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Charged rings The effects of charged T W Hartquist, O Havnes and G E Morfill report on how electric and magnetic forces on dust influence the properties of and structures and dynamics in Saturn’s rings, to be observed with the Cassini spacecraft in 2004. Abstract 1: Picture of Saturn’s rings taken by Voyager 1, showing the large differences in ring density. Properties and features in Saturn’s rings arising due to the charge on dust will be observable in about one year with instruments on the Cassini spacecraft. Charge causes dust to respond to electric and magnetic forces and plays a role in electric field generation. Dust levitates above some rings to form “spokes”, which may have long-term effects on angular momentum transport in those rings. A tenuous ring can be supported by the electric field caused by the charged dust. Resonant interactions between the oscillations of such a ring and the magnetosphere rotating with the planet may create structures in it. The electric repulsion between a large solid object and small grains may produce a bow wave with characteristics that serve as diagnostics of the ring plasma properties. The magnetic force on charged dust is important for supplying the material in one of the rings. I n July 2004 the Cassini spacecraft will approach Saturn after journeying for seven years (saturn.jpl.nasa.gov/cassini/). To reach its destination, Cassini has flown by Venus twice, then passed near the Earth, and swung by Jupiter to be accelerated by the planetary gravitational fields. A primary aim of the Cassini mission is a thorough investigation of Saturn’s rings, some of which are shown in figure 1. The Huygens probe will separate from the main craft to fly to Titan, one of Saturn’s major moons. Figure 2 shows the Cassini spacecraft. Given that Cassini should provide information of unprecedented detail about Saturn’s rings, they will be at the focus of a level of theoretical scrutiny exceeding even that given to them by the Voyager 1 and 2 approaches in the early 1980s. Some researchers have been speculating about the features that may be detected. In anticipation of the Cassini data, we consider some of the ways in which charged dust and electric and magnetic fields may affect the structures and dynamics of Saturn’s rings. The image of some of Saturn’s rings in figure 1 was produced with Voyager 1. The rings showing clearly in the images are the most opaque. More tenuous rings are not apparent in the images. Figure 3 shows schematically the 5.26 locations of the various rings about Saturn. The most tenuous rings are the E and G rings. The properties of the solid particles in the rings are mainly inferred from observations of how they scatter sunlight. Voyager data are still the basis for our rather incomplete knowledge of the ring properties including their thicknesses, and the densities and sizes of particles in them. Observations of the rings by the Hubble Space Telescope and ground-based optical telescopes, especially when the rings are edge-on (parallel to the line of sight from Earth) have provided additional information about the rings and the particles in them (Nicholson et al. 1995). Table 1 gives some properties of the rings. The F, G and E rings are thought to possess the smallest solid particles but the other rings may contain small particles at least some of the time. Most ring experts believe that many properties of the rings with substantial populations of large particles are governed primarily by the gravity of the planet, gravitational perturbations by the major moons and numerous minor moons, and collisions between particles (e.g. Cuzzi et al. 1984). These properties include the velocity dispersion of particles within a ring, its thickness, and the locations of the inner and outer boundaries of a ring. Any plasma in one of the optically thicker rings is usually assumed to be adsorbed rapidly by the solid particles. However, as described below, transient bursts of plasma production triggered by impacts of objects, such as meteors or possibly atmospheric or ionospheric events, may give rise to electrostatic effects that have long-term consequences for the properties of even the A and B rings. Electrostatic and magnetic forces are likely to have more immediately apparent effects on the large-scale structures of the tenuous rings containing the smallest dust particles. The lower opacities of these rings are due to the solid particles in them having less total surface area, on to which any plasma in the rings might be adsorbed. Thus the dust particles in the rings are embedded in gases of atomic ions and electrons. The G and E rings are prime locations for the electro-magnetic phenomena of plasmas to be manifested. Though more opaque, the F ring possesses very complicated and dynamic structures. Plasma processes contribute to the production and evolution of these structures. Even in the less opaque rings some structures may arise due to gravitational effects. For instance, Kolvoord et al. (1990) have postulated the existence of undetected moonlets to explain some features of the F ring. Showalter (2000) October 2003 Vol 44 Charged rings dust on Saturn’s rings 3: The distances of the various rings and some of the major moons shown in relation to the dimension of Saturn. E-ring Dione Tethys Enceladus G F 2: The Cassini spacecraft with its instrumentation and Huygen’s Titan probe. B Self-consistent calculation of grain charge Some aspects of the above discussion of the process by which grains acquire charge were based on the implicit assumption that the October 2003 Vol 44 Enc Cas k s ion ivis ision e d i div in C has argued that many or all of the braids in the F ring may arise due to excitation by the moon Prometheus. Clumpy structures generated in the moon–ring interaction possibly cause enough back-reaction on the moon to generate a pseudo-random component in the evolution of its orbit (Showalter et al. 1999). In the rings containing the smallest solid particles, those particles are affected by any electric force because they carry charge. Electrons have thermal speeds that are of the order of one hundred higher than those of the ions. Thus an uncharged dust grain surrounded by a plasma is more likely to collide with an electron than with a positive ion. The grain will become progressively more negatively charged until the effects of its electrostatic attraction of positive ions and of the electrostatic repulsion of electrons are sufficiently large to counteract the contribution of the electrons’ higher speeds to the electron collision rate with the dust. In the simplest cases, the number of electrons carried by a spherical dust particle is proportional to the plasma temperature and also to the radius of the dust grain. Thus the charge-to-mass ratio of a dust particle scales as the inverse square of the radius. Consequently, the electric force on a dust grain is stronger relative to the gravitational force the smaller that the grain is. For electrostatic and magnetic effects to be important for the dynamics of solid particles in a ring, the ring must contain plasma and the dust particles must be sufficiently small. Mimas A D Saturn 0 1 2 3 4 5 6 7 Table 1: Properties of Saturn’s rings Ring D C B Cassini Division A F G E Typical particle size 10–100 µm 1–500 cm 1–500 cm 1–750 cm 1–500 cm 0.1 µm–10 cm < 0.03 µm 1 µm magnitude of the total charge contained on grains is very small compared to the magnitude of the total charge carried by either the ions or the electrons. When the total electron and ion charges nearly balance one another, our previous statement concerning the dependence of the average charge per grain on grain radius, rg , and plasma temperature, T, is applicable. The average number of elementary charges on a grain, Zg , is then given by Zg = –2.51kB T(rg /e2 ) (1) where cgs units are used, kB is the Boltzmann constant, and e is the elementary charge equal to that of a proton (Spitzer 1941). Equation 1 implies that the grains become charged to the point that the electric potential energy per electron on the grain is comparable in magnitude to the thermal energy per ion or electron in the plasma. Equation 1 is based on the assumption Optical depth 10–6–10–5 0.05–0.35 0.4–2.5 0.05–0.15 0.4–2 0.01–0.6 10–6 10–5 Mass (g) unknown 1×1021 3×1022 5×1020 6×1021 0.1–10×1017 unknown 7×1011 that the plasma temperature is small enough (T 10 eV) that secondary electron ejection from the dust due to colliding thermal electrons is unimportant. Photoelectric charging due to solar radiation is also taken to be unimportant. In many situations the total number of charges on the grains is a substantial fraction of the number of charges carried by ions. If the dust is negatively charged, the number density of electrons, ne , falls significantly below that of ions as a consequence of an approximate charge neutrality Zi ni – ne + Zg ng ≈ 0 (2) ni and ng are the number densities of ions and grains and Zi is the number of charges carried by an ion. If a significant number of dust particles are present, equation 2 is used in combination with calculations of the rates at which ions and electrons strike the grain surface to 5.27 Charged rings calculate Zg . The self-consistent calculation of the magnitude of Zg gives a smaller value than obtained with equation 1. A cloud of small dust particles will also be charged up by the plasma, resulting in an electric field throughout the dust cloud which leads to a lifting force (or electrostatic pressure) on the charged dust. The magnitude of this electrostatic lifting force peaks when the parameter P = kB Tng rg / ne0 e2 (3) (Havnes et al. 1990) is of the order of 1. Here ne0 is the electron density above or below the ring and ng is the dust density. For P 1 P ≈ ng Zg / ni Zi (4) In subsequent sections we describe the formation of spokes and self-consistent models of electrostatically supported rings where P is not negligible. In contrast, when P is small, interesting “test particle” responses of grains to magnetospheric electric and magnetic effects occur. Such responses are important in the E ring. Spokes – evidence for the electrostatic support of dust Spokes were discovered in Saturn’s B ring with the Voyager instruments (e.g. Eplee and Smith 1984, 1985). They are seen as dark shadows on the opaque ring. A single spoke can form on the illuminated side of the ring and then grow and survive as the ring material orbits to the dark side of the planet. Figure 4 contains images of the rings when spokes were present and evolving. The shadows are cast by submicron-sized dust lifted above the B ring. The small dust grains are most likely produced by the impact of objects, including meteors, on the larger solid particles in the rings. An impact also produces plasma, and the grains become charged, as described above. Electrostatic forces can lift the small grains to form the spokes (Goertz and Morfill 1983, Morfill et al. 1983). The electric field arises as a consequence of the ions, which are light and hot, having a larger gravitational scale height than the supermicron-sized solid particles. These larger solid particles, just as the submicron-sized particles do, carry negative charge. Thus, there is some charge separation. A prime advantage of a spokes model in which electrostatic support plays a role is that electrostatic support occurs for grains only up to a certain size. Scattering properties of grains in the spokes indicate that they are probably submicron in size. A purely gravitational mechanism would not be size-selective and would lift larger particles as well. A dust particle elevated above a ring responds to the Lorentz force due to its motion with respect to the planetary magnetic field. Let rsyn denote the radius of synchronous orbit, which is the radius at which the Keplerian orbital period around the planet is the same as the rotation period of the planet. At radii less than rsyn the dust moves faster than the magnetic field 5.28 lines, which rotate around the planet with the period at which the planet spins. At greater radii the dust moves more slowly. The Lorentz force drives the dust initially beyond rsyn to greater radii and drives the dust initially nearer to the planet than rsyn to smaller radii. Thus, the spokes move radially as well as they orbit the planet. They have been described as hydromagnetic waves (Tagger et al. 1991). The radial motion causes angular momentum transport, which may have substantial effects on the structure of the B ring (Goertz et al. 1986, Shan and Goertz 1991). Angular momentum is transferred inwardly at radii greater than rsyn and outwardly at radii smaller than rsyn giving rise to a tendency of the ring to become more extended. The outer boundary of the B ring is probably limited by a gravitational interaction with the moon Mimas which orbits with twice the period at which the outer boundary of the B ring orbits. Angular momentum is transferred to that moon in the resonate interaction between it and the outer B ring boundary, halting the outward expansion of the ring material. Various features in the B ring may originate due to the transport of material and angular momentum away from rsyn by the spokes. For instance, a minimum in the opacity of the ring exists just beyond rsyn . An instability in the ring’s density distribution is associated with the material and angular momentum transport in the spokes, and the existence of observed ringlets in the B ring may be due to it (Goertz and Morfill 1988, Shan and Goertz 1991). The A ring may well have spokes that were undetectable with the Voyager instruments. If it does or has had significant spoke activity in the past, the spokes have almost certainly also had effects on its structure and features. Electrostatically supported rings The typical solid particle size in some of Saturn’s rings is about a micron or less. The rings with small solid particles also contain plasma as Voyager data demonstrated (Richardson and Sittler 1990). The number density of electrons varies with distance from the planet and height about the ring midplane but is typically within an order of magnitude of 1–10 cm–3 away from the most opaque rings. Because plasma is present and the solid particle sizes are small, Havnes and Morfill (1984) suggested that electrostatic support of dust grains is important in at least some tenuous planetary rings and that it can be the main mechanism determining the vertical thicknesses of some rings. The G ring, in particular, is likely to have a vertical structure (perpendicular to the ring plane) governed by a balance of electrostatic and gravitational forces. Havnes and Morfill (1984) constructed a selfconsistent model of the vertical structure of a 4: The spoke phenomenon in the major rings (A and B) of Saturn. ring in which such a balance obtains. The input parameters are the dust grain number densities at midplane, the ion density above the ring, the mass per ion, the radius and mass of a dust grain, the plasma temperature, and the distance from the planet. Obviously, the equations include the one describing the balance between electric force and gravitation force on the grains. The charge on a dust grain appears in that equation and is calculated on the assumption that the number of ions striking a grain per unit time is equal to the number of electrons striking it per unit time. (As described earlier, in equilibrium a grain will acquire sufficient negative charge for those collision rates to be equal.) The number densities of ions and electrons are assumed to obey Boltzmann relations, i.e. nα = nα0 exp(–Z αeV / kB T) (5) where the subscript α indicates which species is being considered, the subscript 0 signifies that the value of the quantity is that obtaining where V = 0, and V is the electric potential (the gradient of which times –1 gives the electric field) within the ring. The adoption of equation 5 implies that the gravitational force on the plasma must be negligible. Though the electric field balances the gravitational field, it is assumed to be sufficiently modest that the magnitude of the net charge density at any point (required to produce the electric field) is small compared to the magnitude of the charge density associated with any of the ion, electron, or dust components. For a mixture of dust particles with sizes between 1 µm and 1 cm the scale height of ring will be several tens of kilometres if the plasma number density and temperature are about 10 cm–3 and 10 eV respectively. The two most important predictions of a model like that of Havnes and Morfill are that a ring can never collapse to a monolayer as it may do if only gravitational and collisional effects are important and, in addition, if the dust has a size distribution, the relative scale heights of the dust will have a particular welldefined dependence on the dust size (Aslaksen and Havnes 1992). The effects of dust grain October 2003 Vol 44 S3 { 1980 1980 S1 Charged rings F Saturn D C B G A n=3 4 5 E 54 3 2 1=n co-rotation distance 5: The distance from Saturn at which the major vertical magnetospheric–electrostatically resonances will take place. velocity dispersion have also been included in the models of dust scale height – dust size relations in rings that are primarily or partially electrostatically supported (Aslaksen and Havnes 1992). The smallest dust particles may be confined to regions furthest above and below the ring plane and may never cross it. Observations with Cassini should allow the measurement of scale heights of dust grains in tenuous rings as functions of dust size. Features arising from magnetic field – vertical oscillation resonances Within the context of the outer boundary of the B ring we touched briefly on the fact that resonances between moons and the orbits of material in rings may be responsible for the appearance of structures in the rings. Vertical oscillations of dust that is supported electrostatically may be in resonance with the rotation of Saturn’s magnetic field. Melandsø and Havnes (1991) have predicted the locations at which resonances between vertical oscillations and the rotating planetary magnetosphere should occur. To calculate the frequencies associated with vertical oscillations, Melandsø and Havnes (1991) began with a model, like that due to Havnes and Morfill (1984), for the vertical structure of an electrostatically supported disk. They then modified the force balance equation to include the effect of a plasma environment that changes with a frequency equal to that of Saturn’s rotation, while the ring material moves with the Kepler frequency. A change in the plasma temperature or density will lead to a change in the dust charges and the ring electric potential. This will lead to a change in the vertical electric force, and the ring will oscillate. A time-dependent mass-conservation equation relating dust mass number density to the local oscillation velocity was also included. The vertical motion away from the ring plane slows down as the electric field decreases, due to the decrease in dust density. When the ring thickness decreases the increased electric field halts the contraction. In the analytical linear analysis October 2003 Vol 44 of the vertical ring oscillations, the other equations remain the same as those used to construct the static equilibrium model of the ring’s vertical structure. Melandsø and Havnes (1991) then assumed that the fluctuations of parameters, such as the dust density, due to the oscillations have much smaller magnitudes than the magnitudes of the parameters in the equilibrium models. They found that the fundamental vertical oscillation is at an angular frequency of ωf = √3ΩK (6) where ΩK is the local Keplerian orbital angular frequency. Figure 5 shows some of the estimated locations where resonances between the magnetospheric rotation and the vertical oscillations occur. The locations inner to rsyn are determined from the requirement that n(ΩK – ωp) = √3ΩK (7) where n is a positive integer and ωp is the angular frequency of the planetary rotation. At a location external to rsyn –n(ΩK – ωp) = √3ΩK (8) Other locations where resonances may occur may be found from the requirement that ±n(ΩK – ωp) = m√3ΩK (9) where m is a positive integer greater than unity. Numerical tests including time-varying dust charges showed that the major damping of the oscillations was due to a phase difference between the ring vertical oscillation and the charge variation. Melandsø and Havnes (1991) drew attention to the fact that some of the resonance locations given by equations 6 to 9 do show some evidence for features in the dusty component of the rings or in the plasma properties. The Cassini mission will be valuable for determining more definitively whether the rings’ properties are affected significantly by magnetosphericelectrostatically moderated vertical oscillations. Mach cones as diagnostics of ring properties When a supersonic rocket or plane passes through air it leaves a wake. The outer boundary of a wake is called its Mach cone. The opening angle of a Mach cone is the angle between a line passing from the foremost tip of the rocket to a distant downstream point in the Mach cone and the relative velocity of the far upstream air and the rocket. The sine of the opening angle is given by the ratio of the speed of sound in the air to the rocket’s speed. Cassini would probably not be able to survive a passage through one of the opaque rings and its orbit will be above such rings. For many regions the ring properties must therefore be studied with remote observations of structures in the rings and theoretical modelling of the structures. Havnes et al. (1995) suggested that the observation of wakes in the Saturn ring system will allow the inference of some properties of the rings, the most directly determined of which will be the speed of dust acoustic waves (DAWs) in the region where the wake exists. The sine of the opening angle of the Mach cone will equal the ratio of the speed of the DAWs to the speed of the object generating the wake. Like a sound wave in a more familiar medium like air, a DAW is a compressive wave. In a DAW, dust grains take part in the wave motion. In some places in a DAW, the density of grains will be higher than in others, just as in an ordinary sound wave the density of material is higher in some places than others. In most of the rings, the solid particles have a substantial size distribution. Even in the most opaque rings, submicron-sized solid particles exist, at least transiently in features like spokes. At the other end of the size distribution, objects large enough to be considered small moons exist. A wake may be driven by an object as large as 50 m. The solid particles in the wake will have sizes of about a micron and below. Just as spokes show because of the scattering of light by dust in them, wakes should be detectable by the scattering of light by dust in them. The relative motion of the small dust particles to that of a boulder is due to the competition between gravitational forces and the force due to the planetary magnetic field. A large solid body or boulder will move in a Keplerian orbit. A small charged dust grain will have an orbital period close to the Keplerian period but it will be modified by the magnetic field. Whether it will be moving slower or faster than a Keplerian body depends on the sign of the dust charge and if the dust is outside or inside the synchronous distance rsyn (Mendis et al. 1982). The velocity difference between a boulder and finite sized dust grain depends on both the radius of the orbit and the size of the grain. The dependence on the size of the grain is easily calculated, and the size of the grains can be inferred from the way that they scatter sunlight. Mach cones created by boulders may be most easily detected at positions just beyond and just inside rsyn . At other radii, the relative speed of 5.29 Charged rings the dust and boulder will be sufficiently large for the kinetic energy of the relative motion to overcome the electrostatic repulsion caused by the negative charge on a boulder and the negative charge on the small dust particles and absorption of dust by the boulders may be the dominant effect. Mach cones may be observable near rsyn only at times near those when spoke activity is detectable because of a paucity of free small particles at other times. Other properties of the disturbance and its Mach cone allow the inference of additional information about the dust and plasma conditions (Havnes et al. 2001). For instance, the disturbance will “stand-off” or be separated from the leading point of a boulder by a measurable distance; that distance depends on the dust size distribution. Also, the distance behind a boulder to which a Mach cone is observable will be determined by the dissipation rate of DAWs, which in turn depends on the dusty plasma parameters. Unfortunately we are unable to be precise in the prediction of the observational properties of Mach cones in Saturn’s rings. One difficulty is the absence of a fully developed theory of DAWs or Mach cones in a dusty plasma with a distribution of grain sizes. Our hope is that, for the reasons outlined here, Mach cones in Saturn’s ring system will prove detectable and that their detection will stimulate the relevant theoretical developments as well as lead to a better understanding of the rings themselves. As predicted by Havnes et al. (1996), Mach cones have been observed in laboratory dusty plasmas through which larger dust particles pass (Samsonov et al. 1999). They have also been simulated numerically for dust and plasma parameters, typical of some regions in Saturn’s rings (Brattli et al. 2002). Figure 6 shows the results of one of the simulations and an image of a Mach cone observed in an experiment. The E ring So far we have considered situations in which P is non-negligible. In contrast, in the E ring, motions of dust grains with sizes of about a micron can be considered to be like that of a test particle (e.g. Horányi 1996). Several separate processes induce the orbit of a test particle in the E ring to precess. The oblateness of the planet is one cause of precession. The Lorentz force on a charged dust grain due to its relative motion with respect to the planetary magnetic field tends to drive the precession in the opposite direction to that caused by the oblateness. For solid particles much larger than one micron, oblateness drives the precession, while for particles much smaller than a micron the Lorentz force is the dominant cause of the precession. Micron-sized particles, for which the effects due to the oblateness and the Lorentz force nearly cancel, 5.30 produced. The explanation of the abundances of gaseous species in the E ring remains a challenge (e.g. Jurac et al. 2001). Further observations with Cassini of the plasma and neutral species in the E ring will help in the refinement of the dynamical model of its production. Outlook 6: The upper figure shows a computed Mach cone for conditions similar to those in planetary rings (Brattli et al. 2002) while the lower one is observed in dusty plasma experiments (Samsonov et al. 1999). precess because of the radiation pressure of sunlight acting on them. The radiation pressure also causes a periodic variation in the eccentricity of the orbit of a particle having a size in the narrow range over which the effects of oblation and the Lorentz force cancel. Solid particles with sizes in this narrow range will fill an extended torus. Other particles will not have extended spatial distributions. Hamilton and Burns (1994) suggested that the high eccentricities that the micron-sized particles in the E ring periodically obtain in response to the radiation pressure allow the E ring to sustain itself. Any moon in a circular orbit is bombarded by that fraction of the dust that is in highly eccentric orbits. The bombardment produces more dust, which escapes from the moon and enters the ring. Those escaped dust particles with sizes around one micron refill the torus, and within about 20 years they also collide with a moon. As escaped dust particles collide with moons to produce more dust particles, one might think that the amount of dust in the E ring should continuously increase. This is not the case as too high a level of dust in the rings would result in grain–grain collisions preventing the particles from reaching highly eccentric orbits. Thus there is an upper limit to the amount of dust that the E ring gains from the sputtering of moons. Though the E ring contains a number of moons, the theoretical models point towards Enceladus as the primary source of the E ring particles. It is a major moon and lies in the most prominent part of the E ring. As mentioned earlier, collisions between solid particles produce plasma if the impact speed is high enough. Neutral gaseous material is also A period in excess of two decades has passed since the Voyager vehicles flew past Saturn. During it some observations with Earth-based and near-Earth facilities, such as the Hubble Space Telescope, have added to our knowledge of Saturn’s rings. In particular, data obtained when the rings were edge-on in 1995 have proved valuable. However, research on Saturn’s rings has for a long time now been hampered by the absence of enough new observations. The Cassini mission will change that. The craft carries a greater variety of instrumentation than the Voyagers did. Cassini has the additional advantage that it will make many orbits around Saturn. Thus we expect discoveries of phenomena not previously seen, including some related to the ideas and predictions described here, which may lead to a better understanding of how the subtle effects of dust charging can affect the ring dynamics and evolution. ● T W Hartquist, Dept of Physics and Astronomy, University of Leeds, Leeds LS2 9JT, United Kingdom; O Havnes, Dept of Physics, University of Tromsø, N–9037 Tromsø, Norway; G E Morfill, Max-Planck-Institut für extraterrestrische Physik, D–85740 Garching, Germany. The authors thank the referee, Richard Durisen, for constructive comnents which improved the paper. References Aslaksen T K and Havnes O 1991 JGR 97 19 175–85. Brattli A et al. 2002 Phys. of Plasmas 9 958–63. Cuzzi J N et al. 1984 in Planetary Rings eds R Greenberg and A Brahic, Univ. of Arizona Press 73–199. Eplee R E and Smith B A 1985 Icarus 59 188–98. Eplee R E and Smith B A 1985 Icarus 63 304–11. Goertz C K et al. 1986 Nature 320 141–43. 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