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Proceedings Paper

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

Paper Details

Date Published: 2 August 2016
PDF: 10 pages
Proc. SPIE 9913, Software and Cyberinfrastructure for Astronomy IV, 99130T (2 August 2016); doi: 10.1117/12.2233608
Show Author Affiliations
Edward L. Chapin, NRC - Herzberg Astronomy & Astrophysics (Canada)
Jennifer Dunn, NRC - Herzberg Astronomy & Astrophysics (Canada)
Jason Weiss, Univ. of California, Los Angeles (United States)
Kim Gillies, Thirty Meter Telescope (United States)
Yutaka Hayano, National Astronomical Observatory of Japan (Japan)
Chris Johnson, Univ. of California, Los Angeles (United States)
James Larkin, Univ. of California, Los Angeles (United States)
Anna Moore, California Institute of Technology (United States)
Reed L. Riddle, California Institute of Technology (United States)
Ji Man Sohn, Univ. of California, Los Angeles (United States)
Roger Smith, California Institute of Technology (United States)
Ryuji Suzuki, National Astronomical Observatory of Japan (Japan)
Gregory Walth, Univ. of California, San Diego (United States)
Shelley Wright, Univ. of California, San Diego (United States)


Published in SPIE Proceedings Vol. 9913:
Software and Cyberinfrastructure for Astronomy IV
Gianluca Chiozzi; Juan C. Guzman, Editor(s)

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