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3 January 2020 Steering Starbugs: routing autonomous fibre positioners for TAIPAN
Nuwanthika Fernando, Carlos Bacigalupo, Tony Farrell, Nuria Lorente
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Proceedings Volume 11203, Advances in Optical Astronomical Instrumentation 2019; 1120316 (2020) https://doi.org/10.1117/12.2541296
Event: ANZCOP, 2019, Melbourne, Australia
Abstract
The TAIAPAN instrument, being developed by the Australian Astronomical Optics (AAO) - Macquarie University, deploys 159 Starbug robots to position optical fibers on a 32 cm glass field plate on the focal plane of the 1.2 m UK-Schmidt telescope. The Starbug Routing algorithm created for the instrument allows the autonomous robots to reach accuracies of 0.5 arcsec of the assigned target. It employs a 3 stage tiered approach to find a collision-free path for Starbugs of increasing complexity and computational cost. For each Starbug a path is attempted using a direct simultaneous movement. If unsuccessful, subsequently more complex (and expensive) methods are tried until a valid path is found or the target is discarded. The system uses a MongoDB database to record and retrieve starbug locations and properties which allow in-situ re-routing to take place as well.
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Nuwanthika Fernando, Carlos Bacigalupo, Tony Farrell, and Nuria Lorente "Steering Starbugs: routing autonomous fibre positioners for TAIPAN", Proc. SPIE 11203, Advances in Optical Astronomical Instrumentation 2019, 1120316 (3 January 2020); https://doi.org/10.1117/12.2541296
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KEYWORDS
Optical fibers
Robots
Astronomical imaging
Databases
Robotics
Astronomical telescopes
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