RoboticRobotic AutonomousAutonomous
ObservatoriesObservatories: : AnAn
historicalhistorical perspectiveperspective
Alberto J. CastroAlberto J. Castro--Tirado Tirado (IAA(IAA--CSIC Granada)CSIC Granada)
WorkshopWorkshop
in in RoboticRobotic
AutonomousAutonomous
ObservatoriesObservatories Torremolinos (MTorremolinos (Máálaga), 18 May 2009laga), 18 May 2009
OutlineOutlineRoboticRobotic
astronomicalastronomical
observatoriesobservatories
DefinitionsDefinitions
A A briefbrief
historyhistory
RoboticRobotic
observatoriesobservatories
worldwideworldwide
ScienceScience
& & TechnologyTechnology
withwith
RoboticRobotic
ObservatoriesObservatories
RoboticRobotic
observatoriesobservatories
in in SpainSpain
ConclusionsConclusions
RoboticRobotic
AstronomicalAstronomical
ObservatoriesObservatories
(I)(I)
RobotA mechanical
system
which
executes
repetitive
tasks
with
good
accuracy
with
human assistance. Example: Industrial robotic arm.
Teleoperated
RobotA mechanical
system
which
executes
a given
task
with
good
accuracy
and
that
can be modified
with
human assistance. Example: Submarine
research
robots.
Intelligent
Robot
A mechanical
system
which
executes
a task
with
good
accuracy and
is
able
to
adapt
itself
to
changes
during
the
task
execution
without
any
kind
of
human assistance. Example: Rovers devoted
to
planetary
research.
(RAOs
from
now
on). Some
definitions…
RoboticRobotic
AstronomicalAstronomical
ObservatoriesObservatories
(II)(II)
Automated
scheduled
telescope
(Robot)
A mechanical system which executes repetitive predefined tasks with good accuracy with human assistance. Telescope which performs observation without the astronomer actually moving the mount by hand.
Remotely
operated
(remote) telescope
RobotA
mechanical system which executes a given task with good
accuracy and that can be modified with human assistance.
Autonomous
Robot (observatory) A mechanical system which executes a task with good accuracy and is able to adapt itself to changes during the task execution
without any kind of human assistance. Weather control. Must not kill a human !.
…applied
to
Astronomy
[as agreed on the Málaga Workshop]
RAOs: A brief
history
(I)First
attempts
to
robotize
telescopes
were
first
developed
by astronomers
after electromechanical
interfaces to
computers
became
common
at
observatories. Computer
control is
the
most
powerful
technique
for
research
today. But computer
systems
are inheriently
low
voltage
and
are very
suspectable
to electrical
noise. Thus
putting
electromechanical
devices
under
computer control can be particularly
challenging.
Early
examples
were
expensive, had
limited capabilities, and
included
a large
number
of
unique
subsystems, both
in hardware and software. This
contributed
to
a lack
of
progress
in the
development
of
robotic telescopes
early
in their
history.
RAOs: A brief
history
(II)
The 1985 book, Microcomputer Control of Telescopes, by Russ M. Genet and Mark Trueblood,
was a landmark engineering study in the field.
RAOs: A brief
history
(III)
One of this book's achievements was One of this book's achievements was pointing out many reasons, some quite pointing out many reasons, some quite subtle, why telescopes could not be reliably subtle, why telescopes could not be reliably pointed using only basic astronomical pointed using only basic astronomical calculations. The concepts explored in this calculations. The concepts explored in this book share a common heritage with the book share a common heritage with the telescope mount error telescope mount error modelingmodeling
software software
called called TpointTpoint, which emerged from the first , which emerged from the first generation of large automated telescopes in generation of large automated telescopes in the 1970s, notably the the 1970s, notably the 3.9m Anglo3.9m Anglo--
Australian TelescopeAustralian Telescope..
RAOs: A brief
history
(IV)
TheThe
firstfirst
automatedautomated
telescopestelescopes
werewere
ableable
toto
startstart
onon
a a prepre--programmedprogrammed sequencesequence
ofof
photometricphotometric
measurementsmeasurements
ifif
thethe
skysky
waswas
clearclear. . ThisThis
waswas
thethe
case case ofof
thethe
AutomatedAutomated
TelescopeTelescope
PhotoelectricPhotoelectric
(APT)(APT)
serviceservice, a , a computercomputer drivendriven
systemsystem
in in MtMt. . HopkinsHopkins
(AZ, USA) (AZ, USA) whichwhich
knewknew
whenwhen
thethe
Sun Sun setset
andand
checkedchecked
forfor
rainrain, , snowsnow, etc. , etc.
In In anan
ideal ideal worldworld, , thethe computercomputer
willwill
reportreport
thethe
astronomerastronomer
onon
thethe
nextnext morningmorning
how how beatifulbeatiful
thethe
night night waswas. . ButBut
wewe
know know thatthat usus
do do notnot
leaveleave
a a telescopetelescope
unattendedunattended
forfor
thethe
wholewhole night night ……
RAOs: A brief
history
(V)
TheThe
FairbornFairborn
T2 0.25m APT T2 0.25m APT beganbegan
operationsoperations
in in earlyearly
1986 1986 atat
thethe
FredFred
Lawrence Lawrence WhippleWhipple
ObservatoryObservatory
(FLWO) (FLWO) onon
MtMt. . HopkinsHopkins
in in southernsouthern Arizona, Arizona, whichwhich
isis
operatedoperated
jointlyjointly
by by thethe
HavardHavard--
SmithsonianSmithsonian
CenterCenter
forfor
AstrophysicsAstrophysics
andand
thethe UniversityUniversity
ofof
Arizona. Arizona. ItIt
waswas
relocatedrelocated
in 1996 in 1996 toto
FairbornFairborn
Observatory'sObservatory's
newnew
sitesite
atat
5500 5500 ftft
in in thethe PatagoniaPatagonia
mountainsmountains
nearnear
Washington Washington CampCamp, ,
Arizona. Arizona. OperationOperation
ofof
thethe
FairbornFairborn
0.25m APT 0.25m APT waswas
supportedsupported
by FLWO (by FLWO (duringduring
itsits
tenuretenure
onon
MtMt. .
HopkinsHopkins), ), FairbornFairborn
ObservatoryObservatory, , andand
TennesseeTennessee StateState
UniversityUniversity. . UntilUntil
2001 (16 2001 (16 yearsyears), ), thethe
telescopetelescope
waswas
dedicateddedicated
primarilyprimarily
toto
longlong--termterm photometricphotometric
monitoringmonitoring
ofof
semisemi--regular regular pulsatingpulsating
variable variable starsstars..
DecomissionedDecomissioned
in 2007. in 2007. NowadaysNowadays thethe
TSU TSU groupgroup
has has builtbuilt
13 13 instrumentsinstruments
((inclincl. a 2m). a 2m)
RAOs: A brief
history
(VI)
TheThe
BerkeleyBerkeley
AutomatedAutomated
ImagingImaging
TelescopesTelescopes
(0.5m (0.5m andand
0.76m 0.76m diameterdiameter telescopestelescopes) ) werewere
usedused
atat
thethe
astronomyastronomy
department'sdepartment's
LeuschnerLeuschner
ObservatoryObservatory
in 1992in 1992--1994 1994 forfor
detaileddetailed
monitoringmonitoring
ofof
transienttransient
objectsobjects andand
forfor
conductingconducting
thethe
LeuschnerLeuschner
ObservatoryObservatory
Supernova Supernova SearchSearch
(LOSS).(LOSS).
The
0.76m Katzman
Automated
Imaging
Telescope
in Lick Observatory
had
first
light
in 1998 is
still
working
nowadays
(mainly
devoted
to
SNe
and
other
transient
events).
RAOs: A brief
history
(VII)
The
Bradford Robotic
Telescope
(UK) was
operating
in the
web
since 1993. It's
located
in England, where
the
weather
isn't
optimal, but
it
accepts
requests
from
anyone
(Baruch’s
talk).
The
Perugia
University
Automated Imaging
Telescope
(0.4m) in Italy
and
the
University
of
Iowa Robotic Telescope
Facility
(0.37m diameter
Rigel telescope
at
Winer
Observatory in AZ) joined
later
(1994). The
former
was
devoted
to
Blazar
and
CV monitoring. The
second
one
was
devoted
to
education, is
operated primarily
by undergraduates, many
of
whom
are involved
in independent research
projects
RAOs: A brief
history
(VIII)By By thethe
endend
ofof
thethe
9090’’s s thethe
numbernumber
ofof
automatedautomated
telescopestelescopes
increasedincreased
withwith
manymany
ofof
thethe
devoteddevoted
toto
gammagamma--rayray
burstburst
(GRB) (GRB) followfollow--up: up:
GROSCE (1993): GROSCE (1993): widewide--fieldfield
lens lens systemsystem
(USA)(USA)
LOTIS (1997): LOTIS (1997): widewide--fieldfield
lens lens systemsystem
(USA)(USA)
ROTSE (1998): ROTSE (1998): widewide--fieldfield
lens lens systemsystem
(USA) (USA)
BOOTES (1998) , 0.2m BOOTES (1998) , 0.2m telescopetelescope
+ + widewide--fieldfield
systemsystem
((SpainSpain) )
BART (2000) , 0.2m BART (2000) , 0.2m telescopetelescope
+ + widewide--fieldfield
systemsystem
((SpainSpain))
TAROT (TAROT (FranceFrance), RAPTOR (USA), REM (), RAPTOR (USA), REM (ItalyItaly) ) joinedjoined
in in earlyearly
20002000’’s.s.
AllAll
thesethese
achievementsachievements
impliedimplied
a a changechange
in in thethe
technologytechnology
((SeeSee
thethe bookbook
Unusual
telescopes, by Peter
L. Manly). For
instance, for
wide-field
system, fast
mount
and
dew
control is
most
essential. For
telescopes, openpen
tubetube
designdesign
isis
desirabledesirable: : lighterlighter
andand
betterbetter
stabilizationstabilization
ofof
thethe
temperaturetemperature
((butbut
thisthis
requiresrequires
a a largelarge
central central bafflebaffle
toto
preventprevent), etc.), etc.
And
we
should
not
forget
all
development
by amateur astronomers
since
1998.
RAOs: A brief
history
(IX)
The
first
robotic
astronomical
observatories
are those
ones
which
are able
to integrate
and
coordinate
the
different
automatic
subsystems
at
the
observatory
(telescope, dome, weather
stations). But
they
require
human assistance
(teleoperation) for
the
taking
of
decissions
regarding
a given
task
and/or
its
supervision.
The
intelligent
robotic
astronomical
observatories
are the
following
step, where
human assistance
in the
taking
of
decissions
is
replaced
by an
artificial
intelligent
system. This
is
being
developed
nowadays.
TheThe
firstfirst
robotsrobots
werewere
thethe
telescopestelescopes
withwith
anan
absoluteabsolute
positioningpositioning
control control andand
guidingguiding
systemssystems, , andand
thethe
automaticautomatic
weatherweather
stationsstations, , introducedintroduced
in in
astronomicalastronomical
observatoriesobservatories. .
RAOs
worldwide
(1)
Around
100 so far
RAOs
worldwide
(2)
Around
35 in Europe
RAOs
worldwide
(3)
Some
examples: RAPTOR (LANL, USA)
An
array
of
telescopes
that
continuously
monitor about
1500 square
degrees
of
the sky
for
transients
down
to
about
12th magnitude
in 60 seconds
and
a central fovea
telescope
that
can reach
16th magnitude
in 60 seconds. Search
for
optical
transients.
RAOs
worldwide
(4)
Some
examples: PAIRITEL (SAO, USA)
1.3m telescope devoted
to
nIR
transients
(JHK sim.)
RAOs
worldwide
(5)
Some
examples: Robonet
(10 UK Universities)
(LT: UK National
Facility; FNT & FST: LCO GTN )
Aims: To
detect
cool extra-solar planets
by
optimised
robotic monitoring
of
Galactic
microlens
events. In particular, to
explore the
use of
this
technique
to search
for
other
Earth-like
planets. Another
goal
is
to determine the
origin
and
nature
of
GRBs.
Sci & Tech with RAOs (1)
Scientific
Use (aprox. statistical
based
on
provided
info
by F. Hessman)
Sci & Tech with RAOs (2)
Range
of
apertures
(included
expected
instruments
by 2010)
Sci & Tech with RAOs (3)
Telescope
Control Operating
Systems
Commercial automatization
systems:
TCS by Optical
Mechanics (OMI) Ø
= 0.4 –
1 m.
(Open
or
Closed
source)
SpecificSpecific
control control systemssystems: : GTC/La Palma GTC/La Palma ØØ
==10.4 m.10.4 m.
Sci & Tech with RAOs (4)Observatory
Managers
AUDELA: Developed by A. Klotz et al. (Toulouse), starting in 1995. Open source code. Linux/Windows.
ASCOM: Dessigned
in 1998, by B. Denny (USA), as an interface standard for astronomical equipment, based on MS's Component Object Model, which he called the Astronomy Common Object Model.
Mostly
used
by amateur astronomers, has
been
also
used
by professionals. Windows. Widely
used
in SN, MP searches.
RTS2: The Robotic Telescope System version 2, is being developed
by P. Kubánek, (Ondrejov/Granada) starting in 2000. Open source code. Linux/Windows (command line and graphical interface foreseen). Widely used in GRB searches.
INDI: The Instrument Neutral Distributed Interface (INDI) was started in 2003. In comparison to the Microsoft Windows centric ASCOM standard, INDI
is a
platform independent protocol developed by E. C. Downey (USA). Open source code. Not so widely spread as the upper layer interface was not done.
Sci & Tech with RAOs (5)Observatory
Managers: Open
or
close
loop
systems
In an open loop
system, a robotic telescope system points itself and collects its data without inspecting the results of its operations to ensure it is operating properly. An open loop telescope is sometimes said to be operating on faith, in that if
something goes wrong, there is no way for the control system to detect it and compensate.
A closed loop
system has the capability to evaluate its operations through redundant inputs to detect errors. A common such input would be position encoders on the telescope's axes of motion, or the capability of evaluating the system's images to ensure it was pointed at the correct field of
view when they were exposed.
RAOs
in Spain
(1)
Circulo Meridiano Carlsberg
(initiated
by KUO, IoA
and
ROA, with only
ROA nowadays): automated
telescope, La Palma, since
1983
A 2k by 2k detector allows
to observe between
100,000 and
200,000 stars
a night, down
to r'=17
. This
will
give
accurate
positions
of
stars, allowing
a reliable
link to
be made between
the
bright
stars
measured
by Hipparcos
and
the
fainter
stars
seen
on
photographic
plates
(as measured
by the
APM and
similar
measuring
machines). The current
area
of
the
survey
is
between
-30°
and
+50°
in declination
and
is
completed.
RAOsRAOs in in SpainSpain
(2)(2)
BOOTESBOOTES--1 1 (INTA/CSIC/AUS/CVUT), (INTA/CSIC/AUS/CVUT), roboticrobotic
0.3m 0.3m ØØ
and and 0.2m 0.2m ØØ
telescopestelescopes
andand
widewide--fieldfield
systemsystem, Huelva, , Huelva, sincesince
1998. 1998.
BOOTESBOOTES--2 2 (INTA/CSIC/AUS/CVUT)(INTA/CSIC/AUS/CVUT), , roboticrobotic
0.3m 0.3m ØØ telescopetelescope
andand
widewide--fieldfield
systemsystem, M, Máálaga, 2001.laga, 2001.
RAOsRAOs in in SpainSpain
(3)(3)
BOOTESBOOTES--IR/T60 OSN IR/T60 OSN (CSIC), (CSIC), roboticrobotic
0.6m 0.6m ØØ
telescopetelescope, , Sierra Nevada, Sierra Nevada, sincesince
2004 (2004 (optopt), ), sincesince
2007 (2007 (nIRnIR))
Simultaneous optical/nIR foreseen for late 2009
RAOsRAOs in in SpainSpain
(4)(4)
TROBAR TROBAR (UV), 0.6m (UV), 0.6m ØØ
roboticrobotic
telescope, telescope, ArasAras
del del OlmoOlmo, since 2004., since 2004.
RAOsRAOs in in SpainSpain
(5)(5)
0.8m 0.8m atat
OBS. ASTRON. MONTSEC OBS. ASTRON. MONTSEC (UB, UPC, CSIC, (UB, UPC, CSIC, ConsorciConsorci
del del MontsecMontsec, , FundaciFundacióó
Joan OrJoan Oróó))
, , roboticrobotic
0.8m 0.8m ØØ
telescopetelescope, , MontsecMontsec, , sincesince
2005. TALON 2005. TALON swsw
control control systemsystem..
Instrumentation: a 2048 x 2048 pix
CCD (12’4 FOV), UBVRI filters
RAOsRAOs in in SpainSpain
(6)(6)
CAB/INTA/CSIC CAB/INTA/CSIC RoboticRobotic
TelescopeTelescope
NetworkNetwork,,
0.4m 0.4m ØØ telescopetelescope
in Torrejin Torrejóón de n de ArdozArdoz
(Madrid), 0.5m (Madrid), 0.5m ØØ
telescope telescope
in in CalatayudCalatayud
and 0.5m and 0.5m ØØ
robotic telescope in robotic telescope in CalarCalar
Alto.Alto.
RAOsRAOs in in SpainSpain
(7)(7)AutomatedAutomated systemssystems::
CarlsbergCarlsberg
telescopetelescope
((sincesince
1983) 1983) IAA IAA TetrascopeTetrascope
(4 x 0.35m)(4 x 0.35m)
atat
OSNOSN
(2001(2001--05) 05) andand
La La SagraSagra
((sincesince
2006) 2006)
0.45m 0.45m AstrographAstrograph
atat
La La SagraSagra
((sincesince
2007) 2007) DIMMA (IAC), DIMMA (IAC), automatedautomated
seeingseeing
monitor (monitor (sincesince
2007 ?) 2007 ?)
RoboticRobotic systemssystems::
0.2m 0.2m andand
0.3m BOOTES0.3m BOOTES--1 (1 (sincesince
1998)1998)0.3m BOOTES0.3m BOOTES--2 (2 (sincesince
2001) 2001)
0.6m BOOTES0.6m BOOTES--IR (IR (sincesince
2004)2004)0.6m TROBAR (0.6m TROBAR (sincesince
2004)2004)
0.8m MONTSEC (0.8m MONTSEC (sincesince
2005)2005)0.4m, 0.5m 0.4m, 0.5m andand
0.5m CAB 0.5m CAB RoboticRobotic
TelescopeTelescope
NetworkNetwork
0.6m (in 2010?)0.6m (in 2010?) 3 x 0.6m0.6m (in Nov 2007) 0.6m (in Nov 2007) RT
network
ConclusionsConclusions
Robotic Telescopes are opening a new field in Astrophysics in termsof optimizing the observing time, with some of them being able toprovide pre-reduced data. The big advantange is that they can be placed in remote locations where human life conditions will be hostile(Antartica now, the Moon in the near future).
Technological development is involved and some of the roboticastronomical observatories are moving towards intelligent roboticastronomical observatories.
The future? RT on the far side of the moon, where stray light andelectromagnetic interference are at minimum. Then new drivesoperating at 1 revolution per month under 1/6th gravity will need tobe designed. Telescope-drive engineers and scientists will go on…
Corrections
& Addenda welcome
!