March of the starbugs: Configuring fiber-bearing robots on the UK-Schmidt optical plane

Nuria P. F. Lorente; Minh Vuong; Christophe Satorre; Sungwook E. Hong; Keith Shortridge; Michael Goodwin; Kyler Kuehn

March of the starbugs: Configuring fiber-bearing robots on the UK-Schmidt optical plane

Nuria P. F. Lorente, Minh Vuong, Christophe Satorre, Sungwook E. Hong, Keith Shortridge, Michael Goodwin, Kyler Kuehn

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

Abstract

The TAIPAN instrument, currently being developed for the Australian Astronomical Observatory's UK Schmidt telescope at Siding Spring Observatory, makes use of the AAO's Starbug technology to deploy 150 science fibers to target positions on the optical plane. This paper describes the software system for controlling and deploying the fiber-bearing Starbug robots. The TAIPAN software is responsible for allocating each Starbug to its next target position based on its current position and the distribution of targets, finding a collision-free path for each Starbug, and then simultaneously controlling the Starbug hardware in a closed loop, with a metrology camera used to determine the position of each Starbug in the field during reconfiguration. The software is written in C++ and Java and employs a DRAMA middleware layer (Farrell et al. 1995).

Original language	English
Title of host publication	Astronomical data analysis software and systems XXIV
Subtitle of host publication	proceedings of a meeting held at Calgary, Alberta, Canada, 5-9 October 2014
Editors	A. R. Taylor, E. Rosolowsky
Place of Publication	San Francisco, CA
Publisher	Astronomical Society of the Pacific
Pages	265-268
Number of pages	4
ISBN (Electronic)	9781583818756
ISBN (Print)	9781583818749
Publication status	Published - 1 Sept 2015
Externally published	Yes
Event	Astronomical Data Analysis Software and Systems XXIV (ADASS XXIV) - Calgary, Canada Duration: 5 Oct 2014 → 9 Oct 2014

Publication series

Name	Astronomical Society of the Pacific Conference Series
Publisher	Astronomical Society of the Pacific
Volume	495

Conference

Conference	Astronomical Data Analysis Software and Systems XXIV (ADASS XXIV)
Country/Territory	Canada
City	Calgary
Period	5/10/14 → 9/10/14

Access to Document

http://www.aspbooks.org/a/volumes/article_details/?paper_id=37334

Cite this

Lorente, N. P. F., Vuong, M., Satorre, C., Hong, S. E., Shortridge, K., Goodwin, M., & Kuehn, K. (2015). March of the starbugs: Configuring fiber-bearing robots on the UK-Schmidt optical plane. In A. R. Taylor, & E. Rosolowsky (Eds.), Astronomical data analysis software and systems XXIV: proceedings of a meeting held at Calgary, Alberta, Canada, 5-9 October 2014 (pp. 265-268). (Astronomical Society of the Pacific Conference Series; Vol. 495). Astronomical Society of the Pacific. http://www.aspbooks.org/a/volumes/article_details/?paper_id=37334

Lorente, Nuria P. F. ; Vuong, Minh ; Satorre, Christophe et al. / March of the starbugs : Configuring fiber-bearing robots on the UK-Schmidt optical plane. Astronomical data analysis software and systems XXIV: proceedings of a meeting held at Calgary, Alberta, Canada, 5-9 October 2014. editor / A. R. Taylor ; E. Rosolowsky. San Francisco, CA : Astronomical Society of the Pacific, 2015. pp. 265-268 (Astronomical Society of the Pacific Conference Series).

@inproceedings{1ad3363fde114e34a4048facf64776f4,

title = "March of the starbugs: Configuring fiber-bearing robots on the UK-Schmidt optical plane",

abstract = "The TAIPAN instrument, currently being developed for the Australian Astronomical Observatory's UK Schmidt telescope at Siding Spring Observatory, makes use of the AAO's Starbug technology to deploy 150 science fibers to target positions on the optical plane. This paper describes the software system for controlling and deploying the fiber-bearing Starbug robots. The TAIPAN software is responsible for allocating each Starbug to its next target position based on its current position and the distribution of targets, finding a collision-free path for each Starbug, and then simultaneously controlling the Starbug hardware in a closed loop, with a metrology camera used to determine the position of each Starbug in the field during reconfiguration. The software is written in C++ and Java and employs a DRAMA middleware layer (Farrell et al. 1995).",

author = "Lorente, {Nuria P. F.} and Minh Vuong and Christophe Satorre and Hong, {Sungwook E.} and Keith Shortridge and Michael Goodwin and Kyler Kuehn",

year = "2015",

month = sep,

day = "1",

language = "English",

isbn = "9781583818749",

series = "Astronomical Society of the Pacific Conference Series",

publisher = "Astronomical Society of the Pacific",

pages = "265--268",

editor = "Taylor, {A. R.} and E. Rosolowsky",

booktitle = "Astronomical data analysis software and systems XXIV",

note = "Astronomical Data Analysis Software and Systems XXIV (ADASS XXIV) ; Conference date: 05-10-2014 Through 09-10-2014",

}

Lorente, NPF, Vuong, M, Satorre, C, Hong, SE, Shortridge, K, Goodwin, M & Kuehn, K 2015, March of the starbugs: Configuring fiber-bearing robots on the UK-Schmidt optical plane. in AR Taylor & E Rosolowsky (eds), Astronomical data analysis software and systems XXIV: proceedings of a meeting held at Calgary, Alberta, Canada, 5-9 October 2014. Astronomical Society of the Pacific Conference Series, vol. 495, Astronomical Society of the Pacific, San Francisco, CA, pp. 265-268, Astronomical Data Analysis Software and Systems XXIV (ADASS XXIV), Calgary, Canada, 5/10/14. <http://www.aspbooks.org/a/volumes/article_details/?paper_id=37334>

March of the starbugs: Configuring fiber-bearing robots on the UK-Schmidt optical plane. / Lorente, Nuria P. F.; Vuong, Minh; Satorre, Christophe et al.
Astronomical data analysis software and systems XXIV: proceedings of a meeting held at Calgary, Alberta, Canada, 5-9 October 2014. ed. / A. R. Taylor; E. Rosolowsky. San Francisco, CA: Astronomical Society of the Pacific, 2015. p. 265-268 (Astronomical Society of the Pacific Conference Series; Vol. 495).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

TY - GEN

T1 - March of the starbugs

T2 - Astronomical Data Analysis Software and Systems XXIV (ADASS XXIV)

AU - Lorente, Nuria P. F.

AU - Vuong, Minh

AU - Satorre, Christophe

AU - Hong, Sungwook E.

AU - Shortridge, Keith

AU - Goodwin, Michael

AU - Kuehn, Kyler

PY - 2015/9/1

Y1 - 2015/9/1

N2 - The TAIPAN instrument, currently being developed for the Australian Astronomical Observatory's UK Schmidt telescope at Siding Spring Observatory, makes use of the AAO's Starbug technology to deploy 150 science fibers to target positions on the optical plane. This paper describes the software system for controlling and deploying the fiber-bearing Starbug robots. The TAIPAN software is responsible for allocating each Starbug to its next target position based on its current position and the distribution of targets, finding a collision-free path for each Starbug, and then simultaneously controlling the Starbug hardware in a closed loop, with a metrology camera used to determine the position of each Starbug in the field during reconfiguration. The software is written in C++ and Java and employs a DRAMA middleware layer (Farrell et al. 1995).

AB - The TAIPAN instrument, currently being developed for the Australian Astronomical Observatory's UK Schmidt telescope at Siding Spring Observatory, makes use of the AAO's Starbug technology to deploy 150 science fibers to target positions on the optical plane. This paper describes the software system for controlling and deploying the fiber-bearing Starbug robots. The TAIPAN software is responsible for allocating each Starbug to its next target position based on its current position and the distribution of targets, finding a collision-free path for each Starbug, and then simultaneously controlling the Starbug hardware in a closed loop, with a metrology camera used to determine the position of each Starbug in the field during reconfiguration. The software is written in C++ and Java and employs a DRAMA middleware layer (Farrell et al. 1995).

M3 - Conference proceeding contribution

SN - 9781583818749

T3 - Astronomical Society of the Pacific Conference Series

SP - 265

EP - 268

BT - Astronomical data analysis software and systems XXIV

A2 - Taylor, A. R.

A2 - Rosolowsky, E.

PB - Astronomical Society of the Pacific

CY - San Francisco, CA

Y2 - 5 October 2014 through 9 October 2014

ER -

Lorente NPF, Vuong M, Satorre C, Hong SE, Shortridge K, Goodwin M et al. March of the starbugs: Configuring fiber-bearing robots on the UK-Schmidt optical plane. In Taylor AR, Rosolowsky E, editors, Astronomical data analysis software and systems XXIV: proceedings of a meeting held at Calgary, Alberta, Canada, 5-9 October 2014. San Francisco, CA: Astronomical Society of the Pacific. 2015. p. 265-268. (Astronomical Society of the Pacific Conference Series).

March of the starbugs: Configuring fiber-bearing robots on the UK-Schmidt optical plane

Abstract

Publication series

Conference

Access to Document

Fingerprint

Cite this