USNO Robotic Astrometric Telescope (URAT)
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1 USNO Robotic Astrometric Telescope (URAT) Charlie Finch USNO Speckle Automation Workshop Washington DC 2014 June 2 finch@usno.navy.mil
2 USNO Robotic Astrometric Telescope (URAT) Outline of today s talk what is a robotic telescope? URAT introduction computer interface software interface fail safe Issues questions
3 What is a robotic telescope? computer controlled software manipulated remote monitoring
4 About URAT all sky astrometric telescope
5 About URAT
6 About URAT
7 About URAT : research and development of 10k detector 2008: funding for 4-shooter camera becomes available 2009: production of 10k chips, construction of new telescope tube, delivery of Bonn shutter 2010: camera electronics complete, computer control of mount tested in DC 2011: 4-shooter camera and 3 guide chips tested, Dewar complete and tested, first light Washington DC (August), first light NOFS (September) Dewar upgrades and improvements 2012: Dewar back on telescope survey begins April 2012!
8 About URAT located at USNO Flagstaff station (NOFS) year 3; over 62,000 frames taken so far quality control, daily x,y pixel reduction, reduction pipeline in place
9 Computer Interface Galil: dedicated control computer talks to telescope (motion of motors, reads limit switches) lakeshore: camera temperature controller talks to computers digital dome works (DDW): controls dome talks to computers weather station: boltwood cloud sensor II talks to computers network/sky cameras: for monitoring telescope and clouds talks to computers Linux box 1: interfaces with Galil/DDW, weather station, UPS units dedicated control software for telescope, camera interface control software backup scripts Linux box 2: reductions data copied to linux box 2 after observing reductions start automatically quality control software ; humans kick off + look at plots
10 Computer Interface
11 Computer Interface
12 Linux box 1 (interface computer) Logs Raw Data backups Linux box 2 (data reductions) Camera commands Telescope commands Lists scripts Feedback XY pixel Quality control Lakeshore Camera Galil Computer External drives Digital Dome Works Dome Telescope Motors Switches Encoders Boltwood
13 Software CCD control software (written in C) interfaces with the 4-shooter camera reads health of camera (temp, status) telescope control software (written in C) interface with telescope reads health of telescope (status, encoder readings) user interface software (written in Fortran) front end to control software can be easily manipulated accepts scripts, checks parameters, report issues, keep logs interactive if needed remote software (written in Fortran) check status of system
14 Sequence of events 1. human checks system and start control code 2. control code reads in files 1. 1 minute loop 2. Opens dome starts camera 3. take focus sequence 4. starts observing 5. end of night send out 6. rsync raw data to Linux box 2 7. kick off reductions 8. rsync backup of raw and processed data to 2 external drives 3. human kicks off quality control and flagbad code, looks at plots
15 Fail Safe power outage checked every minute during loop computer, electronics, DDW, encoders, lakeshore determine how much power is needed weather station (boltwood cloud sensor II) checked every minute during loop calibrate limit switches software (first line of defense) optical mechanical (last line of defense) computer crashes back up fail safe to close dome software crash watchdog script to close dome; human
16 Issues Filling the Dewar need human if using LN2 auto-fill fills every 24 hours automatic shutoff when full cut-off valve needs monitoring hook up/disconnect changing of bottle
17 Issues
18 Issues ICE! heater to prevent ice build up
19 Issues Deal with data data too large to process on control computer control computer needs full CPUwhen reading out CCD 4tb hard drives need human change drives every 2 weeks 2 copies (check data) leave one at NOFS send one to Washington DC
20 Issues drivers boltwood camera cards UPS monitoring USB drivers IT restriction rules user interface interactive simple Software and drivers!
21 Issues Hardware maintenance needs human cleaning lens (not often) dome mechanical parts computers dust updates telescope drives mechanical parts change desiccant install/remove grating
22 Issues Hardware specs/time constraints upgrades lightening protection dome UPS units fixing on the fly full automation time/money safety
23 Questions?
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