The problem of atmospheric emission from OH molecules is a long standing problem for near-infrared astronomy. PRAXIS is a unique spectrograph which is fed by fibres that remove the OH background and is optimised specifically to benefit from OH-Suppression. The OH suppression is achieved with fibre Bragg gratings, which were tested successfully on the GNOSIS instrument. PRAXIS uses the same fibre Bragg gratings as GNOSIS in its first implementation, and will exploit new, cheaper and more efficient, multicore fibre Bragg gratings in the second implementation. The OH lines are suppressed by a factor of ∼ 1000, and the expected increase in the
signal-to-noise in the interline regions compared to GNOSIS is a factor of ∼ 9 with the GNOSIS gratings and a
factor of ∼ 17 with the new gratings.
PRAXIS will enable the full exploitation of OH suppression for the first time, which was not achieved by GNOSIS (a retrofit to an existing instrument that was not OH-Suppression optimised) due to high thermal emission, low spectrograph transmission and detector noise. PRAXIS has extremely low thermal emission, through the cooling of all significantly emitting parts, including the fore-optics, the fibre Bragg gratings, a long length of fibre, and the fibre slit, and an optical design that minimises leaks of thermal emission from outside the spectrograph. PRAXIS has low detector noise through the use of a Hawaii-2RG detector, and a high throughput through a efficient VPH based spectrograph. PRAXIS will determine the absolute level of the interline continuum and enable observations of individual objects via an IFU. In this paper we give a status update and report on acceptance tests.
Atmospheric emission from OH molecules is a long standing problem for near-infrared astronomy. PRAXIS is a unique spectrograph, currently in the build-phase, which is fed by a fibre array that removes the OH background. The OH suppression is achieved with fibre Bragg gratings, which were tested successfully on the GNOSIS instrument. PRAXIS will use the same fibre Bragg gratings as GNOSIS in the first implementation, and new, less expensive and more efficient, multicore fibre Bragg gratings in the second implementation. The OH lines are suppressed by a factor of ~1000, and the expected increase in the signal-to-noise in the interline regions compared to GNOSIS is a factor of ~ 9 with the GNOSIS gratings and a factor of ~ 17 with the new gratings. PRAXIS will enable the full exploitation of OH suppression for the first time, which was not achieved by GNOSIS due to high thermal emission, low spectrograph transmission, and detector noise. PRAXIS will have extremely low thermal emission, through the cooling of all significantly emitting parts, including the fore-optics, the fibre Bragg gratings, a long length of fibre, and a fibre slit, and an optical design that minimises leaks of thermal emission from outside the spectrograph. PRAXIS will achieve low detector noise through the use of a Hawaii-2RG detector, and a high throughput through an efficient VPH based spectrograph. The scientific aims of the instrument are to determine the absolute level of the interline continuum and to enable observations of individual objects via an IFU. PRAXIS will first be installed on the AAT, then later on an 8m class telescope.
MANIFEST is a facility multi-object fibre system for the Giant Magellan Telescope, which uses ‘Starbug’ fibre positioning robots. MANIFEST, when coupled to the telescope’s planned seeing-limited instruments, GMACS, and G-CLEF, offers access to: larger fields of view; higher multiplex gains; versatile reformatting of the focal plane via IFUs; image-slicers; and in some cases higher spatial and spectral resolution. The Prototyping Design Study phase for MANIFEST, nearing completion, has focused on developing a working prototype of a Starbugs system, called TAIPAN, for the UK Schmidt Telescope, which will conduct a stellar and galaxy survey of the Southern sky. The Prototyping Design Study has also included work on the GMT instrument interfaces. In this paper, we outline the instrument design features of TAIPAN, highlight the modifications that will be necessary for the MANIFEST implementation, and provide an update on the MANIFEST/instrument interfaces.
The Australian Astronomical Observatory's TAIPAN instrument deploys 150 Starbug robots to position optical fibres to accuracies of 0.3 arcsec, on a 32 cm glass field plate on the focal plane of the 1.2 m UK-Schmidt telescope. This paper describes the software system developed to control and monitor the Starbugs, with particular emphasis on the automated path-finding algorithms, and the metrology software which keeps track of the position and motion of individual Starbugs as they independently move in a crowded field. The software employs a tiered approach to find a collision-free path for every Starbug, from its current position to its target location. This consists of three path-finding stages of increasing complexity and computational cost. For each Starbug a path is attempted using a simple method. If unsuccessful, subsequently more complex (and expensive) methods are tried until a valid path is found or the target is flagged as unreachable.
The High Efficiency and Resolution Multi Element Spectrograph, HERMES, is a facility-class optical spectrograph for the Anglo-Australian Telescope (AAT). It is designed primarily for Galactic Archaeology, the first major attempt to create a detailed understanding of galaxy formation and evolution by studying the history of our own galaxy, the Milky Way. The goal of the GALAH survey is to reconstruct the mass assembly history of the Milky Way through a detailed chemical abundance study of one million stars. The spectrograph is based at the AAT and is fed by the existing 2dF robotic fiber positioning system. The spectrograph uses volume phase holographic gratings to achieve a spectral resolving power of 28,000 in standard mode and also provides a high-resolution mode ranging between 40,000 and 50,000 using a slit mask. The GALAH survey requires an SNR greater than 100 for a star brightness of V=14 in an exposure time of one hour. The total spectral coverage of the four channels is about 100 nm between 370 and 1000 nm for up to 392 simultaneous targets within the 2-degree field of view. HERMES has been commissioned over three runs, during bright time in October, November, and December 2013, in parallel with the beginning of the GALAH pilot survey, which started in November 2013. We present the first-light results from the commissioning run and the beginning of the GALAH survey, including performance results such as throughput and resolution, as well as instrument reliability.
PRAXIS is a second generation instrument that follows on from GNOSIS, which was the first instrument using fibre
Bragg gratings for OH suppression to be deployed on a telescope. The Bragg gratings reflect the NIR OH lines while
being transparent to the light between the lines. This gives in principle a much higher signal-noise ratio at low resolution
spectroscopy but also at higher resolutions by removing the scattered wings of the OH lines. The specifications call for
high throughput and very low thermal and detector noise so that PRAXIS will remain sky noise limited even with the
low sky background levels remaining after OH suppression. The optical and mechanical designs are presented. The
optical train starts with fore-optics that image the telescope focal plane on an IFU which has 19 hexagonal microlenses
each feeding a multi-mode fibre. Seven of these fibres are attached to a fibre Bragg grating OH suppression system while
the others are reference/acquisition fibres. The light from each of the seven OH suppression fibres is then split by a
photonic lantern into many single mode fibres where the Bragg gratings are imprinted. Another lantern recombines the
light from the single mode fibres into a multi-mode fibre. A trade-off was made in the design of the IFU between field of
view and transmission to maximize the signal-noise ratio for observations of faint, compact objects under typical seeing.
GNOSIS used the pre-existing IRIS2 spectrograph while PRAXIS will use a new spectrograph specifically designed for
the fibre Bragg grating OH suppression and optimised for 1.47 μm to 1.7 μm (it can also be used in the 1.09 μm to 1.26
μm band by changing the grating and refocussing). This results in a significantly higher transmission due to high
efficiency coatings, a VPH grating at low incident angle and optimized for our small bandwidth, and low absorption
glasses. The detector noise will also be lower thanks to the use of a current generation HAWAII-2RG detector.
Throughout the PRAXIS design, from the fore-optics to the detector enclosure, special care was taken at every step along
the optical path to reduce thermal emission or stop it leaking into the system. The spectrograph design itself was
particularly challenging in this aspect because practical constraints required that the detector and the spectrograph
enclosures be physically separate with air at ambient temperature between them. At present, the instrument uses the
GNOSIS fibre Bragg grating OH suppression unit. We intend to soon use a new OH suppression unit based on multicore
fibre Bragg gratings which will allow an increased field of view per fibre. Theoretical calculations show that the gain in
interline sky background signal-noise ratio over GNOSIS may very well be as high as 9 with the GNOSIS OH
suppression unit and 17 with the multicore fibre OH suppression unit.
The High Efficiency and Resolution Multi Element Spectrograph, HERMES, was an approximately $12 million dollar project to provide a new facility class instrument for the Anglo-Australian Telescope (AAT). It was commissioned in Q4 2013. This paper examines how software challenges presented by HERMES were handled, including: minimizing cost through reusing the existing AAT 2dF/AAOmega facility software as far as possible; using instrument and data simulators to ensure new software was almost ready before any hardware had been seen; extensive upgrading of our fiber data reduction software; dealing with the tighter calibration and alignment tolerances of a high-resolution spectrograph.
The new HERMES spectrograph represents the first foray by AAO into the use of commercial off-the-shelf industrial field bus technology for instrument control, and we regard the final system, with its relatively simple wiring requirements, as a great success. However, both software and hardware teams had to work together to solve a number of problems integrating the chosen CANopen/CAN bus system into our normal observing systems. A Linux system running in an industrial PC chassis ran the HERMES control software, using a PCI CAN bus interface connected to a number of distributed CANopen/CAN bus I/O devices and servo amplifiers. In the main, the servo amplifiers performed impressively, although some experimentation with homing algorithms was required, and we hit a significant hurdle when we discovered that we needed to disable some of the encoders used during observations; we learned a lot about how servo amplifiers respond when their encoders are turned off, and about how encoders react to losing power. The software was based around a commercial CANopen library from Copley Controls. Early worries about how this heavily multithreaded library would work with our standard data acquisition system led to the development of a very low-level CANopen software simulator to verify the design. This also enabled the software group to develop and test almost all the control software well in advance of the construction of the hardware. In the end, the instrument went from initial installation at the telescope to successful commissioning remarkably smoothly.
The High Efficiency and Resolution Multi Element Spectrograph, HERMES is an facility-class optical spectrograph for
the AAT. It is designed primarily for Galactic Archeology , the first major attempt to create a detailed
understanding of galaxy formation and evolution by studying the history of our own galaxy, the Milky Way. The goal of
the GALAH survey is to reconstruct the mass assembly history of the of the Milky Way, through a detailed spatially
tagged abundance study of one million stars. The spectrograph is based at the Anglo Australian Telescope (AAT) and is
fed by the existing 2dF robotic fiber positioning system. The spectrograph uses VPH-gratings to achieve a spectral
resolving power of 28,000 in standard mode and also provides a high-resolution mode ranging between 40,000 to 50,000
using a slit mask. The GALAH survey requires a SNR greater than 100 for a star brightness of V=14. The total spectral
coverage of the four channels is about 100nm between 370 and 1000nm for up to 392 simultaneous targets within the 2
degree field of view. Hermes has been commissioned over 3 runs, during bright time in October, November and
December 2013, in parallel with the beginning of the GALAH Pilot survey starting in November 2013. In this paper we
present the first-light results from the commissioning run and the beginning of the GALAH Survey, including
performance results such as throughput and resolution, as well as instrument reliability. We compare the abundance
calculations from the pilot survey to those in the literature.
The High Efficiency and Resolution Multi Element Spectrograph, HERMES is an optical spectrograph designed
primarily for the GALAH, Galactic Archeology Survey, the first major attempt to create a detailed understanding of
galaxy formation and evolution by studying the history of our own galaxy, the Milky Way<sup>1</sup>. The goal of the GALAH
survey is to reconstruct the mass assembly history of the of the Milky way, through a detailed spatially tagged
abundance study of one million stars in the Milky Way. The spectrograph will be based at the Anglo Australian
Telescope (AAT) and be fed with the existing 2dF robotic fibre positioning system. The spectrograph uses VPH-gratings
to achieve a spectral resolving power of 28,000 in standard mode and also provides a high resolution mode ranging
between 40,000 to 50,000 using a slit mask. The GALAH survey requires a SNR greater than 100 aiming for a star
brightness of V=14. The total spectral coverage of the four channels is about 100nm between 370 and 1000nm for up to
392 simultaneous targets within the 2 degree field of view.
Current efforts are focused on manufacturing and integration. The delivery date of spectrograph at the telescope is
scheduled for 2013. A performance prediction is presented and a complete overview of the status of the HERMES
spectrograph is given. This paper details the following specific topics:
The approach to AIT, the manufacturing and integration of the large mechanical frame, the opto-mechanical slit
assembly, collimator optics and cameras, VPH gratings, cryostats, fibre cable assembly, instrument control hardware and
software, data reduction.
GNOSIS has provided the first on-telescope demonstration of a concept to utilize complex aperioidc fiber Bragg
gratings to suppress the 103 brightest atmospheric hydroxyl emission doublets between 1.47-1.7 μm. The unit is
designed to be used at the 3.9-meter Anglo-Australian Telescope (AAT) feeding the IRIS2 spectrograph. Unlike
previous atmospheric suppression techniques GNOSIS suppresses the lines before dispersion. We present the
results of laboratory and on-sky tests from instrument commissioning. These tests reveal excellent suppression
performance by the gratings and high inter-notch throughput, which combine to produce high fidelity OH-free
Traditionally, AAO tasks controlling hardware were able to operate in a simulation mode, simply ignoring the actual
hardware and responding as if the hardware were working properly. However, this did not allow a rigorous testing of the
low-level details of the hardware control software. For recent projects, particularly the replacement of the control system
for the 3.9m AAT, we have introduced detailed software simulators that mimic the hardware and its interactions down to
the individual bit level in the interfaces. By having one single simulator task representing the whole of the hardware, we
get a realistic simulation of the whole system. Communications with the simulator task are introduced just above the
driver calls that would normally communicate with the real hardware, allowing all of the hardware control software to be
tested. Simulation can be partial, only simulating those bits of the hardware not yet available This allows incremental
software releases that demonstrate full functioning of complete aspects of the system before any hardware is available,
and supports a rigorous 'value-added' approach for tracking the software development process. This was particularly
successful for the telescope control system, and has been used since for other projects including the new HERMES
The AAO's DRAMA data acquisition environment provides a very successful flexible model for instrument control tasks
based on the concept of named 'actions'. A task can execute a number of these actions simultaneously, and - something
we have found to be of paramount importance in control systems - they can be cancelled cleanly if necessary. However,
this flexibility has been achieved by use of what is essentially a collaborative multi-threading system, each action
running in short 'stages' in a single-threaded task. The original DRAMA design pre-dated the general availability of
multi-threading systems, but until now we have been reluctant to move to a multi-threading model because of the
difficulties associated with attempting to cleanly cancel a thread stuck in a blocking operation. We now believe we have
an acceptable solution to this problem, and are modifying the internals of DRAMA to produce an approach - compatible
with the existing system - that will allow individual actions to execute in separate threads. It will be able to carry out
dialogues with hardware in a much simpler manner than has been allowed so far, and this should simplify the coding of
DRAMA tasks enormously.
The AAO is building an optical high resolution multi-object spectrograph for the AAT for Galactic Archaeology. The
instrument has undergone significant design revision over that presented at the 2008 Marseilles SPIE meeting. The
current design is a 4-channel VPH-grating based spectrograph providing a nominal spectral resolving power of 28,000
and a high-resolution mode of 45,000 with the use of a slit mask. The total spectral coverage is about 1000 Angstroms
for up to 392 simultaneous targets within the 2 degree field of view. Major challenges in the design include the
mechanical stability, grating and dichroic efficiencies, and fibre slit relay implementation. An overview of the current
design and discussion of these challenges is presented.
IRIS2 is a near-infrared imager and spectrograph based on a HAWAII1 HgCdTe detector. It provides wide-field (7.7’×7.7’) imaging capabilities at 0.4486”/pixel sampling, long-slit spectroscopy at λ/Δλ≈2400 in each of the J, H and K passbands, and the ability to do multi-object spectroscopy in up to three masks. These multi-slit masks are laser cut, and have been manufactured for both traditional multiple slit work (≈20-40 objects in a 3’×7.4’ field-of-view), multiple slit work in narrow-band filters (≈100 objects in a 5’×7.4’ field-of-view), and micro-hole spectroscopy in narrow-band filters allowing the observation of ≈200 objects in a 5’×7.4’ field.
This paper presents a discussion of the architectural issues resulting when software systems need to cancel operations once they have been initiated. This may seem a minor issue, but our experience is that this requirement can have a huge effect on the design of instrumental software environments. A number of major constraints on the structure of command-based environments such as the AAO's DRAMA system can be traced to the perceived need to be able to cancel any operation cleanly. This becomes particularly difficult to implement if these operations involve significant amounts of time or even potentially indefinite amounts of time, such as operations involving blocking I/O. In general, the cleanest results come from having a process or thread cancel itself, rather than relying on the ability to cancel it externally, but this turns the problem into one of finding mechanisms whereby processes can discover, reliably, that they need to cancel themselves. As system architectures are considered for the next generation of telescopes, it seems timely to consider these design problems and even to what extent the ideal requirement of cleanly cancellable operations may have been reduced by the move towards queue-scheduled operations and away from traditional interactive observing.
The AAO's new AAO2 detector controllers can handle both infra-red detectors and optical CCDs. IR detectors in particular place considerable demands on a data handling system, which has to get the data from the controllers into the data processing chain as efficiently as possible, usually with significant constraints imposed by the need to read out the detector in as smooth a manner as possible. The AAO2 controller makes use of a VME chassis that contains both a real-time VxWorks system and a UNIX system. These share access to common VME memory, the VxWorks system reading from the controller into the shared memory and the UNIX system reading it from the shared memory and processing it. Modifications to the DRAMA data acquisition environment's bulk-data sub-system hide this use of VME shared memory in the normal DRAMA bulk-data API. This means that the code involved can be tested under UNIX, using standard UNIX shared memory mechanisms, and then deployed on the VxWorks/UNIX VME system without any code changes being needed. When deployed, the data transfer from the controller via VxWorks into the UNIX-based data processing chain is handled by consecutive DMA transfers into and out of VME memory, easily achieving the required throughput. We discuss aspects of this system, including a number of the less obvious problems that were encountered.
The DRAMA software environment has been developed at the Anglo-Australian Observatory to facilitate the development of instrument and telescope control systems. It is designed to run on a distributed system consisting of machines running a variety of operating systems including UNIX, VAX/VMS, and VxWorks. DRAMA builds on ideas from the ADAM system in use at a number of observatories. It is based on the concept of a `task' which is a software object which responds to messages requesting it to perform actions. The message system provides network transport using TCP/IP as well as optimized local transport for each machine. Messages are encoded using a self-defining hierarchical data system (SDS) which allows complex data structures while transparently handling differences in machine architecture. Tasks are coded using a standard event driven structure which can be used for applications ranging from low level real-time systems to user interfaces. The latter are developed using the Tcl/Tk package incorporated into DRAMA tasks.