteroid. In addition, landing pico-spacecraft with

accelerometers could provide ground truth for this effort.

Contextual Sampling of the Target Asteroid: It is important to collect samples from the “smooth” 

surfaces,such as those present on Itokawa and Eros,should such surfaces be present on the ARRM target.

This material is extremely unlikely to be present on a meteorite sample and would thus likely be a
65

previously unobserved material type. It would also be beneficial to collect a core sample from these 

“smooth” areas in order to determine the circulation and size-sorting of the fine granular material, and 

also constrain the motion of this material over time and past resurfacing events.

Electrostatic Levitation: Levitated dust is thought to be important in removing very fine material from 

strong asteroids; the ARRM mission could test this hypothesis and provide valuable observations for 

improved modeling of this phenomenon. At the beginning of the mission, the spacecraft could attempt to 

observe levitated dust through forward or reversed scattering of light. A levitated dust sample return 

would provide the first samples of such material from any solar system object.

Comparison with Ground Based Observations: As with any asteroid mission, an important scientific 

goal will be the comparison of in-situ results with previous ground-based observations.

Planetary Defense Data: The description of the proportions and distribution of fine and coarse 

material, and of the nature of the cohesion between the various components making up the asteroid, will 

be very important if it is ever necessary to resort to kinetic impacts or nuclear explosions to deflect a 

hazardous asteroid.

Geodetic Control during EGT: During the ARRM “gravity tractor” planetary defense test, it will be 

important to have very tight geodetic control over the target asteroid and the ARV itself. The ARV will not 

be a drag-free platform, and it will thus be necessary to combine radiometric observations of the ARV

from Earth, and lidar observations of the target asteroid from the ARV to determine the asteroid’s velocity 

change from the gravity tractor. The use of phase-connected Very Long Baseline Interferometry (VLBI) of 

the ARV during the gravity tractor phase of the mission could improve the transverse accuracy of the

spacecraft orbit determination. 

Laser Retroreflectors: Laser retroreflectors for use over distances of a few kilometers can be very 

small (~1 mm) and lightweight and can provide fiducial points, which have proven to be very important in 

terrestrial geodesy. If boulder capture or other surface operations result in significant surface motions, it 

should be possible to track the actual flows, and not just surface shape changes, through lidar to the 

fiducial points.

Presence of Water: Attention should be paid to the availability of water in and around the target 

asteroid. The ARRM should attempt to characterize the amount of water being released from the target 

asteroid. The ARRM should attempt to immediately collect a sample from directly underneath the 

collected boulder, where regolith may have been hidden from the Sun for a considerable time, and thus 

might serve as a trap for water and other volatiles outgassed from the interior of the body. The acquisition 

of a core sample would also be of great interest to asteroid water mining, and for mining in general.

Deep Space Atomic Clock (DSAC): The DSAC would provide adequate frequency stability to allow for 

one-way Doppler and range tracking which (with differential VLBI) would substantially reduce the need 

for Deep Space Network (DSN) tracking time during the gravity tractor phase of the mission.

Small Spacecraft: The deployment of small nano- or pico-spacecraft as engineering demonstrations 

which can also provide useful scientific information. They could be used on the ARRM target to monitor 

surface changes during the boulder extraction process, and demonstrate the utility of this new 

technology.
66

Bi-Static Radar Reflections: Bi-static radar reflections using the very strong decametric emissions 

from electrons flowing in the Io-flux tube could be used to examine the interiors of asteroids with a single 

receive antenna.

_____________________________________________________________________________________

Input from Edward L. Patrick (Southwest Research Institute)

The last pressure gauge applied to a regolith-laden surface was the Cold Cathode Gauge (CCG) placed 

in 1971 during Apollo 14. The last instrument placed at a regolith surface to conduct mass spectrometry 

was the Lunar Atmospheric Composition Experiment (LACE) placed during Apollo 17.

If there is any belief whatsoever that the asteroid 2008 EV5 is hydrated, then it is a science imperative 

to monitor the local exosphere about that asteroid and volatiles that will most certainly evolve from it 

upon encounter with the spacecraft and its necessary tools.

The best analytical tool for probing such a body would be a time-of-flight mass spectrometer (TOFMS). If costs and TRL are a concern, then a quadrupole mass spectrometer (QMS) could be included in the 

payload at relatively low cost. NASA should include adequate pressure monitoring and analytical 

chemistry diagnostics for the encounter, probing, and removal of the first boulder from another solar 

system body.

The loss of science from failing to monitor such gas and volatile evolution from an asteroid will keep 

the models and scientists as blind and ignorant as we have been with over 40 years of undefended 

assumptions made about the exosphere of the Moon. There is at least some question in this scientist’s 

mind as to what mechanisms are at work within regolith surfaces that enable the capture and retention 

of volatiles (and these would include Hg, K and Na). The understanding of these conditions for surfacebounded exospheres (SBEs) has many implications.

_____________________________________________________________________________________

Input from Edward Strobach (University of Maryland, Baltimore County) 

Below are comments and questions related to the draft report from ARM FAST.

Question 1: Has there been an interest in using a gravimeter to probe subsurface structure and 

density variations? This might be useful for determining a potential candidate for a landing site.

Question 2: Through reading one of the sources, I found that the lidar footprint (didn’t specify at what 

distance from the surface) was 7 m X 12 m area. This seems problematic when determining the vertical 

height (c) for boulders smaller than the lidar footprint. What lidar pulse length would be considered 

appropriate for probing height variations, and to what accuracy? Is there a certain lidar, with little beam 

divergence and high vertical resolution, that is both feasible and available for determine vertical 

variations?

Question 3: Are there alternatives for measuring the vertical dimension (c) of boulders besides 

through laboratory experiments and lidar? Could a high-resolution camera be used to determine ‘c’? In 
67

other words, could the solar angle and the position of the surface relative to the Sun, along with the length 

of the shadows caused by boulders along the surface, be used to determine an approximate height?

Question 4: It wasn’t clear, but is one of the intents to observe differences in upwelling radiation rates 

as 2008 EV5 rotates to determine variations in thermal inertia?

_____________________________________________________________________________________

Input from Michael Busch (SETI Institute)

Multiple specific comments and typographical corrections are provided in the complete response, and 

selected, specific inputs have been incorporated into the final report where applicable. Below is an 

additional selected comment that was not incorporated into the final report:

I caution against uncritical use of the effective diameter value of 370 ± 6 m from Alí-Lagoa et al. [2013]. 

The thermophysical modeling described in that paper failed to include significant sources of uncertainty, 

specifically the uncertainties the 2008 EV5 shape model as described in Busch et al. [2011], and the 

possibility of variations in thermal properties across 2008 EV5’s surface. So the uncertainty Alí-Lagoa et al. 

assigned to their effective diameter estimate for 2008 EV5 is almost certainly far smaller than it should be.

_____________________________________________________________________________________

Input from Antonella Barucci (LESIA-Paris Observatory)

Just a comment on the spectra analogy. The available data for 2008 EV5 are very noisy and not of high 

quality, so it is very difficult to give a good analogy with meteorites, even if the more similar could be CI 

or CR meteorites. Phase function effect needs also to be taken in consideration (albedo & spectra). The 

mission is absolutely appealing and for sure, from what we know, 2008 EV5 is different in composition and 

complementary of Bennu and Ryugu.

_____________________________________________________________________________________

Input from Patrick Michel (Observatoire de la Côte d’Azur)

Multiple specific comments and typographical corrections are provided in the complete response, and 

selected, specific inputs have been incorporated into the final report where applicable. Below is an 

additional selected comment that was not incorporated into the final report:

I strongly push for any mission that aims at interacting directly with a small asteroid, either for 

sampling, performing an impact (in both the high- and low-speed regimes), deploying a seismic 

experiment or other packages devoted to the understanding of the mechanics in a low-gravity

environment. Without such direct interactions, our understanding on how small body surfaces behave, 

respond to external actions, and evolve will remain based on many assumptions. ARM and its other 

potential investigations greatly serve this purpose. Plus, the ARRM reference target, 2008 EV5, is very 

intriguing.

_____________________________________________________________________________________
68

Input from Laszlo Kestay (United States Geological Survey Astrogeology Science Center)

The report discusses the pros and cons of sending the ARRM to an asteroid that had been previously 

surveyed by another spacecraft (e.g., Bennu after it is visited by OSIRIS-REx). However, another 

alternative, splitting the ARRM into two missions, is only briefly mentioned. We suggest it is important to 

more fully discuss the concept of sending one or more smaller surveyors to identify the best target for a 

later boulder-extraction mission. This architecture would essentially zero the risk of not finding an 

appropriate boulder when the ARRM spacecraft arrives. Additionally, key uncertainties about material 

and geotechnical properties can be greatly reduced with even relatively simple interactions with the 

asteroid surface. The report does an excellent job of quantifying the uncertainties facing the ARRM if it is 

the first mission to the target asteroid, but it does not investigate how much these uncertainties would 

be reduced with a survey conducted with a relatively small (Clementine or NEAR scale) precursor mission.

We strongly encourage a more thorough cost-benefit analysis of splitting the ARRM, taking into 

consideration the possibility of schedule slips for the ARCM.

Quantitative requirements for the quality of the topographic information are not clearly established. 

The choice of techniques, types of instruments, and specific instrument requirements depend on the level 

of precision required by the mission. Even if the most sophisticated “fused” topographic products are not 

required, considerable pre-flight calibration, data collection, and analysis are required to generate quality 

products with quantified uncertainties. It is essential to collect images under varying viewing and 

illumination conditions, which can take many weeks as the spacecraft is positioned in multiple positions 

relative to the asteroid. After data acquisition, with current tools, it takes many months to complete the 

topographic analysis, which does not fit within the notional ARRM concept of operations at the asteroid. 

The processing could be accelerated with new photogrammetric techniques and tools. However, this is a 

significant new R&D effort that would take some years to complete. Alternatively, the ARRM mission 

would need to spend more time at the asteroid (with a timeline more similar to the OSIRIS-REx mission) 

or a precursor “surveyor” mission could be used to characterize the topography. We strongly encourage 

the report to consider these matters in more detail.

_____________________________________________________________________________________

Input from Raffi Sahul (TRS Technologies)

The report presents several approaches to remote sensing measurements prior to boulder selection,

and in-situ measurement prior to collection would identify the mineralogy of the boulder for physical 

properties characterization.

We do not find any mention of ultrasonic applications for physical properties characterization. So, we 

would like to suggest that ultrasonic methods be added the list. Ultrasound has been well studied, and 

ultrasonic methods have been used for rock characterization for a long time. Ultrasonic measurements 

been proven to have excellent correlation with lab and in-situ testing by other methods. 

The latest advances in ultrasonic transducer designs based on new materials, such as single crystals, 

can be a foundation for development of an ultrasonic instrument that can be sent to the boulder for insitu measurements for physical properties characterization and analysis. 

_____________________________________________________________________________________
69

Input from Mark Sykes (Planetary Science Institute)

Inputs into the mechanical design and mission requirements for ARM are necessarily highly 

speculative. Input from OSIRIS-REx and Hayabusa2 cannot be used. In-situ observations by ARM are of no 

value to design and requirements, but necessary, of course, for deciding the best thing to grab, assuming 

there is something that can be grabbed. 

A reference model of the target asteroid needs to be defined at a sufficient level of detail to be usable 

to define design requirements for ARM, with clear parameter uncertainties. Then it would be possible to 

decide what range of uncertainties of what parameters (that may well be correlated) can be 

accommodated at what cost. It would also be possible (and needed) to then do a full-up risk assessment. 

There is a lot of good information in the report about various asteroid size, shape, mechanical, etc. 

property ranges. But no recommendation of a reference model is made, and there is little discussion of 

the potential impact on mechanical design of the parameter ranges.

_____________________________________________________________________________________

Input from Richard P. Binzel (Massachusetts Institute of Technology)

Multiple specific comments are provided in the complete response, and selected, specific comments 

have been incorporated into the final report where applicable. Below are additional selected comments

that were not incorporated into the final report:

The report specifically notes that the target selection is not fixed to be 2008 EV5, nor is it fixed to be 

a C-type asteroid. Therefore any and all statements or assessments regarding a “science” or knowledge 

gain should stipulate whether that purported gain is target dependent. In other words, this report should 

be specific for how any gain might be diminished (or increased) if sampling (for example) ordinary 

chondrite asteroid material. 

Five “unique” knowledge gains are purported for ARM, yet 4 out of 5 are not unique to ARM and can 

be accomplished with existing meteorite samples on Earth or through existing missions.

a. Subsurface sampling (core sampling) unaltered by the space environment is not unique to ARM 

as this is possible today on Earth for an abundance of meteorite samples having dimensions 

ranging from tens of centimeters to meter scale.

b. The requirement for multiple kilograms of samples is not uniquely satisfied by ARM, where 

instead for example, the Smithsonian Institution houses approximately 5 tons of meteorite 

material. Experiments that might result in the destruction of large masses of samples are far 

more likely to be approved for the abundance of meteorite material compared to the very 

expensive (cost per kilogram) ARM samples returned to an Earth laboratory.

c. ARM in cis-lunar space is not uniquely required for an “orbital laboratory” to demonstrate 

asteroidal ISRU methods. These methods can be evaluated in Earth-orbit where 10s to 100s of 

kilograms of meteorite (or simulant) material can be delivered to LEO for lower cost and even 

lower astronaut risk as compared to ARM. 
70

d. ARM is not unique in correlating asteroid spectral properties to surface samples as this has been 

accomplished previously by the Japanese Hayabusa mission and will be accomplished by 

Hayabusa2 and NASA’s own OSIRIS-REx mission.

Throughout this document (most specifically Tables 9 and 10), assessments are made about “science” 

gains with no traceability to specific NASA Science Objectives or to Planetary Science Priorities described 

by the Decadal Survey.

_____________________________________________________________________________________

Input from Brent Archinal (United States Geological Survey Astrogeology Science Center)

Multiple general and specific comments are provided in the complete response, and selected, specific 

comments have been incorporated into the final report where applicable. Below are additional selected 

comments that were not incorporated into the final report:

At several points in the report, there is mention of a need for “three-dimensional images.” Such an 

acknowledgement immediately leads to the need and recommendation to carry out studies as to: 1) how 

such data would be collected (e.g., from different directions to obtain stereo), at what resolution, with 

what accuracy, and given various possible lighting conditions; 2) how such data would be successfully 

processed into relevant shape models and mapping products; 3) whether such methods can provide 

sufficient uncertainty information; 4) whether models at the desired level of accuracy and resolution 

would be likely achieved; and 5) under what timeline the results are needed and whether additional 

development is needed in order to meet that timeline.

It is very important to acknowledge that to do stereo processing, scale information is required. For 

most planetary missions this is obtained from orbit determination information relative to the body in 

question. In a station-keeping situation at a small asteroid, some type of ranging instrument is required in 

order to do mapping and shape model determination (if not spacecraft navigation). Height measurements 

can also be made by stereo imaging, and perhaps be done more reliably and completely than with simple 

lidar measurements. Stereo imaging can provide good simultaneous area coverage, while sophisticated 

scanning or flash lidar might be required to get similar data. In the end, it’s obvious that both stereo 

imaging and lidar have their own strengths and weaknesses. Ideally, both types of data should be collected 

and processed together in order to obtain the best possible results regarding boulder and asteroid size 

and shape – and for the matter, not incidentally, of navigating the spacecraft near the asteroid in question.

Although asteroids and other small bodies have been mapped in the past, the methods and tools to 

do such mapping are not well developed, tested, or robust. This is described at length in a NASA Ames 

Research Center white paper [Nefian, et al., 2013] and also addressed in Archinal et al. [2013]. Briefly, 

there are numerous problems in such processing, including for example: 1) significant manual effort 

required for processing; 2) substantial periods of time required for processing (i.e., no near real-time or 

real-time processing); 3) lack of uncertainty information for the mapping products produced; 4) no tools 

for rigorous joint processing of stereo and lidar data; 5) no tools for “true 3D” modeling of planetary 

surfaces (including boulders on such surfaces); 6) misunderstandings of coordinate system standards; 7) 

lack of any standards for planetary instrument calibration and instrument boresight measurement; and 8) 

lack of visualization tools for the appropriate map projection and display of such products and their 

uncertainties. See the references for further examples. Tool development to address these issues will be 

required in order to successfully carry out the ARRM. This will be particularly true if mapping products are 
71

to be generated near real-time for mission operations use. Another practical issue with regard to small 

body mapping tools is that some of the tools that do exist are only in use with international partners and 

not at any U.S. institutions, and cannot or at the very least cannot be easily transferred/understood for 

use by others. It would be useful for the final report to acknowledge at least that problems exist in regard 

to having adequate algorithms, tools, and methods for small body mapping, and these will have to be 

addressed as part of the ARRM planning. 

In various places, there are discussions of surface slopes or the need to know them. What is often 

missing is that slopes must be specified over a given baseline. A given shape model (or digital terrain 

model) can provide slope information at any baseline length from twice its resolution to its largest size. 

Specification is needed as to what baseline lengths slope will need to be known, and care taken that any 

shape model used to determine slopes has sufficient resolution.

It is implied that an upper bound on mass can be derived for any boulder, but the report does not 

indicate that a volume estimate is also required to make the mass estimate. 

References:

Archinal, Brent, Randolph Kirk, Ken Edmundson, Mark Rosiek, Lisa Gaddis, Ara Nefian, Terry Fong, Ross 

Beyer, and Julie Bellerose (2013). “The Need for NEO Close Mapping and Characterization,” in 2013 

IAA Planetary Defense Conference, 15-19 April, Flagstaff, AZ. 

Nefian, Ara V., Julie Bellerose, Ross A. Beyer, Brent Archinal, Laurence Edwards, Pascal Lee, Anthony 

Colaprete, and Terry Fong (2013). “Human and Robotic Mission to Small Bodies: Mapping, Planning 

and Exploration - A Study for the Advanced Exploration Systems (AES) Joint Robotic Precursor 

Activities (JRPA) Project.” NASA/TM-2013-216538.

_____________________________________________________________________________________

Input from Ed Scott (University of Hawaii)

The draft report attempts to constrain the strength of boulders on 2008 EV5 using primarily bolide 

data and physical measurements on meteorites. Missing from the report is any discussion of the cosmicray exposure ages and breccia properties of meteorites, which both suggest that boulders on 2008 EV5

are probably very weak.

Cosmic-ray exposure ages of stony meteorites are typically 1-100 Myr and date the time when submeter-sized meteoroids were exposed to space. CI and CM chondrites have uniquely short cosmic-ray 

exposure ages of ~105to a few times 106years: mean values based on 21Ne abundances are 1.8±2.1 and 

2.8±3.1 Myr for CI and CM chondrites, respectively (Herzog and Caffee, 2014, TOG 2nd edition). The 

reasons for these short exposure ages are not fully understood but it is very probable that the lack of 

longer exposure ages for CI and CM chondrites is due to their very low strength. CR chondrites have longer 

exposure ages of 1-25 Myr, with an average of ~8 Myr.

CI, CM, and CR chondrites share a second unique characteristic: they are all breccias that contain solar 

wind gases [Bischoff et al., 2006, MESS II]. [For comparison, the proportions for H, L and LL chondrites are 

15, 3, and 6%, respectively.] The very low abundance of solar wind and irradiated grains compared with 

lunar regolith breccia meteorites probably reflects dilution with unirradiated grains [Roth et al., 2011, 

MAPS]. CM, CR, and CI chondrites are therefore mixtures of materials with diverse alteration histories,
72

not rocks that were compacted by metamorphism, alteration, or hydrostatic pressure. They were 

compacted by repeated impacts that locally decreased the porosity and caused low-level shock and 

deformation of chondrules [Lindgren et al., 2015, GCA]. CM chondrites are nearly all shock stage S1 as 

more strongly shocked materials did not survive as coherent rocks. Similar processes probably affected 

the CI parent bodies as CI chondrites are all complex breccias containing solar wind gases [Morlok et al., 

2006, GCA].

Conclusions:

CI and CM chondrites, which are probably derived from boulders on their parent asteroids, have breccia 

properties and cosmic-ray exposure ages that the strong boulders that are required for the ARRM are 

likely rare or non-existent on CI and CM asteroids. The parent asteroids of CR chondrites probably have 

somewhat stronger boulders than the CI and CM asteroids as shock levels in CR chondrites are mostly S2 

and they have longer exposure ages.

References:

Bischoff A., Scott E. R. D., Metzler K., and Goodrich C. A. (2006) “Nature and origins of meteoritic 

breccias.” Meteorites and the Early Solar System II. Univ. of Arizona, Tucson.

Herzog G. F., Caffee M. W. (2014), “1.13 Cosmic-ray exposure ages of meteorites” Treatise on 

Geochemistry 2nd ed, vol 1. Oxford, UK Pages 419-453.

Lindgren P., Hanna, R. D., Dobson K. J., Tomkinson T., and Lee M. R. (2015) “The paradox between low 

shock-stage and evidence for compaction in CM carbonaceous chondrites explained by multiple lowintensity impacts.” Geochimica et Cosmochimica Acta. Volume 148, Pages 159-178. 

Morlok A., Bischoff A., Stephan T., Floss C., Zinner E., Jessberger E.K. (2006) “Brecciation and chemical 

heterogeneities of CI chondrites” Geochimica Cosmochimica Acta Volume 70, Pages 5371-5394.

Roth A. S. G., Baur H., Heber V. S., Reusser E., and Wieler R. (2011) “Cosmogenic helium and neon in 

individual chondrules from Allende and Murchison: Implications for the precompaction exposure 

history of chondrules.” Meteoritics & Planetary Science Vol. 46 Pages 989-1006.

_____________________________________________________________________________________

Additional Findings

Beyond the specific questions from the ARRM Project, the FAST, in combination with public input, 

developed a list of observations and assessments that would provide value to the ARM. Below is a list of

these findings. No prioritization is implied by the ordering of these findings.

 Unique Knowledge Gain from ARM: ARM provides a unique opportunity to gain a wide range 

of valuable knowledge beyond other asteroid missions or what is available in the current 

meteorite collection. For example:

o Investigating pristine sub-surface material, preserved with stratigraphic context 

(boulder core sample), that has not been significantly altered by the space 

weathering and ionizing radiation environment (e.g., how organic content, 

hydration, volatile content, etc. varies with depth). 
73

o Returning a multi-ton boulder, along with regolith samples for context that would 

provide valuable information about the surface of asteroids and allow for 

measurements and investigations that require large mass/samples.

o Returning multiple kilograms of samples to Earth to allow sensitive laboratory 

measurements and experiments (i.e., destructive to the sample) that aren’t possible 

with the limited primitive meteorite collection.

o Creating an "orbital laboratory” that can be used to demonstrate asteroidal ISRU 

and other technologies and instruments in an operational environment.

o Creating the opportunity to correlate observed reflectance spectrum to the sampled 

asteroid surface (“ground truth”), asteroid interior (through boulder investigations), 

and known meteorite classes.

 NASA Goal Traceability: Although the FAST did not specifically address traceability to the 

current planetary decadal survey and other NASA exploration roadmaps, many NASA goals 

could be addressed using the results and opportunities provided by this mission. 

 Pre-launch 2008 EV5 Characterization: All existing data should be analyzed to provide physical 

characterization of 2008 EV5 to understand mission risks. This includes the ESA MarcoPolo-R 

team investigations (e.g., observations and modeling) and telescopic data sets. Opportunities 

for acquiring new data sets should also be investigated (e.g., Spitzer).

 Meteorite and Simulant Analog Work: More wide-ranging laboratory studies of appropriate

candidate meteorites and simulant development are warranted (e.g., spectra, strength, 

density, etc.). Investigating the effects of grain size, packing density, and powders-on-slabs 

would provide stronger insights into the possible physical and chemical composition of 2008 

EV5.

 Characterization Precursor: A precursor to the ARRM target body in order to scout for 

boulders and provide surface and boulder physical characteristics would effectively increase 

the characterization phase duration and should be investigated further. This precursor could 

be a dedicated mission or be co-manifested with the ARV, arriving at the target earlier. 

Additional benefits would be gained if the precursor had some means of interacting with the 

surface to provide geotechnical data.

 Characterization Phase: Characterization of the target asteroid, candidate boulders, and 

associated collection areas are critically important. Increasing, to the greatest extent possible, 

the time allocated for characterization will maximize the knowledge return from the ARRM 

and probability of mission success, while minimizing the time required for data acquisition, 

transmission, processing and analysis, and decision making will reduce the overall 

characterization timeline.

 Geotechnical Property Estimation: A mechanical interaction with regolith representative of 

the boulder collection area is the only way to provide an accurate estimate of the 

geotechnical properties (e.g., cohesion, friction angle, porosity, etc.) that are critical for 

boulder collection. Before and after images of the interaction area at sub-cm/pixel 

resolution would provide context to inform cohesion mapping around target boulders.

 Boulder and Regolith Characterization: On a best-effort basis, sufficient camera resolution 

is required to characterize:

o The morphological relationship of the boulder to the surrounding terrain – subcm/pixel resolution of a representative area of boulder/regolith interface with more 

of the image devoted to the regolith than the boulder. 

o The physical integrity of the boulder (e.g., cracks, fissures, etc.) – sub-cm/pixel 

resolution over as much of the boulder surface as possible is desired.
74

 Thermal Imaging: The thermal inertia of boulders, and the entire asteroid surface, is 

indicative of their near-surface characteristics (e.g., porous vs. solid), and can be measured 

relatively easily with a thermal detector. Ideally this detector would have two or more 

wavelengths (e.g., 5 and 10 microns) and a spatial resolution greater than several pixels per 

boulder (a minimum of about 0.5 meters per pixel). Over an asteroid’s rotation period these 

observations can distinguish between the thermal inertia of low-density, porous aggregates 

and higher-density, potentially stronger, monolithic material, which would aid in boulder and 

site selection and in determining the homogeneity of boulder and surface properties.

 Previously Visited Target: While selecting a C-type target that will not have been visited 

before (i.e., not Bennu or Ryugu) is compelling, there is value in returning to a previously 

visited asteroid and there would be interest in returning a boulder to cis-lunar space for 

subsequent study and sampling. (see SBAG ARM Special Action Team Full Report:

http://www.lpi.usra.edu/sbag/documents/SBAG_ARM_SAT_Full_Report.pdf).

Closing Remarks

This report has been developed over a two-month period to provide input during the requirements 

definition phase of the ARRM, which includes spacecraft interfaces, requirements, and design 

considerations as they relate to the ARCM. The inputs represent the FAST’s best effort in the time available 

to assist with the formulation and design of the ARRM mission, spacecraft, and capture system. The FAST 

has also provided inputs relevant to the ARM in general. These inputs are not intended to represent an 

exhaustive effort to cover all possibilities, but provide an initial effort based on the FAST members’ areas 

of experience and expertise. All timely public inputs directly relevant to ARM have been summarized in 

the “Summary of Public Inputs” section of this report and are posted in their entirety on the FAST website 

(http://www.nasa.gov/feature/arm-fast).

The ARM FAST was formally retired following the ARRM Requirements Closure TIM held December 

15-16, 2015. NASA intends to fund an ARM Investigation Team (IT), which is currently planned to be 

formed in the summer of 2016 with a call for membership expected in the spring of 2016. The 

multidisciplinary IT will assist with the definition and support of investigations in the same four main areas 

as the FAST. The IT will support ARM program-level and project-level functions, provide technical 

expertise, and support NASA Headquarters’ interactions with the technical communities. The IT will 

support ARM through mission formulation, mission design and vehicle development, and mission 

implementation, which includes the operational phases of both the ARRM and the ARCM.

Appendices

Appendix A1: Full Response on the Origin of 2008 EV5

Some additional background details on the response to the question on the orbital history of 2008 

EV5 are provided here, specifically on the dynamical/physical evolution of (341843) 2008 EV5 and possible 

links to other main belt families.

NEA (341843) 2008 EV5 is a candidate target for NASA’s Asteroid Redirect Robotic Mission (ARRM). It 

is not only in a highly accessible Earth-like orbit, but it also appears to have characteristics similar to some 
75

type of carbonaceous chondrites. This potentially makes it highly useful to study in detail from an in-situ

resource utilization perspective. In order to maximize the science return/knowledge gain from this 

mission, it is important to identify where 2008 EV5 came from and what happened to it along the way to 

its current orbit. This is a difficult task, with the limited and, in some cases uncertain, information on 2008 

EV5. Nevertheless, using what is known of both 2008 EV5 and the asteroid belt from remote observations 

and collisional/dynamical modeling work, it is possible to winnow down the possibilities.

Taking advantage of what has been learned about asteroid evolution over the past several decades, 

a reasonable scenario describing how 2008 EV5 reached its current orbit can be constructed. 2008 EV5

likely started its existence as part of a much larger body. Given the existing knowledge of planetesimal 

formation mechanisms, 2008 EV5’s parent body probably had a diameter greater than 100 km [Morbidelli 

et al., 2009]. The formation location of this body could have been the main asteroid belt, but it may also 

have been another region altogether (e.g., the terrestrial planet region, the giant planet region, or 

beyond) [Bottke et al., 2006b; Levison et al., 2009; Walsh et al., 2011]. In the latter scenarios, dynamical 

processes implanted 2008 EV5’s parent body in the main belt within the first few hundreds of millions of 

years of solar system history. 

Once formed, 2008 EV5’s parent body would have experienced early thermal evolution by the decay 

of radiogenic nuclides [e.g., McSween et al., 2002], while its surface would have been battered by impacts 

for billions of years of cratering events [e.g., Bottke et al., 2005a,b]. The location of what is now 2008 EV5

within this parent body is unknown; if it was deep in the interior, it may have been substantially 

metamorphosed and potentially desiccated. If it formed near the exterior, it may still be primitive enough 

to have retained substantial volatiles in the form of hydrated phyllosilicates.

2008 EV5’s immediate history likely starts when its parent body experienced a large cratering event 

or, more likely, a catastrophic disruption event. This collision would have created enormous numbers of 

fragments near the impact site, some of which were roughly 2008 EV5-sized. Here, the clustered 

semimajor axes a, eccentricites e, and inclinations i of these fragments are referred to as an “asteroid 

family.” 2008 EV5’s maximum potential age is therefore the same as that of the family-forming event, and 

dynamical methods exist that can potentially determine the latter [e.g., Bottke et al., 2006; Nesvorny et 

al., 2015].

From here, the newly liberated 2008 EV5, or perhaps a somewhat larger precursor, began to undergo 

dynamical evolution via the non-gravitational forces referred to as the Yarkovsky and Yarkovsky-O’KeefeRadzievskii-Paddack (YORP) effect [e.g., Vokrouhlicky and Bottke, 2012]. The Yarkovsky effect describes a 

small force that affects the orbital motion of D < 40 km bodies. It is caused by sunlight; when these bodies 

heat up in the Sun, they eventually re-radiate the energy away as heat, which in turn creates a tiny thrust. 

This recoil acceleration is much weaker than solar and planetary gravitational forces, but it can produce 

substantial secular semimajor axis changes over timescales ranging from many millions to billions of years. 

The same physical phenomenon also creates a thermal torque that, complemented by a torque produced 

by scattered sunlight, can modify the rotation rates and obliquities of small bodies as well. The YORP effect 

likely modified 2008 EV5’s obliquity (or that of its immediate precursor) to a value approaching 180°. This 

allowed 2008 EV5 (or its immediate precursor) to drift inward by the Yarkovsky effect far enough to reach 

a dynamical resonance capable of pushing it out of the main belt and onto a terrestrial planet-crossing 

orbit.

The transit time for 2008 EV5 to reach a main belt “escape hatch” is probably on the order of tens of 

Myr to a billion years, so this phase likely makes up most of its lifetime. From there, powerful resonances 
76

typically drive asteroids onto planet-crossing orbits over less than 1 Myr. Once on planet-crossing orbits, 

their lifetime is likely to be a few Myr to many tens of Myr. The most common fate for NEAs is to hit the 

Sun or be thrown out of the inner solar system via an encounter with Jupiter [e.g., Gladman et al., 1997; 

Bottke et al., 2002]. Only a tiny fraction of all asteroids escaping the main belt strike a planet (i.e., roughly 

0.3% across all resonances, though ~1% hit from escape routes in the innermost main belt region). If 2008 

EV5 or its precursor had a high enough eccentricity within the main belt, and the right initial orbit, it could 

have also escaped the main belt by drifting directly onto a Mars-crossing orbit via the Yarkovsky effect. 

From there, a combination of planetary close encounters and resonances would have moved it to where 

it is seen now, namely on a very Earth-like orbit. En route, 2008 EV5’s precursors may have disrupted one 

or more times by collisions or by mass-shedding via YORP spin up, enough to take it to its current size. 

Alternatively, 2008 EV5 might have always been near its current size, and it potentially avoided all 

meaningful collisions.

To determine more specifics about 2008 EV5’s likely evolution, its existing physical properties need to 

be considered and put into context using the current understanding of solar system dynamics and physical 

effects produced by collisional/thermal physical processes. What is known about 2008 EV5 that can be 

used to help identify its source region is summarized below.

 Orbit. 2008 EV5 has an osculating (a, e, i) orbit of (0.96 AU, 0.084, 7.4°), respectively. This places 

it into the Aten sub-class of the NEA population.

 Shape, Size, Spin Vector. Radar observations suggest that 2008 EV5 has a top-like shape with an 

equatorial bulge reminiscent of many other NEAs [Busch et al., 2011]. These components are 

consistent with the idea that 2008 EV5 has been significantly modified by YORP torques over time 

(e.g., Walsh et al., 2008). Its radar-derived mean diameter is 400 ± 50 m (Busch et al., 2011). The 

spin period is P = 3.725 h, with an obliquity around 180 ̊ (retrograde rotation) [Alí-Lagoa et al.,

2013].

 Spectra. Reddy et al. [2012] show that the spectroscopic signature of 2008 EV5 is mostly 

featureless with an overall blue slope. They classify it as a C-type body. See Appendix A3 for 

additional details. Note that the spectra of some NEAs have proven variable, so spectral 

comparisons may only refer a portion of a possibly heterogeneous surface composition [e.g., 

Binzel et al., 2015].

 Albedo. 2008 EV5 has a geometric albedo of 9-10% ± 3% or 9 (+5, -3)% (see main text and 

Appendices A1 and A2). The average albedo for C-complex NEAs, based on five objects observed 

by the Spitzer space telescope, is 13% (+6%, -5%) [Thomas et al., 2011]. This suggests the derived 

value for 2008 EV5 is consistent with at least some other C-complex NEAs. Most C-complex 

families across the main belt, however, are dominated by members with albedos are less than

10% (Masiero et al., 2013). 2008 EV5’s albedo may be useful for determining its source and precise 

nature. The implications of 2008 EV5’s albedo will be discussed below.

Dynamical modeling of the source of 2008 EV5:

Using the debiased NEA model of Bottke et al. [2002], it is possible to determine, in a probabilistic 

sense, the likely source region through which 2008 EV5 or its immediate precursor left the main belt. This 

model assumes that NEAs with a < 7.4 AU and absolute magnitude H < 22 were derived from one of five 

primary source regions: the 6 secular resonance along the inner edge of the main belt, the intermediate 

source Mars-crossing region (IMC) that is dominated by objects escaping from the inner main belt, the 
77

mean motion resonance with Jupiter at 2.5 AU (J3:1), the outer main belt region beyond 2.8 AU, and the 

Jupiter Family Comet region, which is resupplied by the scattered disk in the transneptunian region. Note 

that high-inclination sources of NEAs were not included in the model; this point will be briefly revisited

below.

By comparing the (a,e,i) orbit of 2008 EV5 with this model, it was found that it had a 48% and 52% 

probability of reaching its current orbit through the 6 resonance and IMC regions, respectively. 

Accordingly, this model predicts the likely departure point of 2008 EV5 from the main belt was probably 

near 2.2-2.3 AU along the innermost edge of the main asteroid belt. This also means a likely source of 

2008 EV5 is the inner main belt between 2.1-2.5 AU [e.g., Bottke et al., 2015].

To gain more fidelity for this prediction, the dynamical runs described in Bottke et al. [2015] were 

used to explore the specific main belt objects likely to produce 2008 EV5. Here tens of thousands of test 

asteroids were tracked, starting in regions adjacent to the source regions. These bodies, with assumed 

diameters of D = 0.1 and 1 km, were allowed to drift into escape routes via the Yarkovsky effect. It was 

then determined which asteroids passed very close to 2008 EV5’s current (a,e,i) orbit. A good match was 

arbitrarily defined as those with Δa < 0.01 AU, Δe < 0.01, and Δi < 1°.

Forty test asteroids that matched the criteria were found, with roughly equal numbers coming from 

the 6 resonance and IMC regions. For both sources, it was found that nearly all of the 2008 EV5 matches 

came from main belt test asteroids that had starting a < 2.3 AU, 0.1 < e < 0.3, and i < 7°. Only two test 

asteroids from the IMC region successfully matched 2008 EV5’s orbit from an initial i > 8°. Creating 

probability distributions from the initial orbits of the successful matches, it was found that 2008 EV5

probably had 1° < i < 5° prior to leaving the main belt, with peaks near 2-3° and 5°. This suggests that 2008 

EV5 may have come from a sizable C-complex asteroid family residing in the inner main belt between 2.1-

2.5 AU with i < 7° (e.g., Bottke et al., 2015).

The proxies for 2008 EV5 were also tracked to determine how close they approached the Sun during 

the simulation. After escaping the asteroid belt, en route to its current orbit, the proxies for 2008 EV5

spent considerable time with perihelion values q < 1 AU. By tracking these test asteroids from the main 

belt all to way to 2008 EV5’s observed orbit, and then estimating the temperatures experienced by these 

bodies at their subsolar points along the way [Marchi et al., 2009; Delbo and Michel, 2011; Alí-Lagoa et 

al., 2013], the following was found:

 The median time spent by the 2008 EV5-like test asteroids with q < 0.5, 0.7, and 1.0 AU was ~0.1, 

1.4, and 7 Myr, respectively. Less than 50% and 25% of the test asteroids spent any time at q < 

0.5 and 0.2 AU, respectively. Thus, while close solar encounters for 2008 EV5 cannot be ruled out,

the most probable scenario is that it probably avoided such orbits.

 Using these model runs, it was found that a 2%, 14%, 24%, 44%, 60%, 80%, and 100% probability 

that the surface of 2008 EV5 reached peak temperatures greater than 1,030 K, 730 K, 600 K, 510 

K, 460 K, 420 K, and 340 K, respectively. It was assumed that these values correspond to q greater 

than 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, and 0.9 AU, respectively. The interiors of the boulders on or near 

2008 EV5’s surface would have experienced lower temperatures. These results lead to high- and 

low-probability scenarios. 

 Overall, we argue that the greatest likelihood is that 2008 EV5’s boulders and subsurface did not 

experience temperatures greater than 500 K. Here common organic and hydrated compounds 

that break up at relatively moderate temperatures (e.g., 300-670 K) may still be depleted in both 
78

the surface layers of the boulders and 2008 EV5 itself (i.e., possibly down to 5 cm depth; [Delbo 

and Michel 2011]). Similarly, boulder organics may have also been depleted via exposure to 

ionization radiation (e.g., cosmic rays), whose penetration depth is on the order of a meter.

 In the lower probability case, 2008 EV5 spent enough time near the Sun that boulders currently 

located on its surface were thermal modified. 

 Additional thermal modeling work is needed to better quantify these probabilities, with the 

temperatures reached by 2008 EV5’s current population of surface boulders a function of 2008 

EV5’s past proximity to the Sun, its physical parameters, and the residence time of those boulders 

near the surface [Alí-Lagoa et al., 2013].

Potential Links between 2008 EV5 and Known Asteroid Families:

Using the dynamical criteria above, and assuming 2008 EV5 most likely came from a sizeable main belt 

family rather than simply being a background body from the asteroid belt, the family definitions from 

Nesvorny et al. [2015] were used to identify candidate low inclination C-complex families in the inner main 

belt, which include: Eulalia, New Polana, Erigone, Baptistina, Sulamitis, and Clarissa [Campins et al., 2010; 

Walsh et al., 2013; Bottke et al., 2015]. Central and outer main belt families were rejected as candidate 

sources because neither model from Bottke et al. [2002; 2015]showed a viable pathway for them to make 

2008 EV5. In addition, 2008 EV5’s spectral shape is not consistent with the typically-spectrally red outer 

main belt asteroids.

Of the remainder, using the criteria discussed in Bottke et al. [2015], smaller families such as Sulamitis 

and Clarissa can be eliminated from discussion; their fragments are unlikely to have transited the main 

belt, escaped, and reached 2008 EV5 orbits within the likely age of their families. For the remainder, 

considerable uncertainty exists about which one may be the most likely source, and it is unlikely a 

definitive match can be determined without extensive modeling work that goes beyond the short 

timescale of the FAST effort.

In lieu of this, it is useful to consider proxies for 2008 EV5. For example, Campins et al. [2010] identified 

the low-albedo component of the Nysa-Polana complex as the most likely source of NEA (101955) Bennu, 

the D = 0.5 km, low-albedo target of the OSIRIS-REx mission. This work was refined by Walsh et al. [2013]

and Bottke et al. [2015], who identified the low-albedo Eulalia and the New Polana families as the top 

candidate source families of Bennu. Bennu is a top-shaped, low-albedo C-complex asteroid with an orbit 

highly similar to 2008 EV5. Using a range of numerical models, Bottke et al. argued that the older ages of 

the Eulalia and New Polana families (~830 and ~1400 Myr old, respectively) would allow many 0.5 km 

fragments to have reached Bennu-like orbits via the 6 resonance and the IMC region at the present time. 

Given that 2008 EV5 is modestly smaller than Bennu, and that it likely traversed faster across the main 

belt than Bennu via the Yarkovsky effect, one must consider these families as solid candidates to make 

2008 EV5 as well. 

These families may also be the source of the low-albedo NEA (162173) 1999 JU3. This km-sized 

asteroid, now known as Ryugu, is the target of JAXA’s Hayabusa2 mission. See Campins et al. [2013] and 

Bottke et al. [2015] for additional details.

Erigone, a sizeable low-albedo family with a likely age of ~130 Myr, was deemed slightly too young to 

be a strong source of Bennu-like objects by Bottke et al. [2015]. Essentially, insufficient D = 0.5 km bodies 

escaped the main belt within ~130 Myr to make Erigone members competitive with Eulalia and New 
79

Polana. 2008 EV5, on the other hand, is modestly smaller than Bennu, perhaps enough that 2008 EV5-sized 

objects can now escape and reach an 2008 EV5 orbit within the age of the family. Accordingly, Erigone 

must also be considered a candidate family to produce 2008 EV5. Moreover, the inclination of Erigone 

family members is close to 5°, a value that is modestly favored among the test asteroids above that 

reproduce 2008 EV5’s orbit. More work on this family is needed.

Recent spectroscopic surveys of primitive asteroids in the inner belt, including the Polana, Eulalia and 

Erigone families [e.g., Pinilla-Alonso et al., 2014; de Leon et al., 2015], are consistent with the dynamical 

arguments presented above and may be used to refine the source region. In addition, these authors are 

now obtaining spectra of the low-albedo inner-belt asteroids adjacent to the 6 resonance at inclinations 

of 8-12 degrees [Campins et al., 2013, figure 1]. Because of its position at the very edge of the 6 

resonance, this group may also be a potential source of 2008 EV5.

A key question for all three of these families, however, is whether 2008 EV5’s mean albedo should be 

treated as a discriminant for ruling out candidate families. The distribution of albedos of known family 

members observed by NASA’s Wide-field Infrared Survey Explorer (WISE), mostly those bodies with D > 

several kilometers, indicate that Eulalia, New Polana, and Erigone families have very few members with 

albedos > 10% [Masiero et al., 2013]. It should be noted that 2008 EV5-sized bodies below WISE’s detection 

limit may plausibly have a different albedo distribution. Moreover, the estimated albedos of 2008 EV5, 9-

10% ± 3% or 9% (+5%, -3%), are ambiguous enough that these families cannot be ruled out as candidate 

sources.

Moving to higher albedo candidate families, the Baptistina family was considered. It is an X-complex 

family whose members have a mean albedo of 16% [Nesvorny et al., 2015]. It is located near the 6

resonance at relatively low inclinations, such that its members could readily reach 2008 EV5’s orbit. The 

age of the family is debated, with a definitive solution depending on the bulk density of Baptistina family 

members [Bottke et al., 2007; Maserio et al., 2012; Nesvorny et al., 2015]. If all things were equal, 

Baptistina would likely be the strongest candidate family based on these criteria alone. Here, however, 

spectral signatures need to be considered, which place the Baptistina family at a distinct disadvantage to 

the other candidate families [Reddy et al., 2014]. The spectral signatures of several members of the 

Baptistina family indicate the presence of pyroxene band, which is probably enough to rule out Baptistina 

as a candidate source for 2008 EV5.

A potential compelling spectral and albedo match exists between high-inclination Pallas family 

members and 2008 EV5. Pallas is the second largest asteroid in the main belt, and it and its family members 

have a B-type spectra, similar to 2008 EV5 in many respects. Pallas family members also have a mean 

albedo of 16%, such that many would probably fit the 2008 EV5’s albedo [Nesvorny et al., 2015]. Moreover, 

many links can be found in the literature between CR chondrites and Pallas; this increases the possibility 

of a potential match between 2008 EV5 and CR chondrites. The problem is that there is no known 

dynamical pathway for Pallas family members, which reside in the main belt with i > 30°, to reach 2008 

EV5’s orbit [de Leon et al., 2010]. Numerical simulation suggest the lowest inclination reached by Pallas 

family members entering onto planet-crossing orbits is 20°, much higher than 2008 EV5’s inclination of 7°. 

Other orbital constraints are missed as well. Thus, while dynamically implausible, it is suggested that this 

possible match is still interesting enough to warrant further study, depending on 2008 EV5’s actual albedo.

To close this section, it should be noted that an intriguing source for a high-albedo 2008 EV5 would be 

the diffuse population of higher-albedo C-complex asteroids residing in the innermost main belt region 
80

between 8 < i < 15°. Many of these bodies have WISE-derived albedos > 10%. Dynamically, they are a less 

likely fit than the low-albedo families discussed above, but they appear to be one of the few small body 

populations in the inner main belt that have the appropriate albedo to match 2008 EV5. These bodies have 

yet to be investigated in detail.

Spectral and Meteorite Matches to 2008 EV5:

Given that 2008 EV5’s spectrum is essentially featureless throughout the visible near-infrared (VNIR)

wavelengths, it is difficult to find unique matches between it and known carbonaceous chondrites; this 

makes it difficult to glean insights into its composition and volatile abundance. To date in the literature, 

the best match has been found for CI chondrites [Reddy et al., 2012], though a match to certain kinds of 

CM chondrites may also be possible [R. Binzel, Massachusetts Institute of Technology, personal 

communication]. The biggest issue is whether the relatively high albedo of 2008 EV5 for a C-type asteroid 

should be applied when considering spectral matches. If 2008 EV5’s albedo is substantially lower than the 

reported mean value of 9%, 2008 EV5 would likely be able to match primitive CI/CM carbonaceous 

chondrites as well as candidate families such as Eulalia, New Polana, and Erigone. If the albedo is higher 

than 9%, it may be possible to reject these families and consider alternative sources for 2008 EV5. 

To glean additional insights into the high-albedo case, Ed Cloutis (University of Winnipeg) was 

contacted and asked to search his spectra data base for carbonaceous chondrite spectra that could 

provide a match 2008 EV5. His write-up, provided in Appendix A3, argues that 2008 EV5 is most consistent 

with being a CR-type carbonaceous chondrite.

Conclusions:

Given the available modeling work and data, one could argue that the most plausible source family 

candidates for 2008 EV5 from a dynamical perspective are Eulalia, New Polana, and Erigone. This assumes 

that these families have numerous D = ~0.4 km members with greater than 10% albedos, or that 2008 

EV5’s true albedo is considerably lower than 10%. If 2008 EV5 does have a high albedo, a plausible source 

would be a population of high-albedo C-complex asteroids in the inner main belt between 8 < i < 15°. 

Second tier candidate families for the high-albedo case are Baptistina and Pallas. For the Baptistina family 

to work, it would need to be demonstrated that some family members have 2008 EV5-like spectra. For the 

Pallas family to match, some dynamical pathway would need to be found that would allow its members 

to reach 2008 EV5’s current orbit. Also, the possibility cannot be ruled out that some smaller family or the 

main belt background is responsible for 2008 EV5. Investigations into all of these possibilities are strongly 

needed to better understand the nature and context of 2008 EV5.

Additional References Not Listed in the Main Text:

Binzel, R.P., et al., 2015. Spectral slope variations for OSIRIS-REx target Asteroid (101955) Bennu: Possible 

evidence for a fine-grained regolith equatorial ridge. Icarus 256, 22-29.

Bottke, W.F., Nesvorný, D., Grimm, R.E., Morbidelli, A., O’Brien, D.P., 2006b. Iron meteorites as remnants 

of planetesimals formed in the terrestrial planet region. Nature 439, 821-824.

Bottke, W.F., Vokrouhlický, D., Nesvorný, D., 2007. An asteroid breakup 160 My ago as the probable 

source of the K-T impactor. Nature 449, 48-53.

Campins, H., de Leon, J., Morbidelli, A., Licandro, J., Gayon-Markt, J., Delbo, M., Michel, P., 2013. The 

Origin of Asteroid 162173 (1999 JU3). The Astronomical Journal 146, 26.
81

de Leon, J., Campins, H., Tsiganis, K., Morbidelli, A., Licandro, J., 2010. Origin of the near-Earth asteroid 

Phaethon and the Geminids meteor shower. Astronomy and Astrophysics 513, A26.

de Leon, J., Pinilla-Alonso, N., 2015. PRIMitive Asteroids Spectroscopic Survey – PRIMASS: First Results. 

AAS/Division for Planetary Sciences Meeting Abstracts 47, #106.09.

Levison, H.F., Bottke, W.F., Gounelle, M., Morbidelli, A., Nesvorný, D., Tsiganis., K., 2009. Contamination 

of the asteroid belt by primordial trans-Neptunian objects. Nature 460, 364-366.

Masiero, J.R., Mainzer, A.K., Bauer, J.M., Grav, T., Nugent, C.R., Stevenson, R., 2013. Asteroid Family 

Identification Using the Hierarchical Clustering Method and WISE/NEOWISE Physical Properties. The 

Astrophysical Journal 770, 7. 

Masiero, J.R., Mainzer, A.K., Grav, T., Bauer, J.M., Jedicke, R., 2012. Revising the Age for the Baptistina 

Asteroid Family Using WISE/NEOWISE Data. The Astrophysical Journal 759, 14.

Morbidelli, A., Bottke, W.F., Nesvorný, D., Levison, H., 2009. Asteroids were Born Big. Icarus 204, 558-573.

Nesvorny, D., Broz, M., Carruba, V., 2015. Identification and Dynamical Properties of Asteroid Families. In 

Asteroids IV (P. Michel, W. F. Bottke, eds.), in press. Also in ArXiv e-prints arXiv:1502.01628.

Thomas, C. A., et al., 2011. ExploreNEOs. V. Average Albedo by Taxonomic Complex in the Near-Earth 

Asteroid Population. The Astronomical Journal 142, 85.

Pinilla-Alonso, N., Campins, H., Lorenzi, V., de Leon, J., Landsman, Z., Licandro, J., Alí-Lagoa, V., 2014. Nearinfrared spectroscopy of asteroids in the Polana-family region: Where are the Eulalias? Asteroids, 

Comets, Meteors 2014, 419.

Reddy, V., et al., 2014. Chelyabinsk meteorite explains unusual spectral properties of Baptistina Asteroid 

Family. Icarus 237, 116-130.

Vokrouhlicky, D., Bottke, W.F., 2012. Yarkovsky and YORP effects. Scholarpedia, 7(5):10599.

Appendix A2: Phase Function Analysis

Note: Input from non-FAST members has not been edited and is included as received.

What Does Phase Function Analysis Tells Us About the Albedo of NEA (341843) 2008 EV5?

Carl Hergenrother

Lunar and Planetary Laboratory

University of Arizona

Last Updated: 2015 October 27

Abstract:

Phase function analysis can help constrain the albedo of near-Earth asteroid (341843) 2008 EV5 in two 

ways. If the diameter of the object is known, which thanks to radar imaging is true for 2008 EV5, the 

absolute magnitude can be used in conjunction with the diameter to derive the albedo. Indirectly, there 

is a relationship between the slope of the linear phase function and albedo. 

The Muinonen H-G12 phase function (Muinonen et al. 2012) was used to derive an absolute magnitude 

of H = 20.22 +0.23

−0.15

, a value ~0.2 magnitudes fainter than previously found (Alí-Lagoa et al. 2014). When 

taken in conjunction with a radar-derived diameter of 400 ± 50 m, an albedo of 0.09 +0.05

−0.03

was found. 

Indirect measures of taxonomy such as the value of the Muinonen G12 parameter are consistent with a 

carbonaceous taxonomy and relatively dark albedo. 
82

Observations:

V and R band photometry of (341843) 2008 EV5 were obtained from the archives of the Minor Planet 

Center via their ‘MPC Database Search’ tool (http://www.minorplanetcenter.net/db_search) resulting in 

568 observations made between 2008 March 4 and 2010 April 11 UT. Phase angles from to 31° to 113° 

were observed. Observations were averaged to produce a single measurement per observer per night. A 

color index of V-R = +0.4 was used to transform R band photometry to V band. This color index is consistent 

with the spectrum of 2008 EV5 obtained by Reddy et al. (2012). 

Imaging radar observations made with Arecibo and Goldstone found an equivalent diameter of 400 ± 

50 m (Busch et al. 2012). An independent diameter of 370 ± 6 m was derived from WISE photometry (AlíLagoa et al. 2014).

Phase Function Analysis:

Three different phase function methods were used to estimate the absolute magnitude of 2008 EV5. 

Linear Fit – A linear fit yielded absolute magnitude (H) = 20.41 ± 0.19 and slope () = 0.031 ± 0.004 

magnitudes per degree of phase angle (Figure 9). The fit was restricted to photometry obtained on the 

linear portion of the asteroid’s phase function (phase angles between 15° and 70°). This constraint limits 

the fit to the linear portion of 2008 EV5’s phase function. 

IAU H-G – The IAU H-G phase function as described in Bowell et al. (1989) yielded H = 19.91 +0.42

−0.30

and G = +0.04 +0.10

−0.18

(Figure 10). The 2008 EV5 asteroid and dataset provide problems for the H-G 

function due to the object’s dark(ish) albedo and lack of photometry at small phase angles (Shevchenko 

et al. 2008, Muinonen et al. 2012).

Muinonen H-G12 – The Muinonen H-G12 phase function as described in Muinonen et al. (2010) yielded 

H = 20.22 +0.23

−0.15

and G12 = 0.55 +0.31

−0.42

(Figure 11). 

Conclusions:

The lack of observations at phase angles less than 31° increases the uncertainty of H. This is evident 

from nearly one magnitude spread in possible H values (19.61 to 20.60) produced by the three different 

phase functions. The linear fit is overly simplistic and does not model the non-linearity of phase functions 

at low phase angles. The H-G function is prone to produce an opposition effect that is much larger than 

those observed for dark objects (Shevchenko and Belskaya, 2010). An analysis of Pan-STARRS photometry 

found that the Muinonen phase function provides better results than the IAU H-G phase function (Veres 

et al. 2015).

A range of possible albedos produced for the minimum, mean and maximum H values produced by 

each of the three phase functions and the range of radar derived equivalent diameters is shown in Table 

13. 
83

Table 13: Albedos for a range of absolute magnitudes and diameters for 2008 EV5.

Radar Dimensions

H 0.35 km 0.40 km 0.45 km Albedo

H-G12 20.07 0.135 0.103 0.082

0. 09

+0. 05

−0. 03

20.22 0.118 0.090 0.071

20.46 0.094 0.072 0.057

H-G 19.61 0.206 0.158 0.125

0. 12

+0. 08

−0. 06

19.91 0.157 0.120 0.095

20.33 0.106 0.081 0.064

Linear 20.22 0.118 0.090 0.071

0. 08

+0. 04

−0. 03

20.41 0.099 0.076 0.060

20.60 0.083 0.064 0.050

The IAU H-G solution finds an albedo that is consistent with the results of Alí-Lagoa et al. (2014). This 

is not surprising since the H used by Alí-Lagoa et al. (2014) was based on the same data sets and H-G 

function as calculated by the Minor Planet Center via the JPL Small-Body Database. The Linear function 

assumes no non-linearity and ignores any opposition effect at small phase angles so its H values trend 

towards fainter. 

The Muinonen H-G12 function produces albedos in between the IAU H-G and Linear functions. It found 

an absolute magnitude of H = 20.22 +0.23

−0.15

. When taken in conjunction with a radar-derived diameter of 

400 ± 50 m, an albedo of 0.09 +0.05

−0.03

was found. The G12 = 0.55 +0.31

−0.42

is consistent with both carbonaceous 

and non-carbonaceous taxonomic types but asteroids with a similar G12 are predominately C and X 

complex types.

The albedo of 2008 EV5 is still relatively uncertain and spans a range that is safely within the expected 

values for a carbonaceous object to a little bit higher than expected for the same. This work did find that 

the absolute magnitude used by previous studies was ~0.2 magnitudes too bright resulting in a mean 

albedo of 0.09 +0.05

−0.03

rather than 0.13 ± 0.05.
84

Figure 9: Linear phase function fit to the 2008 EV5 MPC data.

Figure 10: IAU H-G phase function fit to the 2008 EV5 MPC data (Bowell et al. 1989).
85

Figure 11: Muinonen H-G12 phase function fit to the 2008 EV5 MPC data (Muinonen et al. 2010).

References:

Alí-Lagoa, V., Lionni, L., Delbo, M., Gundlach, B., Blum, J., Licandro, J., 2014. Thermophysical Properties of 

near-Earth Asteroid (341843) 2008 EV5 from WISE Data. Astronomy & Astrophysics 561, A45.

Busch, M.W., et al., 2011. Radar Observations and the Shape of near-Earth Asteroid 2008 EV5. Icarus 212, 

649-660.

Muinonen, et al., 2010. A Three-parameter Magnitude Phase Function for Asteroids. Icarus 209, 542-555.

Oszkiewicz, D.A., et al., 2012. Asteroid Taxonomic Signatures from Photometric Phase Curves. Icarus 219, 

283-296.

Reddy et al., 2012. Composition of near-Earth Asteroid 2008 EV5: Potential Target for Robotic and Human 

Exploration. Icarus 221, 678-681.

Shevchenko, V.G., Belskaya, I.N., 2010. Opposition Effect of Dark Asteroids: Diversity and Albedo 

Dependence. In: EPSC 2010, p. 738.

Veres, P., et al., 2015. Absolute Magnitudes and Slope Parameters for 250,000 Asteroids Observed by PanSTARRS PS1 – Preliminary Results. arXiv:1506.00762v3.

Appendix A3: Asteroid 2008 EV5 – spectral analysis

Note: Input from non-FAST members has not been edited and is included as received.

Ed Cloutis (University of Winnipeg)

October 21, 2015
86

Characteristics:

Diameter: 400 +/- 50 meters

Albedo: between ~7 and 15%

Reflectance spectrum of EV5:

The 0.3-2.5 micron spectrum of 2008 EV5 is red sloped from ~0.3 to 0.75 microns, and blue sloped out 

to 2.5 microns. The visible region spectrum (0.3-0.98 microns) shows no strong evidence of any absorption 

bands (Figure 12). There may be weak absorption bands near 0.41 and 0.43 microns; they could plausibly 

be attributed, respectively, to aromatic organics and some ferric iron-bearing phase, such as a sulfate or 

serpentine. The spectrum beyond 0.7 microns suggests the possible presence of an absorption feature in 

the 1 micron region. This is suggested by continuum removal which has been applied to carbonaceous 

chondrites, where a straight line continuum is fit from the 0.7 micron region peak to the neighborhood of 

1.35 microns.

The continuum removed spectrum is somewhat noisy, but there appears to be a broad absorption 

feature over the 0.75-1.35 micron interval (Figure 13). In carbonaceous chondrite spectra, individual 

absorption bands are often seen depending on the nature of the major silicates:

 Two bands, near 0.9 and 1.1 microns attributable to ferrous iron-bearing phyllosilicates

 A band near 1.05 microns accompanied by a shoulder near 1.25 microns when olivine is present

 A broad band near 1 micron when magnetite is present

Any or all of these features may be present in carbonaceous chondrite spectra depending on relative 

phase abundances.

The continuum removed absorption feature suggests the presence of both ferrous iron-bearing 

phyllosilicates (absorption features in the ~0.9 and 1.1 micron regions), and olivine (absorption features 

near 1.05 microns and 1.25 microns.

Comparison to carbonaceous chondrites:

The combination of relatively high albedo (7-15%), blue-sloped spectrum beyond 0.75 microns, and 

likely absorption band in the 1 micron region, allows us to place constraints on possible analogues. The 

focus here is on carbonaceous chondrites, not necessarily only because they are the best candidate, but 

because the spectral properties of other possible candidates, such as enstatite chondrites, are less well 

known.

Spectral comparisons are generally more robust in terms of which meteorite classes 2008 EV5 is 

inconsistent with rather than which classes it could be.

Of the carbonaceous chondrite classes compared to 2008 EV5, the following DO NOT provide good 

matches:

1. CI chondrites: their albedos are generally too low, most do not show an absorption feature in the 

1 micron region, those that are blue sloped are much darker than the asteroid, the 1 micron region 

absorption feature, when present, is more similar to phyllosilicates rather than phyllosilicates +

olivine.
87

2. CM chondrites: their spectra are generally flat to red sloped, those that are blue sloped are usually 

quite dark (a few percent albedo) and are depleted in the finest fraction, a 0.7 micron absorption 

band is nearly ubiquitous (attributable to ferrous+ferric iron-bearing clays).

3. CO chondrites: many are blue sloped and with the right albedo (e.g., Ornans, <150 μm; Felix, <150 

μm; Kainsaz, <150 μm). The lowest petrologic grade COs are closest to EV5 in this regard. However, 

they all have a broad 2 micron region absorption feature attributable to CAIs, and this is not 

evident in the EV5 spectrum (although its spectrum are too noisy to make a definitive 

identification). Most of them also have a 1 micron region absorption band that is more olivinelike than EV5.

4. CV chondrites: Some powder CV spectra can be blue-sloped and of the right albedo (e.g., ALHA 

81003, <125 μm, Grosnaja, <45 μm). However, the continuum-removed spectra show a welldefined absorption band with a minimum near 1.05 μm, attributable to olivine only, unlike EV5. 

Also, the peak reflectance of these meteorites occurs shortward of 0.75 μm, also unlike EV5.

5. CK chondrites: Powdered CK spectra are blue-sloped, some with reflectance peaks near 0.75 μm 

and usually of the right albedo. However, they all show a clear and deep olivine absorption band 

near 1.05 μm, unlike EV5.

6. “Other” carbonaceous chondrites: of the various “other” carbonaceous chondrites (Cloutis et al., 

2012 – Icarus, v. 221 p984), none match more than one or two of the salient features of EV5.

7. Naturally thermally metamorphosed carbonaceous chondrites: Of the various naturally 

thermally metamorphosed carbonaceous chondrite spectra that are available, no one spectrum 

matches EV5 simultaneously in terms of peak reflectance position, albedo, and shape of the 1 

micron region absorption band. Some are blue sloped, but too dark or have their peak at the 

wrong position.

8. Laboratory thermally metamorphosed CI/CM chondrites: While lab heating of an Ivuna CI 

chondrite powder (<125 μm) can produce blue-sloped spectra (for 100, 300 and 700C), and a 1 

micron region absorption feature with some similarities to EV5 (bands at 0.9 and 1.1 μm), the 

spectra are darker than EV5 (<5%). 

The following ARE possible matches:

1. CR chondrites: some uncertainties because CR spectra seem susceptible to the presence of 

terrestrial alteration products. However, some CR powder spectra are (almost certainly) blue 

sloped, in the right albedo range, and with a peak near 0.75 microns (e.g., A881595). Its 

spectrum also shows a broad 1 micron region absorption band with individual bands near 0.9 

and 1.2 microns (like EV5), but it also has a band near 1 micron (unlike EV5). 

Other spectral characteristics:

There are also suggestions of an absorption band in the 1.6-1.7 micron region. Such a feature is most 

consistent with aliphatic organics. However, such a feature would be accompanied by a stronger 

absorption feature beginning at 2.31 microns, and such a feature is not evident (given the noise in the 

spectrum).

Summary:

One of the difficulties facing spectral matching is the relative importance of the various spectral 

parameters used in this comparison. For instance, spectral slope can vary from blue to red for subsamples

of a single carbonaceous chondrite (e.g., Ivuna, Orgueil). Similarly, subsamples of a single carbonaceous 
88

chondrite can also show no or no readily apparent absorption features in the 1 micron region. The shape 

of the 1 micron region is potentially diagnostic of the presence of specific minerals, and the data for EV5

suggest ferrous iron-bearing phyllosilicates and olivine, not unlike CR2 chondrites, which should have a 

mix of hydrous and anhydrous silicates. Many groups are almost certainly non-starters because of albedo 

and absorption band characteristics.

Blue spectral slopes are generally most characteristic of coarse powders where the finest grain size 

fraction has been removed, or solid slabs. These spectra are darker than fine-grained powders, so if a finegrained powder is already dark, then the finest fraction-removed or slab spectra would be even darker. 

Also, whether an asteroid surface would be essentially devoid of only the finest grains or exist as a clean 

slab appears unlikely.

At present, EV5 appears most consistent with an assemblage consisting of both hydrous and 

anhydrous silicates, specifically a ferric iron-free phyllosilicate and and iron-bearing olivine. This places it 

in the realm of petrologic grade 2-3 carbonaceous chondrites (most similar to CR2) but could include 

mildly to moderately thermally metamorphosed members (e.g., EET 90043 – heated to about 600C).

Suggestions:

A more wide-ranging laboratory spectral study of the “best” candidate meteorites is warranted. 

Looking more closely at the effects of grain size, packing density, and powders-on-slabs would provide 

stronger insights into the possible physical and chemical composition of EV5.

Figure 12: Visible region spectrum of 2008 EV5.
89

Figure 13: Reflectance spectrum of 2008 EV5 with straight line continuum removed from ~0.78 to 1.38 

microns.

Appendix A4: Disk-integrated Photometric Models of the ARM Mission Asteroid 

Target 2008 EV5

The reflectance and albedo quantities, relevant to the ARM mission asteroid target 2008 EV5, and 

how viewing conditions [incidence (i), emission (e), and phase angles (α)] vary for each quantity will be 

reviewed in this appendix. Disk-integrated ground-based photometric data of 2008 EV5 will be used to 

constrain the average disk-resolved brightness across 2008 EV5’s surface by fitting phase curve data, 

compiled by C. Hergenrother archived at the Minor Planet Center (MPC). 

The Radiance Factor (RADF) is the ratio of the bidirectional reflectance of a surface to that of a 

perfectly diffuse surface illuminated at i = 0 [Hapke, 2012]. The Bidirectional Reflectance Distribution 

Function (BRDF) is the ratio of the radiance scattered by a surface into a given direction to the 

collimated power incident on a unit area of the surface [Hapke, 2012]. Reflectance, r(i,e,α), is directly 

related to BRDF(i, e, α) RADF(i, e, α) (or [I/F](i,e,α)) as described in the following Lommel- Seeliger 

RADF function:

[I/F](i, e, α) = RADF(i, e, α) = BRDF(i, e, α)[μoπ] = πr(i, e, α)

=

πo

4

μof(α)

μo + μ

(1),

where μo = cos(i) , μ = cos(e), i is the incidence angle (degrees), e is the emission angle (degrees). 

ALS =

πo

4π

 is the Lommel-Seeliger albedo, f(α) = e

βα+γα

2+δα 3

is the phase function, and πo is the 

average particle single scattering albedo. I is the radiance and has units of W/m2/nm/sr. J = πF is the 
90

collimated (Sun) light (irradiance) and has units of W/m2/nm. Strictly speaking I/F is a dimensionless 

quantity (F has units of W/m2/nm/steradian and π here has units of steradian). 

1. Model BRDFs for 2008 EV5:

The quantities BRDF and RADF (or [I/F]) of 2008 EV5 would be of particular interest to the ARRM 

instrument guidance and navigation control teams when selecting a multi-ton boulder from the surface.

In what follows is the empirical Lommel-Seeliger model for use in predicting the [I/F] (i, e, α) of 2008 

EV5, using the methodology adopted for OSIRIS-REx target NEA (101955) Bennu [Takir et al., 2015]. The 

model inputs and their errors are shown in Table 14. Table 15 shows the Lommel-Seeliger model for 

nominal, maximum, and minimum predicted brightness of 2008 EV5 at 550 nm. Table 14 shows the 

model fits to the data. The Lommel-Seeliger model is also useful for predicting flux and brightness 

quantities for 2008 EV5 at a wide range of view geometries, which can provide important information to 

engineers designing ARM instruments (Table 15).

Table 14: Description of inputs used to reproduce nominal, maximum, and minimum models.

Maximum Brightness Nominal Brightness Minimum Brightness

Reduced Magnitude

(Vmag-error)*

Reduced Magnitude 

(Vmag)*

Reduced Magnitude 

(Vmag+error)*

Diameter (km)** 0.357 0.385 0.413

*The Vmag values are from the Minor Planet Center with uncertainties of ±0.5.

**2008 EV5’s average diameter computed by Busch et al. [2011] and Alí-Lagoa et al. [2013].

For the nominal model, the Reduced Vmag values also include NEAR spacecraft data of Mathilde (as the 

best available proxy data) at the lowest and highest phase angles [Clark et al., 1999]. The Minimum and 

Maximum models capture the scatter in the moderate phase angle ground-based observations of 2008 

EV5, and the uncertainties in the size and the low and high phase-angle behavior. 

Table 15: Lommel-Seeliger functions that predict [I/F](I,e,α) of 2008 EV5 at 550 nm.

ALS β

** γ** δ**

Nominal 0.085 -4.37 x 10-2 4.19 x 104-2.02 x 10-6

Maximum 0.091 -1.61 x 10-2-0.05 x 108-0.13 x 108

Minimum 0.032 -2.39 x 10-2 1.16 x 104-5.97 x 107

**f(α) = e

βα+γα

2+δα3

. The values given in this table for , , and  were derived for phase 

 angle values in units of degrees.
91

Figure 14: The Reduced V magnitude of 2008 EV5 as a function of phase angle predicted by the LommelSeeliger model is shown compared with the ground-based measurements. Shown are the minimum (red 

dots), maximum (blue dashes), and nominal (black solid line) models. Our minimum and maximum 

models do not include the Mathilde data, however our nominal model does). Reflectance rLS is in units of 

sr-1.
92

Figure 15: The logarithm of flux in W/m2/nm as a function of phase angle predicted by the LommelSeeliger model (black solid fit with a yellow error envelope) at 550 nm.

2. Geometric Albedo, Phase Integral, and Spherical Albedo for 2008 EV5:

The minimum and maximum models capture the uncertainties in the size of 2008 EV5, its low and 

high phase-angle behavior, and the scatter in the moderate phase angle ground-based observations of 

2008 EV5. Using the Lommel-Seeliger model minimum, maximum, and nominal geometric albedo (Ageo), 

phase integral (q), and spherical albedo (Asph) for 2008 EV5 are computed, using the methodologies 

described in Takir et al. [2015] (Table 16). The spherical albedo and phase integral are important 

quantities to compute the bolometric Bond albedo map, used for making temperature predictions 

across the surface of 2008 EV5 during the boulder acquisition events, as well as for thermal inertia 

calculations.

Table 16: 2008 EV5’s geometric albedo, phase integral, and spherical albedo.

Geometric Albedo

(Ageo)

Phase Integral

(q)

Spherical Albedo

 (Asph)

Lommel-Seeliger 

Model

0.133−0.083

+0.010 0.39+0.15+0.16 0.052−0.021+0.027

References:

Alí-Lagoa, V., Lionni, L., Delbo, M., Gundlach, B., Blum, J., Licandro, J., 2014. Thermophysical Properties of 

near-Earth Asteroid (341843) 2008 EV5 from WISE Data. Astronomy & Astrophysics 561, A45.

Busch, M.W., et al., 2011. Radar Observations and the Shape of Near-Earth Asteroid 2008 EV5. Icarus 212, 

649-660.

Clark, B.E., Veverka, J., Helfenstein, P., Thomas, P.C., Bell, J.F., Harch, A., Robinson, M.S., Murchie, S.L., 

McFadden, L.A., Chapman, C.R. 1999. NEAR Photometry of Asteroid 253 Mathilde. Icarus 140, 53-65.
93

Hapke, B., 2012. Theory of Reflectance and Emittance Spectroscopy. Cambridge University Press.

Takir, D., et al., 2015. Photometric models of disk-integrated observations of the OSIRIS-REx target 

Asteroid (101955) Bennu. Icarus 252, 393-399.

Appendix B1: Full Response on the Boulder Spatial and Size Distributions

What is the expected size-frequency distribution for boulders on 2008 EV5? 

 Based on the current radar data, what can be said about the size-frequency distribution for 

boulders on 2008 EV5?

Modified excerpts from write-up provided by Michael Busch (see Appendix B2):

Boulders of a wide range of sizes, from ~100-m to sub-meter cobbles, are present in large 

numbers on the surfaces of all three NEAs so far visited by spacecraft (Eros, Itokawa, and Toutatis). 

This is consistent with NEAs being derived from products of the collisional cascade in the main asteroid 

belt: NEAs larger than 100-200 m in diameter are predominately rubble pile aggregates. 

Boulders are evident in radar images of a large number of NEAs. They appear as single or small 

clumps of radar-bright pixels that track with a target asteroid’s rotation, indicating features on the 

asteroid’s surface, and that are offset from the rest of the radar echo, indicating that they are highstanding relative to the surface around them. The interpretation of such radar-bright features as 

boulders is verified by comparison between 2012 radar images of Toutatis and optical images of 

Toutatis from the Chang’E-2 spacecraft (Figure 16 and Figure 17). 
94

Figure 16: Radar images of Toutatis showing the bright features that are interpreted as boulders [JPL, 

2015].

Figure 17: Optical image of Toutatis taken from the Chang’E-2 spacecraft [Huang et al., 2013].

Boulders have been seen on more asteroids as the resolution of radar images has improved. For 

a review of radar images of boulders on NEAs, see Benner et al. [2015]. 

Radar observations also provide very approximate information on the presence of cobbles on the 

scale of the radar wavelength, 0.035 m for the Goldstone Solar System Radar and 0.126 m for the 

Arecibo Radar, by measuring the radar scattering properties of the surface. See Nolan et al. [2013] for 

discussion.
95

2008 EV5 made an 8.4 lunar distance (0.022 AU, 3.2 million km) flyby of Earth on 2008 December 

23, and was observed with ground-based astronomical radars over 2008 December 16-27. The 

highest-resolution radar images were obtained with Arecibo during 2008 December 23-27 and have 

resolution of 7.5 m in range from Earth. Details of the radar observing campaign and discussion of 

2008 EV5’s trajectory, spin state, and shape are given in Busch et al. [2011]. 

The candidate boulders visible in the radar images from 2008 December 23, 26, and 27 appear as 

unresolved single bright pixels or as two adjacent bright pixels (Figure 18). Given a range resolution 

of 7.5 m, an unresolved boulder is less than 15 m in diameter – only the Earthward side of each 

boulder was illuminated by the radar. Some boulders are visible more than 50 m behind the trailing 

limb of 2008 EV5, implying that they are at least 7 m higher than their surroundings. These boulders

are described as “10 m scale.”

Figure 18: Range-Doppler radar image of 2008 EV5, obtained at Arecibo Observatory at 2008 December 

23 07:41 UT. Range from Earth increases from top to bottom. Image resolution is 7.5 m/pixel in range. The 

large concavity at 2008 EV5’s equator is visible at upper right. Green arrows denote three candidate 10-mscale boulders.

The radar images from 2008 December were all obtained with the subradar point just south of 

2008 EV5’s equator. This means that candidate boulders cannot be identified near the asteroid’s north 

pole or at equatorial latitudes. Near the equator, larger areas of the 2008 EV5’s surface fall within a 

given range-Doppler radar pixel and small boulders are lost to confusion with the surface around 

them. At present, 10-m-scale boulders can be identified over about half of 2008 EV5’s surface. Finally, 

the range-Doppler projection has a north-south ambiguity. For most of the candidate boulders 
96

identified, there is ambiguity about the hemisphere where they reside. The exception is a prominent 

boulder near the asteroid’s south pole (lowest arrow in Figure 18). 

With these caveats, it is possible to identify six distinct candidate 10-m-scale boulders on 2008 

EV5’s surface by visual inspection of the radar images. At least ten such boulders likely exist over the 

asteroid’s entire surface. 

Based on 2008 EV5’s radar scattering properties and the highest-resolution images of asteroid 

surfaces from spacecraft (Eros and Itokawa), there are millions of 10-cm scale cobbles on 2008 EV5. 

If there is a power-law distribution between the two size ranges sampled by the available radar 

data, as seen on Itokawa and Eros, there are probably a few hundred 3-m scale boulders on 2008 EV5’s 

surface. There should be an abundant number of choices for the ARRM. 

End of excerpts

Figure 19 is a plot of the cumulative number of boulders greater than or equal to a given diameter 

normalized by the count area versus boulder diameter. Data for global and local counts of Eros and 

Itokawa are shown, in addition to local counts of Phobos. The equivalent data points for 10-m and 10-cm 

boulders on 2008 EV5 based on radar observations are also plotted. The 10-m 2008 EV5 data point lies on 

top of the Eros global dataset. If it is assumed that there is a power-law distribution of boulders on 2008 

EV5 that follows that of the Eros global dataset, ~16,000 1-5 m boulders (~1,300 2-3 m boulders) on the 

surface of 2008 EV5 would be expected. If it is assumed that there is a power-law distribution of boulders 

on 2008 EV5 that connects the radar 10-m data to the radar 10-cm data, ~3,000 1-5 m boulders (~360 2-3 

m boulders) on the surface of 2008 EV5 would be expected. Please note that there are major assumptions 

made to derive these estimates. The following equations can be used to calculate the cumulative number

of boulders per square meter on 2008 EV5 (to calculate the number for the whole asteroid, multiply by 

the surface area, 540,000 m2; to calculate the number of boulders is a given range, subtract the total from 

the larger diameter from the total from the smaller diameter):

Lower line (connecting 2008 EV5 10-m radar boulders to 10-cm roughness):

(Cumulative # boulders ≥D)/m2 = (5.8438e-3)*D-2.5

Upper line (connecting 2008 EV5 10-m radar boulders to Eros global count):

(Cumulative # boulders ≥D)/m2 = (2.9293e-2)*D-3.2
97

Figure 19: Measured block populations on Eros, Itokawa, and Phobos. The yellow rectangle indicates the 

1-5 m boulder size range of interest for the ARRM. The cyan and green stars represent the 10-m boulder 

observations and the 10-cm cobble size, respectively, for 2008 EV5 based on radar (see Busch write-up

excerpts and Appendix B2). The surface area of 2008 EV5, used to normalize the radar boulder counts, is 

taken to be 540,000 m2. The solid line extrapolates from the 10-m 2008 EV5 data point using the Eros global 

power-law distribution (-3.2). The dashed line connects the two 2008 EV5 data points.

 Can any relevant information be extrapolated from existing data from other C-complex

asteroids (i.e., Bennu)?

The available data to answer this question is limited. The most appropriate data that exist today come 

from radar studies of 2005 YU55 and 1992 UY4, small C-complex asteroids in near-Earth space that are 

possibly organic-rich. Analysis suggests boulders exist on both of those bodies [Benner et al., 2015].

Available in-situ asteroid data from spacecraft come from main belt asteroids Mathilde, the ~53 km 

C-type flyby target of the NEAR mission, and Lutetia, the ~100 km X-complex flyby target of ESA’s Rosetta 

mission. Mathilde was only imaged at 160 m/pixel, insufficient to determine whether boulders exist 

[Thomas et al., 1999]. Boulders are observed on Lutetia, however Lutetia’s precise composition is debated 

– some favor some kind of high-albedo carbonaceous chondrite, while others favor an enstatite chondrite 

match [Barucci et al., 2015]. Boulders have been observed on bodies that could also be broadly 
98

characterized as C-complex, including Phobos and Deimos, the carbonaceous chondrite-like moons of 

Mars, as well as comet Churyumov-Gerasimenko, the final destination of the Rosetta mission (Table 17).

Hayabusa2 will arrive at the C-type asteroid Ryugu (formerly 1999 JU3) in June of 2018. OSIRIS-REx will 

arrive at the B-type asteroid Bennu in August of the same year. The observations of Bennu and Ryugu will 

provide critical inputs to the ARRM, not only because these will be the first carbonaceous asteroids for 

which high-resolution images are available, but also because they are roughly similar in size and shape to 

2008 EV5. This may mean that they have undergone similar evolutions, but this is not definitive. 

Comparisons of Bennu and Ryugu to Eros and Itokawa will be vital for determining whether what is known

from the extensive literature on Eros and Itokawa can reasonably be extrapolated to other near-Earth 

asteroids (e.g., boulder size-frequency distributions, boulder spatial distributions, etc.), or whether they 

are not representative. Regardless, the data from Hayabusa2 and OSIRIX-REx, along with the with what is 

already known about Eros and Itokawa, will provide a more complete picture of asteroid properties for 

two main taxonomic types in the NEA population. Additionally, the observations of Bennu and Ryugu will 

also provide important “ground-truthing” of Earth-based remote sensing observations and have 

implications for detecting boulders from these types of observations.

That said, OSIRIS-REx and Hayabusa2 will not arrive at Bennu or Ryugu until mid-2018—too late to 

provide inputs into the mechanical designs and mission requirements, but before the currently scheduled 

ARRM launch date.

Table 17: Small bodies for which boulder counts have been made from spacecraft imaging. The minimum 

boulder sizes measured are directly related to the best image resolution available for a given object.

Name Mean 

Diameter 

(km)

Spectral 

Type

Minimum

boulder 

size of 

global 

count (m)

Minimum

boulder size 

of regional 

count (m)

Power law 

found

Data 

source

References

Eros 17 S 15 0.05 -3.2

as low as

-2.3 locally

NEAR Thomas et al., 2001;

C. Ernst, personal

communication

Itokawa 0.35 S 6 0.1 -3.1

-3.5

as low as

-2.2 locally

Hayabusa Michikami et al., 2010;

Mazrouei et al., 2014;

Noviello et al., 2014;

C. Ernst, personal

communication

Toutatis 3 S n/a 10 n/a Chang’E-2 Jiang et al., 2015

Lutetia 98 M n/a 60 -5.0 Rosetta Küppers et al., 2012

Ida 31 S n/a 45 n/a Galileo Lee et al., 1996

Phobos 22 D n/a ~4 -3.3 Viking

MGS

MEX

MRO

Thomas et al., 2000;

Ernst et al., 2015;

C. Ernst, personal

communication

Deimos 12 D n/a ~4

-3.2

Viking Lee et al., 1986; 

C. Ernst, personal

communication

ChuryumovGerasimenko4 comet 7 n/a -3.6 global

local ranges 

-2.2 to -4.0

Rosetta Pajola et al., 2015
99

 Is it expected that the size-frequency distribution of boulders on 2008 EV5 follows a power law 

distribution?

Power-law fits can be made to boulder fits for bodies where sufficient data are available (see Table 

17). A power-law distribution would also be expected for fragments produced by fracturing. The boulders 

themselves may have been produced by more than one of the following mechanisms (e.g., collisional 

origin of 2008 EV5, impact cratering, thermal fracturing of native rock, etc.). This means the power-law 

measured is dependent on local geological context, material strength, and possibly the sizes of the 

bouldersthat break down to produce smaller boulders. A power-law index is observed for many terrestrial 

fragmented objects [Turcotte, 1997; see also Table 1 in Pajola et al., 2015]. Those materials listed in Pajola 

et al. [2015] show power laws ranging from -1.89 to -3.54.

Excerpts from Rodgers et al., submitted [also see Ernst et al., 2015]

Analyses of the Surveyor [Cintala and McBride, 1995], Viking 1 and 2, Mars Pathfinder, Phoenix, 

Spirit, Opportunity, and Curiosity landing sites [Golombek and Rapp, 1997; Golombek et al., 2003; 

2008; 2012; Arvidson et al., 2008] have indicated that for a reasonable difference in size (a factor of 

several to ten), the size-frequency distribution (SFD) of blocks can be modeled, allowing extrapolation 

from large-block SFDs measured from orbit to population densities of smaller blocks. By characterizing 

the larger size range of the block distribution from orbital imaging, the distribution of smaller blocks 

is estimated. From that estimate, the probability of a lander encountering hazardous blocks can be 

calculated for a given lander design. Such calculations are used routinely to vet candidate sites for 

Mars landers [Golombek et al., 2003; 2008; 2012; Arvidson et al., 2008].

Global and local block SFDs for Eros, Itokawa, and Phobos are shown in Figure 19. Remarkably, 

the distributions of blocks from 0.5 to 100 m in diameter are on average well fit by a power-law slope 

on the order of -3 regardless of block scale. Some deviations in slope are apparent regionally, and for 

differing block size ranges. There are also some variations in absolute block densities, but broadly the 

slopes remain consistent from body to body. 

The Mars Orbiter Camera (MOC) on Mars Global Surveyor obtained a small number of highresolution images of Phobos useful for measuring blocks 5 m or larger in size. These images are 

concentrated in the area just east of Stickney crater, in an area interpreted to contain blocky ejecta 

from that crater [Thomas et al., 2000]. Block counts performed by Thomas et al. [2000] and in this 

study both indicate a power-law slope similar to those of Eros [Thomas et al., 2001] and Itokawa global 

counts [Michikami et al., 2010; Mazrouei et al., 2014], with the absolute density of blocks similar to 

that of global Eros.

In the cases of Eros, Itokawa, and Phobos, the approach of extending the SFD from large, tens-ofmeter-sized blocks down to small, tens-of-centimeter-sized blocks using a power-law fit to the large 

population yields reasonable estimates of small block populations. It is important to note that geologic 

context matters for the absolute block density – if lower-resolution counts include multiple geologic 

settings, they will not extrapolate accurately to local areas containing only one setting. 

End of excerpts
100

The power law exponent of -5.0 for the SFD of large boulders on Lutetia is significantly higher than 

that for Eros, Itokawa, and Phobos [Küppers et al., 2012]. The local counts of Eros and Itokawa using very 

high-resolution images often yield power-law exponents lower than the global count SFDs. It is unclear 

whether this indicates a power-law progression from the largest boulder sizes observed (100-300 m) down 

to the smallest boulder sizes observed (10s of centimeters). 

 What is the expected distribution of boulder shapes for boulders on 2008 EV5?

Mazrouei et al. [2014] measured the aspect ratio for boulders greater than six meters in diameter on 

Itokawa (see figure 5 of that paper). Most boulders of this size are found to be elongated with b/a ratios 

of 0.7 (width/length). The third, vertical dimension of boulders (height) cannot be determined in most of 

the Hayabusa images to provide reliable estimates of c/a ratios (height/length). Michikami et al. [2010] 

report b/a ratios for Itokawa boulders to be 0.62-0.68. Michikami et al. [2016] measured 21 boulders on 

Itokawa, finding a mean c/a of 0.46.

Table 18 contains a compilation of several reports of fragment dimensions based on laboratory impact 

experiments. Note that the fragments are not actually 3-axis ellipsoids, but rather are irregular in shape 

(see Figure 20).

An open question is whether the aspect ratio would be different for weaker rocks (e.g., those found 

on a C-type asteroid like 2008 EV5) and how much of an influence thermal degradation might have.

Table 18: Compilation of fragment ratios b/a and c/a from several publications in the literature. 

Dimensions are defined to be a≥b≥c.

Reference Target Projectile Impact 

Velocity

b/a c/a

Fujiwara et al.,

1978

Basalt Polycarbonate 

cylinders

1-4 km/s 0.73 0.50

Capaccioni et al.,

1986

Basalt

Concrete

Aluminum 

spheres

9 km/s 0.7 ± 0.15 0.5 ± 0.15

Giblin et al., 1998 Porous 

ice

Solid ice 6 km/s 0.56-0.71 ± 

0.1-0.2

0.40-0.48 ± 0.1-0.2

Durda et al., 2015 Basalt Aluminum 

spheres

4-6 km/s 0.72 ± 0.13 0.39 ± 0.13

Michikami et al., 

2016

Basalt Nylon spheres 1.6-7.0 km/s 0.7 0.5
101

Figure 20: Example of fragment shapes from impact experiments. [Durda et al., 2015, figure 4]

What is the expected spatial distribution of ~1-5 meter boulders on 2008 EV5? 

 Where on 2008 EV5 have boulders been detected? 

Although a large percentage of 2008 EV5’s surface was observed by radar, only approximately half of 

the area permitted the identification of candidate boulders. Over this area, six distinct candidate 10-mscale boulders were observed [see Busch write-up excerpts and Appendix B2]. However, due to the nature 

of the radar data (see also response concerning size-frequency distribution above and in Appendix B2), 

the location of the boulders cannot be determined, with the exception of one prominent boulder that is 

located near the asteroid’s south pole.

 Given an assumed number of certain size boulders based on a power law, is there anything that

can be said about the spatial distribution of these boulders on an asteroid’s surface? 

Specifically, does spin rate play a role in concentrating certain sized boulders at certain 

latitudes?

Based on the number of observed boulders, the number of cobbles inferred from radar roughness, 

and the assumption that a power-law relationship exists between boulder diameter and cumulative sizefrequency distribution, the number of boulders of a given size per area (e.g., Figure 19) can be calculated

assuming a roughly uniform distribution across the surface. This information alone does not provide

further information about the actual distribution. 

On Itokawa, potential lows are “ponds” full of cm-sized cobbles, and most of the boulders are located 

in other regions of the asteroid. If this is true for 2008 EV5, concentrations of ponds at the geopotential 

lows with boulders at higher regions within the geopotential should be expected. The location of these 

geopotential lows is a strong function of the asteroid density (see Figure 21). For a low density of 1.5 

g/cm3, the low will be at the equator and within the prominent concavity seen in the radar data. For a 

large density of 2.5 g/cm3, the geopotential low shifts off of the equator and no longer lies within the likely 

crater, but instead is at the base of the ridge.
102

Although multiple mechanisms can be responsible for the presence of boulders on the surface (e.g., 

reaccumulation, the Brazil nut effect, etc.), if the boulders are sourced from the likely crater that shows 

up as a large concavity in the radar shape model, the distribution of the boulders would depend upon 

ejecta patterns around an irregularly shaped body and would require much more analysis to estimate. 

However, it is expected that the boulders would preferentially settle in the equatorial or near-equatorial 

regions.

Figure 21: Maps of slope and geopotential for 2008 EV5 assuming a bulk density of 1.5 g/cm3(top row) 

and 2.5 g/cm3(bottom row). The “lowest point” on the body shifts with the density of the body. At low 

densities, the low is at the equator and in the likely crater. At higher densities, the low is off of the equator 

and not in the likely crater. [Scheeres, personal communication]

What is the expected distribution in safe landing areas around ~1-5 m boulders on 2008 EV5? For a 10-

m diameter circle centered on the target boulder, what is the expected range and likelihood over that 

range for the following landing site properties on C-type asteroids? 
103

 Spatial and size distribution of boulders

As before, an assumption of the boulder population on 2008 EV5 using a power law would be needed 

as a starting point (keep in mind that the “correct” power law to use is not known). Estimates of the 

number of boulders of a given size in a 10-m diameter circle (area = 78.5 m2) assuming a uniform 

distribution of boulders across the surface can be made. Reading the numbers off of the y-axis of the plot 

in Figure 19 will give the number of boulders greater than or equal to a given diameter in a 1-m2 area. 

Multiplying this value by the 78.5 m2 area of interest will yield the total number of boulders greater than 

or equal to a given diameter in a 10-m diameter circle. If the boulders are not roughly uniformly 

distributed across the surface, more assumptions must be made.

 Would the distribution of small 10-cm-size and larger 2- to 3-m diameter boulders be expected 

to be similar? 

This cannot be known with certainty. Likely, the processes acting to move 10-m boulders would be 

similar to those acting to move 2-3-m boulders. However, the responses might differ in that massive 

objects tend to be more easily fragmented than smaller ones, with strength decreasing with 

approximately the square root of size, yet require more energetic events to dislodge and accelerate.

 Local topography

The radar images of 2008 EV5 have a resolution of 7.5 m/pixel in range [Busch et al., 2011]. Therefore, 

the model can provide local geometric topography to approximately 15 m. Outside of boulders and 

craters, local slopes generally would not be expected to change significantly from the 15-m scale down to 

the 1-m scale. 

 Dust environment

Another environmental concern that needs to be considered is the dust environment that could be a

potential hazard for instrumentation (e.g., camera lenses, inlets, etc.) and/or systems (seals, joints, 

exposed bearings, solar panels, etc.). The main hazards associated with the dust environment are: 1)

spacecraft sinking during landing and/or ascent; 2) high cohesion between regolith and spacecraft contact

pad; 3) electrostatic motion of small dust grains; and 4) dust and debris created by physical interaction 

during the boulder capture process (e.g., thruster plume, contact pad interaction, boulder acquisition and 

separation). The risk of the spacecraft sinking into the regolith during landing or ascent is dependent on 

the compaction of the regolith (expected packing fraction of 0.59, see discussion in “Surface Geotechnical 

Properties” section). The compaction of the regolith is expected to be essentially uniform about the body 

except immediately next to boulders, where there may be a regolith “apron” [Robinson et al., 2002]. The 

regolith apron (produced either by the migration of dust or dust production from thermal cycling of the 

boulder) is unlikely to be deep enough to produce a serious sinking hazard. A discussion of the cohesion 

between regolith and the spacecraft contact pad is given in the “Surface Geotechnical Properties”

discussion. A regolith apron is likely to be composed of small, uncompacted regolith grains, which would 

form relatively strong cohesive bonds with the spacecraft. However, the fact that this apron of dust is 

overlaying the more densely packed surface indicates that the material is likely to fracture during ascent

at this striation. The plasma environment while the spacecraft is on the surface remains unknown. In order 

to minimize the likelihood of contamination of the spacecraft by electrostatically controlled dust, the 

landing operation should take place close to the subsolar point (to reduce shadows, which can produce 
104

strong electric fields) and in a region with few micron-sized and smaller grains (which would be more likely 

to levitate if detached from the surface) [Hartzell and Scheeres, 2013], as investigated by multispectral 

photometry if available.

 What other properties should ARM be concerned with?

Local slopes will influence landing site safety beyond the implications for hazards to the solar arrays. 

Tipping hazards will be present that could seriously affect the landing operations. The highest resolution 

images of Eros at pixel scales of 0.014-0.027 m (Figure 22) reveal a complex geomorphology at the submeter scale, especially in the flat areas where sample collection would otherwise be the easiest (e.g., the 

idealized flat, competent area with a 3-m boulder just sitting there). Eros-sized asteroids have abundant 

fine materials compared to smaller asteroids, which are coarser due to winnowing by solar wind and 

radiation effects [Hartzell and Scheeres, 2013]. The sweeping of fines ejected by electrostatic forces, 

impact vibrations, and thermal shocks leaves behind coarser material in the lag deposits of asteroids.

Figure 22: The last four descent-sequence NEAR images of Eros. The pixel scale of these images ranges 

from 0.014-0.027 m [Veverka et al., 2001, figure 3].

Steep cratered topography is not prevalent on small asteroids; most small bodies seen up close and 

with radar appear to conform (within some reasonable angle of repose) to equilibriums of figure. On 

Itokawa, the smallest asteroid for which there are good images, there are very few craters [Hirata et al., 

2009]. On Eros, seismic shaking has acted to erase many (though not all) craters less than 100 meters in 

diameter [Chapman et al., 2002; Thomas and Robinson, 2005], and by implication other loose topography 

at that scale. By implication Eros’ regolith is loose to 100 meters, perhaps globally [Robinson et al., 2002]. 

A thick mobile regolith would also explain the relatively flat topography; less than 5% of the surface of 

Eros is steeper than 30° [Zuber et al., 2000]. 
105

Therefore, relatively flat, boulder-populated areas are, generally speaking, predicted to exist on 2008 

EV5. However, the nature of these flat areas at the spatial scale of the CRS contact pads (~1 m) requires 

careful consideration (see the response in the “Surface Geotechnical Properties” section). For a landing 

velocity exceeding the crushing stress of the particulate regolith surface, the asteroid material may fluidize 

and slide out of the way of the lander legs, instead of holding in place to support them. Therefore, care 

must be taken that the landing is done with minimal deceleration and little vibration.

What is the expected distribution in depth of burial for ~1-5 m boulders on 2008 EV5? 

 Based on the theories of how asteroids and boulders form and evolve, is there anything that

can said about the likely range or distribution of burial depths?

Due to the nature of spacecraft images of Eros and Itokawa, there is minimal information with regard 

to the burial of boulders on their surfaces. Regolith does migrate on asteroids, either from potential highs 

to lows (e.g., Itokawa) or via crater ejecta (probably less important on smaller objects, as a lot of ejecta is 

likely to exceed escape velocity).

A minimum regolith depth of 20-40 m on Eros has been estimated based on the excavated volume of 

all large craters [Thomas et al., 2001]. Geomorphic observations indicate 50-100 m regolith depth, possibly 

globally [Robinson et al., 2002]. On Itokawa, regolith depth is estimated at a minimum of ~2.3 m in the 

lowlands, based on roughness measurements [Barnouin-Jha et al., 2008], transitioning to a global rubble 

pile [Fujiwara et al., 2006].

 Is there a way to determine/estimate the depth of burial from the visual images from the 

characterization phase?

Boulders formed in fragmentation events have an average aspect ratio a:b:c (length:width:height) of 

1:0.7:0.5 (2:√2:1) (Table 18). Assuming these shapes, burial estimates could be made based on threedimensional images taken by the ARV. If the boulder’s maximum dimension parallel to the ground does 

not coincide with the intersection with the regolith, a symmetric shape to the boulder could be assumed 

and a depth of burial estimated. Three-dimensional images of the boulder will be essential for this 

characterization. Observations of the distribution of regolith and surface slopes/potential could help 

determine whether regolith has moved into/out of the area and may have buried boulders.

 What other ways are there to determine/estimate the depth of burial from the visual images 

from the characterization phase? What other ways are there to determine/estimate the depth 

of burial in-situ?

Seismic shaking can dislodge and transport boulders from depth [Asphaug et al., 2001; Miyamoto et 

al., 2007] as part of a convective size-sorting (Brazil nut effect and related mechanisms). Deflation can 

leave behind exposed surface structures like remnants and clods. Many such apparent clasts may be too 

weak for ARRM boulder retrieval. Embedded boulders emerging from the subsurface could be more 

difficult to extract than boulders that have been tossed downhill onto existing regolith surfaces. Mission 

emphasis should be to identify boulders that have survived ejection or been scattered by landslide 

movements, and avoid exclusively focusing on boulders buried in smooth sediments. Boulders found in 

rougher, higher-energy environments would be stronger on average than random clasts found in regolith, 

and would be subject to a much lower possibility of small particulate cementation. Among these, boulders 
106

that further show evidence for meteoroid fragmentation and spallation would indicate greatest 

competency. A sampling approach that is able to operate in a boulder-strewn environment is likely to find 

very many strong, suitably-sized boulders to choose from.

If a flat operational environment is required, such as a gravel-field with an isolated boulder or a wide 

margin, then cohesion of the regolith is more of a concern. Cementation of discrete boulders by regolith 

can possibly be detected by thermal imaging, as generally speaking, a boulder cohesively coupled to the 

regolith would also be thermally coupled. This might show up as conductive cooling on week-long 

timescales. In principle this rock/regolith thermal coupling can be investigated by thermal cameras before 

the sampling is conducted, to help in selecting among candidate boulders. 

Laser altimeter data could also be used to measure the exposed height of boulders (‘h’ in Figure 23), 

thus measuring the short-axis (‘c’) dimension. This could be compared to the expected ‘a’ dimension, 

other boulders on 2008 EV5, other boulders on Itokawa, Ryugu, and Bennu, and expected impact fragment 

dimensions (see Table 18) to place estimates on burial depth, as depicted in Figure 23.

Ground Penetrating Radar (GPR) is another promising approach [e.g., Hamran et al., 2014] to rock and 

hazard avoidance. Generally the technique is capable of imaging dielectric contrasts through a few meters 

of loose rocky material; however, the imaging technique works best for a background material with 

relatively uniform dielectric properties. Therefore, it would be a good choice for imaging boulders

embedded in beds of dust, for instance, but not for imaging the specific configurations of boulders within 

blocky landslides and ejecta deposits, for which multiple scattering effects diminish the signal. As an added 

investigation, GPR would provide valuable contrast and mitigate risks in dusty environments where the 

temptation will be to land (because it is flat), and because it can obtain subsurface context wherever the 

sample is acquired. The added mass and cost of such an instrument is not insubstantial, but the most 

critical operational aspect is the possibly low SNR of the measurements. The radar electronics and antenna 

have to be isolated from the spacecraft electronics, which can become a strong source of noise, especially 

when motors are involved. The spacecraft itself is a strong radar reflector, and due to the relatively 

omnidirectional nature of GPR, it is challenging to image boulders in close proximity if they are comparable 

in size to the major spacecraft elements. If 2008 EV5 is the target asteroid, and if the CR-designation holds, 

then the high-metallic content of analogous materials would lead to a radar response that might enhance 

meter-scale imaging by providing strong contrasts (e.g., a metallic lag beneath silicate dust) or obscure 

imaging by scattering and attenuation.

Figure 23: Example of a buried boulder. The dimension h could be measured with a laser altimeter and the 

dimension ‘a’ could be measured with a camera. By assuming a typical a:c ratio from other boulders on 

the body, from boulders on Itokawa, or from impact fragment experiments, the dimension ‘c’ could be 

calculate, and the depth of burial estimated.
107

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17-27.

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109

Zuber, M.T., et al., 2000. The shape of 433 Eros from the NEAR-Shoemaker laser rangefinder. Science 289, 

2097-2101.

Appendix B2: Input from Michael Busch concerning Boulders on 2008 EV5

Note: Input from non-FAST members has not been edited and is included as received.

Boulders on the Surface of 2008 EV5

Michael W. Busch

SETI Institute, Mountain View, California

Prepared 2015 September 17

The near-Earth asteroid (NEA) 2008 EV5 was discovered on 2008 March 4 by the Catalina Sky Survey. 

EV5 made an 8.4 lunar distance (0.022 AU, 3.2 million km) flyby of Earth on 2008 December 23, and was 

observed with ground-based astronomical radars over 2008 December 16-27. The highest-resolution 

radar images were obtained with Arecibo during 2008 December 23-27 and have resolution of 7.5 m in 

range from Earth. 

Details of the radar observing campaign and discussion of EV5’s trajectory, spin state, and shape are 

given in Busch et al. 2011 (Icarus 212, 649-660, available at:

http://echo.jpl.nasa.gov/asteroids/2008EV5/busch.etal.2011.2008ev5.pdf ). EV5’s overall shape is a 400-

m spheroid with an equator‐aligned ridgeline broken by a single ~150 m concavity. Infrared spectroscopy 

suggests a composition analogous to CM meteorites (Reddy et al. 2012, Icarus 221, 678-681, available at 

http://arxiv.org/abs/1209.1207 ).

Boulders on NEAs 

Boulders or blocks of a wide range of sizes, from ~100 m to sub-meter cobbles, are present in large 

numbers on the surfaces of all three NEAs so far visited by spacecraft (Eros, Itokawa, and Toutatis). This 

is consistent with NEAs being derived from products of the collisional cascade in the main asteroid belt: 

NEAs larger than 100-200 m in diameter are predominately rubble pile aggregates. 

Boulders are evident in radar images of a large number of NEAs. They appear as single or small clumps 

of radar-bright pixels that track with a target asteroid’s rotation, indicating features on the asteroid’s 

surface, and that are offset from the rest of the radar echo, indicating that they are high-standing relative 

to the surface around them. The interpretation of such radar‐bright features as boulders is verified by 

comparison between 2012 radar images of Toutatis and optical images of Toutatis from the Chang’E-2 

spacecraft. 

Boulders have been seen on more asteroids as the resolution of radar images has improved. For a 

review of radar images of boulders on NEAs, see Benner et al. 2015 (Asteroids IV, in press, available at 

http://echo.jpl.nasa.gov/asteroids/benner.etal.radar.chapter.20150728.pdf ) 

Radar observations also provide very approximate information on the presence of cobbles on the 

scale of the radar wavelength, 0.035 m for the Goldstone Solar System Radar and 0.126 m for the Arecibo 

Radar, by measuring the radar scattering properties of the surface. See Nolan et al. 2013 for discussion 

(Icarus 226, 629-640, available at http://echo.jpl.nasa.gov/asteroids/nolan.etal.2013.bennu.pdf ).
110

Boulders on 2008 EV5

Candidate boulders can be identified in Arecibo radar images of EV5 from 2008 December 23, 26, and 

27. On 2008 December 24, a problem with the transmitter power supply at Arecibo limited the transmit 

power to about 1/7 what it was on the other three days. The much lower echo signal-to‐noise of the 

resulting radar images made identifying small features difficult. 

The candidate boulders visible in the radar images from 2008 December 23, 26, and 27 appear as 

unresolved single bright pixels or as two adjacent bright pixels (Figure 24). Given a range resolution of 7.5 

m, an unresolved boulder is less than 15 m in diameter – only the Earth-ward side of each boulder was 

illuminated by the radar. Some boulders are visible more than 50 m behind the trailing limb of EV5, 

implying that they are at least 7 m higher than their surroundings. These boulders are described as “10 m 

scale.” 

Figure 24: Range-Doppler radar image of 2008 EV5, obtained at Arecibo Observatory at 2008 December 

23 07:41 UT. Range from Earth increases from top to bottom. Image resolution is 7.5 m/pixel in range. The 

large concavity at EV5’s equator is visible at upper right. Green arrows denote three candidate 10­m-scale 

boulders.

The radar images from 2008 December were all obtained with the subradar point just south of EV5’s 

equator. I therefore cannot identify candidate boulders near the asteroid’s north pole. Nor can I identify 

boulders at equatorial latitudes. Near the equator, larger areas of the EV5’s surface fall within a given 

range-Doppler radar pixel and small boulders are lost to confusion with the surface around them. I can 

only identify 10-m‐scale boulders over about 1⁄2 of EV5’s surface. Finally, the range‐Doppler projection has 

a north-south ambiguity. For most of the candidate boulders I identify, I cannot determine which 

hemisphere they are located in. The exception is a prominent boulder near the asteroid’s south pole 

(lowest arrow in Figure 24, see also Figure 25). 
111

With these caveats, I identify 6 distinct candidate 10-m-scale boulders on EV5’s surface by visual 

inspection of the radar images. I estimate there to be at least 10 such boulders over the asteroid’s entire 

surface. 

Based on EV5’s radar scattering properties and the highest-resolution images of asteroid surfaces from 

spacecraft (Eros and Itokawa), there are millions of 10-cm scale cobbles on EV5. 

If there is a power-law distribution between the two size ranges sampled by the available radar data, 

as seen on Itokawa and Eros, there are a few hundred 3-m scale boulders on EV5’s surface. There should 

be an abundant number of choices for the ARV. 

Figure 25: Collage of EV5 radar images from Arecibo, obtained on 2008 December 23, 26, and 27. 

Resolution is 7.5 m/pixel in range in all images. Time increases from left to right and top to bottom. EV5

appears to rotate counter clockwise and the image enlarged in Figure 24 is first on the left in the second 

row of the collage. Candidate 10-m­scale boulders appear as bright pixels. The boulder near EV5’s south 

pole is visible in images on all three days, appearing well behind the trailing limb of the radar echo and 

near the center.
112

Appendix C: Full Surface Geotechnical Properties Response

What are the expected surface regolith geotechnical properties of the target asteroid? For example: 

What is the expected range in the coefficient of friction between the target asteroid surface regolith 

and the CRS contact pads? How uniform is this expected to be?

The coefficient of friction is a function of a magnitude of cohesive forces between regolith and contact 

pads. The main sources of cohesive forces are van der Waals and electrostatic forces. 

Smaller particles have higher van der Waals forces per unit volume than larger particles and therefore 

friction between fine regolith and contact pads will be greater. For example, a 1 micron grain would have 

a strength of less than 300 Pa, a 10 micron grain would have a 30 Pa strength, and a 100 micron grain 

would have a strength of 3 Pa [Sánchez and Scheeres, 2014].

Additionally, both the regolith and the spacecraft will be charged, due to their interactions with the 

solar wind plasma. The electrostatic force on a dust grain is the product of the grain charge and the local 

electric field. A calculation of the electrostatic force on the dust grain is described by Hartzell and Scheeres 

[2011]. Using simple approximations for the charge on the dust grain as well as the electric field between 

the dust grain and the spacecraft gives the following expression for electrostatic force:

Fes = 4πε0rdU

|U − Usc|

l

where rd is the radius of the dust grain, U is the potential of the regolith (approximately 5 V in sunlight), 

Usc is the potential of the spacecraft (varies with location on spacecraft and lighting conditions, but 

probably on the order of 10 V), l is the length scale (separation between the dust grain and spacecraft), 

and ε0 is the permittivity constant. For a 1 mm grain at 5 V, assuming a 10 V potential difference and a 

length scale of 1 mm, this results in a force on the order of 10-9 N. Although the electrostatic force will 

increase under certain lighting conditions and as the length scale decreases, it is unlikely to be more 

significant than van der Waals cohesion. A comparison of van der Waals cohesion and the electrostatic 

forces is reported by Scheeres et al. [2010].

During the Apollo program extensive work was conducted to acquire fundamental scientific and 

engineering knowledge of lunar-mineral resources through testing a simulated lunar environment. 

Karafiath and Mohr [1994] measured the friction between a rotating steel disc and a bed of fine (38-62 

μm) and coarse (250-500 μm) crushed basalt (i.e., they investigated material-regolith interface). They 

found that the resistance between the steel disc and crushed basalt for both the coarse and the fine 

samples was higher under ultrahigh vacuum (below 10-10 kPa) than in air. However, it was found the 

coefficient of friction is not affected by the ultrahigh vacuum (Table 19). Ultra-high vacuum increases the 

total frictional resistance by an adhesion which is essentially constant over the range of normal loads in 

the experiment (455-910 gram).
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Table 19: Coefficient of friction between steel disc and crushed basalt in vacuum and at 1 g [Karafiath and 

Mohr, 1969].

Between steel disc and 

crushed coarse basalt 

(250-500 micron)

Between steel disc and 

crushed fine basalt 

(38-62 micron)

Between steel disc 

coated with coarse basalt 

and crushed basalt

Vacuum Air Vacuum Air Vacuum Air

Initial Coefficient of 

Friction (effect of 

regolith dilation to 

allow grain 

displacement)

0.35 0.35 No Data No Data No Data No Data

Kinetic Coefficient of 

Friction

0.28 0.27 0.20 0.18 0.28 0.20

What is the expected range of surface compaction and porosity of the regolith surrounding the boulder? 

How uniform is this expected to be?

The asteroid surface is more likely to be a pebble-rich lag depleted of fines and as such the nearsurface porosity should be higher and compaction lower than asteroid’s bulk compaction and porosity, 

unless significant interior void space exists. Whatever the porosity and compaction, it is likely that the 

same processes apply all around the selected landing area, so it should be fairly uniform. In turn, this 

should be applicable to all ARRM targets. The exceptions are “low” areas, such as those observed on Eros 

and Itokawa that were filled with relatively fine material. These areas may be less consolidated than the 

surrounding terrain. However, the NEAR spacecraft landed on Eros in one of the fine-grained pond areas 

without making much of a noticeable impression on the pond or the spacecraft (impact velocity was 

approximately 1.5 to 1.8 m/s). Probably the consolidation (perhaps driven by thermal cycling) is enough 

to support a spacecraft in microgravity. Even with the mineralogy difference between Eros and 2008 EV5

similar processes of consolidation should produce similar results. Due to 2008 EV5’s top shape and other 

dynamical properties, some regions (e.g., equator) may have significantly different particle size 

distributions compared to others (e.g., the poles).

For reference, properties of Itokawa (S-type), Bennu (B-type), and 253 Mathilde (C-type) are: 

 Itokawa: bulk density = 2.0 g/cm3; bulk porosity of 40.6%, or packing fraction of 0.59. [Abe et al., 

2006; Gaskell et al., 2008]

 Bennu: bulk density = 1.26 ± 0.07 g/cm3(1-sigma uncertainty) [Chesley, 2014]

 253 Mathilde: bulk density = 1.34 g/cm3[Veverka, 1999]

Figure 26 shows macroporosities and densities for asteroids [Britt et al., 2002] and Figure 27 shows 

macroporosities of asteroid and comets [Consolmagno et al., 2008]. It is worth noting that without 

measurements of an asteroid’s internal structural, it is not possible to definitively determine how much 

of the estimated macroporosity (large-scale voids and fractures probably produced by the asteroid’s 

impact history) shown in Figure 26 and Figure 27 is due to microporosity (fractures, voids, and pores on 

the scale of tens of micrometers internal to the various-sized particles that form the asteroid). This 

microporosity may be particularly relevant for C-type asteroids such as 2008 EV5.
114

Figure 26. Macroporosities and densities of asteroids. [Britt et al., 2002].

Figure 27. Macroporosities of asteroids and comets [Consolmagno et al., 2008].

What is the expected particle size-frequency distribution of the regolith, and how does this influence 

the design of the CRS contact pads and geological context samplers? 

The cumulative size distribution of coarse and fine regolith is expected to have a power-index of 

approximately d

-2.8

. This is based on particlessize-frequency distribution of rocks and boulders on Itokawa 

in the millimeter to tens of meters size range [Michikami, 2008], as well as grains from less than 100 

micron down to 1 micron sizes returned by Hayabusa [Tsuchiyama, 2011]. 

Coarse gravel (1 cm or greater) is expected to exist on the surface overlaying fine grained material 

with the fraction of fines increasing with depth. The combination of low surface acceleration and solar 

radiation pressure tends to strip off fine particles that have been generated by comminution processes,

and leave lags of larger, harder to move materials. 

Since forces during the boulder extraction will be reacted through the CRS contact pads back to the 

asteroid, the pads need to be designed to prevent excessive sinkage. If regolith is rich in fines, its cohesion 

and bearing strength will be greater, and contact pads could therefore be made smaller. The same is true 
115

if regolith is more compact. If regolith is coarse, cohesion will be lower and contact pads would need to 

be larger. The same is true if regolith has low density/high porosity. Contact pads also need to leave the 

surface when spacecraft departs with the boulder. These two steps (boulder extraction and contact pads

extraction from the surface) have competing requirements: for boulder extraction, contact pad area

needs to be maximized, while for contact pad extraction, the area needs to be minimized. Therefore, 

mission risk is likely reduced if the three contact pads are oversized (with appropriate margin) to prevent 

excessive sinkage. The issue of detaching of contact pads from the surface could be eliminated by 

implementing “decoupling” subsystems that would leave the pads behind. This approach requires 

additional study to assess the ability of the capture system to perform multiple collection attempts and 

to retain the surface regolith samples obtained by the geological context samplers.

It is challenging to design a regolith sampler that will work with any and all particle sizes. The sampler 

would therefore benefit by being designed for specific particle sizes.

What is a set of earth analog surfaces (e.g., concrete, sand, etc.) that could be used to bound the 

expected range of surface variability for use in validating the design of the landing system?

From a regolith interaction standpoint, analog material should be designed to match the regolith 

geotechnical properties. As such, parameters that are important include particle size distribution, particle 

shape, particle strength, magnetic moment, and particle density. All other material bulk properties, such 

as bulk density, porosity, and shear strength (cohesion and friction angle) are directly influenced by these 

grain properties. Environmental parameters such as vacuum and gravity could have a much greater effect 

on geotechnical properties of granular material, and this needs to be taken into account.

The OSIRIS-REx team has developed several asteroid simulants, including Tagish Lake 7c (TL7c) 

[Hildebrand, 2015]. The University of Central Florida [Dan Britt] is currently developing several asteroid 

simulants with a range of strengths and particle sizes. 

What is the expected bearing strength of surface regolith? This is needed to determine if ARV requires 

dampers within the three legs. 

Regolith bearing strength is highly dependent on the degree of regolith consolidation, internal 

friction angle, and cohesion. The four common bearing capacity failures are shown in Figure 28 (Jerry 

Johnson University of Alaska Fairbanks, personal communication).
116

Figure 28: Bearing strength failure modes for soils. General shear failure (a), local shear failure (b),

compaction with local shear failure (c), and compaction (d).

General shear failure occurs in well-consolidated regolith that has little pore space for particles to 

move into when subjected to compression. Failure occurs as a plug of regolith is pushed into the 

surrounding regolith (Figure 28a, #1), forcing regolith to displace laterally via slip planes to form a mound 

around the contact pad (Figure 28a, #2). When regolith is poorly consolidated with a loose to medium 

packing density, shear slip planes may not extend to the surface. While some mounding likely occurs at 

the surface, much of the regolith deformation is accommodated by filling pore space through grain 

rearrangement (Figure 28b). For very low density material (especially for cohesive regoliths), initial 

regolith settlement occurs through compaction that can either transition to local shear failure (Figure 28c) 

or continue compacting (Figure 28d), depending on the gradient of density and strength with depth [Das, 

1998; Apfelbeck et al., 2011]. The pressure-settlement function differs for each of the different failure 

modes. 

As a note, bearing strength failure is not necessarily a catastrophic event as long as the magnitude of 

settling is small enough such that adjustments to the spacecraft can be made to complete the capture 

operations. It is important to estimate the amount of expected settling that will occur during an initial 

bearing strength failure as it is highly likely that after the initial failure a high strength regolith will be 

encountered at depth.

Since asteroid gravity is negligible, Terzaghi’s equation [Terzaghi, 1943] for circular or square footing 

could be used to obtain a first order bearing capacity of the regolith. The bearing capacity of the regolith 

is defined as σ = 1.3 * (c+c’) * Nc, where c is the regolith cohesion due to van Der Waals forces, c’ is the 

apparent cohesion due to particles interlocking, and Nc is the bearing capacity factor. 
117

The low limit for bearing strength can be calculated assuming the friction angle φ=0° (Nc=5.7), c=25 

Pa and c’=0 Pa. Hence σ=1.3 * (25+0) * 5.7 = 185 Pa.

The upper limit for bearing strength can be calculated assuming φ=10° (Nc=9.6), c=250 Pa and c’=100 

Pa. Hence σ=1.3 * (250+100) * 9.6 = 4,368 Pa.

These are very rough estimates of the lower and upper limits of the bearing strength. Numerical 

modeling should be used to provide better estimates and sensitivities to different regolith and spacecraft 

parameters.

It should be noted that additional information with respect to regolith bearing strength will be 

available once the OSIRIS-REx and Hayabusa2 missions perform their sampling operations. 

What is the expected distribution in cohesion between ~1-5 meter boulders and the surface of 2008 

EV5? 

Fine grains will preferentially attach to larger grains, and thus larger grains embedded in a matrix of 

fine grains would be held in place by the strength of the matrix itself. Hence, the cohesion between large 

boulders and regolith will be driven by cohesion between fine particles estimated to be in the range of 

25-250 Pa [Sánchez and Scheeres, 2014].

Rozitis et al. [2015] reported that NEA (29075) 1950 DA, whose bulk density ranges from 1.0-2.4 

g/cm3, is a rubble pile and requires a cohesive strength of at least 44-76 Pa to keep from failing due to its 

fast spin period.

Hirabayashi et al. [2014] determined possible cohesive values of a main belt comet P/2013 R3 which 

experienced a breakup, probably due to rotational disruption, to be 40-210 Pa. 

Lunar surface regolith has cohesion in the range of 440-620 Pa [Heiken et al., 1991]. Since lunar 

regolith contains a significant fraction (up to 50%) of agglutinates which provide apparent cohesive 

strength due to their interlocking nature, it is highly probably that cohesive strength without apparent 

cohesion would be much lower and in the range what has been suggested for asteroids at 25-250 Pa. 

 How does cohesion translate into the required extraction force for a given sized boulder?

Regolith bearing capacity for shear failure is a function of cohesion (c) and friction angle (φ), while 

regolith tensile strength is primarily a function of cohesion. Cohesion is gravity independent. Friction 

angle, on the other hand, is normal force dependent, and it is zero at zero gravity, unless pressure is 

applied on confined regolith. Cohesion sometimes is due to particles interlocking, and is called apparent 

cohesion or c’ (e.g., lunar regolith has extremely high apparent cohesion). Cohesion is density dependent

– that is, the denser the regolith, the higher the cohesion. Bearing capacity compaction failure is a function 

of porosity and it is low at high porosity.

Fextraction is a sum of two forces: cohesive force and inertial force. Cohesive force is attributed to 

boulder-regolith cohesion, which is driven by regolith’s matrix and can vary from 25-250 Pa [Sanchez and 

Scheeres, 2014], and the surface area of the boulder in contact with the regolith, Aboulder. The inertial force 

is a function of the acceleration the boulder achieves during the process of lifting it off the surface. Hence,
118

Fextraction = cohesion * Aboulder + Forceinertia. The extraction force could potentially be reduced by “peeling”

the boulder off the surface [Johnson et al., 2015]. However, this needs to be traded against operational 

complexity and time.

To remove the boulder from the asteroid surface, the extraction force, Fextraction, is reacted through a 

pad into regolith, Fpad. In other words, Fpad = Fextraction as shown in Figure 29. 

Figure 29: Balance of forces during boulder extraction.

For the pad not to sink, the regolith underneath needs to resist the boulder extraction force. In other 

words, regolith bearing strength, σ, needs to be high enough to support the contact pad: Fpad=σ * Apad. To 

determine regolith bearing strength, σ, a number of equations can be used but the most widely accepted 

is Terzaghi’s bearing capacity formula. It combines fundamental strength equations and adds empirically 

derived factors. Since asteroid gravity is nearly zero, the bearing capacity equation for circular or square 

footing becomes: 

σ=1.3 * (c+c’) * Nc, 

where c is regolith’s cohesion (c) and/or apparent cohesion (c’) and Nc=5.7 for φ=0 and 9.6 for φ=10°.

It should be noted that this equation assumes the pad is perpendicular to the regolith surface, no 

consolidation of the regolith occurs, and regolith fails in shear. Hence caution needs to be exercised when 

applying the bearing capacity equations to this particular case. 
119

If the asteroid density is assumed to be very low, at say 30% Relative Density (DR), then based on 

Figure 30, c’ is approximately 100 Pa. 

Figure 30: Measured shear strengths of a basaltic simulant of lunar regolith (showing friction and 

cohesion) as a function of relative density [Heiken et al., 1991].

To calculate the size of a contact pad, the following equation could be used: 

Fpad = Apad ∗ 1. 3 ∗ (c + c

′

) ∗ Nc = F extraction = (Aboulder ∗ c + m ∗ a ) ∗ f

Apad =

Aboulder ∗ c + m ∗ a

1. 3 ∗ (c + c

′) ∗ Nc ∗ f

For example: 

 Boulder size and shape: 1 m diameter sphere

 Boulder area (1/3rd buried), Aboulder = 2 pi * r * h = 1 m2

 Mass at ~2.9 g/cm3 density, m= 1,500 kg

 Boulder acceleration during extraction, a= 0.001 m/s2

 Nc=5.7 for φ=0

 Cohesion, c= 250 Pa

 Apparent cohesion, c’=100 Pa (DR=30%, for loose regolith)

 f= 1/number of pads = 1/3

The above assumptions lead to 21 cm contact pad diameter. 

It is important to keep the boulder acceleration to minimum as this will keep inertial forces low and 

in turn reduce requirements on the regolith’s bearing capacity to support the contact pads. Figure 31

shows an example of force required to accelerate a boulder of various size and mass. In this case, it was 

assumed the boulder is perfectly spherical and has a density of 2.9 g/cm3. In calculating forces, it was 

assumed the boulder is accelerated at 0.001 m/s2. With these parameters, it will take 14 seconds to move 

the boulder 10 cm. The final boulder velocity will be 14 mm/s. 
120

Figure 31: Acceleration Force and Mass of a boulder as a function of boulder diameter. The following 

assumptions were made: acceleration: 0.001 m/s2; distance: 10 cm; boulder density 2.9 g/cm3; boulder 

shape: sphere.

Figure 32 shows the relationship between the contact pad diameter and boulder diameter for c’=100 

Pa (loose regolith) and φ=10°. Inertia force was taken from Figure 31 for various bolder diameters. The 

calculations assumed a spherical boulder with density of 2.9 g/cm3(e.g., igneous rock) and 33% buried. If 

a required contact pad diameter is ~0.8 m (1/3rd buried 3 m boulder, c=250 Pa and c’=100 Pa), the total 

surface area of the three contact pads is ~9 m2. The required spacecraft thrust is 2,250 N.

Figure 32: Pad diameter as a function of boulder diameter.

 Is there a way to estimate (or narrow the uncertainty in) the cohesion between the surface and 

boulder based on the visual images from the in-situ characterization phase?

It is not possible to estimate with great certainty the cohesion between the surface and the boulder 

from visual imagery. However, the regolith strength (which drives cohesion between the boulder and the 

surface) can be determined by deploying geotechnical instruments. The geotechnical data could then be 
121

used analytically or with an aid of numerical models such as DEM, to estimate cohesion between the 

surface and the boulder. 

 How do we expect the cohesive force to “break” during boulder extraction?

The extraction of a boulder from a regolith with a size distribution ranging down to microns to 100s 

of microns requires the breaking of cohesive bonds within the regolith. Based on DEM simulations 

[Sanchez and Scheeres, 2014], this occurs in two phases, a quasi-elastic phase followed by a plastic phase 

when the bonds between individual grains are broken (Figure 33). Due to the physics of cohesion, fine 

particles will preferentially adhere to a larger boulder, meaning that extraction occurs by breaking 

cohesive forces within the regolith. Note that the cohesive regolith preferentially adheres to the boulder, 

meaning that extraction occurs by breaking the cohesive forces within the regolith.

Figure 33: DEM simulation of a boulder extraction from a cohesive regolith [Sanchez and Scheeres 2014]. 

Figure 34. Resistance force profiles for different pull forces Fp in “peeling" test and regolith cohesive 

strength c = 100 Pa. Fc is a DEM computed force that needs to be exceeded to remove the boulder from 

the surface. In this example 400 N pulling force is not sufficient to separate the boulder from the regolith 

[Kulchitsky et al., 2015].
122

Figure 34 gives an example of a general shape of the Pull Force, Fp, as a function of time [Kulchitsky et 

al., 2015]. The exact shape will depend on the cohesive values as well as extraction methods (e.g.,

constant acceleration, peeling etc.). Fc is a DEM computed cohesive force that needs to be exceeded to 

remove the boulder from the surface. In this example, a 400 N pulling force is not sufficient to separate 

the boulder from the regolith.

Are there any other likely physical properties or mechanisms that would prevent a boulder from being 

extracted?

Unless the boulder can be inspected underneath, there will always be a risk that another rock could 

be wedging the boulder in place. The boulder could be buried in the regolith along its long axis. There is 

also some uncertainty related to the effect that phyllosilicate minerals have on the strength of regolith 

and forces between the regolith and boulder. Further study is required to determine if this is a significant 

issue.

References:

Abe et al., 2006. Mass and local topography measurements of Itokawa by Hayabusa. Science 312, 1344-

1347.

Apfelbeck, M., Kuß, S., Rebele, B., Schäfer, B., 2011. A systematic approach to reliably characterize soils 

based on Bevameter testing. Journal of Terramechanics 48, 360-371.

http://dx.doi.org/10.1016/j.jterra.2011.04.001

Chesley, S.R., Farnocchia, D., Nolan, M.C., Vokrouhlický, D., Chodas, P.W., Milani, A., Spoto, F.,Benner, 

L.A.M., Busch, M.W., Emery, J., Howell, E.S., Lauretta, D., Margot, J.-L., Rozitis, B., Taylor, P.A., 2014. 

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534-95179-1, p. 712.

Gaskell et al., 2008. Itokawa shape model v1. 0. NASA Planetary Data System, 92.

Hartzell, C., Scheeres, D., 2011. The Role of Cohesive Forces in Particle Launching on the Moon and 

Asteroids. Planetary and Space Sciences 59, 1758-1768.

Heiken, G., Vaniman, D., French, B., 1991. Lunar Sourcebook, Cambridge University Press.

Hildebrand, A.R., et al., 2015. An Asteroid Regolith Simulant for Hydrated Carbonaceous Chondrite 

Lithologies (HCCL-1), 78th Annual Meeting of the Meteoritical Society.

http://www.hou.usra.edu/meetings/metsoc2015/pdf/5368.pdf.

Karafiath L., Mohr, G., 1969. Effect of Ultrahigh Vacuum on the Friction between Metals and Granular 

Soils, J. Vac. Sci. Technol. 6, 198. http://dx.doi.org/10.1116/1.1492659

Kulchitsky et al., 2015. Resistance forces during boulder extraction from an asteroid. Acta Astronautica 

AA_2015_93 (Submitted).

MarcoPolo-R Integrated Sampling Mechanism (MPRISM). 

http://us-marcopolor.jhuapl.edu/mission/docs/Potential%20NASA%20contribution.pdf.

Accessed October, 2015.

Mazrouei et al., 2014. Block distributions on Itokawa. Icarus 229, 181-189.

Michikami et al., 2008. Size-frequency statistics of boulders on global surface of asteroid 25143 Itokawa. 

Earth, Planets and Space 60, 13-20.

Sánchez, P., Scheeres, D. J., 2014. The strength of regolith and rubble pile asteroids, Meteoritics &

Planetary Science 49, 788-811. doi: 10.1111/maps.12293

Scheeres, D., Hartzell, C., Sánchez, P., Swift, M., 2010. Scaling Physics to Asteroid Surfaces: The Role of 

Cohesion. Icarus 210, 968-984.
123

Tsuchiyama, A., et al., 2011. Three-dimensional structure of Hayabusa samples: Origin and evolution of 

Itokawa regolith. Science 333, 1125-1128.

Appendix D: Additional Boulder Physical Property Information

Meteorite Physical Properties Papers:

Consolmagno, G.J., Macke, R.J., Rochette P., Britt D.T., Gattacceca, J., 2006. Density, Magnetic 

Susceptibility, and the Characterization of Ordinary Chondrite Falls and Showers. Meteoritics &

Planetary Science 41, 331-342.

Consolmagno, G.J., Britt D.T., Macke R.J., 2008. The Significance of Meteorite Density and Porosity. 

Chemie der Erde-Geochemistry 68, 1-29.

Macke, R. J., 2010. Survey of meteorite physical properties: Density, porosity and magnetic susceptibility. 

Ph.D. thesis, University of Central Florida, p. 310.

Macke, R.J., Consolmagno G.J., Britt D.T., Hutson, M.L., 2010. Enstatite chondrite density, porosity and 

magnetic susceptibility. Meteoritics & Planetary Science 45, 1513-1526.

Macke, R.J., Britt D.T., Consolmagno, G.J., 2011. Density, porosity and magnetic susceptibility of 

achondritic meteorites. Meteoritics & Planetary Science 46, 311-326.

Macke, R.J., Consolmagno, G.J. Britt, D.T., 2011. Density, porosity and magnetic susceptibility of 

carbonaceous chondrites. Meteoritics & Planetary Science 46, 1842-1862.

Meteorite Thermal Properties Papers:

Alí-Lagoa, V., Lionni, L., Delbo, M., Gundlach, B., Blum, J., Licandro, J., 2014. Thermophysical properties of 

near-Earth asteroid (341843) 2008 EV5 from WISE data. Astronomy and Astrophysics 561, A45. 

Opeil, C.P., Consolmagno, G.J., Safarik, D.J., Britt, D.T., 2012. Stony meteorite thermal properties and their 

relationship to meteorite chemical and physical states. Meteoritics & Planetary Science 47, 319-329.

Opeil, C.P., Consolmagno, G.J., Britt, D.T., 2010. The Thermal Conductivity of Meteorites. New 

Measurements and Analysis. Icarus 208, 449-454.

Brodsky, N.S., Riggins, M., Connolly, J., 1997. Thermal Expansion, Thermal Conductivity, and Heat Capacity 

Measurements at Yucca Mountain. International Journal of Rock Mechanics and Mining Sciences 34:3-

4, #040.

Delbo, M., Libourel, G., Wilkerson, J., Murdoch, N., Michel, P., Ramesh, K.T., Ganino, C.,Verati, C., Marchi,

S., 2014. Thermal fatigue as the origin of regolith on small asteroids. Nature 50, 233.

Ghabezloo S., 2012. Micromechanical analysis of the effect of porosity on the thermal expansion 

coefficient of heterogeneous porous materials. International Journal of Rock Mechanics and Mining 

Sciences 55, 97-101.

Nagihara, S., Hedlund, M., Zacny, K., Taylor, P.T., 2014. Improved data reduction algorithm for the needle 

probe method applied to in-situ thermal conductivity measurements of lunar and planetary regoliths. 

Planetary and Space Science 92, 49-56.

Sevostianov, I., 2012. On the thermal expansion of composite materials and cross-property connection 

between thermal expansion and thermal conductivity. Mechanics of Materials 45, 20-33.

Vosteen, H., Schellschmidt, R., 2003. Influence of temperature on thermal conductivity, thermal capacity 

and thermal diffusivity for different types of rock. Physics and Chemistry of the Earth 28, 499-509.
124

Acronym List

AGC – Asteroid Grand Challenge

APXS – Alpha particle X-ray Spectrometry 

ARCM – Asteroid Redirect Crewed Mission

ARM – Asteroid Redirect Mission

ARRM – Asteroid Redirect Robotic Mission

ARV – Asteroid Redirect Vehicle

AU – Astronomical Unit

BRDF – Bidirectional Reflectance Distribution 

Function

C2 – Type 2 carbonaceous chondrites

CB – Bencubbin-type carbonaceous chondrites

CCG – Cold Cathode Gauge

CI – Ivuna-type carbonaceous chondrite

CK – Karoonda-type carbonaceous chondrite

CLASS – Center for Lunar and Asteroid Surface 

Science

CM – Mighei-type carbonaceous chondrite

CME – Coronal Mass Ejection

CO – Ornans-type carbonaceous chondrite

CR – Renazzo-type carbonaceous chondrite

CRS – Contact and Restraint Subsystem

CV – Vigarano-type carbonaceous chondrite

DEM – Discrete Element Method

DSAC – Deep Space Atomic Clock

DSI – Deep Space Industries

DSN – Deep Space Network

EGT – Enhanced Gravity Tractor

EOM – End-of-Mission

ESA – European Space Agency

EVA – Extra-vehicular Activity

FAST – Formulation Assessment and Support 

Team

FTIR – Fourier Transform Infrared Spectroscopy

GCR – Galactic Cosmic Radiation

GPR – Ground Penetrating Radar

GPS – Global Positioning System

Gyr – Gigayear

HEOMD – Human Exploration and Operations 

Mission Directorate

IAU – International Astronomical Union

IMC – Intermediate-source Mars-Crossing 

region

IMU – Inertial Measurement Unit

IR – Infrared

ISRU – In-situ Resource Utilization

ISS – International Space Station

IT – Investigation Team

LDRO – Lunar Distant Retrograde Orbit

LEO – Low Earth Orbit

LiBS – Laser-induced Breakdown Spectroscopy

MOC – Mars Orbiter Camera

MEX – Mars Explorer

MGS – Mars Global Surveyor

MPC – Minor Planet Center

MRO – Mars Reconnaissance Orbiter

Myr – Megayear

NASA – National Aeronautics and Space 

Administration

NEA – Near-Earth Asteroid 

NEAR – Near Earth Asteroid Rendezvous

NEO – Near-Earth Object

OC – Ordinary Chondrite

OSIRIS-REx – Origins, Spectral Interpretation, 

Resource Identification, Security-Regolith 

Explorer

PAH – Polycylic Aromatic Hydrocarbon

QMS – Quadrupole Mass Spectrometer 

RADF – Radiance Factor

SBAG – Small Bodies Assessment Group

SBE – Surface-bounded Exosphere

SEP – Solar Electric Propulsion

SFD – Size-Frequency Distribution

SPE – Solar Particle Event

TAGSAM – Touch-And-Go Sample Acquisition 

Mechanism

TIM – Technical Interchange Meeting

TL7c – Taggish Lake 7c simulant

TOF-MS – Time-of-Flight Mass Spectrometer

TRL – Technology Readiness Level

UV – Ultraviolet

UT – Universal Time

VLBI – Very Long Baseline Interferometry

VNIR – Visible Near-Infrared

WISE – Wide-field Infrared Survey Explorer

XRD – X-ray Diffraction

YORP – Yarkovsky-O’Keefe-Radzievskii-Paddack
 

 

 

 

 

 

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