Keck Interferometer Auto-Alignment System
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1 KECK INTERFEROMETER Keck Interferometer Auto-Alignment System Leonard J. Reder Jet Propulsion Laboratory Pasadena, California
2 Contributors At JPL: A. Booth, M. Colavita, E. Deems, E. Hovland, R. Johnson, R. Ligon, J. Moore, D. Palmer, R. Smythe, A. Tumminello, G. van Belle At Keck Observatory: A. Rudeen, T. Saloga, K. Tsubota 20 Nov Keck Interferometer Autoaligner 2
3 Keck Interferometer Update 2 Keck 10m telescopes with full adaptive optics (AO). Wavelengths 1.2 um to 10 um (AO operates in visible). Science: nulling, differential phase, astrometry, imaging. First fringes with Keck Telescopes March, Nov Keck Interferometer Autoaligner 3
4 First Fringes Initial fringes using siderostats were obtained on Feb. 22, Checked out hardware to be used with Kecks on next run. Two 50-cm siderostats feeding fixed 40 cm telescopes (essentially the same as the Palomar Testbed Interferometer front-end optics). EPICS 3.14 alpha SNL sequencer used for sidereal delay line target generation through Enclosures First fringes using two large Kecks March 12-14, 2001 (3 1/2-nights) 20 Nov Keck Interferometer Autoaligner 4
5 What I will talk about Interferometer Major Components Automatic Alignment Process - Sequencers - EPICS State Notation Language (SNL) -- Beam Train Alignment Sequencer (btseq) -- Internal Instrument Alignment Sequencer (iiseq) - Optical alignment control user interface (aligner.tcl) -- Manual and automatic Sensors/Actuators/Targets and EPICS - Device Support and Drivers - Use of existing EPICS components (Records, Device Support and Drivers) 20 Nov Keck Interferometer Autoaligner 5
6 Optical Path Through the Basement Keck 2 Beam Injection and Switching Long delay lines Keck 1 Fast delay lines Switchyard Imaging and nulling combiners Fringe trackers Angle trackers CCD Auto-aligner 20 Nov Keck Interferometer Autoaligner 6
7 Optics and Control Layout for First Fringes FATCAT1 KATp k0,dcrp k1,ccdp k2,ccdp Optics Layout for motion control for first fringes v1.7, 6/26/01, A.J.Booth kat,sh k1,shkat k1,stop k5,m10 k6,m10 Sid 1 Sid 2 ft1,prsm ft1,focus k2,stop k1,dcrp k1,m24p k2,m24p k2,dcrp FDL1 FDL0 ft1,fw bc1,bfw k2,shkat bc1,ffw k1,shp ft1,tt2 ft1,tt1 ftf bc1,m23b bc1, m2 k2,shp bc1,m23f bc1,m1 bs bc1,m25 sy,ccfts bc1,stim,wfw bc1,stim,wlm k2,m20p 20 Nov Keck Interferometer Autoaligner 7 k5,m11 k1,m14p k1,m20p White Light bc1,stim, bslsh bc1,stim,bslm k1,shct bc1,sh1 bc1,sh2 CT met Bore Sight bc1,stim,inp k2,shct bc1,stim,wlsh bc1,stim,wlint bc1,stim,bslint k2,m21p sy,ccaln k1,m10 k1,m21p k2,m9 k1,m11 LDL0 Keck 1 k6,m11 k2,m14p k1,m9 k2,m10 k2,m11 LDL1 Keck 2 AA Sequencers: -6 Beam Train - 4 Internal Sensors: -2 C.T. - 4 Cameras Stimuli Targets: - White Light - Laser Boresite - 12 LEDs Actuators: - 20 Newport 850G - 26 Pico Motors - 16 Shutters - Other Misc.
8 Interferometer Major Components Beam Transport Optics (Coude Train) Fringe Tracker (FATCAT) Keck 1 FM Fast Delay Lines (FDL) Angle Tracker (KAT) Long Delay Lines (LDL) 20 Nov Keck Interferometer Autoaligner 8
9 Keck Interferometer Software JPL RTC Toolkit Fast Servo Control -Fringe Tracking -Delay Lines -Tip Tilt CORBA User Interface Scripts JPL RTC JAVA Engineering GUI JPL/Keck EPICS Auto-Alignment -Motion Control -Sensors/Targets Keck EPICS Telescope S/W - Sequencer Channel Access Channel Access Optical Alignment Tool (aligner.tcl) Misc. dm and dm2k panels. Sequencer Observing Tool (seq.tcl) 20 Nov Keck Interferometer Autoaligner 9
10 Automatic Alignment Approach 1. Align backwards from detector to telescope. 2. Threading optical axis from instrument internal combiner out through beam train to optical telescope. Use camera at back end of system. Use LEDs mounted on swing arm and positioned in front of mirror as alignment targets. Illuminate LEDs, and align prior mirror in beam train. Repeat from inside instrument up to telescope to thread beam along optical axis. Front view: Mirror surface and LED target in front. 20 Nov Keck Interferometer Autoaligner 10
11 EPICS Alignment Control of Major Components Beam Transport Optic As Seen from Coude Tunnel Long Delay Lines Sled Beam Transport Optic Beam Transport Optics (Coude Train) and Long Delay Lines (LDL) auto-alignment via SNL sequencer implementation (btseq). 20 Nov Keck Interferometer Autoaligner 11
12 EPICS Alignment Control of Major Components Dichroic Optic Opened Fringe Camera Fringe Tracker (FATCAT) Fiber-fed laser metrology PZTs driven by JPL custom device support for alignment. Focus and filter wheel control, white light stimulus adjustment, etc. Angle Tracker (KAT) and Constant Term Metrology SNL seq. alignment 20 Nov Keck Interferometer Autoaligner 12
13 EPICS Automatic Alignment Sequencers Implemented in VxWorks using SNL. One instance of sequencer per mirror to align. Internal Instrument Alignment Sequencer (iiseq) Alignment of back end sensor components (KAT, FATCAT, CCD). Auto-align constant term metrology. Beam Train Alignment Sequencer (btseq) Large transport optic mirrors. LDLs and Coude Train. 20 Nov Keck Interferometer Autoaligner 13
14 Autoaligner Camera System 20 Nov Keck Interferometer Autoaligner 14
15 INP link to Select Snapper 24 Grab/Centroid forward link triggered from sequencer or periodic rate scan. Frame Grabber/Centroiding Image gensub Frame count XCEN, YCEN coordinate of alignment target. DataCell Snapper 24 PLC frame grabber used with modified version of driver written by Miroslaw Dach at the Paul Schere Institure. Device support links driver and Image Record written by Ned Arnold LANL. Image Record is glue between EPICS IOC and gensub record. gensub record used to wrap alignment target centroid estimation algorithm. 20 Nov Keck Interferometer Autoaligner 15
16 Actuated Optics Transport Optic w/850g Dichroic Optic w/picomotors Common actuators used: two kinds throughout system. Beam Train Transport Optic driven by Newport 850G DC servo long travel actuators. Piezoelectric New Focus Picomotors used on smaller optic. 20 Nov Keck Interferometer Autoaligner 16
17 Actuated LED Targets Retracted In position and illuminated AA Targets position and illuminate with a high degree of repeatable motion: 0.25mm Limit switch feedback state of target to EPICS device support. 20 Nov Keck Interferometer Autoaligner 17
18 EPICS Device Support and Drivers Datacell Snapper 24 Frame Grabber image record support. Delta Tau Turbo PMAC device support and motion control sequencing used on Keck AO bench is used for beam train transport optic positioning. Originally written by Thomas Coleman, ANL Updated by Kevin Tsubota and Paul Stomski, Keck Industry Pack device drivers support utilizing Andrew Johnson s Industry Pack Driver Software (drvipac). Acromag IP480, IP230, IP330 modules Greenspring IP-Digital24, IP-Driver40 modules Generic device support for bi, bo, ao, ai, longin, longout JPL specific device support implemented. Picomotors, cryo focus motor, laser attenuator, etc. 20 Nov Keck Interferometer Autoaligner 18
19 Automatic and Manual Optical Alignment User Interface TCL Application (aligner.tcl) Alignment Position Status AA Sequencer Monitors & Controls AA Mirror Select Text Status Actuator Status Sensor Select Alignment Vector & AA Camera Image 20 Nov Keck Interferometer Autoaligner 19
20 Summary KI is taking shared risk science data (since June). Automatically aligning parts of interferometer. Angle Tracker (KAT). CT Metrology. Fringe Tracker (FATCAT). Beam Train Mirrors. Refinement of Frame Grabbing Technology and Centroiding for better beam train auto-alignment is needed (presently ~ 1.5 pixels, requirement 0.1 pixels). A top level sequencer to orchestrate all alignment is next major development effort. More info about Keck Interferometer go to web site: Device support codes available from reder@huey.jpl.nasa.gov. 20 Nov Keck Interferometer Autoaligner 20
21 W. M. Keck Observatory: Feb Nov Keck Interferometer Autoaligner 21
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