robo-ao: an autonomous laser adaptive optics and science system · 2011-09-02 · demonstrate an...
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Robo-AO: an autonomous laser adaptive optics and
science system
Christoph Baranec (PI)on behalf of the Robo-AO collaboration partners at
the Inter-University Centre for Astronomy and Astrophysics and the California Institute of Technology
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Robo-AO
Caltech’s 1.5 m P60telescope at
Palomar Observatory
IUCAA’s 2 m telescope at Girawali Observatory
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Robo-AO mission
Demonstrate an autonomous, laser adaptive optics and visible/NIR
science system on a 1.5-m telescope
Emphasis on robustness
Replicate and deploy this system around the world
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Robo-AO has unique capabilities
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Robo-AO has unique capabilities
• Robotic/autonomous operation– Very efficient, intelligent queue observing– 150 targets/night (~2 minute observations)
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Robo-AO has unique capabilities
• Robotic/autonomous operation– Very efficient, intelligent queue observing– 150 targets/night (~2 minute observations)
• Diffraction-limited resolution (mV<17)– ~0.1-0.15” in the visible– ~0.2-0.25” in the near-infrared
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Robo-AO has unique capabilities
• Robotic/autonomous operation– Very efficient, intelligent queue observing– 150 targets/night (~2 minute observations)
• Diffraction-limited resolution (mV<17)– ~0.1-0.15” in the visible– ~0.2-0.25” in the near-infrared
• 0.5+ Strehl in the near-infrared (30% sky)
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Robo-AO has unique capabilities
• Robotic/autonomous operation– Very efficient, intelligent queue observing– 150 targets/night (~2 minute observations)
• Diffraction-limited resolution (mV<17)– ~0.1-0.15” in the visible– ~0.2-0.25” in the near-infrared
• 0.5+ Strehl in the near-infrared (30% sky)• Seeing improvement (100% sky)
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Robo-AO has unique capabilities
• Robotic/autonomous operation– Very efficient, intelligent queue observing– 150 targets/night (~2 minute observations)
• Diffraction-limited resolution (mV<17)– ~0.1-0.15” in the visible– ~0.2-0.25” in the near-infrared
• 0.5+ Strehl in the near-infrared (30% sky)• Seeing improvement (100% sky)• Up to 2’ field of view (set by optical relays)
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Robo-AO has unique capabilities
• Robotic/autonomous operation– Very efficient, intelligent queue observing– 150 targets/night (~2 minute observations)
• Diffraction-limited resolution (mV<17)– ~0.1-0.15” in the visible– ~0.2-0.25” in the near-infrared
• 0.5+ Strehl in the near-infrared (30% sky)• Seeing improvement (100% sky)• Up to 2’ field of view (set by optical relays)• Range of filters, exposure times, setups, etc.
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SNR improves with AO
• Astrometric precision gains in both SNR and FWHM
• Prediction: 100µas precision in around 15 minutes»(based on Cameron et al. Keck & Palomar performance)
Band SNR Compared to 1.5 m
FWHM (1” is typical)
Strehl
J 2.9X 0.2” 50%
H 7.1X 0.26” 70%
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Traditional (Laser) Guide Star Adaptive
Optics
Robo-AORobotic Laser Guide
Star AO
Telescope diameter 3-10m 1.5-3m
Observing bands Infrared Visible + Infrared
Lock-on time 5-15 min / target 0.5-1 min / target
Targets per night Tens Hundreds
Program length Few nights Weeks+
Targets per program ~100 Thousands+
Personnel1 astronomer +
6 spotters + 2 telescope control
1 astronomer
(peacefully sleeping)
Robo-AO ushers in a newadaptive optics observing paradigm
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Traditional (Laser) Guide Star Adaptive
Optics
Robo-AORobotic Laser Guide
Star AO
Telescope diameter 3-10m 1.5-3m
Observing bands Infrared Visible + Infrared
Lock-on time 5-15 min / target 0.5-1 min / target
Targets per night Tens Hundreds
Program length Few nights Weeks+
Targets per program ~100 Thousands+
Personnel1 astronomer +
6 spotters + 2 telescope control
1 astronomer
(peacefully sleeping)
Robo-AO ushers in a newadaptive optics observing paradigm
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Traditional (Laser) Guide Star Adaptive
Optics
Robo-AORobotic Laser Guide
Star AO
Telescope diameter 3-10m 1.5-3m
Observing bands Infrared Visible + Infrared
Lock-on time 5-15 min / target 0.5-1 min / target
Targets per night Tens Hundreds
Program length Few nights Weeks+
Targets per program ~100 Thousands+
Personnel1 astronomer +
6 spotters + 2 telescope control
1 astronomer
(peacefully sleeping)
Robo-AO ushers in a newadaptive optics observing paradigm
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Traditional (Laser) Guide Star Adaptive
Optics
Robo-AORobotic Laser Guide
Star AO
Telescope diameter 3-10m 1.5-3m
Observing bands Infrared Visible + Infrared
Lock-on time 5-15 min / target 0.5-1 min / target
Targets per night Tens Hundreds
Program length Few nights Weeks+
Targets per program ~100 Thousands+
Personnel1 astronomer +
6 spotters + 2 telescope control
1 astronomer
(peacefully sleeping)
Robo-AO ushers in a newadaptive optics observing paradigm
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Traditional (Laser) Guide Star Adaptive
Optics
Robo-AORobotic Laser Guide
Star AO
Telescope diameter 3-10m 1.5-3m
Observing bands Infrared Visible + Infrared
Lock-on time 5-15 min / target 0.5-1 min / target
Targets per night Tens Hundreds
Program length Few nights Weeks+
Targets per program ~100 Thousands+
Personnel1 astronomer +
6 spotters + 2 telescope control
1 astronomer
(peacefully sleeping)
Robo-AO ushers in a newadaptive optics observing paradigm
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Traditional (Laser) Guide Star Adaptive
Optics
Robo-AORobotic Laser Guide
Star AO
Telescope diameter 3-10m 1.5-3m
Observing bands Infrared Visible + Infrared
Lock-on time 5-15 min / target 0.5-1 min / target
Targets per night Tens Hundreds
Program length Few nights Weeks+
Targets per program ~100 Thousands+
Personnel1 astronomer +
6 spotters + 2 telescope control
1 astronomer
(peacefully sleeping)
Robo-AO ushers in a newadaptive optics observing paradigm
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Traditional (Laser) Guide Star Adaptive
Optics
Robo-AORobotic Laser Guide
Star AO
Telescope diameter 3-10m 1.5-3m
Observing bands Infrared Visible + Infrared
Lock-on time 5-15 min / target 0.5-1 min / target
Targets per night Tens Hundreds
Program length Few nights Weeks+
Targets per program ~100 Thousands+
Personnel1 astronomer +
6 spotters + 2 telescope control
1 astronomer
(peacefully sleeping)
Robo-AO ushers in a newadaptive optics observing paradigm
![Page 19: Robo-AO: an autonomous laser adaptive optics and science system · 2011-09-02 · Demonstrate an autonomous, laser adaptive optics and visible/NIR science system on a 1.5-m ... on](https://reader034.vdocuments.us/reader034/viewer/2022052519/5f0f6f037e708231d44423b1/html5/thumbnails/19.jpg)
Traditional (Laser) Guide Star Adaptive
Optics
Robo-AORobotic Laser Guide
Star AO
Telescope diameter 3-10m 1.5-3m
Observing bands Infrared Visible + Infrared
Lock-on time 5-15 min / target 0.5-1 min / target
Targets per night Tens Hundreds
Program length Few nights Weeks+
Targets per program ~100 Thousands+
Personnel1 astronomer +
6 spotters + 2 telescope control
1 astronomer
(peacefully sleeping)
Robo-AO ushers in a newadaptive optics observing paradigm
![Page 20: Robo-AO: an autonomous laser adaptive optics and science system · 2011-09-02 · Demonstrate an autonomous, laser adaptive optics and visible/NIR science system on a 1.5-m ... on](https://reader034.vdocuments.us/reader034/viewer/2022052519/5f0f6f037e708231d44423b1/html5/thumbnails/20.jpg)
Robo-AO enables new science
Large single-image surveysSeveral thousand targets, all at high-angular resolutionOtherwise extremely time intensive on currently available LGS AO systemsE.g. stellar binarity surveys, searches for lensed quasars, planetary transit follow up
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Robo-AO enables new science
Large single-image surveysSeveral thousand targets, all at high-angular resolutionOtherwise extremely time intensive on currently available LGS AO systemsE.g. stellar binarity surveys, searches for lensed quasars, planetary transit follow up
Einstein Cross (HST)(1.6 arc sec top to bottom)
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Robo-AO enables new science
Rapid transient characterizationDiffraction limited images within minutes of detection of transients (e.g. PTF, PTF-2, LSST) Reduction of integration time for infrared photometryE.g. separation of transient events from host galaxy
SN 2006GY
PTF transient
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Robo-AO enables new science
Rapid transient characterizationDiffraction limited images within minutes of detection of transients (e.g. PTF, PTF-2, LSST) Reduction of integration time for infrared photometryE.g. separation of transient events from host galaxy
SN 2006GY
Old New Difference
PTF transient
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Robo-AO enables new science
Time-domain astronomyQueue supports recurrent, regularly spaced observations of specific targetsE.g. long-term, high-precision astrometric characterization of sub-stellar companions
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Robo-AO enables new science
Time-domain astronomyQueue supports recurrent, regularly spaced observations of specific targetsE.g. long-term, high-precision astrometric characterization of sub-stellar companions
Trent Dupuy 2008, 2009
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Robo-AO as part of the community
ROBO-AO
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Robo-AO as part of the community
ROBO-AO
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Robo-AO as part of the community
ROBO-AO
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Robo-AO as part of the community
ROBO-AO
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Robo-AO as part of the community
ROBO-AO
ROBO-AOROBO-AO
ROBO-AO
ROBO-AO
ROBO-AO
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Robo-AO on the P60
Credit: Melinda Deramo
Laser guide star
Adaptive Optics System +Science Instruments
Robotic Software RoboticTelescope
(P60)
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UV Laser
Commercial 12 W @ 10 kHz, λ=355nm
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UV Laser
Commercial 12 W @ 10 kHz, λ=355nm
Laser drilling and scribing
(Nilsson et al., 2004)
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Laser beam projector
• Compact projector• Optional periscope• Uplink jitter correction with AO loop• UV Class 1 w.r.t. aircraft; no human spotters• ~ 20x more intense than Solar UV
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AO system and science cameras
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Robo-AO’s Wavefront Sensors
• Shack-Hartmann HOWFS• 11 x 11 subapertures• QE = 72% (at 350 nm)• Pockels cell range-gate
• Adjustable 0-650m
• Image motion (tip/tilt) measured with one of the two science instruments
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Robo-AO’s Wavefront Sensors
• Shack-Hartmann HOWFS• 11 x 11 subapertures• QE = 72% (at 350 nm)• Pockels cell range-gate
• Adjustable 0-650m
• Image motion (tip/tilt) measured with one of the two science instruments
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Robo-AO – Wavefront reconstructor
• Lightweight, fast Linux/C++ software–Capable of >3kHz–Running at 1.2 kHz
• Uses disk harmonics modal reconstructor–Better SVD inverse conditioning than Zernikes–Zero slope at edge of DM (less saturated actuators)–Just as compact as Zernike polynomials
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Robo-AO – Wavefront reconstructor
• Lightweight, fast Linux/C++ software–Capable of >3kHz–Running at 1.2 kHz
• Uses disk harmonics modal reconstructor–Better SVD inverse conditioning than Zernikes–Zero slope at edge of DM (less saturated actuators)–Just as compact as Zernike polynomials
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Robo-AO – Wavefront correctors
MEMS deformable mirror–12 x 12 actuators–3.5 µm stroke–UV-NIR AR window
Piezo fast steering mirror- Up to 4” tip/tilt correction
(Bifano, 2011)
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Robo-AO: AO Error Budget
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H-Band Strehl predictions
At Zenith• Greater than 40% Strehl with mV = 19 T/T in median conditions• FWHM at H < 0.26” in even 75% worst seeing conditions
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Visible science camera
• Andor iXonEM+ DU-888 • Electron Multiplying CCD• 44” x 44” square FoV• 0.043” pixels (Nyquist at λ = 620 nm)
• Full frame rate: 9 Hz• Sub frame rate: ~300 Hz
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InGaAs engineering IR camera
• InGaAs – (Xenics: Xeva)+ Affordable, readily available- Noisy, small format
- 50e- read- 6000e-/s dark- 320x240 pixel format- Triple stage thermo-electrically cooled- 0.098 arc sec/pixel Nyquist at λ~1.35 um…- Up to 350 Hz readout Cameralink- (100 Hz with USB2.0)
Xeva-1.7-320
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Near-IR camera (A. N. Ramaprakash)
Hawaii-2RG (HgCdTe)–2k by 2k format–0.057” pixels (Nyquist at λ = 830 nm)
–2’ field of view–Excellent noise – multiple
non-destructive reads–Flexible readout
• Staring• Fast readout of subregions• Multiple ROI for better T/T • “Guiding” while integrating
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Robotic control software (Riddle)
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Robotic control software (Riddle)
• Fully robotic control system–Subsystems work as daemons–Supervisor controls scheduling, operations–Watchdog processes
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Robotic control software (Riddle)
• Fully robotic control system–Subsystems work as daemons–Supervisor controls scheduling, operations–Watchdog processes
• Programming intelligence is a challenge–Robots are only as smart as the people that make them!–Error control and exception handling
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Robotic control software (Riddle)
• Fully robotic control system–Subsystems work as daemons–Supervisor controls scheduling, operations–Watchdog processes
• Programming intelligence is a challenge–Robots are only as smart as the people that make them!–Error control and exception handling
• Safety system for equipment and staff–Laser safety a priority
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Robo-AO is an excellent platform for student research
• Caltech graduate students– S. Tendulkar (dissertation) – hardware development + science– M. Kasliwal and T. Morton – on science planning team
• IUCAA undergraduates– Designing, building, testing electronics
• Summer undergraduates at Caltech (7 so far)– Developing software (motion control, web status monitoring, queue, scheduling,
communications, data reduction pipeline, …)
• Pomona College undergraduates building NGS only Robo-AO
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Robo-AO has an ambitious future
Robo-AO is currently being commissioned on the P60
Initially a 1 month durationdemonstration of science this fall!(with hopefully more to follow)
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Robo-AO has an ambitious future
Robo-AO is currently being commissioned on the P60
Initially a 1 month durationdemonstration of science this fall!(with hopefully more to follow)
Clone and deploy Robo-AO around the world–To 2-m IUCAA Girawali Observatory (A. N. R.)–Pomona College’s 1-m at Table Mountain, CA (P. Choi)–South Pole for mapping galactic Dark Matter (Dekany)
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Robo-AO has an ambitious future
Robo-AO is currently being commissioned on the P60
Initially a 1 month durationdemonstration of science this fall!(with hopefully more to follow)
Clone and deploy Robo-AO around the world–To 2-m IUCAA Girawali Observatory (A. N. R.)–Pomona College’s 1-m at Table Mountain, CA (P. Choi)–South Pole for mapping galactic Dark Matter (Dekany)–Hopefully to a telescope near you!
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Thank you!
This work is supported by the National Science Foundation under grants AST-0906060 and AST-0960343, as well as Robo-AO partner institutions, the California Institute of Technology
and the Inter-University Centre for Astronomy and Astrophysics.
Thank you to the Indo-US Science and Technology Forum for making this workshop possible.