Collision-free motion planning for fiber positioner robots: discretization of velocity profiles

The next generation of large-scale spectroscopic survey experiments such as DESI, will use thousands of fiber positioner robots packed on a focal plate. In order to maximize the observing time with this robotic system we need to move in parallel the fiber-ends of all positioners from the previous to the next target coordinates. Direct trajectories are not feasible due to collision risks that could undeniably damage the robots and impact the survey operation and performance. We have previously developed a motion planning method based on a novel decentralized navigation function for collision-free coordination of fiber positioners. The navigation function takes into account the configuration of positioners as well as their envelope constraints. The motion planning scheme has linear complexity and short motion duration (~2.5 seconds with the maximum speed of 30 rpm for the positioner), which is independent of the number of positioners. These two key advantages of the decentralization designate the method as a promising solution for the collision-free motion-planning problem in the next-generation of fiber-fed spectrographs. In a framework where a centralized computer communicates with the positioner robots, communication overhead can be reduced significantly by using velocity profiles consisting of a few bits only. We present here the discretization of velocity profiles to ensure the feasibility of a real-time coordination for a large number of positioners. The modified motion planning method that generates piecewise linearized position profiles guarantees collision-free trajectories for all the robots. The velocity profiles fit few bits at the expense of higher computational costs.Comment: SPIE Astronomical Telescopes + Instrumentation 2014 in Montr\'eal, Quebec, Canada. arXiv admin note: substantial text overlap with arXiv:1312.164

SDSS-V Algorithms: Fast, Collision-Free Trajectory Planning for Heavily Overlapping Robotic Fiber Positioners

Robotic fiber positioner (RFP) arrays are becoming heavily adopted in wide field massively multiplexed spectroscopic survey instruments. RFP arrays decrease nightly operational overheads through rapid reconfiguration between fields and exposures. In comparison to similar instruments, SDSS-V has selected a very dense RFP packing scheme where any point in a field is typically accessible to three or more robots. This design provides flexibility in target assignment. However, the task of collision-less trajectory planning is especially challenging. We present two multi-agent distributed control strategies that are highly efficient and computationally inexpensive for determining collision-free paths for RFPs in heavily overlapping workspaces. We demonstrate that a reconfiguration path between two arbitrary robot configurations can be efficiently found if "folded" state, in which all robot arms are retracted and aligned in a lattice-like orientation, is inserted between the initial and final states. Although developed for SDSS-V, the approach we describe is generic and so applicable to a wide range of RFP designs and layouts. Robotic fiber positioner technology continues to advance rapidly, and in the near future ultra-densely packed RFP designs may be feasible. Our algorithms are especially capable in routing paths in very crowded environments, where we see efficient results even in regimes significantly more crowded than the SDSS-V RFP design.Comment: To be published in the Astronomical Journa

Snowmass2021 Cosmic Frontier: Report of the CF04 Topical Group on Dark Energy and Cosmic Acceleration in the Modern Universe

Cosmological observations in the new millennium have dramatically increased our understanding of the Universe, but several fundamental questions remain unanswered. This topical group report describes the best opportunities to address these questions over the coming decades by extending observations to the $z<6$ universe. The greatest opportunity to revolutionize our understanding of cosmic acceleration both in the modern universe and the inflationary epoch would be provided by a new Stage V Spectroscopic Facility (Spec-S5) which would combine a large telescope aperture, wide field of view, and high multiplexing. Such a facility could simultaneously provide a dense sample of galaxies at lower redshifts to provide robust measurements of the growth of structure at small scales, as well as a sample at redshifts $2<z<5$ to measure cosmic structure at the largest scales, spanning a sufficient volume to probe primordial non-Gaussianity from inflation, to search for features in the inflationary power spectrum on a broad range of scales, to test dark energy models in poorly-explored regimes, and to determine the total neutrino mass and effective number of light relics. A number of compelling opportunities at smaller scales should also be pursued alongside Spec-S5. The science collaborations analyzing DESI and LSST data will need funding for a variety of activities, including cross-survey simulations and combined analyses. The results from these experiments can be greatly improved by smaller programs to obtain complementary data, including follow-up studies of supernovae and spectroscopy to improve photometric redshift measurements. The best future use of the Vera C. Rubin Observatory should be evaluated later this decade after the first LSST analyses have been done. Finally, investments in pathfinder projects could enable powerful new probes of cosmology to come online in future decades.Comment: Topical Group Report for CF04 (Dark Energy and Cosmic Acceleration in the Modern Universe) for Snowmass 202

Overview of the instrumentation for the Dark Energy Spectroscopic Instrument

The Dark Energy Spectroscopic Instrument (DESI) embarked on an ambitious 5 yr survey in 2021 May to explore the nature of dark energy with spectroscopic measurements of 40 million galaxies and quasars. DESI will determine precise redshifts and employ the baryon acoustic oscillation method to measure distances from the nearby universe to beyond redshift z > 3.5, and employ redshift space distortions to measure the growth of structure and probe potential modifications to general relativity. We describe the significant instrumentation we developed to conduct the DESI survey. This includes: a wide-field, 3.°2 diameter prime-focus corrector; a focal plane system with 5020 fiber positioners on the 0.812 m diameter, aspheric focal surface; 10 continuous, high-efficiency fiber cable bundles that connect the focal plane to the spectrographs; and 10 identical spectrographs. Each spectrograph employs a pair of dichroics to split the light into three channels that together record the light from 360–980 nm with a spectral resolution that ranges from 2000–5000. We describe the science requirements, their connection to the technical requirements, the management of the project, and interfaces between subsystems. DESI was installed at the 4 m Mayall Telescope at Kitt Peak National Observatory and has achieved all of its performance goals. Some performance highlights include an rms positioner accuracy of better than 0.″1 and a median signal-to-noise ratio of 7 of the [O ii] doublet at 8 × 10−17 erg s−1 cm−2 in 1000 s for galaxies at z = 1.4–1.6. We conclude with additional highlights from the on-sky validation and commissioning, key successes, and lessons learned

Probing dark energy with large-scale galaxy clustering: from instrumentation to simulation

In the standard paradigm of cosmology, everything we observe now originated from initial quantum fluctuations in a small smooth region, which were frozen in during inflation and became primordial density perturbations on large classical scales. Under gravitational collapse, the overdensities seeded the formation of stars and galaxies. Mapping the large-scale structure of the universe at the Cosmic Frontier is a promising experimental avenue which will address in the next decade several pressing open questions in cosmology and particle physics, most notably the accelerating cosmic expansion. The observed distribution of galaxies and quasars traces the underlying matter density field and contains a wealth of information from signatures of primordial conditions to the background evolution rate. The Dark Energy Spectroscopic Instrument (DESI) is a next-generation, Stage IV dark energy experiment that will measure the expansion history of the universe through baryon acoustic oscillations and the growth of structure through redshift-space distortions with unprecedented precision. Ground-based at the Kitt Peak National Observatory, DESI features a new 8 deg² field-of-view corrector, 5000 robotically-actuated fibre positioners, and ten fibre-fed spectrographs. The 5-year survey beginning in 2020 will measure the spectra of 35 million galaxies and quasars up to redshift z ~ 3.5 in the 360 nm to 980 nm wavelength range, covering 14000 deg² of the sky. With an order of magnitude improvement over previous redshift surveys, DESI will place tight constraints on the dark energy equation of state, modified gravity, the existence of extra light species, neutrino masses, and models of inflation. ProtoDESI was a proof of concept commissioned in 2016 to mitigate the risks associated with DESI's challenging instrument design and precision requirements. Its simplified focal plane instrument housed 3 fibre positioners and a fibre photometry camera in place of spectrographs. ProtoDESI was successful as the first on-sky technology demonstration for DESI. For the official DESI focal plane instrument, the fibre positioning accuracy and, ultimately, the success of DESI, are grounded upon the stringent specifications of the focal plate structure (FPS) which directly holds the positioners. The FPS parts, consisting of ten focal plate petals (FPPs) and a focal plate ring, were fabricated with the required tolerances, comprehensively inspected, and aligned with appropriate shims and gauge blocks to ensure minimal loss of photons at the fibre tips. Adopting a coordinate measurement machine-based approach, we projected the fibre injection efficiency by measuring hardware features and modelling geometric transformations and fibre optics. The as-aligned, total root-mean-square optical throughput for 6168 positioner holes of 12 production FPPs (including two spares) is 99.88% ± 0.12%, well above the 99.5% project requirement. Finally, observations of galaxy clustering cannot be properly understood alone without accompanying theoretical motivations and numerical simulations in parallel. Cosmological N-body simulations have become indispensable for designing survey strategies, developing analysis methods, and making theoretical predictions. We quantify the shifts of the acoustic scale potentially resulting from galaxy clustering bias, which constitutes an increasingly significant source of theoretical systematics in distance measurements with the standard ruler. Utilising mock catalogues based on generalised halo occupation population of high-accuracy Abacus simulations in the largest volume to date for such tests, 48h⁻¹Gpc³, we find a 0.3% shift in the line-of-sight acoustic scale for one variation in the satellite galaxy population and a 0.7% shift for an extreme level of velocity bias of the central galaxies, while other models tested are consistent with zero shift at the 0.2% level after reconstruction. We note that these bias models produce sizeable and likely distinguishable changes at small scales that correlate with the shifts