RoboticRobotic AutonomousAutonomous ObservatoriesObservatories::

AnAn historicalhistorical perspectiveperspective

AlbertoAlberto J.J. CastroCastro--TiradoTirado (IAA(IAA--CSICCSIC Granada)Granada) Workshop in Robotic Autonomous Torremolinos (Málaga), 18 May 2009 OutlineOutline Robotic astronomical observatories

Definitions

A brief history

Robotic observatories worldwide

Science & Technology with Robotic Observatories

Robotic observatories in Spain

Conclusions RoboticRobotic AstronomicalAstronomical ObservatoriesObservatories (I)(I) (RAOs from now on). Some definitions… A mechanical system which executes repetitive tasks with good accuracy with assistance. Example: Industrial robotic arm. Teleoperated Robot A mechanical system which executes a given task with good accuracy and that can be modified with human assistance. Example: Submarine research .

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.

RoboticRobotic AstronomicalAstronomical ObservatoriesObservatories (II)(II)

…applied to [as agreed on the Málaga Worksho p] Automated scheduled (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 Robot A mechanical system which executes a given task with good accuracy and that can be modified with human assistance. () 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 !. RAOs: A brief history (I)

First attempts to robotize were first developed by astronomers after electromechanical interfaces to became common at observatories . 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 pointing out many reasons, some quite subtle, why telescopes could not be reliably pointed using only basic astronomical calculations. The concepts explored in this book share a common heritage with the telescope mount error modeling software called Tpoint, which emerged from the first generation of large automated telescopes in the 1970s, notably the 3.9m Anglo- Australian Telescope. RAOs: A brief history (IV)

The first automated telescopes were able to start on a pre-programmed sequence of photometric measurements if the sky was clear . This was the case of the Automated Telescope Photoelectric (APT) service , a computer driven system in Mt . Hopkins (AZ, USA) which knew when the Sun set and checked for rain , snow , etc.

In an ideal world, the computer will report the astronomer on the next morning how beatiful the night was. But we know that us do not leave a telescope unattended for the whole night … RAOs: A brief history (V)

The Fairborn T2 0.25m APT began operations in early 1986 at the Fred Lawrence Whipple Observatory (FLWO) on Mt. Hopkins in southern Arizona, which is operated jointly by the Havard - Smithsonian Center for Astrophysics and the University of Arizona. It was relocated in 1996 to Fairborn Observatory's new site at 5500 ft in the Patagonia mountains near Washington Camp, Arizona. Operation of the Fairborn 0.25m APT was supported by FLWO (during its tenure on Mt. Hopkins), Fairborn Observatory , and Tennessee State University. Until 2001 (16 years), the telescope was dedicated primarily to long-term photometric monitoring of semi -regular pulsating variable stars. Decomissioned in 2007. Nowadays the TSU group has built 13 instruments (incl. a 2m)

RAOs: A brief history (VI)

The Berkeley Automated Imaging Telescopes (0.5m and 0.76m diameter telescopes) were used at the astronomy department's Leuschner Observatory in 1992-1994 for detailed monitoring of transient objects and for conducting the Leuschner Observatory Search (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 the end of the 90’s the number of automated telescopes increased with many of the devoted to gamma -ray burst (GRB) follow-up: GROSCE (1993): wide -field lens system (USA) LOTIS (1997): wide-field lens system (USA) ROTSE (1998): wide-field lens system (USA) BOOTES (1998) , 0.2m telescope + wide-field system (Spain) BART (2000) , 0.2m telescope + wide-field system (Spain ) TAROT (France), RAPTOR (USA), REM (Italy) joined in early 2000’s.

And we should not forget all development by amateur astronomers since 1998.

All these achievements implied a change in the technology (See the book Unusual telescopes , by Peter L. Manly). For instance, for wide-field system, fast mount and dew control is most essential. For telescopes, open tube design is desirable : lighter and better stabilization of the temperature ( but this requires a large central baffle to prevent ), etc.

RAOs: A brief history (IX)

The first robots were the telescopes with an absolute positioning control and guiding systems , and the automatic weather stations , introduced in astronomical observatories .

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.

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 Specific control systems: automatization systems: GTC/La Palma Ø =10.4 m. TCS by Optical Mechanics (OMI) Ø = 0.4 – 1 m. (Open or Closed source)

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 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 inin SpainSpain (2)(2)

BOOTES-1 (INTA/CSIC/AUS/CVUT), robotic 0.3m Ø and 0.2m Ø telescopes and wide-field system, Huelva, since 1998. BOOTES-2 (INTA/CSIC/AUS/CVUT) , robotic 0.3m Ø telescope and wide-field system, Málaga, 2001.

RAOsRAOs inin SpainSpain (3)(3)

BOOTES-IR/T60 OSN (CSIC), robotic 0.6m Ø telescope, Sierra Nevada, since 2004 (opt), since 2007 (nIR )

Simultaneous optical/nIR foreseen for late 2009 RAOsRAOs inin SpainSpain (4)(4)

TROBAR (UV), 0.6m Ø robotic telescope, Aras del Olmo, since 2004.

RAOsRAOs inin SpainSpain (5)(5)

0.8m at OBS. ASTRON. MONTSEC (UB, UPC, CSIC, Consorci del Montsec, Fundació Joan Oró) , robotic 0.8m Ø telescope, Montsec , since 2005. TALON sw control system .

Instrumentation: a 2048 x 2048 pix CCD (12’4 FOV), UBVRI filters

RAOsRAOs inin SpainSpain (6)(6)

CAB/INTA/CSIC Robotic Telescope Network, 0.4m Ø telescope in Torrejón de Ardoz (Madrid), 0.5m Ø telescope in Calatayud and 0.5m Ø robotic telescope in Calar Alto.

RAOsRAOs inin SpainSpain (7)(7)

Automated systems: Carlsberg telescope (since 1983) IAA Tetrascope (4 x 0.35m) at OSN (2001-05) and La Sagra (since 2006) 0.45m Astrograph at La Sagra (since 2007) DIMMA (IAC), automated seeing monitor (since 2007 ?)

Robotic systems: 0.2m and 0.3m BOOTES-1 (since 1998) Æ 0.6m (in 2010?) 3 x 0.6m

0.3m BOOTES-2 (since 2001) Æ 0.6m (in Nov 2007) RT 0.6m BOOTES-IR (since 2004) network 0.6m TROBAR (since 2004) 0.8m MONTSEC (since 2005) 0.4m, 0.5m and 0.5m CAB Robotic Telescope Network

ConclusionsConclusions

„ Robotic Telescopes are opening a new field in Astrophysics in terms of optimizing the observing time, with some of them being able to provide 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 robotic astronomical observatories are moving towards intelligent robotic astronomical observatories.

„ The future? RT on the far side of the moon, where stray light and electromagnetic interference are at minimum. Then new drives operating at 1 revolution per month under 1/6th gravity will need to be designed. Telescope-drive engineers and scientists will go on…

Corrections & Addenda welcome ! [email protected]