Dynamics of Mars Trojans

In this paper we explore the dynamical stability of the Mars Trojan region applying mainly Laskar's Frequency Map Analysis. This method yields the chaotic diffusion rate of orbits and allows to determine the most stable regions. It also gives the frequencies which are responsible for the instability of orbits. The most stable regions are found for inclinations between about 15° and 30°. For inclinations smaller than 15°, we confirm, by applying a synthetic secular theory, that the secular resonances ν₃, ν₄, ν₁₃, ν₁₄ rapidly excite asteroid orbits within a few Myrs, or even faster. The asteroids are removed from the Trojan region after a close encounter with Mars. For large inclinations, the secular resonance ν₅ clears a small region around 30° while the Kozai resonance rapidly removes bodies for inclinations larger than 35°. The dynamical lifetimes of the three L5 Trojans, (5261) Eureka, 1998 VF31, 2001 DH47, and the only L4 Trojan 1999 UJ7 are determined by numerically integrating clouds of corresponding clones over the age of the Solar System. All four Trojans reside in the most stable region with smallest diffusion coefficients. Their dynamical half-lifetime is of the order of the age of the Solar System. The Yarkovsky force has little effect on the known Trojans but for bodies smaller than about 1-5 m the drag is strong enough to destabilize Trojans on a timescale shorter than 4.5 Gyr.     

The Uppsala‐DLR Trojan Survey of L4, the preceding Lagrangian cloud of Jupiter

We have used the ESO Schmidt telescope during the apparitions 1996, 1997 and 1998 to study the preceding Lagrangian cloud of Jupiter, L₄. In our observed field of view, about 700 square degrees, during 1996 we found 399 moving objects that we classified as Trojans. From this we conclude that down to absolute magnitude H ≤ 13.0 there are ≈ 1100 Trojans in the L₄ cloud. Proper elements of 696 numbered and multiopposition Trojans were calculated and one of these in the L₅ cloud were found to be a non Trojan. A discussion of the Trojan proper elements is also presented.     

Trojan-type orbits in the system of two gravitational centers with variable masses and separation

Trojan type orbits in the system of two gravitational centers with variable separation are studied within the framework of the restricted problem of three bodies. The backward numerical integration of the equations of motion of the bodies starting in the triangular libration pointsL ₄ andL ₅ (reverse problem) finds the breakdown of librations as the separation decreases because of the mass gain of the smaller component and an approach of the body of negligible, mass to the latter up to the distance below its sphere of action with a relative velocity approximately equal to the escape one on this sphere. The breakdown of librations aboutL ₅ occurs under the mass gain of the smaller component considerably larger than in the case ofL ₄ and implications are made for the asymmetry of the number of librators aboutL ₄ andL ₅ in the solar system (Greeks and Trojans). Other parameters of the libration motion near 1/1 commensurability are obtained, namely, the asymmetry of the libration amplitudes about the triangular points as well as the values of periods and amplitudes within the limits of those for real Trojan asteroids. Trojans could be supposedly, formed inside the Proto-jupiter and escape during its intensive mass loss.     

On the Instability of Jupiter's Trojans

We have numerically explored the mechanisms that destabilize Jupiter's Trojan orbits outside the stability region defined by Levison et al. (1997, Nature385, 42-44). Different models have been exploited to test various possible sources of instability on timescales on the order of ∼10⁸ years.In the restricted three-body model, only a few Trojan orbits become unstable within 10⁸ years. This intrinsic instability contributes only marginally to the overall instability found by Levison et al.In a model where the orbital parameters of both Jupiter and Saturn are fixed, we have investigated the role of Saturn and its gravitational influence. We find that a large fraction of Trojan orbits become unstable because of the direct nonresonant perturbations by Saturn. By shifting its semimajor axis at constant intervals around its present value we find that the near 5:2 mean motion resonance between the two giant planets (the Great Inequality) is not responsible for the gross instability of Jupiter's Trojans since short-term perturbations by Saturn destabilize Trojans, even when the two planets are far out of the resonance.Secular resonances are an additional source of instability. In the full six-body model with the four major planets included in the numerical integration, we have analyzed the effects of secular resonances with the node of the planets. Trojan asteroids have relevant inclinations, and nodal secular resonances play an important role. When a Trojan orbit becomes unstable, in most cases the libration amplitude of the critical argument of the 1:1 mean motion resonance grows until the asteroid encounters the planet. Libration amplitude, eccentricity, and nodal rate are linked for Trojan orbits by an algebraic relation so that when one of the three parameters is perturbed, the other two are affected as well. There are numerous secular resonances with the nodal rate of Jupiter that fall inside the region of instability and contribute to destabilize Trojans, in particular the ν₁₆. Indeed, in the full model the escape rate over 50 Myr is higher compared to the fixed model.Some secular resonances even cross the stability region delimited by Levison et al. and cause instability. This is the case of the 3:2 and 1:2 nodal resonances with Jupiter. In particular the 1:2 is responsible for the instability of some clones of the L4 Trojan (3540) Protesilaos.     

Long term stability of Earth Trojans

We explore the long-term stability of Earth Trojans by using a chaos indicator, the Frequency Map Analysis. We find that there is an extended stability region at low eccentricity and for inclinations lower than about $50^{\circ }$ even if the most stable orbits are found at $i \le 40^{\circ }$ . This region is not limited in libration amplitude, contrary to what found for Trojan orbits around outer planets. We also investigate how the stability properties are affected by the tidal force of the Earth–Moon system and by the Yarkovsky force. The tidal field of the Earth–Moon system reduces the stability of the Earth Trojans at high inclinations while the Yarkovsky force, at least for bodies larger than 10 m in diameter, does not seem to strongly influence the long-term stability. Earth Trojan orbits with the lowest diffusion rate survive on timescales of the order of $10^9$  years but their evolution is chaotic. Their behaviour is similar to that of Mars Trojans even if Earth Trojans appear to have shorter lifetimes.     

On the Stability of High Inclined L4 and L5Trojans

The orbits of real asteroids around the Lagrangian points L₄ and L ₅of Jupiter with large inclinations (i > 20°) were integrated for 50 Myrs. We investigated the stability with the aid of the Lyapunov characteristic exponents (LCE) but tested also two other methods: on one hand we integrated four neighbouring orbits for each asteroid and computed the maximum distance in every group, on the other hand we checked the variation of the Delaunay element H of the asteroid. In a second simulation – for a grid of initial eccentricity versus initial inclination – we examined the stability of the orbits around both Lagrangian points for 20° < i < 55° and 0.0 < e < 0.20. For the initial semimajor axes we have chosen the one ofJupiter(a = 5.202 AU). We determined the stability with the aid of the LCEs and also the maximum eccentricity of the orbits during the whole integration time. The region around L₄ turned out to be unstable for large inclinations and eccentricities (i > 55° and e > 0.12). The stable region shrinks for orbits around L₅: we found that they become unstable already for i > 45° and e > 0.10. We interpret it as a first hint why we observe more Trojans around the leading Lagrangian point. The results confirm the stability behaviour of the real Trojans which we computed in the first part of the paper.     

Physical properties and orbital stability of the Trojan asteroids

All the Trojan asteroids orbit about the Sun at roughly the same heliocentric distance as Jupiter. Differences in the observed visible reflection spectra range from neutral to red, with no ultra-red objects found so far. Given that the Trojan asteroids are collisionally evolved, a certain degree of variability is expected. Additionally, cosmic radiation and sublimation are important factors in modifying icy surfaces even at those large heliocentric distances. We search for correlations between physical and dynamical properties, we explore relationships between the following four quantities; the normalised visible reflectivity indexes (S^′), the absolute magnitudes, the observed albedos and the orbital stability of the Trojans. We present here visible spectroscopic spectra of 25 Trojans. This new data increase by a factor of about 5 the size of the sample of visible spectra of Jupiter Trojans on unstable orbits. The observations were carried out at the ESO-NTT telescope (3.5 m) at La Silla, Chile, the ING-WHT (4.2 m) and NOT (2.5 m) at Roque de los Muchachos observatory, La Palma, Spain. We have found a correlation between the size distribution and the orbital stability. The absolute-magnitude distribution of the Trojans in stable orbits is found to be bimodal, while the one of the unstable orbits is unimodal, with a slope similar to that of the small stable Trojans. This supports the hypothesis that the unstable objects are mainly byproducts of physical collisions. The values of S^′ of both the stable and the unstable Trojans are uniformly distributed over a wide range, from 0%/1000 Å to about 15%/1000 Å. The values for the stable Trojans tend to be slightly redder than the unstable ones, but no significant statistical difference is found.     

Neptune Trojans: a Revisit and a New Membertwo

Up to now, 17 Neptune Trojan asteroids have been detected with their orbits being well determined by continuous observations. This paper analyzes systematically their orbital dynamics. Our results show that except for two temporary members with relatively short lifespans on Trojan orbits, the vast majority of Neptune Trojans located within their orbital uncertainties may survive in the solar system age. The escaping probability of Neptune Trojans, through slow diffusion in the orbital element space in 4.5 billion years, is estimated to be ～50%. The asteroid 2012 UW177 classified as a Centaur asteroid by the IAU Minor Planet Center currently is in fact a Neptune Trojan. Numerical simulations indicate that it is librating on the tadpole-shaped orbit around the Neptune's L₄ point. It was captured into the current orbit approximately 0.23 million years ago, and will stay there for at least another 1.3 million years in the future. Its high inclination of i ≈ 54^° not only makes it the most inclined Neptune Trojan, but also makes it exhibit the complicated and interesting co-orbital transitions between the leading and trailing Trojans via the quasi-satellite orbit phase.     

The dynamics of inclined Neptune Trojans

We investigated the stable area for fictive Trojan asteroids around Neptune’s Lagrangean equilibrium points with respect to their semimajor axis and inclination. To get a first impression of the stability region we derived a symplectic mapping for the circular and the elliptic planar restricted three body problem. The dynamical model for the numerical integrations was the outer Solar system with the Sun and the planets Jupiter, Saturn, Uranus and Neptune. To understand the dynamics of the region around L ₄ and L ₅ for the Neptune Trojans we also used eight different dynamical models (from the elliptic problem to the full outer Solar system model with all giant planets) and compared the results with respect to the largeness and shape of the stable region. Their dependence on the initial inclinations (0° < i < 70°) of the Trojans’ orbits could be established for all the eight models and showed the primary influence of Uranus. In addition we could show that an asymmetry of the regions around L ₄ and L ₅ is just an artifact of the different initial conditions.     

A survey of orbits of co-orbitals of Mars

Many asteroids with a semimajor axis close to that of Mars have been discovered in the last several years. Potentially some of these could be in 1:1 resonance with Mars, much as are the classic Trojan asteroids with Jupiter, and its lesser-known horseshoe companions with Earth. In the 1990s, two Trojan companions of Mars, 5261 Eureka and 1998 VF₃₁, were discovered, librating about the L₅ Lagrange point, 60° behind Mars in its orbit. Although several other potential Mars Trojans have been identified, our orbital calculations show only one other known asteroid, 1999 UJ₇, to be a Trojan, associated with the L₄ Lagrange point, 60° ahead of Mars in its orbit. We further find that asteroid 36017 (1999 ND₄₃) is a horseshoe librator, alternating with periods of Trojan motion. This asteroid makes repeated close approaches to Earth and has a chaotic orbit whose behavior can be confidently predicted for less than 3000 years. We identify two objects, 2001 HW₁₅ and 2000 TG₂, within the resonant region capable of undergoing what we designate “circulation transition”, in which objects can pass between circulation outside the orbit of Mars and circulation inside it, or vice versa. The eccentricity of the orbit of Mars appears to play an important role in circulation transition and in horseshoe motion. Based on the orbits and on spectroscopic data, the Trojan asteroids of Mars may be primordial bodies, while some co-orbital bodies may be in a temporary state of motion.     

The Trojan asteroid belt: Proper elements,stability, chaos and families

I have computed proper elements for 174 asteroids in the 1 : 1 resonance with Jupiter, that is for all the reliable orbits available (numbered and multi-opposition). The procedure requires numerical integration, under the perturbations by the four major planets, for 1,000,000 years; the output is digitally filtered and compressed into a synthetic theory (as defined within theLONGSTOP project). The proper modes of oscillation of the variables related to eccentricity, perihelion, inclination and node define proper elements. A third proper element is defined as the amplitude of the oscillation of the semimajor axis associated with the libration period; because of the strong nonlinearity of the problem, this component cannot be determined by a simple Fourier transform to the frequency domain. I therefore give another definition, which results in very good stability with time. For 87% of the computed orbits, the stability of the proper elements-at least over 1M yr-is within the following bounds: 0.001AU in semimajor axis, 0.0025 in eccentricity and sine of inclination. Half of the cases with degraded stability of the proper elements are found to be chaotic, with e-folding times between 16,000 and 660,000yr; in some other cases, chaotic behaviour does not result in a significantly decreased stability of the proper elements (stable chaos). The accuracy and stability of these proper elements is good enough to allow a search for asteroid families; however, the dynamical structure of the Trojan belt is very different from the one of the main belt, and collisional events among Trojans can result in a distribution of fragments difficult to identify. The occurrence of couples of Trojans with very close proper elements is proven not to be statistically significant in almost all cases. As the only exception, the couple 1583 Antilochus — 3801 Thrasimedes is significant; however, it is not easy to account for it by a conventional collisional theory. The Menelaus group is confirmed as a strong candidate collisional family; Teucer and Sarpedon could be considered as significant clusters. A number of other clumps are detected (by the same automated clustering method used for the main belt by Zappalà et al., 1990, 1992), but the total number of Trojans with reliable orbits is not large enough to detect many significant candidate families.     

Implications of the Galilean satellites ice envelope explosions III. The origin of the Trojans and of some comets

Secondary explosions of the primary ice fragments ejected in the explosion of the electrolyzed massive ice envelopes of the Galilean satellites are capable of imparting velocities of up to ~5km s^–1 to the secondary fragments. As a result, the secondary fragments can enter the orbits of the irregular satellites (Agafonova and Drobyshevski, 1984b) and the Trojan libration orbits. In the latter case a perturbation velocity of V 0.3–2 km s^–1 is sufficient.The primary fragments ejected by the gravitational perturbations due to the Galilean satellites sunward from Jupiter's sphere of action move faster relative to the Sun than Jupiter does and therefore reach their first aphelion ahead of Jupiter in the neighborhood of L ₄. At the same time the fragments propelled from Jupiter's sphere of action beyond the planet's orbit approach it again in their perihelia behind Jupiter in the region of L ₅. The concentration of the fragments and, hence, the frequency of their collisions and explosions at L ₄ turn out to be much greater than those at L ₅. As a result, the number of the secondary fragments of diameter 15 km captured into libration orbits ahead of Jupiter can be as high as many hundreds and should exceed by more than a factor 3.5 that captured behind Jupiter.Since the icy mix of the fragments contains hydrocarbons and particulate material (silicates and the like), after ice sublimation from the surface layers the Trojans should reveal type C and RD spectra typical for Jupiter's irregular satellites, comet nuclei and other distant ice bodies of similar origin. Among the Trojans there cannot be rocky or metallic objects which are known to exist in the main asteroid belt.It is shown that a velocity perturbation of 150–200 m s^–1 resulting from a purely mechanical impact of two bodies may be sufficient to move collision fragments from the orbits of the Trojans to horseshoe-shaped trajectories with a subsequent transfer to the cometary orbits of Jupiter's family.     

The dynamics of Neptune Trojan – I. The inclined orbits

The stability of Trojan type orbits around Neptune is studied. As the first part of our investigation, we present in this paper a global view of the stability of Trojans on inclined orbits. Using the frequency analysis method based on the fast Fourier transform technique, we construct high-resolution dynamical maps on the plane of initial semimajor axis a ₀ versus inclination i ₀. These maps show three most stable regions, with i ₀ in the range of  (0°, 12°), (22°, 36°)  and  (51°, 59°),  respectively, where the Trojans are most probably expected to be found. The similarity between the maps for the leading and trailing triangular Lagrange points L ₄ and L ₅ confirms the dynamical symmetry between these two points. By computing the power spectrum and the proper frequencies of the Trojan motion, we figure out the mechanisms that trigger chaos in the motion. The Kozai resonance found at high inclination varies the eccentricity and inclination of orbits, while the  ν₈  secular resonance around   i ₀∼ 44°  pumps up the eccentricity. Both mechanisms lead to eccentric orbits and encounters with Uranus that introduce strong perturbation and drive the objects away from the Trojan like orbits. This explains the clearance of Trojan at high inclination  (>60°)  and an unstable gap around  44°  on the dynamical map. An empirical theory is derived from the numerical results, with which the main secular resonances are located on the initial plane of  ( a ₀, i ₀)  . The fine structures in the dynamical maps can be explained by these secular resonances.     

Where are the Uranus Trojans?

The area of stable motion for fictitious Trojan asteroids around Uranus’ equilateral equilibrium points is investigated with respect to the inclination of the asteroid’s orbit to determine the size of the regions and their shape. For this task we used the results of extensive numerical integrations of orbits for a grid of initial conditions around the points L ₄ and L ₅, and analyzed the stability of the individual orbits. Our basic dynamical model was the Outer Solar System (Jupiter, Saturn, Uranus and Neptune). We integrated the equations of motion of fictitious Trojans in the vicinity of the stable equilibrium points for selected orbits up to the age of the Solar system of 5 × 10⁹ years. One experiment has been undertaken for cuts through the Lagrange points for fixed values of the inclinations, while the semimajor axes were varied. The extension of the stable region with respect to the initial semimajor axis lies between 19.05 ≤ a ≤ 19.3 AU but depends on the initial inclination. In another run the inclination of the asteroids’ orbit was varied in the range 0° < i < 60° and the semimajor axes were fixed. It turned out that only four ‘windows’ of stable orbits survive: these are the orbits for the initial inclinations 0° < i < 7°, 9° < i < 13°, 31° < i < 36° and 38° < i < 50°. We postulate the existence of at least some Trojans around the Uranus Lagrange points for the stability window at small and also high inclinations.     

The Phase Space Structure Around L4 in the Restricted Three-Body Problem

The phase space structure around L ₄ in the restricted three-body problem is investigated. The connection between the long period family emanating from L ₄ and the very complex structure of the stability region is shown by using the method of Poincarés surface of section. The zero initial velocity stability region around L ₄ is determined by using a method based on the calculation of finite-time Lyapunov characteristic numbers. It is shown that the boundary of the stability region in the configuration space is formed by orbits suffering slow chaotic diffusion.     

Infinite Feigenbaum sequences and spirals in the vicinity of the Lagrangian periodic solutions

We studied systematically cases of the families of non-symmetric periodic orbits in the planar restricted three-body problem. We took interesting information about the evolution, stability and termination of bifurcating families of various multiplicities. We found that the main families of simple non-symmetric periodic orbits present a similar dynamical structure and bifurcation pattern. As the Jacobi constant changes each branch of the characteristic of a main family spirals around a focal point-terminating point in x- at which the Jacobi constant is C _∞ = 3 and their periodic orbits terminate at the corotation (at the Lagrangian point L₄ or L₅). As the family approaches asymptotically its termination point infinite changes of stability to instability and vice versa occur along its characteristic. Thus, infinite bifurcation points appear and each one of them produces infinite inverse Feigenbaum sequences. That is, every bifurcating family of a Feigenbaum sequence produces the same phenomenon and so on. Therefore, infinite spiral characteristics appear and each one of them generates infinite new inner spirals and so on. Each member of these infinite sets of the spirals reproduces a basic bifurcation pattern. Therefore, we have in general large unstable regions that generate large chaotic regions near the corotation points L₄, L₅, which are unstable. As C varies along the spiral characteristic of every bifurcating family, which approaches its focal point, infinite loops, one inside the other, surrounding the unstable triangular points L₄ or L₅ are formed on their orbits. So, each terminating point corresponds to an asymptotic non-symmetric periodic orbit that spirals into the corotation points L₄, L₅ with infinite period. This is a new mechanism that produces very large degree of stochasticity. These conclusions help us to comprehend better the motions around the points L₄ and L₅ of Lagrange.     

Numerical Exploration of Chermnykh’s Problem

We study the equilibrium points and the zero-velocity curves of Chermnykh’s problem when the angular velocity ω varies continuously and the value of the mass parameter is fixed. The planar symmetric simple-periodic orbits are determined numerically and they are presented for three values of the parameter ω. The stability of the periodic orbits of all the families is computed. Particularly, we explore the network of the families when the angular velocity has the critical value ω = 2√2 at which the triangular equilibria disappear by coalescing with the collinear equilibrium point L₁. The analytic determination of the initial conditions of the family which emanate from the Lagrangian libration point L₁ in this case, is given. Non-periodic orbits, as points on a surface of section, providing an outlook of the stability regions, chaotic and escape motions as well as multiple-periodic orbits, are also computed. Non-linear stability zones of the triangular Lagrangian points are computed numerically for the Earth–Moon and Sun–Jupiter mass distribution when the angular velocity varies.     

On the effect of the eccentricity of a planetary orbit on the stability of satellite orbits

The effect of the eccentricity of a planet’s orbit on the stability of the orbits of its satellites is studied. The model used is the elliptic Hill case of the planar restricted three-body problem. The linear stability of all the known families of periodic orbits of the problem is computed. No stable orbits are found, the majority of them possessing one or two pairs of real eigenvalues of the monodromy matrix, while a part of a family with complex instability is found. Two families of periodic orbits, bifurcating from the Lagrangian points L₁, L₂ of the corresponding circular case are found analytically. These orbits are very unstable and the determination of their stability coefficients is not accurate, so we compute the largest Liapunov exponent in their vicinity. In all cases these exponents are positive, indicating the existence of chaotic motions     

Transformation of Trojans into quasi-satellites during planetary migration and their subsequent close-encounters with the host planet

We use numerical integrations to investigate the dynamical evolution of resonant Trojan and quasi-satellite companions during the late stages of migration of the giant planets Jupiter, Saturn, Uranus, and Neptune. Our migration simulations begin with Jupiter and Saturn on orbits already well separated from their mutual 2:1 mean-motion resonance. Neptune and Uranus are decoupled from each other and have orbital eccentricities damped to near their current values. From this point we adopt a planet migration model in which the migration speed decreases exponentially with a characteristic timescale τ (the e-folding time). We perform a series of numerical simulations, each involving the migrating giant planets plus test particle Trojans and quasi-satellites. We find that the libration frequencies of Trojans are similar to those of quasi-satellites. This similarity enables a dynamical exchange of objects back and forth between the Trojan and quasi-satellite resonances during planetary migration. This exchange is facilitated by secondary resonances that arise whenever there is more than one migrating planet. For example, secondary resonances may occur when the circulation frequencies, f, of critical arguments for the Uranus-Neptune 2:1 mean-motion near-resonance are commensurate with harmonics of the libration frequency of the critical argument for the Trojan and quasi-satellite 1:1 mean-motion resonance . Furthermore, under the influence of these secondary resonances quasi-satellites can have their libration amplitudes enlarged until they undergo a close-encounter with their host planet and escape from the resonance. High-resolution simulations of this escape process reveal that ≈80% of jovian quasi-satellites experience one or more close-encounters within Jupiter’s Hill radius (R_H) as they are forced out of the quasi-satellite resonance. As many as ≈20% come within R_H/4 and ≈2.5% come within R_H/10. Close-encounters of escaping quasi-satellites occur near or even below the 2-body escape velocity from the host planet. Finally, the exchange and escape of Trojans and quasi-satellites continues to as late as 6-9τ in some simulations. By this time the dynamical evolution of the planets is strongly dominated by distant gravitational perturbations between the planets rather than the migration force. This suggests that exchange and escape of Trojans and quasi-satellites may be a contemporary process associated with the present-day near-resonant configuration of some of the giant planets in our Solar System.     

Periodic orbits and bifurcations in the Sitnikov four-body problem

We study the existence, linear stability and bifurcations of what we call the Sitnikov family of straight line periodic orbits in the case of the restricted four-body problem, where the three equal mass primary bodies are rotating on a circle and the fourth (small body) is moving in the direction vertical to the center mass of the other three. In contrast to the restricted three-body Sitnikov problem, where the Sitnikov family has infinitely many stability intervals (hence infinitely many Sitnikov critical orbits), as the “family parameter” ż₀ varies within a finite interval (while z ₀ tends to infinity), in the four-body problem this family has only one stability interval and only twelve 3-dimensional (3D) families of symmetric periodic orbits exist which bifurcate from twelve corresponding critical Sitnikov periodic orbits. We also calculate the evolution of the characteristic curves of these 3D branch-families and determine their stability. More importantly, we study the phase space dynamics in the vicinity of these orbits in two ways: First, we use the SALI index to investigate the extent of bounded motion of the small particle off the z-axis along its interval of stable Sitnikov orbits, and secondly, through suitably chosen Poincaré maps, we chart the motion near one of the 3D families of plane-symmetric periodic orbits. Our study reveals in both cases a fascinating structure of ordered motion surrounded by “sticky” and chaotic orbits as well as orbits which rapidly escape to infinity.