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Register a new userDeveloping the GOTO telescope control system
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The Gravitational-wave Optical Transient Observer (GOTO) is a wide-field telescope project focused on detecting optical counterparts to gravitational-wave sources. The GOTO Telescope Control System (G-TeCS) is a custom robotic control system which autonomously manages the GOTO telescope hardware and nightly operations. Since the commissioning the GOTO prototype on La Palma in 2017, development of the control system has focused on the alert handling and scheduling systems. These allow GOTO to receive and process transient alerts and then schedule and carry out observations, all without the need for human involvement. GOTO is ultimately anticipated to include multiple telescope arrays on independent mounts, both on La Palma and at a southern site in Australia. When complete these mounts will be linked to form a single multi-site observatory, requiring more advanced scheduling systems to best optimise survey and follow-up observations.
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The Gravitational-wave Optical Transient Observer (GOTO) is a wide-field telescope project aimed at detecting optical counterparts to gravitational wave sources. The prototype instrument was inaugurated in July 2017 on La Palma in the Canary Islands. We describe the GOTO Telescope Control System (G-TeCS), a custom robotic control system written in Python which autonomously manages the telescope hardware and nightly operations. The system comprises of multiple independent control daemons, which are supervised by a master control program known as the pilot. Observations are decided by a just-in-time scheduler, which instructs the pilot what to observe in real time and provides quick follow-up of transient events.
The detection of the first electromagnetic counterpart to a gravitational-wave signal in August 2017 marked the start of a new era of multi-messenger astrophysics. An unprecedented number of telescopes around the world were involved in hunting for the source of the signal, and although more gravitational-wave signals have been since detected, no further electromagnetic counterparts have been found. In this thesis, I present my work to help build a telescope dedicated to the hunt for these elusive sources: the Gravitational-wave Optical Transient Observer (GOTO). I detail the creation of the GOTO Telescope Control System, G-TeCS, which includes the software required to control multiple wide-field telescopes on a single robotic mount. G-TeCS also includes software that enables the telescope to complete a sky survey and transient alert follow-up observations completely autonomously, whilst monitoring the weather conditions and automatically fixing any hardware issues that arise. I go on to describe the routines used to determine target priorities, as well as how the all-sky survey grid is defined, how gravitational-wave and other transient alerts are received and processed, and how the optimum follow-up strategies for these events were determined. The GOTO prototype, situated on La Palma, saw first light in June 2017. I detail the work I carried out on the site to help commission the prototype, and how the control software was developed during the commissioning phase. I also analyse the GOTO CCD cameras and optics, building a complete theoretical model of the system to confirm the performance of the prototype. Finally, I describe the results of simulations I carried out predicting the future of the GOTO project, with multiple robotic telescopes on La Palma and in Australia, and how G-TeCS might be modified to operate these telescopes as a single, global observatory.
We report the current status of the NASCO (NAnten2 Super CO survey as legacy) project which aims to provide all-sky CO data cube of southern hemisphere using the NANTEN2 4-m submillimeter telescope installed at the Atacama Desert through developing a new multi-beam receiver and a new telescope control system. The receiver consists of 5 beams. The four beams, located at the four corners of a square with the beam separation of 720$$, are installed with a 100 GHz band SIS receiver having 2-polarization sideband-separation filter. The other beam, located at the optical axis, is installed with a 200 GHz band SIS receiver having 2-polarization sideband-separation filter. The cooled component is modularized for each beam, and cooled mirrors are used. The IF bandwidths are 8 and 4 GHz for 100 and 200 GHz bands, respectively. Using XFFTS spectrometers with a bandwidth of 2 GHz, the lines of $^{12}$CO, $^{13}$CO, and C$^{18}$O of $J$=1$-$0 or $J$=2$-$1 can be observed simultaneously for each beam. The control system is reconstructed on the ROS architecture, which is an open source framework for robot control, to enable a flexible observation mode and to handle a large amount of data. The framework is commonly used and maintained in a robotic field, and thereby reliability, flexibility, expandability, and efficiency in development are improved as compared with the system previously used. The receiver and control system are installed on the NANTEN2 telescope in December 2019, and its commissioning and science verification are on-going. We are planning to start science operation in early 2021.
The Cobra fiber positioner is being developed by the California Institute of Technology (CIT) and the Jet Propulsion Laboratory (JPL) for the Prime Focus Spectrograph (PFS) instrument that will be installed at the Subaru Telescope on Mauna Kea, Hawaii. PFS is a fiber fed multi-object spectrometer that uses an array of Cobra fiber positioners to rapidly reconfigure 2394 optical fibers at the prime focus of the Subaru Telescope that are capable of positioning a fiber to within 5um of a specified target location. A single Cobra fiber positioner measures 7.7mm in diameter and is 115mm tall. The Cobra fiber positioner uses two piezo-electric rotary motors to move a fiber optic anywhere in a 9.5mm diameter patrol area. In preparation for full-scale production of 2550 Cobra positioners an Engineering Model (EM) version was developed, built and tested to validate the design, reduce manufacturing costs, and improve system reliability. The EM leveraged the previously developed prototy
The Gravitational-wave Optical Transient Observer (GOTO) is a wide-field telescope project focused on detecting optical counterparts to gravitational-wave sources. GOTO uses arrays of 40 cm unit telescopes (UTs) on a shared robotic mount, which scales to provide large fields of view in a cost-effective manner. A complete GOTO mount uses 8 unit telescopes to give an overall field of view of 40 square degrees, and can reach a depth of 20th magnitude in three minutes. The GOTO-4 prototype was inaugurated with 4 unit telescopes in 2017 on La Palma, and was upgraded to a full 8-telescope array in 2020. A second 8-UT mount will be installed on La Palma in early 2021, and another GOTO node with two more mount systems is planned for a southern site in Australia. When complete, each mount will be networked to form a robotic, dual-hemisphere observatory, which will survey the entire visible sky every few nights and enable rapid follow-up detections of transient sources.
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