CaltechAUTHORS
  A Caltech Library Service

The Infrared Imaging Spectrograph (IRIS) for TMT: motion planning with collision avoidance for the on-instrument wavefront sensors

Chapin, Edward L. and Dunn, Jennifer and Weiss, Jason and Gillies, Kim and Hayano, Yutaka and Johnson, Chris and Larkin, James and Moore, Anna and Riddle, Reed L. and Sohn, Ji Man and Smith, Roger and Suzuki, Ryuji and Walth, Gregory and Wright, Shelley (2016) The Infrared Imaging Spectrograph (IRIS) for TMT: motion planning with collision avoidance for the on-instrument wavefront sensors. In: Software and Cyberinfrastructure for Astronomy IV. Proceedings of SPIE. No.9913. Society of Photo-Optical Instrumentation Engineers (SPIE) , Bellingham, WA, Art. No. 99130T. ISBN 978-1-5106-0205-2. https://resolver.caltech.edu/CaltechAUTHORS:20170110-114054120

[img] PDF - Published Version
See Usage Policy.

2486Kb

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20170110-114054120

Abstract

The InfraRed Imaging Spectrograph (IRIS) will be a first-light client instrument for the Narrow Field Infrared Adaptive Optics System (NFIRAOS) on the Thirty Meter Telescope. IRIS includes three configurable tip/tilt (TT) or tip/tilt/focus (TTF) On-Instrument Wavefront Sensors (OIWFS). These sensors are positioned over natural guide star (NGS) asterisms using movable polar-coordinate pick-ofi arms (POA) that patrol an approximately 2-arcminute circular field-of-view (FOV). The POAs are capable of colliding with one another, so an algorithm for coordinated motion that avoids contact is required. We have adopted an approach in which arm motion is evaluated using the gradient descent of a scalar potential field that includes an attractive component towards the goal configuration (locations of target stars), and repulsive components to avoid obstacles (proximity to adjacent arms). The resulting vector field is further modified by adding a component transverse to the repulsive gradient to avoid problematic local minima in the potential. We present path planning simulations using this computationally inexpensive technique, which exhibit smooth and efficient trajectories.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1117/12.2233608 DOIArticle
http://proceedings.spiedigitallibrary.org/proceeding.aspx?articleid=2542540PublisherArticle
ORCID:
AuthorORCID
Larkin, James0000-0001-7687-3965
Moore, Anna0000-0002-2894-6936
Riddle, Reed L.0000-0002-0387-370X
Walth, Gregory0000-0002-6313-6808
Wright, Shelley0000-0003-1034-8054
Additional Information:© 2016 Society of Photo-Optical Instrumentation Engineers (SPIE). The TMT Project gratefully acknowledges the support of the TMT collaborating institutions. They are the California Institute of Technology, the University of California, the National Astronomical Observatory of Japan, the National Astronomical Observatories of China and their consortium partners, the Department of Science and Technology of India and their supported institutes, and the National Research Council of Canada. This work was supported as well by the Gordon and Betty Moore Foundation, the Canada Foundation for Innovation, the Ontario Ministry of Research and Innovation, the Natural Sciences and Engineering Research Council of Canada, the British Columbia Knowledge Development Fund, the Association of Canadian Universities for Research in Astronomy (ACURA) , the Association of Universities for Research in Astronomy (AURA), the U.S. National Science Foundation, the National Institutes of Natural Sciences of Japan, and the Department of Atomic Energy of India. EC would also like to thank Dan Kerley for his comments on the manuscript.
Group:Thirty Meter Telescope
Funders:
Funding AgencyGrant Number
CaltechUNSPECIFIED
University of CaliforniaUNSPECIFIED
National Astronomical Observatory of JapanUNSPECIFIED
National Astronomical Observatories of ChinaUNSPECIFIED
Department of Science and Technology (India)UNSPECIFIED
Gordon and Betty Moore FoundationUNSPECIFIED
Canada Foundation for InnovationUNSPECIFIED
Ontario Ministry of Research and InnovationUNSPECIFIED
Natural Sciences and Engineering Research Council of Canada (NSERC)UNSPECIFIED
British Columbia Knowledge Development FundUNSPECIFIED
Association of Canadian Universities for Research in Astronomy (ACURA)UNSPECIFIED
Association of Universities for Research in Astronomy (AURA)UNSPECIFIED
NSFUNSPECIFIED
National Institutes of Natural Sciences of JapanUNSPECIFIED
Department of Atomic Energy (India)UNSPECIFIED
Subject Keywords:coordinated motion control, real-time control, collision avoidance, adaptive optics, wavefront sensors, TMT, IRIS
Series Name:Proceedings of SPIE
Issue or Number:9913
Record Number:CaltechAUTHORS:20170110-114054120
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170110-114054120
Official Citation:Edward L. Chapin ; Jennifer Dunn ; Jason Weiss ; Kim Gillies ; Yutaka Hayano ; Chris Johnson ; James Larkin ; Anna Moore ; Reed L. Riddle ; Ji Man Sohn ; Roger Smith ; Ryuji Suzuki ; Gregory Walth ; Shelley Wright; The Infrared Imaging Spectrograph (IRIS) for TMT: motion planning with collision avoidance for the on-instrument wavefront sensors. Proc. SPIE 9913, Software and Cyberinfrastructure for Astronomy IV, 99130T (August 2, 2016); doi:10.1117/12.2233608.
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:73375
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:10 Jan 2017 23:50
Last Modified:02 Nov 2019 16:57

Repository Staff Only: item control page