The MINiature Exoplanet Radial Velocity Array (MINERVA) is a US-based observational facility dedicated to the discovery and characterization of exoplanets around a nearby sample of bright stars. MINERVA employs a robotic array of four 0.7 m telescope
s outfitted for both high-resolution spectroscopy and photometry, and is designed for completely autonomous operation. The primary science program is a dedicated radial velocity survey and the secondary science objective is to obtain high precision transit light curves. The modular design of the facility and the flexibility of our hardware allows for both science programs to be pursued simultaneously, while the robotic control software provides a robust and efficient means to carry out nightly observations. In this article, we describe the design of MINERVA including major hardware components, software, and science goals. The telescopes and photometry cameras are characterized at our test facility on the Caltech campus in Pasadena, CA, and their on-sky performance is validated. New observations from our test facility demonstrate sub-mmag photometric precision of one of our radial velocity survey targets, and we present new transit observations and fits of WASP-52b -- a known hot-Jupiter with an inflated radius and misaligned orbit. The facility is now in the process of being relocated to its final destination at the Fred Lawrence Whipple Observatory in southern Arizona, and science operations will begin in 2015.
The goal of this paper is to establish the requirements of a barycentric correction with an RMS of $lesssim 1$ cm/s, which is an order of magnitude better than necessary for the Doppler detection of true Earth analogs ($sim9$ cm/s). We describe the t
heory and implementation of accounting for the effects on precise Doppler measurements of motion of the telescope through space, primarily from rotational and orbital motion of the Earth, and the motion of the solar system with respect to target star (i.e. the barycentric correction). We describe the minimal algorithm necessary to accomplish this and how it differs from a naive subtraction of velocities (i.e. a Galilean transformation). We demonstrate the validity of code we have developed from the California Planet Survey code via comparison with the pulsar timing package, TEMPO2. We estimate the magnitude of various terms and effects, including relativistic effects, and the errors associated with incomplete knowledge of telescope position, timing, and stellar position and motion. We note that chromatic aberration will create uncertainties in the time of observation, which will complicate efforts to detect true Earth analogs. Our code is available for public use and validation.
