The Deep Space 1 spacecraft passed within thirty kilometers of asteroid Braille in late July 1999.
For what it's worth, Braille is currently in Canis Minor, crossing into Hydra a little before 4am Friday morning. It then "cuts the corner" of Antlia, crossing into that constellation early the morning of 17 December, crossing back into Hydra the afternoon of 20 December. Unless you have very good equipment (light gathering and imaging) please take my word for it--the object is dimmer than magnitude 16!
This Friday night at the Highland Road Park Observatory, the presentation "The Amazing Voyage of Deep Space 1" will begin at 7pm. The talk has no admission fee, and is aimed at a general adult audience (high schoolers should have no problem). Weather permitting, there will be sky viewing afterwards until 10pm.
A very faint image of Braille:
About Deep Space 1:
Small pieces of rock, with a big influence (just ask the dinosaurs).
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