Understanding the nature of the cometary nucleus remains one of the major problems in solar system science. Whipples (1950) icy conglomerate model has been very successful at explaining a range of cometary phenomena, including the source of cometary activity and the nongravitational orbital motion of the nuclei. However, the internal structure of the nuclei is still largely unknown. We review herein the evidence for cometary nuclei as fluffy aggregates or primordial rubble piles, as first proposed by Donn et al. (1985) and Weissman (1986). These models assume that cometary nuclei are weakly bonded aggregations of smaller, icy- onglomerate planetesimals, possibly held together only by self-gravity. Evidence for this model comes from studies of the accretion and subsequent evolution of material in the solar nebula, from observations of disrupted comets, and in particular comet Shoemaker-Levy 9, from measurements of the ensemble rotational properties of observed cometary nuclei, and from recent spacecraft missions to comets. Although the evidence for rubble pile nuclei is growing, the eventual answer to this question will likely not come until we can place a spacecraft in orbit around a cometary nucleus and study it in detail over many months to years. ESAs Rosetta mission, now en route to comet 67P/Churyumov- Gerasimenko, will provide that opportunity.

Rotational excitation and damping are discussed in the context of inferring structural properties of asteroids and comets. Opportunities for carrying out deterministic experiments are outlined and basic concepts involving space missions are discussed. Spacecraft carrying an impactor or explosives together with an orbiter are suggested as effective probes of the interiors of asteroid and comets. The feasibility of such missions, especially to near-Earth objects (NEOs), is highlighted as NEOs provide an appropriate cost-effective path to explore interiors of asteroids and comets.

The characterization of comet and asteroid interiors will eventually require in situ exploration with drills, penetrators/penetrometers, hypervelocity impactors, excavators or other devices. Because they offer desirable scientific capabilities and relative mechanical simplicity, penetrators and penetrometers, which use only axial force to push beneath the surface, are a good choice for near-term missions. Penetrometers are instruments, generally deployed from a larger vehicle, that measure subsurface mechanical properties and may also contain additional scientific instruments. There are three basic types: "fast" penetrometers are released from above and plunge into the surface. Static and dynamic (collectively referred to as "slow") penetrometers use, respectively, a constant slow penetration speed and periodic hammering impulses. The low gravity environment of asteroids and comets presents a key challenge to instrument deployment and also greatly affects the mechanical properties of surface materials, and in turn penetrometer performance. The Rosetta mission, currently en route to comet 67P/Churyumov-Gerasimenko, will be the next mission to try both fast and slow, dynamic penetrometry, when it arrives in 2014. We present some new concepts of static penetrometers for small body exploration that are adapted to the low gravity environment. The low gravity environment also presents challenges for the testing of penetrometers on Earth and a number of previous solutions are described and new methods suggested. In the next generation of missions to study comets and asteroids, penetrometers could provide important data on their mechanical, seismic, thermal, electromagnetic, and chemical characteristics, as well as sample collection.

We present a numerical simulation technique for the retrieval of the electric properties relative permittivity and conductivity of planetary, asteroid, and cometary regolith. Our simulation techniques aim at accompanying hardware development and conducting virtual experiments, e.g., to assess the response of arbitrary heterogeneous conductivity and permittivity distributions or to scrutinize possibilities for spatial reconstruction methods using inverse schemes. In a first step, we have developed a finite element simulation code on the basis of unstructured, adaptive triangular grids for arbitrary two-dimensional axisymmetric distributions of conductivity and permittivity. The code is able to take into account the spatial geometry of the probe and allows for possible inductive effects. In previous studies, the non-inductive approach has been used to convert potential and phase data into apparent material properties. By our simulations, we have shown that this approach is valid for the frequency range from 102 Hz to 107 Hz and electric conductivities of 10^(-8) S/m that are typical for the near-surface region of asteroids and comets composed of chondritic materials and/or frozen volatiles such as H2O and CO2 ice. We prove the accuracy of our code to be better than 10%, using mixed types of boundary conditions and present a simulated vertical log through a horizontally stratified subsurface layer as a representative example of a heterogeneous distribution of the electrical properties. Resolution studies for the given electrode separation reveal that the material parameters of layers having thicknesses of less than about half the electrode spread are not reconstructible if only apparent quantities are considered. Therefore, spatial distributions of the complex sensitivity are presented having in mind a future data inversion concept that will permit the multi-dimensional reconstruction of material parameters in heterogeneous environments.