Context. Disk-integrated photometric data of asteroids do not contain accurate information on shape details or size scale. Additional data such as disk-resolved images or stellar occultation measurements further constrain asteroid shapes and allow size estimates. Aims. We aim to use all available disk-resolved images of about forty asteroids obtained by the Near-InfraRed Camera (Nirc2) mounted on the W.M. Keck II telescope together with the disk-integrated photometry and stellar occultation measurements to determine their volumes. We can then use the volume, in combination with the known mass, to derive the bulk density. Methods. We download and process all asteroid disk-resolved images obtained by the Nirc2 that are available in the Keck Observatory Archive (KOA). We combine optical disk-integrated data and stellar occultation profiles with the disk-resolved images and use the All-Data Asteroid Modeling (ADAM) algorithm for the shape and size modeling. Our approach provides constraints on the expected uncertainty in the volume and size as well.Results. We present shape models and volume for 41 asteroids. For 35 asteroids, the knowledge of their mass estimates from the literature allowed us to derive their bulk densities. We clearly see a trend of lower bulk densities for primitive objects (C-complex) than for S-complex asteroids. The range of densities in the X-complex is large, suggesting various compositions. Moreover, we identified a few objects with rather peculiar bulk densities, which is likely a hint of their poor mass estimates. Asteroid masses determined from the Gaia astrometric observations should further refine most of the density estimates.

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Occultations of stars by asteroids have been observed since 1961, increasing from a very small number to now over 500 annually. We have created and regularly maintain a growing data-set of more than 5,000 observed asteroidal occultations. The data-set includes: the raw observations; astrometry at the 1 mas level based on centre of mass or figure (not illumination); where possible the asteroid’s diameter to 5 km or better, and fits to shape models; the separation and diameters of asteroidal satellites; and double star discoveries with typical separations being in the tens of mas or less. The data-set is published at NASA’s Planetary Data System and is regularly updated. We provide here an overview of the data-set, discuss the issues associated with determining the astrometry and diameters, and give examples of what can be derived from the data-set. We also compare the occultation diameters of asteroids with the diameters measured by the satellites NEOWISE, AKARI AcuA, and IRAS, and show that the best satellite-determined diameter is a combination of the diameters from all three satellites.

We present results derived from four stellar occultations by the plutino object (208996) 2003 AZ 84 , detected at January 8, 2011 (single-chord event), February 3, 2012 (multi-chord), December 2, 2013 (single-chord) and November 15, 2014 (multi-chord). Our observations rule out an oblate spheroid solution for 2003 AZ 84 's shape. Instead, assuming hydrostatic equilibrium, we find that a Jacobi triaxial solution with semi axes (470 ± 20) × (383 ± 10) × (245 ± 8) km can better account for all our occultation observations. Combining these dimensions with the rotation period of the body (6.75 h) and the amplitude of its rotation light curve, we derive a density ρ = 0.87 ± 0.01 g cm −3 a geometric albedo p V = 0.097 ± 0.009. A grazing chord observed during the 2014 occultation reveals a topographic feature along 2003 AZ 84 's limb, that can be interpreted as an abrupt chasm of width ∼ 23 km and depth > 8 km or a smooth depression of width ∼ 80 km and depth ∼ 13 km (or an intermediate feature between those two extremes). Subject headings: Kuiper belt objects: individual (208996, 2003 AZ 84 ) -occultations -planets and satellites: surfaces -planets and satellites: fundamental parameters

For 40 years, the sizes and shapes of many dozens of asteroids have been determined from observations of asteroidal occultations, and over a thousand high-precision positions of the asteroids relative to stars have been measured. Some of the first evidence for satellites of asteroids was obtained from the early efforts; now, the orbits and sizes of some satellites discovered by other means have been refined from occultation observations. Also, several close binary stars have been discovered, and the angular diameters of some stars have been measured from analysis of these observations. The International Occultation Timing Association (IOTA) coordinates this activity worldwide, from predicting and publicizing the events, to accurately timing the occultations from as many stations as possible, and publishing and archiving the observations.