The Maunakea Spectroscopic Explorer Book 2018

(Abridged) This is the Maunakea Spectroscopic Explorer 2018 book. It is intended as a concise reference guide to all aspects of the scientific and technical design of MSE, for the international astronomy and engineering communities, and related agencies. The current version is a status report of MSE's science goals and their practical implementation, following the System Conceptual Design Review, held in January 2018. MSE is a planned 10-m class, wide-field, optical and near-infrared facility, designed to enable transformative science, while filling a critical missing gap in the emerging international network of large-scale astronomical facilities. MSE is completely dedicated to multi-object spectroscopy of samples of between thousands and millions of astrophysical objects. It will lead the world in this arena, due to its unique design capabilities: it will boast a large (11.25 m) aperture and wide (1.52 sq. degree) field of view; it will have the capabilities to observe at a wide range of spectral resolutions, from R2500 to R40,000, with massive multiplexing (4332 spectra per exposure, with all spectral resolutions available at all times), and an on-target observing efficiency of more than 80%. MSE will unveil the composition and dynamics of the faint Universe and is designed to excel at precision studies of faint astrophysical phenomena. It will also provide critical follow-up for multi-wavelength imaging surveys, such as those of the Large Synoptic Survey Telescope, Gaia, Euclid, the Wide Field Infrared Survey Telescope, the Square Kilometre Array, and the Next Generation Very Large Array.Comment: 5 chapters, 160 pages, 107 figure

Computing wrench-feasible paths for cable-driven hexapods

Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack -to keep the control of the robot- nor excessively tight -to prevent cable breakage- even in the presence of bounded perturbations of the wrench. This paper proposes a path planning method that accommodates such constraints simultaneously. Given two configurations of the robot, the method attempts to connect them through a path that, at any point, allows the cables to counteract any wrench lying in a predefined uncertainty region. The feasible C-space is placed in correspondence with a smooth manifold, which facilitates the definition of a continuation strategy to search this space systematically from one configuration, until the second configuration is found, or path non-existence is proved at the resolution of the search. The force Jacobian is full rank everywhere on the C-space, which implies that the computed paths will naturally avoid crossing the forward singularity locus of the robot. The adjustment of tension limits, moreover, allows to maintain a meaningful clearance relative to such locus. The approach is applicable to compute paths subject to geometric constraints on the platform pose, or to synthesize free-flying motions in the full six-dimensional C-space. Experiments are included that illustrate the performance of the method in a real prototype.Postprint (published version

Maunakea Spectroscopic Explorer Advancing from Conceptual Design

The Maunakea Spectroscopic Explorer (MSE) project has completed its Conceptual Design Phase. This paper is a status report of the MSE project regarding its technical and programmatic progress. The technical status includes its conceptual design and system performance, and highlights findings and recommendations from the System and various subsystems design reviews. The programmatic status includes the project organization and management plan for the Preliminary Design Phase. In addition, this paper provides the latest information related to the permitting process for Maunakea construction.Comment: 15 pages; Proceedings of SPIE Astronomical Telescopes + Instrumentation 2018; Ground-based and Airborne Telescopes VI

Modeling, Control and Estimation of Reconfigurable Cable Driven Parallel Robots

The motivation for this thesis was to develop a cable-driven parallel robot (CDPR) as part of a two-part robotic device for concrete 3D printing. This research addresses specific research questions in this domain, chiefly, to present advantages offered by the addition of kinematic redundancies to CDPRs. Due to the natural actuation redundancy present in a fully constrained CDPR, the addition of internal mobility offers complex challenges in modeling and control that are not often encountered in literature. This work presents a systematic analysis of modeling such kinematic redundancies through the application of reciprocal screw theory (RST) and Lie algebra while further introducing specific challenges and drawbacks presented by cable driven actuators. It further re-contextualizes well-known performance indices such as manipulability, wrench closure quality, and the available wrench set for application with reconfigurable CDPRs. The existence of both internal redundancy and static redundancy in the joint space offers a large subspace of valid solutions that can be condensed through the selection of appropriate objective priorities, constraints or cost functions. Traditional approaches to such redundancy resolution necessitate computationally expensive numerical optimization. The control of both kinematic and actuation redundancies requires cascaded control frameworks that cannot easily be applied towards real-time control. The selected cost functions for numerical optimization of rCDPRs can be globally (and sometimes locally) non-convex. In this work we present two applied examples of redundancy resolution control that are unique to rCDPRs. In the first example, we maximize the directional wrench ability at the end-effector while minimizing the joint torque requirement by utilizing the fitness of the available wrench set as a constraint over wrench feasibility. The second example focuses on directional stiffness maximization at the end-effector through a variable stiffness module (VSM) that partially decouples the tension and stiffness. The VSM introduces an additional degrees of freedom to the system in order to manipulate both reconfigurability and cable stiffness independently. The controllers in the above examples were designed with kinematic models, but most CDPRs are highly dynamic systems which can require challenging feedback control frameworks. An approach to real-time dynamic control was implemented in this thesis by incorporating a learning-based frameworks through deep reinforcement learning. Three approaches to rCDPR training were attempted utilizing model-free TD3 networks. Robustness and safety are critical features for robot development. One of the main causes of robot failure in CDPRs is due to cable breakage. This not only causes dangerous dynamic oscillations in the workspace, but also leads to total robot failure if the controllability (due to lack of cables) is lost. Fortunately, rCDPRs can be utilized towards failure tolerant control for task recovery. The kinematically redundant joints can be utilized to help recover the lost degrees of freedom due to cable failure. This work applies a Multi-Model Adaptive Estimation (MMAE) framework to enable online and automatic objective reprioritization and actuator retasking. The likelihood of cable failure(s) from the estimator informs the mixing of the control inputs from a bank of feedforward controllers. In traditional rigid body robots, safety procedures generally involve a standard emergency stop procedure such as actuator locking. Due to the flexibility of cable links, the dynamic oscillations of the end-effector due to cable failure must be actively dampened. This work incorporates a Linear Quadratic Regulator (LQR) based feedback stabilizer into the failure tolerant control framework that works to stabilize the non-linear system and dampen out these oscillations. This research contributes to a growing, but hitherto niche body of work in reconfigurable cable driven parallel manipulators. Some outcomes of the multiple engineering design, control and estimation challenges addressed in this research warrant further exploration and study that are beyond the scope of this thesis. This thesis concludes with a thorough discussion of the advantages and limitations of the presented work and avenues for further research that may be of interest to continuing scholars in the community

Tests with a Carlina-type diluted telescope; Primary coherencing

Studies are under way to propose a new generation of post-VLTI interferometers. The Carlina concept studied at the Haute- Provence Observatory is one of the proposed solutions. It consists in an optical interferometer configured like a diluted version of the Arecibo radio telescope: above the diluted primary mirror made of fixed cospherical segments, a helium balloon (or cables suspended between two mountains), carries a gondola containing the focal optics. Since 2003, we have been building a technical demonstrator of this diluted telescope. First fringes were obtained in May 2004 with two closely-spaced primary segments and a CCD on the focal gondola. We have been testing the whole optical train with three primary mirrors. The main aim of this article is to describe the metrology that we have conceived, and tested under the helium balloon to align the primary mirrors separate by 5-10 m on the ground with an accuracy of a few microns. The servo loop stabilizes the mirror of metrology under the helium balloon with an accuracy better than 5 mm while it moves horizontally by 30 cm in open loop by 10-20 km/h of wind. We have obtained the white fringes of metrology; i.e., the three mirrors are aligned (cospherized) with an accuracy of {\approx} 1 micron. We show data proving the stability of fringes over 15 minutes, therefore providing evidence that the mechanical parts are stabilized within a few microns. This is an important step that demonstrates the feasibility of building a diluted telescope using cables strained between cliffs or under a balloon. Carlina, like the MMT or LBT, could be one of the first members of a new class of telescopes named diluted telescopes.Comment: 18 pages, 17 figures, A&A, accepte

Free-Standing Leaping Experiments with a Power-Autonomous, Elastic-Spined Quadruped

We document initial experiments with Canid, a freestanding, power-autonomous quadrupedal robot equipped with a parallel actuated elastic spine. Research into robotic bounding and galloping platforms holds scientific and engineering interest because it can both probe biological hypotheses regarding bounding and galloping mammals and also provide the engineering community with a new class of agile, efficient and rapidly-locomoting legged robots. We detail the design features of Canid that promote our goals of agile operation in a relatively cheap, conventionally prototyped, commercial off-the-shelf actuated platform. We introduce new measurement methodology aimed at capturing our robot’s “body energy” during real time operation as a means of quantifying its potential for agile behavior. Finally, we present joint motor, inertial and motion capture data taken from Canid’s initial leaps into highly energetic regimes exhibiting large accelerations that illustrate the use of this measure and suggest its future potential as a platform for developing efficient, stable, hence useful bounding gaits. For more information: Kod*La

The Development of Unique Focal Planes for High-Resolution Suborbital and Ground-Based Exploration

abstract: The development of new Ultra-Violet/Visible/IR range (UV/Vis/IR) astronomical instrumentation that use novel approaches for imaging and increase the accessibility of observing time for more research groups is essential for rapid innovation within the community. Unique focal planes that are rapid-prototyped, low cost, and provide high resolution are key. In this dissertation the emergent designs of three unique focal planes are discussed. These focal planes were each designed for a different astronomical platform: suborbital balloon, suborbital rocket, and ground-based observatory. The balloon-based payload is a hexapod-actuated focal plane that uses tip-tilt motion to increase angular resolution through the removal of jitter – known as the HExapod Resolution-Enhancement SYstem (HERESY), the suborbital rocket imaging payload is a Jet Propulsion Laboratory (JPL) delta-doped charge-coupled device (CCD) packaged to survive the rigors of launch and image far-ultra-violet (FUV) spectra, and the ground-based observatory payload is a star centroid tracking modification to the balloon version of HERESY for the tip-tilt correction of atmospheric turbulence. The design, construction, verification, and validation of each focal plane payload is discussed in detail. For HERESY’s balloon implementation, pointing error data from the Stratospheric Terahertz Observatory (STO) Antarctic balloon mission was used to form an experimental lab test setup to demonstrate the hexapod can eliminate jitter in flight-like conditions. For the suborbital rocket focal plane, a harsh set of unit-level tests to ensure the payload could survive launch and space conditions, as well as the characterization and optimization of the JPL detector, are detailed. Finally, a modification of co-mounting a fast-read detector to the HERESY focal plane, for use on ground-based observatories, intended to reduce atmospherically induced tip-tilt error through the centroid tracking of bright natural guidestars, is described.Dissertation/ThesisDoctoral Dissertation Exploration Systems Design 201

The AMiBA Hexapod Telescope Mount

AMiBA is the largest hexapod astronomical telescope in current operation. We present a description of this novel hexapod mount with its main mechanical components -- the support cone, universal joints, jack screws, and platform -- and outline the control system with the pointing model and the operating modes that are supported. The AMiBA hexapod mount performance is verified based on optical pointing tests and platform photogrammetry measurements. The photogrammetry results show that the deformations in the inner part of the platform are less than 120 micron rms. This is negligible for optical pointing corrections, radio alignment and radio phase errors for the currently operational 7-element compact configuration. The optical pointing error in azimuth and elevation is successively reduced by a series of corrections to about 0.4 arcmin rms which meets our goal for the 7-element target specifications.Comment: Accepted for ApJ, 33 pages, 15 figure

A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool

The scope of this paper is to present a novel method of actuating the legs of a walking parallel kinematic machine tool (WalkingHex) such that the upper spherical joint can be actively driven while walking and remain a free, passive joint while performing machining operations. Different concepts for the number of Degrees of Freedom (DoF) and methods for actuating the chosen concept are presented, leading to a description of a three-wire actuated spherical joint arrangement. The inverse kinematics for the actuation mechanism is defined and a control methodology that accounts for the redundantly actuated nature of the mechanism is explored. It is demonstrated that a prototype of the system is capable of achieving a motion position accuracy within 5.64% RMS. Utilising the concept presented in this paper, it is possible to develop a walking robot that is capable of manoeuvring into location and performing precision machining or inspection operations