UPDATED Section on generating topocentric ephemeris (06/11/11)
The 400 meter wide asteroid 2005 YU55 will pass within 0.85 Lunar Distance (0.0022 AU) of Earth on the evening of November 8-9, being closest at November 8, 23:39 UT. Imaging this asteroid will be a significant challenge, it will be moving around 8" a second near closest approach and 9" a second at closest approach. Furthermore, with the Moon nearly Full, and the asteroid heading towards it, conditions are not favorable.
Only the New Mexico Scopes have a chance of seeing the asteroid, for Spain and Australia the asteroid is below the telescopes limit of travel. From New Mexico, the asteroid is visible high in the sky from astronomical twilight on. You won't see it at closest approach, that occurs in the late afternoon/twilight, but just after when the asteroid is still moving at a fair clip.
left - High power view showing the fields of view of GRAS-14 (large rectangle) and GRAS-05 (small rectangle). The tick marks are 2 minute apart. The track is the geocentric position, which is somewhat removed from the Topocentric position, the circle shows the predicted view from Mayhill from the MPEC (click to embiggen, but use a proper topocentric ephemeris or the GRAS comet/NEA dialog, rather than this chart, for indicative purposes only).
Choosing an imaging instrument is a tradeoff; GRAS-14 is nice wide-field instrument that performs well under Moonlight, but you can't drive it faster than sidereal rate, and the blur that is YU55 may be too faint to show up. GRAS-20 is also wide-field, although narrower than GRAS-14.
GRAS-04 and GRAS-05 can be driven fast enough to track the asteroid in tracking mode, but positional uncertainties may mean the tracking might be a bit off (and trailing bright stars may override the asteroids position). Yes, I know there are other instruments, but this gives an idea of the considerations you have to juggle.
As the asteroid is quite close to Earth, there will be a significant parallax error between geocentric ephemeris and the position as seen from Mayhill, use a proper topometric ephemeris instead (eg using the MPEC ephemeris generator, if you enter the observatory code for Mayhill - H06, into the box in the ephemeris generator, make sure the Epoch is set to November 8, 2001 and it will create a topocentric ephemeris for Mayhill).
If you take this approach, remember that it takes time for the GRAS scopes to get to tracking position. GRAS-14 can take up to 5 minutes (depending on there being reliable stars in the field for tracking), so offset you inital position by around 4 minutes or so (this will be a significant distance) so the asteroid will be in field. I used this technique to image 2011 MN in GRAS-12, which was moving at about 10" per second (but not in strong Moonlight though).
Or better yet, use the one line MPEC elements and the comet/NEA option for the GRAS scopes (for the GRAS-05/04 instruments, you can choose the track option so the instrument will track the asteroid).