A spacecraft launched on 17 February 1996 that carried out fly-bys of asteroids 253 Mathilde on 17 June 1997 and asteroid 433 Eros on 23 December 1998. It returned to orbit Eros on 14 February 2000. With an original orbit of 320×366 km above Eros, the orbit was lowered during the summer of 2000, to a near circular orbit of 35 km where the spacecraft spent several weeks. NEAR Shoemaker was the first spacecraft to soft land on an asteroid. The mission's science objectives were to map Eros's surface, and determine its size, shape, rotation rate, mass, density, and composition. Its instruments included an imager, infrared spectrometer, X-ray/gamma-ray spectrometer, magnetometer, and a lidar.
NEAR Shoemaker was built by the Johns Hopkins University Applied Physics Laboratory, Maryland, who also managed the project.
http://near.jhuapl.edu/ Images and scientific results from the NEAR Shoemaker mission to 433 Eros. Articles provide background on mission design and operations. The site has a good selection of asteroid and spacecraft animations and a comprehensive Frequently Asked Questions list.