Vesta, it is thought that Hygiea may have been completely disrupted in the collision that formed the Hygiean family and recoalesced after losing a bit less than 2% of its mass. Observations taken with the Very Large Telescope's SPHERE imager in 2017 and 2018, revealed that Hygiea has a nearly spherical shape, which is consistent both with it being in hydrostatic equilibrium, or formerly being in hydrostatic equilibrium, or with being disrupted and recoalescing. Internal differentiation of large asteroids is possibly related to their lack of natural satellites, as satellites of main belt asteroids are mostly believed to form from collisional disruption, creating a rubble pile structure. Rotation Measurements of the rotation rates of large asteroids in the asteroid belt show that there is an upper limit. Very few asteroids with a diameter larger than 100 meters have a rotation period less than 2.2 hours. For asteroids rotating faster than approximately this rate, the inertial force at the surface is greater than the gravitational force, so any loose surface material would be flung out. However, a solid object should be able to rotate much more rapidly. This suggests that most asteroids with a diameter over 100 meters are rubble piles formed through the accumulation of debris after collisions between asteroids. Color Asteroids become darker and redder with age due to space weathering. However evidence suggests most of the color change occurs rapidly, in the first hundred thousand years, limiting the usefulness of spectral measurement for determining the age of asteroids. Surface features Except for the "big four" (Ceres, Pallas, Vesta, and Hygiea), asteroids are likely to be broadly similar in appearance, if irregular in shape. 253 Mathilde is a rubble pile saturated with craters with diameters the size of the asteroid's radius. Earth-based observations of 511 Davida, one of the largest asteroids after the big four, reveal a similarly angular profile, suggesting it is also saturated with radius-size craters. Medium-sized asteroids such as Mathilde and 243 Ida, that have been observed up close, also reveal a deep regolith covering the surface. Of the big four, Pallas and Hygiea are practically unknown. Vesta has compression fractures encircling a radius-size crater at its south pole but is otherwise a spheroid. Dawn spacecraft revealed that Ceres has a heavily cratered surface, but with fewer large craters than expected. Models based on the formation of the current asteroid belt had suggested Ceres should possess