FOAM: the modular adaptive optics framework

An Adaptive Optic (AO) system is a fundamental requirement of 8m-class telescopes. We know that in order to obtain the maximum possible resolution allowed by these telescopes we need to correct the atmospheric turbulence. Thanks to adaptive optic systems we are able to use all the effective potential of these instruments, drawing all the information from the universe sources as best as possible. In an AO system there are two main components: the wavefront sensor (WFS) that is able to measure the aberrations on the incoming wavefront in the telescope, and the deformable mirror (DM) that is able to assume a shape opposite to the one measured by the sensor. The two subsystem are connected by the reconstructor (REC). In order to do this, the REC requires a “common language" between these two main AO components. It means that it needs a mapping between the sensor-space and the mirror-space, called an interaction matrix (IM). Therefore, in order to operate correctly, an AO system has a main requirement: the measure of an IM in order to obtain a calibration of the whole AO system. The IM measurement is a 'mile stone' for an AO system and must be done regardless of the telescope size or class. Usually, this calibration step is done adding to the telescope system an auxiliary artificial source of light (i.e a fiber) that illuminates both the deformable mirror and the sensor, permitting the calibration of the AO system. For large telescope (more than 8m, like Extremely Large Telescopes, ELTs) the fiber based IM measurement requires challenging optical setups that in some cases are also impractical to build. In these cases, new techniques to measure the IM are needed. In this PhD work we want to check the possibility of a different method of calibration that can be applied directly on sky, at the telescope, without any auxiliary source. Such a technique can be used to calibrate AO system on a telescope of any size. We want to test the new calibration technique, called “sinusoidal modulation technique”, on the Large Binocular Telescope (LBT) AO system, which is already a complete AO system with the two main components: a secondary deformable mirror with by 672 actuators, and a pyramid wavefront sensor. My first phase of PhD work was helping to implement the WFS board (containing the pyramid sensor and all the auxiliary optical components) working both optical alignments and tests of some optical components. Thanks to the “solar tower” facility of the Astrophysical Observatory of Arcetri (Firenze), we have been able to reproduce an environment very similar to the telescope one, testing the main LBT AO components: the pyramid sensor and the secondary deformable mirror. Thanks to this the second phase of my PhD thesis: the measure of IM applying the sinusoidal modulation technique. At first we have measured the IM using a fiber auxiliary source to calibrate the system, without any kind of disturbance injected. After that, we have tried to use this calibration technique in order to measure the IM directly “on sky”, so adding an atmospheric disturbance to the AO system. The results obtained in this PhD work measuring the IM directly in the Arcetri solar tower system are crucial for the future development: the possibility of the acquisition of IM directly on sky means that we are able to calibrate an AO system also for extremely large telescope class where classic IM measurements technique are problematic and, sometimes, impossible. Finally we have not to forget the reason why we need this: the main aim is to observe the universe. Thanks to these new big class of telescopes and only using their full capabilities, we will be able to increase our knowledge of the universe objects observed, because we will be able to resolve more detailed characteristics, discovering, analyzing and understanding the behavior of the universe components.

Working on low-contrast, extended, time-varying objects such as the solar granulation, solar adaptive optics (AO) system uses correlation algorithms to detect image shift of the Shack-Hartmann (SH) wavefront sensor (WFS) instead of centroid algorithm in night-time adaptive optics system. An real-time image shift detection processor, which consists of a Xilinx FPGA and a TI DSP, has been developed for a low-order solar AO system based on cross correlation coefficient algorithm. Image shift of integer pixels can be calculated in the FPGA and DSP is responsible for parabolic interpolation to obtain subpixel accuracy. The experimental results show that the processor can obtain correct image shift and satisfy the time latency requirement of the AO system.

It is well known that using two or more deformable mirrors (DMs) can improve the compensation ability of an adaptive optics (AO) system. However, to keep the stability of an AO system, the correlation between the multiple DMs must be suppressed during the correction. In this paper, we proposed a slope-based decoupling algorithm to simultaneous control the multiple DMs. In order to examine the validity and practicality of this algorithm, a typical woofer-tweeter (W-T) AO system was set up. For the W-T system, a theory model was simulated and the results indicated in theory that the algorithm we presented can selectively make woofer and tweeter correct different spatial frequency aberration and suppress the cross coupling between the dual DMs. At the same time, the experimental results for the W-T AO system were consistent with the results of the simulation, which demonstrated in practice that this algorithm is practical for the AO system with dual DMs.

Solar Adaptive Optics (AO) shares many issues with night-time AO, but it also has its own particularities. The wavefront sensing is performed using correlations to efficiently work on the solar granulation as a reference. The field of view for that measurement usually is around 10". A sensor collecting such a wide field of view averages wavefront information from different sky directions, and the anisoplanatism thus has a peculiar impact on the performance of solar AO and MCAO systems. Since we are entering the era of large solar telescopes (European Solar Telescope, Advanced Technology Solar Telescope) understanding this issue is crucial to evaluate its impact on the performance of future AO systems. In this paper we model the correlating wide field sensor and the way it senses the high altitude turbulence. Thanks to this improved modelling, we present an analysis of the influence of this sensing on the performance of each AO configuration, conventional AO and MCAO. In addition to the analytical study, simulations similar to the case of the EST AO systems with FRiM-3D (the Fractal Iterative Method for Atmospheric tomography) are used in order to highlight the relative influence of design parameters. In particular, results show the performance evolution when increasing the telescope diameter. We analyse the effect of high altitude turbulence correlation showing that increasing the diameter of the telescope does not degrade the performance when correcting on the same spatial and temporal scales.

The Gemini 8 meter telescopes performance with active and adaptive optics as a system is given. The telescopes are being designed to deliver near diffraction limited images at infrared wavelengths to the focal plane. This is achieved with a combination of innovative telescope design, a fully active control system and a natural guide star adaptive optics (AO) system for the Mauna Kea Telescope. The predicted delivered performance while under full active control is given at 2.2 microns. The top level AO system error budget is presented including the effects of instrumentation. The Gemini telescopes have been designed from the outset to be fully active; from control of the primary mirror surfaces and positioning of the secondary to ventilation of the enclosure by control over the ventilation gates. Descriptions of the concepts used in the various subsystems have been published previously. Here, we emphasize the system level interactions between the Gemini adaptive optics system and the telescope and instruments. This includes a performance summary of how the telescope operates with and without AO. First, the current system concept is outlined, which includes wavefront sensors/guiders in the following areas: (1) acquisition and guiding system, peripheral wavefront sensors; (2) scientific instruments, on instrument wavefront sensors; (3) adaptive optics system, facility wavefront sensor. The system performance depends upon the interactions of these three key sensor areas. For non-AO use, both peripheral and on instrument wavefront sensor may be used to support fast and slow guiding and active control of the telescope alignment and wavefront. For AO use, combinations of all three types of wavefront sensors may be used for adaptive atmospheric compensation in addition to the functions listed above. The system is designed to quickly change between modes of operation (AO to non-AO and back) under remote control.

We present our recent process on a portable solar adaptive Optics system, which is aimed for diffraction-limited imaging in the 1.0 ~ 5.0-μm infrared wavelength range with any solar telescope with an aperture size up to 1.6 meters. The realtime wave-front sensing, image processing and computation are based on a commercial multi-core personal computer. The software is developed in LabVIEW. Combining the power of multi-core imaging processing and LabVIEW parallel programming, we show that our solar adaptive optics can achieve excellent performance that is competitive with other systems. In addition, the LabVIEW's block diagram based programming is especially suitable for rapid development of a prototype system, which makes a low-cost and high-performance system possible. Our adaptive optics system is flexible; it can work with any telescope with or without central obstruction with any aperture size in the range of 0.6~1.6 meters. In addition, the whole system is compact and can be brought to a solar observatory to perform associated scientific observations. According to our knowledge, this is the first adaptive optics that adopts the LabVIEW high-level programming language with a multi-core commercial personal computer, and includes the unique features discussed above.

We discuss the chosen concepts, detailed design, implementation and calibration of the 85-electrode adaptive optics (AO) system of the Swedish 1-meter Solar Telescope (SST), which was installed in 2013. The AO system is unusual in that it uses a combination of a monomorph mirror with a Shack-Hartmann (SH) wavefront sensor (WFS) and a second high-resolution SH microlens array to aid the characterization, calibration, and modal control of the deformable mirror. An Intel PC workstation performs the heavy image processing associated with cross-correlations and real-time control at a 2 kHz update rate with very low latency. The computer and software continue the successful implementation since 1995 of earlier generations of correlation tracker and AO systems at SST and its predecessor, the 50-cm Swedish Vacuum Solar Telescope, by relying entirely on work-station technology and an extremely efficient algorithm for implementing cross-correlations with the large field of view of the WFS. We describe critical aspects of the design, calibrations, software, and functioning of the AO system. The exceptionally high performance is testified through the highest Strehl ratio (inferred from the measured granulation contrast) of existing meter-class solar telescopes, as demonstrated here at wavelengths shorter than 400 nm and discussed in more detail in a previous separate publication We expect that some aspects of this AO system may also be of interest outside the solar community.

Themis is a 90 cm solar telescope which undergoes a rejuvenation of its scientific instruments. In particular, it is about to be equipped with an adaptive optics (AO) system with a bandwidth of at least 1 kHz and featuring a 97 actuator deformable mirror and 10×10 Shack-Hartmann wavefront sensor. Nowadays, the computational power required by such a system can be provided by current multi-core CPU. We have therefore implemented from scratch the real-time control system in pure software using Julia, 1 a new language for technical computations, and running on Linux OS. Our main motivation was to be able to exploit new advances in wavefront sensing and adaptive optics control. With a computational cost comparable to state-of-the-art but sub-optimal methods used in solar AO, our wavefront sensing algorithm estimates the local slopes and their covariances following a maximum likelihood registration method. Themis AO system has a modest size but can be used to assert the benefits of maximum a posteriori (MAP) wavefront sensing and control, 2, 3 of accounting of the covariances of the measure and of the temporal correlation of the turbulent wavefront.

For performance evaluation of an adaptive optics (AO) system, the probability of the system residual wavefront variance can provide more information than the wavefront variance average. By studying the Zernike coefficients of an AO system residual wavefront, we derived the exact expressions for the probability density functions of the wavefront variance and the Strehl ratio, for instantaneous and long-term exposures owing to the insufficient control loop bandwidth of the AO system. Our calculations agree with the residual wavefront data of a closed loop AO system. Using these functions, we investigated the relationship between the AO system bandwidth and the distribution of the residual wavefront variance. Additionally, we analyzed the availability of an AO system for evaluating the AO performance. These results will assist in designing and probabilistic analysis of AO systems.

It is well-known that cone effect or focus anisoplanatism is produced by the limited distance of a laser guide star (LGS) which is created within the Earth atmosphere and consequently located at a finite distance from the observer. In this paper, the cone effect of the LGS for different vertical profiles of the refractive index structure constant is numerically investigated by using a revised computer program of atmospheric propagation of optical wave and an adaptive optics (AO) system including dynamic control process. According to the practice, the overall tilt for the tilt-correction mirror is obtained from a natural star and the aberrated wavefront for phase correction of the deformable mirror is obtained from a LGS in our numerical simulation. It is surprisingly found that the effect of altitude of the LGS on the AO phase compensation effectiveness by using the commonly-available vertical profiles of C²_n and the lateral wind speed in the atmosphere is relatively weak, and the cone effect for some C²_n profiles is even negligible. It is found that the cone effect does not have obvious relationship with the turbulence strength, however, it depends on the vertical distribution profile of apparently. On the other hand, the cone effect depends on the vertical distribution of the lateral wind speed as well. In comparison to a longer wavelength, the cone effect becomes more obvious in the case of a shorter wavelength. In all cases concerned in this paper, an AO system by using a sodium guide star has almost same phase compensation effectiveness as that by using the astronomical target itself as a beacon. Effect of dynamic control process in an AO system on the cone effect is studied in this paper for the first time within our knowledge.

In large ground telescopes the Adaptive Optics (AO) system aims at compensating the atmosphere effect on telescope measurements, and, the use of optimal filtering is fundamental for such task. This work is motivated by two important characteristics of new AO systems: on one hand, because of the request of very high measurement resolutions, the size of new telescopes, and of their sensors, is quickly increasing in the last decades, thus imposing to the AO systems the analysis of larger amount of data. On the other hand, the optimal filter has to be periodically updated according to temporal changes in atmosphere characteristics. Hence, it is of fundamental importance the use of computationally efficient algorithms for the update of the optimal filter gain. This paper proposes some changes to a recently presented method for the efficient computation, in the frequency domain, of the Kalman gain for large AO systems [15]. The proposed changes, which mainly aim at correcting some issues due to the conversion spatial-frequency domain, and viceversa, allow to compute a better approximation of the optimal Kalman gain, and, consequently, significantly improve the performance of the AO system.

In this paper we discuss the performance of low order adaptive optics (AO) systems. We present improved calculations of Strehl ratio achievable at various D/r<SUB>o</SUB> ratios for AO systems up to 7<SUP>th</SUP> order. Additionally we present calculations concerning the throughput of low order AO systems used in conjunction with spectrometers. We then show the results of a detailed simulation of the expected interaction of the University of Hawaii prototype AO system with spectrometers through the V,I,J,H,K optical bands. This simulation shows that AO spectroscopy performance should always be acceptable in the near IR (J,H,K), and often in the visible (V,I). We show the results of our initial efforts at deconvolving the AO PSF. These results indicate that deconvolution is likely to be quite widely applicable to AO images. Finally we discuss how it might be possible to extend the applicability and accuracy of deconvolution using the AO drive and wavefront error signals. The following results are for on-axis system, the effects of atmospheric anisoplanitism have not been addressed in this paper.

An optical design for a compact near-infrared (0.8--2.5 μm) spectrometer is presented, optimized for use with an adaptive optics system on a 4-m class telescope. The various observing modes of the design accommodate a large fraction of the spectroscopic observations desired for this region of the spectrum. The design does not contain any radical optical concepts, but demonstrates that a small instrument without exotic components is well suited to the application. While designed specifically for the NAOMI adaptive optics system on the William Herschel 4.2-m telescope, the basic concepts used -- a slow/small-diameter beam allowing a small cryostat volume, single-element off-axis focusing mirrors, and a small collection of cross-dispersed spectroscopic modes selected to provide complete wavelength coverage without exchanging gratings in and out of the cryostat -- are valid for other telescope/adaptive optics systems. Most of these advantages are not available for dual-purpose spectrometers designed to accommodate both uncorrected and corrected images. Two issues critical to infrared spectroscopy with adaptive optics are investigated in some detail. The first is the relation between spectral resolving power and system sensitivity. We arrive at a range of optimum resolutions to be used even with astronomical targets that require low resolution. We also show that adaptive optics do not provide substantial gains in point-source sensitivity where the sky emission is dominated by OH− lines, the contributing factors including the adaptive optics system throughput, less than ideal Strehl ratios, and losses associated with real optical systems operating at the diffraction limit. The second issue critical to spectroscopy with adaptive optics is the light losses resulting from slit diffraction. We present plots showing the relation between slit size, the size of the optical elements downstream of the slit, and the vignetting associated with both. Performance estimates are presented for the design. The combined system sensitivity compares favourably with a similar spectrometer mounted on the Hubble Space Telescope.

Most large telescopes are now implementing sodium laser guide star (LGS) adaptive optics (AO) systems. Most of these systems plan to use the Shack-Hartmann approach for wavefront sensing. In these systems, the laser spots that are imaged in the Shack-Hartmann subapertures suffer spot elongation due to the 10 km extent of the sodium layer. The spot elongation extends radially from the projection point, and increases linearly with the distance the subaperture is separated from the laser. For 8-meter class telescopes with laser projection behind the secondary mirror, the spot elongation is ~1 arc sec at the edge of the pupil, and does not significantly affect the performance of the AO system. However, for the coming generation of extremely large telescopes, sodium LGS spot elongation will significantly degrade the quality of wavefront measurement. Attention should now be given to the development of technologies that can reduce or eliminate the spot elongation problem. The laser spot elongation can be greatly reduced by projecting the sodium laser in a series of short (1-3 μsec) pulses. The Lawrence Livermore National Laboratory (LLNL) has been funded to develop a pulsed fiber laser. In parallel, a new kind of wavefront sensor detector must be developed to properly sense the pulsed laser return. In this paper, we present our project that will develop a novel CCD which is optimized for sensing the return from a pulsed sodium LGS. Our CCD design uses custom pixel morphology that aligns the pixels of each subaperture with the radial extension of the LGS spot. This pixel geometry will allow each subaperture to follow the yellow-orange rabbit (i.e. the 589 nm laser pulse) as it traverses the sodium layer, providing optimal sampling of a limited number of detected photons. This CCD will attain photon-noise limited performance at high frame rates, using MOSFET amplifiers that exist today (2-3 electrons noise). However, we seek even lower noise amplifiers, and as part of our project, we are testing a new generation of JFET amplifiers that may attain sub-electron noise performance. The test CCD will be a standard geometry, 160x160 pixel image area with split frame transfer and a total of 20 readout ports. This test CCD will easily surpass the performance of the CCDs presently in use in astronomical AO systems, and should provide a significant performance improvement in the AO systems of the 8-10 meter telescopes. This project is a collaboration between the Keck Observatory, MIT Lincoln Laboratory, SciMeasure Analytical Systems, Gemini Observatory, Lick Observatory, the University of California, and the Rockwell Scientific Company. Our efforts are being coordinated with the developments at LLNL so that the pulsed laser and novel geometry CCD can be mated together in 3 years when both are fully developed.

This paper presents the design of an Adaptive Optics (AO) system for retinal imaging applications. The development of retinal imaging systems allows for early diagnosis of eye diseases. Such systems can increase the quality of life of patients as well as curtail increasing health care costs through early eye disease detection and treatment. Until recently, AO systems have been prohibitively expensive and cumbersome. This has been mainly due to the size and cost of flexible membrane mirrors normally used as the aberration correction device. Recent developments in the technology of Microelectromechanical System (MEMS) based actuators allow the implementation of AO systems which would have been difficult to implement a few years ago due to exorbitant costs. The aim of this paper is to present the design of a compact and flexible low cost AO system using off the shelf components to measure and compensate for the aberrations of the eye. The design is based around the system’s main components which include a 52 channel magnetically actuated deformable membrane mirror, a Shack Hartmann wavefront sensor and a control system which runs on a single processor personal computer. All the components are commercially available. The use of the MEMS-based magnetically actuated mirror allows for increased resolution and force compared to conventional membrane mirrors designed mainly for use in astronomical applications. The performance of the closed-loop system is evaluated through experiments. Although designed as a diagnostic tool for eye diseases, such a system will find a number of applications in basic research in the visual sciences, including the study of microscopic structures in the living retina that could not be seen before. Optometrists, retinal surgeons, and ophthalmologists will also benefit from using such a system, through potential improvements on commonly used instruments such as phoropters and fundus cameras.