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As evidenced by recent survey results, majority of asteroids are slow rotators (P>12 h), but lack spin and shape models due to selection bias. This bias is skewing our overall understanding of the spins, shapes, and sizes of asteroids, as well as of their other properties. Also, diameter determinations for large (>60km) and medium-sized asteroids (between 30 and 60 km) often vary by over 30% for multiple reasons. Our long-term project is focused on a few tens of slow rotators with periods of up to 60 hours. We aim to obtain their full light curves and reconstruct their spins and shapes. We also precisely scale the models, typically with an accuracy of a few percent. We used wide sets of dense light curves for spin and shape reconstructions via light-curve inversion. Precisely scaling them with thermal data was not possible here because of poor infrared data: large bodies are too bright for WISE mission. Therefore, we recently launched a campaign among stellar occultation observers, to scale these models and to verify the shape solutions, often allowing us to break the mirror pole ambiguity. The presented scheme resulted in shape models for 16 slow rotators, most of them for the first time. Fitting them to stellar occultations resolved previous inconsistencies in size determinations. For around half of the targets, this fitting also allowed us to identify a clearly preferred pole solution, thus removing the ambiguity inherent to light-curve inversion. We also address the influence of the uncertainty of the shape models on the derived diameters. Overall, our project has already provided reliable models for around 50 slow rotators. Such well-determined and scaled asteroid shapes will, e.g. constitute a solid basis for density determinations when coupled with mass information. Spin and shape models continue to fill the gaps caused by various biases., Comment: Accepted to Astronomy & Astrophysics. 12 pages + appendices

Results from the TESS mission showed that previous studies strngly underestimated the number of slow rotators, revealing the importance of studying those asteroids. For most slowly rotating asteroids (P > 12), no spin and shape model is available because of observation selection effects. This hampers determination of their thermal parameters and accurate sizes. We continue our campaign in minimising selection effects among main belt asteroids. Our targets are slow rotators with low light-curve amplitudes. The goal is to provide their scaled spin and shape models together with thermal inertia, albedo, and surface roughness to complete the statistics. Rich multi-apparition datasets of dense light curves are supplemented with data from Kepler and TESS. In addition to data in the visible range, we also use thermal data from infrared space observatories (IRAS, Akari and WISE) in a combined optimisation process using the Convex Inversion Thermophysical Model (CITPM). This novel method has so far been applied to only a few targets, and in this work we further validate the method. We present the models of 16 slow rotators. All provide good fits to both thermal and visible data. The obtained sizes are on average accurate at the 5% precision, with diameters in the range from 25 to 145 km. The rotation periods of our targets range from 11 to 59 hours, and the thermal inertia covers a wide range of values, from 2 to <400 SI units, not showing any correlation with the period. With this work we increase the sample of slow rotators with reliable spin and shape models and known thermal inertia by 40%. The thermal inertia values of our sample do not display a previously suggested increasing trend with rotation period, which might be due to their small skin depth., Comment: Accepted to Astronomy & Astrophysics. 10 pages + appendices

Context. The recent estimates of the 3D shape of the M/Xe-type triple asteroid system (216) Kleopatra indicated a density of 5 g.cm$^{-3}$. Such a high density implies a high metal content and a low porosity which is not easy to reconcile with its peculiar dumbbell shape. Aims. Given the unprecedented angular resolution of the VLT/SPHERE/ZIMPOL camera, we aim to constrain the mass and the shape of Kleopatra with high accuracy, hence its density. Methods. We combined our new VLT/SPHERE observations of Kleopatra recorded in 2017 and 2018 with archival data, as well as lightcurve, occultation, and delay-Doppler images, to derive its 3D shape model using two different algorithms (ADAM, MPCD). Furthermore, an N-body dynamical model allowed us to retrieve the orbital elements of the two moons as explained in the accompanying paper. Results. The shape of Kleopatra is very close to an equilibrium dumbbell figure with two lobes and a thick neck. Its volume equivalent diameter (118.75$\pm$1.40) km and mass (2.97$\pm$0.32) 10$^{18}$ kg imply a bulk density of (3.38$\pm$0.50) g cm$^{-3}$. Such a low density for a supposedly metal-rich body indicates a substantial porosity within the primary. This porous structure along with its near-equilibrium shape is compatible with a formation scenario including a giant impact followed by reaccumulation. Kleopatra's current rotation period and dumbbell shape imply that it is in a critically rotating state. The low effective gravity along the equator of the body, together with the equatorial orbits of the moons and possibly rubble-pile structure, opens the possibility that the moons formed via mass shedding. Conclusions. Kleopatra is a puzzling multiple system due to the unique characteristics of the primary. It deserves particular attention in the future, with the Extremely Large Telescopes and possibly a dedicated space mission., Comment: Accepted for publication in Astronomy and Astrophysics

To interpret adaptive-optics observations of (216) Kleopatra, we need to describe an evolution of multiple moons, orbiting an extremely irregular body and including their mutual interactions. Such orbits are generally non-Keplerian and orbital elements are not constants. Consequently, we use a modified $N$-body integrator, which was significantly extended to include the multipole expansion of the gravitational field up to the order $\ell = 10$. Its convergence was verified against the `brute-force' algorithm. We computed the coefficients $C_{\ell m},S_{\!\ell m}$ for Kleopatra's shape, assuming a~constant bulk density. For solar-system applications, it was also necessary to implement a variable distance and geometry of observations. Our $\chi^2$ metric then accounts for the absolute astrometry, the relative astrometry (2nd moon with respect to 1st), angular velocities, and also silhouettes, constraining the pole orientation. This allowed us to derive the orbital elements of Kleopatra's two moons. Using both archival astrometric data and new VLT/SPHERE observations (ESO LP 199.C-0074), we were able to identify the true periods of the moons, $P_1 = (1.822359\pm0.004156)\,{\rm d}$, $P_2 = (2.745820\pm0.004820)\,{\rm d}$. They orbit very close to the 3:2 mean-motion resonance, but their osculating eccentricities are too small compared to other perturbations (multipole, mutual), so that regular librations of the critical argument are not present. The resulting mass of Kleopatra, $m_1 = (1.49\pm0.16)\cdot10^{-12}\,M_\odot$ or $2.97\cdot10^{18}\,{\rm kg}$, is significantly lower than previously thought. An implication explained in the accompanying paper (Marchis et al.) is that (216) Kleopatra is a critically rotating body., Comment: accepted in A&A

Dynamical models of Solar System evolution have suggested that P-/D-type volatile-rich asteroids formed in the outer Solar System and may be genetically related to the Jupiter Trojans, the comets and small KBOs. Indeed, their spectral properties resemble that of anhydrous cometary dust. High-angular-resolution images of P-type asteroid (87) Sylvia with VLT/SPHERE were used to reconstruct its 3D shape, and to study the dynamics of its two satellites. We also model Sylvia's thermal evolution. The shape of Sylvia appears flattened and elongated. We derive a volume-equivalent diameter of 271 +/- 5 km, and a low density of 1378 +/- 45 kg.m-3. The two satellites orbit Sylvia on circular, equatorial orbits. The oblateness of Sylvia should imply a detectable nodal precession which contrasts with the fully-Keplerian dynamics of the satellites. This reveals an inhomogeneous internal structure, suggesting that Sylvia is differentiated. Sylvia's low density and differentiated interior can be explained by partial melting and mass redistribution through water percolation. The outer shell would be composed of material similar to interplanetary dust particles (IDPs) and the core similar to aqueously altered IDPs or carbonaceous chondrite meteorites such as the Tagish Lake meteorite. Numerical simulations of the thermal evolution of Sylvia show that for a body of such size, partial melting was unavoidable due to the decay of long-lived radionuclides. In addition, we show that bodies as small as 130-150 km in diameter should have followed a similar thermal evolution, while smaller objects, such as comets and the KBO Arrokoth, must have remained pristine, in agreement with in situ observations of these bodies. NASA Lucy mission target (617) Patroclus (diameter~140 km) may, however, be differentiated., Comment: Accepted for publication in A&A

Asteroid (31) Euphrosyne is one of the biggest objects in the asteroid main belt and the Euphrosyne family occupies a highly inclined region in the outer main belt and contains a remarkably large number of members, which is interpreted as an outcome of a disruptive cratering event. The goals of this adaptive-optics imaging study were threefold: to characterize the shape of Euphrosyne, to constrain its density, and to search for the large craters that may be associated with the family formation event. We obtained disk-resolved images of Euphrosyne using SPHERE/ZIMPOL at ESO's 8.2-m VLT as part of our large program (ID: 199.C-0074, PI: Vernazza). We reconstructed its 3D-shape using the adam shape modeling algorithm based on the SPHERE images and the available lightcurves of this asteroid. We analyzed the dynamics of the satellite with the genoid meta-heuristic algorithm. Finally, we studied the shape of Euphrosyne using hydrostatic equilibrium models. Our SPHERE observations show that Euphrosyne has a nearly spherical shape with the sphericity index of 0.9888 and its surface lacks large impact craters. Euphrosyne's diameter is 268+/-6 km, making it one of the top 10 largest main belt asteroids. We detected a satellite of Euphrosyne -- S/2019 (31) 1-- that is about 4 km across, on an circular orbit. The mass determined from the orbit of the satellite together with the volume computed from the shape model imply a density of 1665+/-242 kg/m^3, suggesting that Euphrosyne probably contain a large fraction of water ice in its interior. We find that the spherical shape of Euphrosyne is a result of the reaccumulation process following the impact, as in the case of (10) Hygiea. However, our shape analysis reveals that, contrary to Hygiea, the axis ratios of Euphrosyne significantly differ from the ones suggested by fluid hydrostatic equilibrium following reaccumulation., Comment: 12 pages, 6 figures, accepted to be published in A&A

Thanks to the Gaia mission, it will be possible to determine the masses of approximately hundreds of large main belt asteroids with very good precision. We currently have diameter estimates for all of them that can be used to compute their volume and hence their density. However, some of those diameters are still based on simple thermal models, which can occasionally lead to volume uncertainties as high as 20-30%. The aim of this paper is to determine the 3D shape models and compute the volumes for 13 main belt asteroids that were selected from those targets for which Gaia will provide the mass with an accuracy of better than 10%. We used the genetic Shaping Asteroids with Genetic Evolution (SAGE) algorithm to fit disk-integrated, dense photometric lightcurves and obtain detailed asteroid shape models. These models were scaled by fitting them to available stellar occultation and/or thermal infrared observations. We determine the spin and shape models for 13 main belt asteroids using the SAGE algorithm. Occultation fitting enables us to confirm main shape features and the spin state, while thermophysical modeling leads to more precise diameters as well as estimates of thermal inertia values. We calculated the volume of our sample of main-belt asteroids for which the Gaia satellite will provide precise mass determinations. From our volumes, it will then be possible to more accurately compute the bulk density, which is a fundamental physical property needed to understand the formation and evolution processes of small solar system bodies., Comment: Accepted for publication in A&A

With an estimated diameter in the 320 to 350 km range, (704) Interamnia is the fifth largest main belt asteroid and one of the few bodies that fills the gap in size between the four largest bodies with $D$ > 400 km (Ceres, Vesta, Pallas and Hygiea) and the numerous smaller bodies with $D$ $\lesssim$ 200 km. However, despite its large size, little is known about the shape and spin state of Interamnia and, therefore, about its bulk composition and past collisional evolution. We aimed to test at what size and mass the shape of a small body departs from a nearly ellipsoidal equilibrium shape (as observed in the case of the four largest asteroids) to an irregular shape as routinely observed in the case of smaller ($D$ $\lesssim$ 200 km) bodies. We observed Interamnia as part of our ESO VLT/SPHERE large program (ID: 199.C-0074) at thirteen different epochs. In addition, several new optical lightcurves were recorded. These data, along with stellar occultation data from the literature, were fed to the All-Data Asteroid Modeling (ADAM) algorithm to reconstruct the 3D-shape model of Interamnia and to determine its spin state. Interamnia's volume-equivalent diameter of 332 $\pm$ 6 km implies a bulk density of $\rho$=1.98 $\pm$ 0.68 gcm$^{-3}$ , which suggests that Interamnia - like Ceres and Hygiea - contains a high fraction of water ice, consistent with the paucity of apparent craters. Our observations reveal a shape that can be well approximated by an ellipsoid, and that is compatible with a fluid hydrostatic equilibrium at the 2 $\sigma$ level. The rather regular shape of Interamnia implies that the size and mass limit, under which the shapes of minor bodies with a high amount of water ice in the subsurface become irregular, has to be searched among smaller ($D$ $\lesssim$ 300km) less massive ($m$ $\lesssim$ 3x10$^{19}$ kg) bodies., Comment: Accepted for publication in Astronomy and Astrophysics

Context. Earlier work suggests that slowly rotating asteroids should have higher thermal inertias than faster rotators because the heat wave penetrates deeper into the sub-surface. However, thermal inertias have been determined mainly for fast rotators due to selection effects in the available photometry used to obtain shape models required for thermophysical modelling (TPM). Aims. Our aims are to mitigate these selection effects by producing shape models of slow rotators, to scale them and compute their thermal inertia with TPM, and to verify whether thermal inertia increases with the rotation period. Methods. To decrease the bias against slow rotators, we conducted a photometric observing campaign of main-belt asteroids with periods longer than 12 hours, from multiple stations worldwide, adding in some cases data from WISE and Kepler space telescopes. For spin and shape reconstruction we used the lightcurve inversion method, and to derive thermal inertias we applied a thermophysical model to fit available infrared data from IRAS, AKARI, and WISE. Results. We present new models of 11 slow rotators that provide a good fit to the thermal data. In two cases, the TPM analysis showed a clear preference for one of the two possible mirror solutions. We derived the diameters and albedos of our targets in addition to their thermal inertias, which ranged between 3$^{+33}_{-3}$ and 45$^{+60}_{-30}$ Jm$^{-2}$s$^{-1/2}$K$^{-1}$. Conclusions. Together with our previous work, we have analysed 16 slow rotators from our dense survey with sizes between 30 and 150 km. The current sample thermal inertias vary widely, which does not confirm the earlier suggestion that slower rotators have higher thermal inertias., Comment: Accepted for publication in Astronomy & Astrophysics

Asteroid (7) Iris is an ideal target for disk-resolved imaging owing to its brightness (V$\sim$7-8) and large angular size of 0.33 arcsec during its apparitions. Iris is believed to belong to the category of large unfragmented asteroids that avoided internal differentiation, implying that its current shape and topography may record the first few 100 Myr of the solar system's collisional evolution. We recovered information about the shape and surface topography of Iris from disk-resolved VLT/SPHERE/ZIMPOL images acquired in the frame of our ESO large program. We used the All-Data Asteroid Modeling (ADAM) shape reconstruction algorithm to model the 3D shape of Iris, using optical disk-integrated data and disk-resolved images from SPHERE as inputs. We analyzed the SPHERE images to infer the asteroid's global shape and the morphology of its main craters. We present the volume-equivalent diameter D$_{{\rm eq}}$=214$\pm$5 km, and bulk density $\rho$=2.7$\pm$0.3 g cm$^{-3}$ of Iris. Its shape appears to be consistent with that of an oblate spheroid with a large equatorial excavation. We identified eight putative surface features 20--40 km in diameter detected at several epochs, which we interpret as impact craters. Craters on Iris have depth-to-diameter ratios that are similar to those of analogous 10 km craters on Vesta. The bulk density of Iris is consistent with that of its meteoritic analog, namely LL ordinary chondrites. Considering the absence of a collisional family related to Iris and the number of large craters on its surface, we suggest that its equatorial depression may be the remnant of an ancient (at least 3 Gyr) impact. Iris's shape further opens the possibility that large planetesimals formed as almost perfect oblate spheroids. Finally, we attribute the difference in crater morphology between Iris and Vesta to their different surface gravities., Comment: Accepted for publication in Astronomy and Astrophysics

Context. CM-like asteroids (Ch and Cgh classes) are a major population within the broader C-complex, encompassing about 10% of the mass of the main asteroid belt. Their internal structure has been predicted to be homogeneous, based on their compositional similarity as inferred from spectroscopy (Vernazza et al., 2016, AJ 152, 154) and numerical modeling of their early thermal evolution (Bland & Travis, 2017, Sci. Adv. 3, e1602514). Aims. Here we aim to test this hypothesis by deriving the density of the CM-like asteroid (41) Daphne from detailed modeling of its shape and the orbit of its small satellite. Methods. We observed Daphne and its satellite within our imaging survey with the Very Large Telescope extreme adaptive-optics SPHERE/ZIMPOL camera (ID 199.C-0074, PI P. Vernazza) and complemented this data set with earlier Keck/NIRC2 and VLT/NACO observations. We analyzed the dynamics of the satellite with our Genoid meta-heuristic algorithm. Combining our high-angular resolution images with optical lightcurves and stellar occultations, we determine the spin period, orientation, and 3-D shape, using our ADAM shape modeling algorithm. Results. The satellite orbits Daphne on an equatorial, quasi-circular, prograde orbit, like the satellites of many other large main-belt asteroids. The shape model of Daphne reveals several large flat areas that could be large impact craters. The mass determined from this orbit combined with the volume computed from the shape model implies a density for Daphne of 1.77+/-0.26 g/cm3 (3 {\sigma}). This density is consistent with a primordial CM-like homogeneous internal structure with some level of macroporosity (~17%). Conclusions. Based on our analysis of the density of Daphne and 75 other Ch/Cgh-type asteroids gathered from the literature, we conclude that the primordial internal structure of the CM parent bodies was homogeneous.

Asteroid (16) Psyche is the target of the NASA Psyche mission. It is considered one of the few main-belt bodies that could be an exposed proto-planetary metallic core and that would thus be related to iron meteorites. Such an association is however challenged by both its near- and mid-infrared spectral properties and the reported estimates of its density. Here, we aim to refine the density of (16) Psyche to set further constraints on its bulk composition and determine its potential meteoritic analog. We observed (16) Psyche with ESO VLT/SPHERE/ZIMPOL as part of our large program (ID 199.C-0074). We used the high angular resolution of these observations to refine Psyche's three-dimensional (3D) shape model and subsequently its density when combined with the most recent mass estimates. In addition, we searched for potential companions around the asteroid. We derived a bulk density of 3.99\,$\pm$\,0.26\,g$\cdot$cm$^{-3}$ for Psyche. While such density is incompatible at the 3-sigma level with any iron meteorites ($\sim$7.8\,g$\cdot$cm$^{-3}$), it appears fully consistent with that of stony-iron meteorites such as mesosiderites (density $\sim$4.25\,$\cdot$cm$^{-3}$). In addition, we found no satellite in our images and set an upper limit on the diameter of any non-detected satellite of 1460\,$\pm$\,200}\,m at 150\,km from Psyche (0.2\%\,$\times$\,R$_{Hill}$, the Hill radius) and 800\,$\pm$\,200\,m at 2,000\,km (3\%\,$\times$\,$R_{Hill}$). Considering that the visible and near-infrared spectral properties of mesosiderites are similar to those of Psyche, there is merit to a long-published initial hypothesis that Psyche could be a plausible candidate parent body for mesosiderites., Comment: 16 pages

The population of large asteroids is thought to be primordial and they are the most direct witnesses of the early history of our Solar System. Those satellites allow study of the mass, and hence density and internal structure. We study here the properties of the triple asteroid (107) Camilla from lightcurves, stellar occultations, optical spectroscopy, and high-contrast and high-angular-resolution images and spectro-images. Using 80 positions over 15 years, we determine the orbit of its larger satellite to be circular, equatorial, and prograde, with RMS residuals of 7.8 mas. From 11 positions in three epochs only, in 2015 and 2016, we determine a preliminary orbit for the second satellite. We find the orbit to be somewhat eccentric and slightly inclined to the primary's equatorial plane, reminiscent of the inner satellites of other asteroid triple systems. Comparison of the near-infrared spectrum of the larger satellite reveals no significant difference with Camilla. Hence, these properties argue for a formation of the satellites by excavation from impact and re-accumulation of ejecta. We determine the spin and 3-D shape of Camilla. The model fits well each data set. We determine Camilla to be larger than reported from modeling of mid-infrared photometry, with a spherical-volume-equivalent diameter of 254 $\pm$ 36 km (3 $\sigma$ uncertainty), in agreement with recent results from shape modeling (Hanus2017+). Combining the mass of (1.12 $\pm$ 0.01) $\times$ 10$^{19}$ kg determined from the dynamics of the satellites and the volume from the 3-D shape model, we determine a density of 1,280 $\pm$ 130 SI. From this density, and considering Camilla's spectral similarities with (24) Themis and (65) Cybele (for which water ice coating on surface grains was reported), we infer a silicate-to-ice mass ratio of 1-6, with a 10-30% macroporosity., Comment: 40 pages, 16 figures, accepted for publication

Context. The high-angular-resolution capability of the new-generation ground-based adaptive-optics camera SPHERE at ESO VLT allows us to assess, for the very first time, the cratering record of medium-sized (D~100-200 km) asteroids from the ground, opening the prospect of a new era of investigation of the asteroid belt's collisional history. Aims. We investigate here the collisional history of asteroid (6) Hebe and challenge the idea that Hebe may be the parent body of ordinary H chondrites, the most common type of meteorites found on Earth (~34% of the falls). Methods. We observed Hebe with SPHERE as part of the science verification of the instrument. Combined with earlier adaptive-optics images and optical light curves, we model the spin and three-dimensional (3D) shape of Hebe and check the consistency of the derived model against available stellar occultations and thermal measurements. Results. Our 3D shape model fits the images with sub-pixel residuals and the light curves to 0.02 mag. The rotation period (7.274 47 h), spin (343 deg,+47 deg), and volume-equivalent diameter (193 +/- 6km) are consistent with previous determinations and thermophysical modeling. Hebe's inferred density is 3.48 +/- 0.64 g.cm-3 , in agreement with an intact interior based on its H-chondrite composition. Using the 3D shape model to derive the volume of the largest depression (likely impact crater), it appears that the latter is significantly smaller than the total volume of close-by S-type H-chondrite-like asteroid families. Conclusions. Our results imply that (6) Hebe is not the most likely source of H chondrites. Over the coming years, our team will collect similar high-precision shape measurements with VLT/SPHERE for ~40 asteroids covering the main compositional classes, thus providing an unprecedented dataset to investigate the origin and collisional evolution of the asteroid belt., Comment: 11 pages, 13 figures, accepted for publication in A&A