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The Hayabusa2 spacecraft arrived at the near-Earth carbonaceous asteroid 162173 Ryugu in 2018. We present Hayabusa2 observations of Ryugu’s shape, mass, and geomorphology. Ryugu has an oblate “spinning top” shape, with a prominent circular equatorial ridge. Its bulk density, 1.19 ± 0.02 grams per cubic centimeter, indicates a high-porosity (>50%) interior. Large surface boulders suggest a rubble-pile structure. Surface slope analysis shows Ryugu’s shape may have been produced from having once spun at twice the current rate. Coupled with the observed global material homogeneity, this suggests that Ryugu was reshaped by centrifugally induced deformation during a period of rapid rotation. From these remote-sensing investigations, we identified a suitable sample collection site on the equatorial ridge.

The Hayabusa2 spacecraft investigated the small asteroid Ryugu, which has a rubble-pile structure. We describe an impact experiment on Ryugu using Hayabusa2’s Small Carry-on Impactor. The impact produced an artificial crater with a diameter >10 meters, which has a semicircular shape, an elevated rim, and a central pit. Images of the impact and resulting ejecta were recorded by the Deployable CAMera 3 for >8 minutes, showing the growth of an ejecta curtain (the outer edge of the ejecta) and deposition of ejecta onto the surface. The ejecta curtain was asymmetric and heterogeneous and it never fully detached from the surface. The crater formed in the gravity-dominated regime; in other words, crater growth was limited by gravity not surface strength. We discuss implications for Ryugu’s surface age.

The near-Earth asteroid (162173) Ryugu is thought to be a primitive carbonaceous object that contains hydrated minerals and organic molecules. We report sample collection from Ryugu’s surface by the Hayabusa2 spacecraft on 21 February 2019. Touchdown images and global observations of surface colors are used to investigate the stratigraphy of the surface around the sample location and across Ryugu. Latitudinal color variations suggest the reddening of exposed surface material by solar heating and/or space weathering. Immediately after touchdown, Hayabusa2’s thrusters disturbed dark, fine grains that originate from the redder materials. The stratigraphic relationship between identified craters and the redder material indicates that surface reddening occurred over a short period of time. We suggest that Ryugu previously experienced an orbital excursion near the Sun.

Analyses of meteorites and theoretical models indicate that some carbonaceous near-Earth asteroids may have been thermally altered due to radiative heating during close approaches to the Sun 1 – 3 . However, the lack of direct measurements on the subsurface doesn’t allow us to distinguish thermal alteration due to radiative heating from parent-body processes. In April 2019, the Hayabusa2 mission successfully completed an artificial impact experiment on the carbonaceous near-Earth asteroid (162173) Ryugu 4 , 5 , which provided an opportunity to investigate exposed subsurface material and test potential effects of radiative heating. Here we report observations of Ryugu’s subsurface material by the Near-Infrared Spectrometer (NIRS3) on the Hayabusa2 spacecraft. Reflectance spectra of excavated material exhibit a hydroxyl (OH) absorption feature that is slightly stronger and peak-shifted compared with that observed for the surface, indicating that space weathering and/or radiative heating have caused subtle spectral changes in the uppermost surface. The strength and shape of the OH feature suggests that the subsurface material experienced heating above 300 °C, similar to the surface. In contrast, thermophysical modelling indicates that radiative heating cannot increase the temperature above 200 °C at the estimated excavation depth of 1 m, even at the smallest heliocentric distance possible for Ryugu. This supports the hypothesis that primary thermal alteration occurred on Ryugu’s parent body. Hayabusa2 created an artificial crater on Ryugu to analyse the subsurficial material of the asteroid. Results show that the subsurface is more hydrated than the surface. It experienced alteration processes that can be traced back to Ryugu’s parent body.

The asteroid (162173) Ryugu and other rubble-pile asteroids are likely re-accumulated fragments of much larger parent bodies that were disrupted by impacts. However, the collisional and orbital pathways from the original parent bodies to subkilometre rubble-pile asteroids are not yet well understood 1 – 3 . Here we use Hayabusa2 observations to show that some of the bright boulders on the dark, carbonaceous (C-type) asteroid Ryugu 4 are remnants of an impactor with a different composition as well as an anomalous portion of its parent body. The bright boulders on Ryugu can be classified into two spectral groups: most are featureless and similar to Ryugu’s average spectrum 4 , 5 , while others show distinct compositional signatures consistent with ordinary chondrites—a class of meteorites that originate from anhydrous silicate-rich asteroids 6 . The observed anhydrous silicate-like material is likely the result of collisional mixing between Ryugu’s parent body and one or multiple anhydrous silicate-rich asteroid(s) before and during Ryugu’s formation. In addition, the bright boulders with featureless spectra and less ultraviolet upturn are consistent with thermal metamorphism of carbonaceous meteorites 7 , 8 . They might sample different thermal-metamorphosed regions, which the returned sample will allow us to verify. Hence, the bright boulders on Ryugu provide new insights into the collisional evolution and accumulation of subkilometre rubble-pile asteroids. The Hayabusa2 team has discovered two types of bright boulder on the dark, carbonaceous asteroid Ryugu. One type has a spectrum consistent with material from an anhydrous silicate-rich asteroid, likely introduced by one or more collisions in Ryugu’s past.

Planetesimals—the initial stage of the planetary formation process—are considered to be initially very porous aggregates of dusts 1 , 2 , and subsequent thermal and compaction processes reduce their porosity 3 . The Hayabusa2 spacecraft found that boulders on the surface of asteroid (162173) Ryugu have an average porosity of 30–50% (refs. 4 – 6 ), higher than meteorites but lower than cometary nuclei 7 , which are considered to be remnants of the original planetesimals 8 . Here, using high-resolution thermal and optical imaging of Ryugu’s surface, we discovered, on the floor of fresh small craters (<20 m in diameter), boulders with reflectance (~0.015) lower than the Ryugu average 6 and porosity >70%, which is as high as in cometary bodies. The artificial crater formed by Hayabusa2’s impact experiment 9 is similar to these craters in size but does not have such high-porosity boulders. Thus, we argue that the observed high porosity is intrinsic and not created by subsequent impact comminution and/or cracking. We propose that these boulders are the least processed material on Ryugu and represent remnants of porous planetesimals that did not undergo a high degree of heating and compaction 3 . Our multi-instrumental analysis suggests that fragments of the highly porous boulders are mixed within the surface regolith globally, implying that they might be captured within collected samples by touch-down operations 10 , 11 . The Hayabusa2 spacecraft found dark boulders with very high porosity (>70%, as high as cometary nuclei) at the bottom of small craters on Ryugu. Such boulders are probably the most pristine parts of the planetesimals that formed Ryugu’s parent body and might have been captured by Hayabusa2 sampling.

Abstract Transient noise (“glitches”) in gravitational wave detectors can mimic or obscure true signals, significantly reducing detection sensitivity. Identifying and excluding glitch-contaminated data segments is therefore crucial for enhancing the performance of gravitational-wave searches. We perform a noise analysis of the KAGRA data obtained during the O3GK observation. Our analysis is performed with hierarchical veto (Hveto) which identifies noises based on the statistical time correlation between the main channel and the auxiliary channels. A total of 2531 noises were vetoed by 28 auxiliary channels with the configuration (i.e. signal-to-noise threshold set to 8) that we chose for Hveto. We identify vetoed events as glitches on the spectrogram via visual examination after plotting them with Q-transformation. By referring to the Gravity Spy project, we categorize 2354 glitches into 6 types: blip, helix, scratchy, and scattered light, which correspond to those listed in Gravity Spy, and dot and line, which are not found in the Gravity Spy classification and are thus named based on their spectrogram morphology in the KAGRA data. The remaining 177 glitches are determined not to belong to any of these six types. We show how the KAGRA glitch types are related to each subsystem of KAGRA. To investigate the possible correlation between the main channel and the round winner—an auxiliary channel statistically associated with the main channel for vetoing purposes—we visually examine the similarity or difference in the glitch pattern on the spectrogram. We compare the qualitative correlation found through visual examination with coherence, which is known to provide quantitative measurement for the correlation between the main channel and each auxiliary channel. Our comprehensive noise analysis will help improve the data quality of KAGRA by being applied to future KAGRA observation data.

Carbonaceous (C-type) asteroids 1 are relics of the early Solar System that have preserved primitive materials since their formation approximately 4.6 billion years ago. They are probably analogues of carbonaceous chondrites 2 , 3 and are essential for understanding planetary formation processes. However, their physical properties remain poorly known because carbonaceous chondrite meteoroids tend not to survive entry to Earth’s atmosphere. Here we report on global one-rotation thermographic images of the C-type asteroid 162173 Ryugu, taken by the thermal infrared imager (TIR) 4 onboard the spacecraft Hayabusa2 5 , indicating that the asteroid’s boulders and their surroundings have similar temperatures, with a derived thermal inertia of about 300 J m −2  s −0.5  K −1 (300 tiu). Contrary to predictions that the surface consists of regolith and dense boulders, this low thermal inertia suggests that the boulders are more porous than typical carbonaceous chondrites 6 and that their surroundings are covered with porous fragments more than 10 centimetres in diameter. Close-up thermal images confirm the presence of such porous fragments and the flat diurnal temperature profiles suggest a strong surface roughness effect 7 , 8 . We also observed in the close-up thermal images boulders that are colder during the day, with thermal inertia exceeding 600 tiu, corresponding to dense boulders similar to typical carbonaceous chondrites 6 . These results constrain the formation history of Ryugu: the asteroid must be a rubble pile formed from impact fragments of a parent body with microporosity 9 of approximately 30 to 50 per cent that experienced a low degree of consolidation. The dense boulders might have originated from the consolidated innermost region or they may have an exogenic origin. This high-porosity asteroid may link cosmic fluffy dust to dense celestial bodies 10 . Thermal imaging data obtained from the spacecraft Hayabusa2 reveal that the carbonaceous asteroid 162173 Ryugu is an object of unusually high porosity.