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Proceedings Paper

AAO Starbugs: software control and associated algorithms
Author(s): Nuria P. F. Lorente; Minh V. Vuong; Keith Shortridge; Tony J. Farrell; Scott Smedley; Sungwook E. Hong; Carlos Bacigalupo; Michael Goodwin; Kyler Kuehn; Christophe Satorre
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Paper Abstract

The Australian Astronomical Observatory's TAIPAN instrument deploys 150 Starbug robots to position optical fibres to accuracies of 0.3 arcsec, on a 32 cm glass field plate on the focal plane of the 1.2 m UK-Schmidt telescope. This paper describes the software system developed to control and monitor the Starbugs, with particular emphasis on the automated path-finding algorithms, and the metrology software which keeps track of the position and motion of individual Starbugs as they independently move in a crowded field. The software employs a tiered approach to find a collision-free path for every Starbug, from its current position to its target location. This consists of three path-finding stages of increasing complexity and computational cost. For each Starbug a path is attempted using a simple method. If unsuccessful, subsequently more complex (and expensive) methods are tried until a valid path is found or the target is flagged as unreachable.

Paper Details

Date Published: 2 August 2016
PDF: 10 pages
Proc. SPIE 9913, Software and Cyberinfrastructure for Astronomy IV, 99130U (2 August 2016); doi: 10.1117/12.2233685
Show Author Affiliations
Nuria P. F. Lorente, Australian Astronomical Observatory (Australia)
Minh V. Vuong, Australian Astronomical Observatory (Australia)
Keith Shortridge, Australian Astronomical Observatory (Australia)
Tony J. Farrell, Australian Astronomical Observatory (Australia)
Scott Smedley, Australian Astronomical Observatory (Australia)
Sungwook E. Hong, Korea Institute for Advanced Study (Korea, Republic of)
Carlos Bacigalupo, Australian Astronomical Observatory (Australia)
Michael Goodwin, Australian Astronomical Observatory (Australia)
Kyler Kuehn, Australian Astronomical Observatory (Australia)
Christophe Satorre, Australian Astronomical Observatory (Australia)
Ecole Polytechnique Federale de Lausanne (Switzerland)

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

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