Hayabusa's Adventure around a Tiny Asteroid Itokawa
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1 Hayabusa's Adventure around a Tiny Asteroid Itokawa COSPAR Capacity Building Workshop on Planetary Science July 23 - Aug. 3, 2007 Montevideo, Uruguay M. Yoshikawa, A. Fujiwara, J. Kawaguchi (JAXA) Hayabusa Mission & Science Team
2 Asteroid Sample Return Mission "HAYABUSA" before 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 2
3 Asteroid Sample Return Mission "HAYABUSA" after 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 3
4
5 It's a Small World!
6 It's a Small World! (Part-2) Punta del Este 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 6
7 It's a World of "Little Prince" (25143) Itokawa = 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 7
8 Contents Brief summary of Hayabusa mission Mission : as time sequence - Cruising Phase - Near & Around Itokawa - Descent & Touchdown - Mass Determination - From now on Scentific Results Post Hayabusa Mission 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 8
9 Brief Summary of Hayabusa Mission
10 MUSES-C MUSES = Mu Space Engineering Spacecraft = Technological demonstrator by MU rocket C = third spacecraft (A: HITEN, B: HALCA) After the successful launch, it was named "Hayabusa," which mean falcon in Japanese. "halcón" 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 10
11 New Technology in Hayabusa Five Key Technology to be demonstrated : 1.Interplanetary Cruise via Ion Engines as Primary Propulsion Microwave driven & CC Grid Ion Engine 2.Autonomous Navigation and Guidance using Optical Measurement 3.Sample Collection from Asteroid Surface under Micro Gravity 4.Direct Reentry for Sample Recovery from Interplanetary Orbit 5.Combination of Low Thrust and Gravity Assist Other New Technology introduced : Bi-Propellant Small Thrust Reaction Control System (20N), X-band Up/Down Communication, Complete CCSDS Packet Telemetry, Duty Guaranteed Heater Control Electronics, Wheel Unloading via Ion Engines, PN-Code Ranging, Lithium Ion Re-chargeable Battery, Multi-Junction Solar Cell, etc. 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 11
12 Scientific Objectives To know the nature of sub-km sized S-type asteroid To investigate the relationship between asteroids and meteors To have key information for the origin and evolution of asteroids 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 12
13 Remote Sensing Instruments onboard Hayabusa Multi-Spectral Telescopic Imager (AMICA) > CCD viewing angle 5.7 with 8 band-pass filters > About 1500 still images obtained Laser Altimeter (LIDAR) > Measurement accuracy of 1 m at 50m altitude > 1,670,000 hits obtained Near-Infrared Spectrometer (NIRS) > 64-channel InGaAs detector at wavelengths of 0.8~2.1 micron > Viewing angle 0.1 (6-90 m per pixel spatial resolution) > More than 80,000 spectra obtained X-ray Fluorescence Spectrometer (XRS) > CCD viewing angle: 3.5, 160 ev resolution at 5.9 kev > 6,000 spectra from the asteroid surface obtained 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 13
14 Mission Scenario Observations, sampling Launch 9 May 2003 Asteroid Arrival 12 Sept Earth Swingby 19 May 2004 Earth Return June 2007 June July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 14
15 Hayabusa Mission by CG
16 Asteroid (25143) Itokawa 26 Sept : Discovered by LINEAR 1998 SF36 June 2001 : Numbered (25143) August 2003 : (25143) Itokawa Asteroid Itokawa was named after the late Prof. Hideo. Itokawa, the Father of Modern Japanese Rocketry 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 16
17 Mission - Cruising Phase -
18 Orbit History until Asteroid Arrival 9 May May Sept Launch Swingby Arrival IES IES Conjunction 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 18
19 Launch Launch IES Swingby IES Conjunction Arrival 9 May May Sept MUSES-C Hayabusa = 'falcon' 04:29:25 UTC (13:29:25 JST) 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 19
20 Ion Engine Operation 1 Launch IES Swingby IES Conjunction Arrival 9 May May Sept The ion engine system (IES) was started from the end of May Revolution Direction Rendezvous Sep 12, 2005 Sun Earth Swing-by May 19, 2004 Launch Earth May 9, 2003 Perihelion 0.86AU from Sun Feb 23, 2004 Return July 2007 Aphelion 1.7AU from Sun Feb 18, 2005 The Orbit determination under the thrust of the ion engine is difficult, so we made "ballistic period" (=ion engine is stopped) of about three days once in a month, and performed the orbit determination. 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 20
21 Earth Swingby Launch IES Swingby IES Conjunction Arrival 9 May May Sept position on B-plane Targeting by IES Final Result May 19, 2004, 06:21:42 UTC Altitude : about 3700 km Maneuver 20 April May 2004 Targeting by Chemical Thruster Error of the swingby point on B-plane is about 1 km. 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 21
22 Images Obtained at Earth Swingby Moon at 340,000km Earth after swingby Earth at 60,000km Earth at 295,000km 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 22
23 Solar Conjunction Launch IES Swingby IES Conjunction Arrival 9 May May 2004 July Sept degs Noise of Doppler OD Error (1 ) 28 June 2005: 200km, 75cm/s 29 July 2005: 1800km, 72cm/s 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 23
24 Optical Navigation Launch IES Swingby IES Conjunction Arrival 9 May May Sept Asteroid Direction Range from Earth OD Error (1 ) : Just after the solar conjunction (29 July 2005) 45 km, 6 cm/s ( 1800 km, 72 cm/s) At the end of August (29 Aug. 2005) 1 km, 2 cm/s 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 24
25 Images of Itokawa July 29 - Aug. 12, 2005 Aug , 2005 Aug , 2005 Fist images taken by Star Tracker Images by Optical Navigation Camera 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 25
26 Ion Engine Operation 2 Launch IES Swingby IES Conjunction Arrival 9 May May Sept Aug 28, 2005: The IES finished its role on the way to the asteroid. Operation : 25,800hour&unit Single Unit :10,400hour Delta-V :1,400m/s Prop. Consumption: 22kg 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 26
27 Mission - Near & Around Itokawa -
28 Orbit at Proximity Phase Phase Cruising Phase Approach Phase Proximity Phase Gate Position Dates Jul. 29 Aug. 28 Home Position Descent & Touch-down Sep. 12 Sep Oct Nov Distance 86,000km 4,000km 20km 10km 3km First Acquisition Optical Nav. Start Ion Engine Thrusters 8~10 deg Bi-propellant Thrusters Check-out of navigations High altitude observations SRP estimation High phase observations Gravity estimation Itokawa Events 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 28
29 Final Approach = Optical Navigation 86,000km 4,000km 20km 10km 3km Itokawa Rotation! (Sep. 5, 2005) 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 29
30 Images of Itokawa at Approach Phase deg 9/4 02:36 UTC, 1000km 9/5 15:30 UTC, 700km 9/6 03:32 UTC, 450km 9/7 16:00 UTC, 220km 9/8 16:15 UTC, 125km 9/9 16:28 UTC, 70km 9/10 16:42 UTC, 30km 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 30
31 Arrival at Itokawa Sept. 12, 2005, at the distance of 20km 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 31
32 Gate Position to Home Position 86,000km 4,000km 20km 10km 3km Itokawa DRW mode (Dual Reaction Wheel) Parabolic Motions Troubleshooting RCS mode Stable Hovering 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 32
33 Gate Position to Home Position 86,000km 4,000km 20km 10km 3km Itokawa 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 33
34 Images of Itokawa : whole Eastern Side Head Western Side Bottom 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 34
35 Global Shape of Itokawa: Sea Otter in Space?
36 Images of Itokawa Smooth and Rough 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 36
37 Images of Itokawa Smooth and Rough 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 37
38 Images of Itokawa Rough surface 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 38
39 Images of Itokawa Large Boulders "Pencil" "Yoshinodai" 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 39
40 Images of Itokawa Craters 50 m Fuchinobe (D=36m) ST_ Komaba (D=27m) 50 m Kamisunagawa (D=10m) 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 40
41 Images of Itokawa Other features Black boulder Facet 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 41
42 Images of Itokawa Close-up (A) 5m boundary Spatial Resolution : 6-8 mm 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 42
43 Images of Itokawa Close-up 10 m At 59m 6mm/pixel ST_ July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 43
44 Images of Itokawa color variation Release ISAS/JAXA 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 44
45 Images of Itokawa color variation R(w-band) / R(b-band) Ishiguro et al. (2006) 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 45
46 Images of Itokawa Bright Region 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 46
47 Explanation of Color Variation Rubble pile + collisions Space Weathering Shaking Surface movement exposes underlying brighter zone. 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 47
48 Near Infrared Observation NIRS Olivine Pyroxene Pyroxene and Olivine * Surface of Itokawa indicates olivine and pyroxene mineral assemblage. * Reflectance spectrum of Itokawa is similar to that of ordinary chondrites. 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 48
49 X-ray Observation XRS from standard sample from Itokawa *X-rays from Itokawa (right) has larger Mg/Si and smaller Al/Si than those of X-rays from the standard sample (left). *Itokawa is similar to ordinary chondrites in composition. 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 49
50 Potential and Slope Maps Potential Slope North South (Fujiwara, et al., Science (2006)) 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 50
51 Mission - Descent & Touchdown -
52 Descent Rehearsal and Touch-down 86,000km 4,000km 20km 10km 3km Rehearsal #1... Nov. 4th 2. Nav & Guide Practice... Nov. 9th (Target Marker Release#1) 3. Rehearsal #2... Nov. 12th (MINERVA Lander Release) 4. Touch-down for Sampling#1... Nov. 20th (Target Marker Release#2) (Two Touch-downs + One Landing) 5. Touch-down for Sampling#2... Nov. 26th (One Touch-down + One Sampling CMD Issued) Itokawa 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 52
53 Touch-down sequence Based on the image obtained at altitude 500[m] Go/NoGo is judged vertical descent 400 m 3 4 km Earth Direction Sun Direction <Descent Phase> Image Based Navigation with Landmark Tracking <Touch-down Phase> Hovering and Descent FBS for obstacle detection Touch and Go 30m TM Release TM Capturing 17 m <Final Descent Phase> Surface synchronization TM release and Position tracking by TM Attitude alignment with the surface by LRF 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 53
54 Approach and Descent Path #2 86,000km 4,000km MUSES-SEA Itokawa Shape Models MUSES-Sea 20km 10km 3km Itokawa Planned and Actual Path (Semi-Inertial) Planned and Actual Path (Itokawa-Fixed) 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 54
55 Rehearsal No.1 (Nov. 4, 2005) 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 55
56 Navigation & Guidance Practice (Nov. 9, 2005) 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 56
57 Rehearsal No.2 (Nov. 12, 2005) 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 57
58 Touch-down for Sampling Touch-down for Sampling#1 Touch-down for Sampling#2 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 58
59 Target Marker 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 59
60 MINERVA 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 60
61 What happened at 1st touch-down? 1st touch-down 2nd touch-down 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 61
62 What happened at 1st touch-down? -> answer 1st TD Bound 2nd TD Bound 3rd TD and Landing Altitude (m) Free Fall Free Fall Obstacle was detected by FBS Escape dv TD sequence was terminated by ground command S/C maneuvered at the initial velocity and free-fall was performed There are high possibilities for Hayabusa to collect any sample by natural touchdowns 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 62
63 After 2nd Touching Down Hayabusa had lost contact due to fuel gas eruption for 45 days since December 8th. A beacon, un-modulated signal from the spacecraft was acquired on January 23rd, Since then, Haybusa is operated without losing its contact. 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 63
64 Mass Determination
65 Mass Estimation 9/12 A Free Fall Period: No thruster control Applied 10/ /12 B C, D km A D C E 1st touch down B Itokawa
66 Results of Mass Estimation 1st result Groups A B C D E Period Data type 9/12~10/2 R&RR 10/21-22 R&RR, Opt., LIDAR 11/12 LIDAR, Opt. 11/12 Opt., LIDAR 11/19 LRF Distance from Itokawa Model of Itokawa GM 10-9 km 3 /s 2 Error 20-7 km point mass % 3 km point mass % m polyhedron % m polyhedron % m July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 66
67 Mass and Bulk Density of Itokawa Estimated GM in each period (GM=Gravity Constant x Mass) GM (2.34± 0.07) x 10-9 km 3 /s 2 GM (10-9 km 3 /s 2 ) Macro-porosity = 40% Mass (3.51 ± 0.105) x kg Volume = (1.84 ± 0.092) x 10 7 m 3 Bulk Density 1.9 ± 0.13 g/cm 3 Ordinary chondrite Density ~ 3.2 g/cm 3 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 67
68 Macroporosity of Itokawa Modified from Britt, et al., (2002) 3.51 x (kg) Itokawa (S) (S. Abe, et al., Science (2006)) 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 68
69 Mission - From now on -
70 Current Status Current (July 2007) status is as follows: The chemical thrusters cannot be used. Two out of three reaction wheels are broken. The ion engines are OK. Orbit control : by the ion engines Attitude control : by one reaction wheel, the ion engines, and the solar radiation pressure 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 70
71 Return to the Earth Hayabusa leaving 2007 to Earth in 2010 Sun Earth 2010/6/ /2/10 New trajectory (red line) leaving Itokawa vicinity in April 2007, returning to Earth in June of 2010 is shown here. The Xenon gas consumption meets the current amount that remains. 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 71
72 We hope July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 72
73 Scientific Results - short summary -
74 Fundamental Parameters of (25143) Itokawa Ground-based observation Rotational Period: P = hours Spin Axis : almost perpendicular to the ecliptic plane, retrograde Size, shape : by Kaasalainen, by Ostro Observation by Hayabusa Size: Principal Axis: X=535 m, Y=294 m, Z=209 m (±1 m) Spin Axis: Orientation in space [, ]=[128.5, ] Nutation is within error range. Mass: (3.510 ± 0.105) x kg Volume: (1.84 ± 0.092) x 10 7 m 3 Bulk Density: 1.90 ±0.13 g/cm 3 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 74
75 Formation Scenario of Itokawa Rubble Pile Hypothesis Extremely low bulk density for an S-type asteroid and high macroporosity of ~40 % Global shape is round rather than blocky Surface is covered with many boulders No large structures extending to the entire body (e.g., long linear ridge found on Eros and Phobos) found Parts of some facets are exposed on the surface (?) Slope is generally low (relaxed in many areas) Large boulders cannot be formed during impacts to result the craters existing now on Itokawa. They must be associated with much larger impact events. 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 75
76 What Hayabusa found on Itokawa Itokawa is the first very small asteroid with clear indications of rubble-pile structure. Itokawa maybe formed by gravitational coagulation of ejected fragments from a catastrophic disruption of its large parent body by an impact. Itokawa is the smallest body of the solar system that spacecraft ever explored, but it has a lot of features on the surface. Itokawa, which is S-type asteroid, is mother body of ordinary chondrite meteorites. We saw the actual view of a potentially hazardous asteroid for the first time. 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 76
77 Post Hayabusa Mission
78 Hayabusa-next Itokawa 1999 JU3 Hayabusa-2 S-type : stone Hayabusa Wilson-Harrington Hayabusa-Mk2 C-type : organic, water-content mineral Proposed to Cosmic Vision of ESA? dormant comet nucleus 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 78
79 Future Plans Earth Mars Asteroid belt Jupiter S-type C-type P-type, D-type S-type Asteroid Abundant in the inner part of the asteroid belt Relation between the ordinary chondrites Origin of planets C-type asteroid Abundant in the outer part of the asteroid belt Contains organic matters Important information about the origin of life P, D-type or dormant comet more primitive body and no (rare) meteorite related to these objects Origin of the solar system Comet nucleus, trans-neptunian objects (rather difficult) 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 79
80 Small World
81 Gracias!
82 Information
83 Orbit of Hayabusa D C C A B B A: Launch... May 9, 2003 B: Earth Swingby... May 19, 2004 C: Asteroid Arrival... Sept. 12, 2005 D: Asteroid Departure... Feb E: Earth Return... June 2010 (Hayabusa:Red, Itokawa:Blue, Earth:Green) D E 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 83
84 Orbital Evolution of Itokawa Past Inner edge of the asteroid belt Secular resonance 6, or Mars encounter Present Apollo type orbit Chaotic motion Future by P. Michel and M. Yoshikawa Collide with the sun or inner planets Collision probability with the Earth is about once in one million years. 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 84
85 Chaotic Motion of Itokawa 0 year 1,000 y 10,000 y 10,000,000 y 1,000,000 y 100,000 y 30 July 2007 COSPAR Capacity Building Workshop on Planetary Science, Montevideo, Uruguay 85
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