The Segment Alignment Maintenance System (SAMs) was installed on McDonald Observatory's Hobby-Eberly Telescope (HET) in August 2001. The SAMs became fully operational in October 2001. The SAMs uses a system of 480 inductive edge sensors to correct misalignments of the HET's 91 primary mirror segments when the segments are perturbed from their aligned reference positions. A special observer estimated and corrects for the global radius of curvature (GroC) mode, a mode unobservable by the edge sensors. The SAMs edge sensor system and (GroC) estimator are able to maintain HET's primary figure for much longer durations than previously had been observed. Telescope image quality has improved, and the amount of overhead time required from primary mirror alignment has been reduced. This paper gives a functional description of the SAMs control system and presents performance verification data. This paper also describes how the SAMs has improved the operational efficiency of the HET.

Primary mirror figure maintenance of the Hobby-Eberly Telescope using the Segment Alignment Maintenance System

A sensing and control system for maintaining the optical alignment of the ninety-one 1-meter diameter hexagonal segments forming the Hobby-Eberly Telescope (HET) primary mirror array has been developed by NASA - Marshall Space Flight Center (Huntsville, AL) and Blue Line Engineering (Colorado Springs, CO) and implemented. This Segment Alignment Maintenance System (SAMS) employs 480 edge sensors to measure the relative shear motion between each segment edge pair and compute individual segment tip, tilt and piston position errors. Error information is sent to the HET primary mirror control system, which then corrects the physical position of each segment every 90 seconds. On-site installation of the SAMS sensors, ancillary electronics and software was completed in September 2001. Since that time, SAMS has undergone engineering testing. The system has operated almost nightly, improving HET's overall operational capability and image quality performance. SAMS has not yet, however, demonstrated performance at the specified levels for tip, tilt, piston and Global Radius of Curvature (GRoC) maintenance. Additional systems development and in situ calibration are expected to bring SAMS to completion and improved operation performance by the end of this year.

Hobby-Eberly Telescope segment alignment maintenance system

The Segment Alignment Maintenance System (SAMS) is a control system to maintain the alignment of the 91 segment Hobby-Eberly Telescope (HET) primary mirror array. The system was developed by Blue-Line Engineering (Colorado Springs, CO) and NASA-Marshall Space Flight Center (Huntsville-Al). The core of the system is a set of 480 inductive edge sensors which measure relative shear between adjacent segments. The relative shear is used to calculate segment tip/tilt and piston corrections. Although the system has dramatically improved the performance of the HET it does not meet its error budget due to thermal drifts in the sensors. The system is now sufficiently stable that it routinely requires only one primary mirror alignment at the beginning of the night. We describe methods to calibrate this sensor drift.

Control of the Hobby-Eberly Telescope primary mirror array with the segment alignment maintenance system

This paper presents a systematic and deep discussion on the aberration field characteristics of pupil-offset off-axis two-mirror astronomical telescopes induced by the radius of curvature (ROC) error based on the framework of the nodal aberration theory (NAT). The expressions of the third-order aberrations in off-axis two-mirror astronomical telescopes with ROC error are derived first. Then the astigmatic and coma aberration fields are discussed, and it is shown in a field constant astigmatism and coma will be induced by ROC error. The aberration compensation between axial misalignments and ROC error are further discussed, and it is shown that the net astigmatic and coma aberration field induced by ROC error can well be compensated by axial misalignments. Importantly, it is also demonstrated that the focal plane shift induced by ROC error can also be compensated at the same time. Also, this paper briefly analyzes the aberration field characteristics when there is the error of conic constant in optical system. Some other discussions are also presented concerning the ROC inconsistency in astronomical telescopes with a segmented primary mirror. This work will lead to a deep understanding of the influence of ROC error in pupil-offset off-axis astronomical telescopes.

Aberration fields of pupil-offset off-axis two-mirror astronomical telescopes induced by ROC error.

This paper discusses compensation strategies for the aberration fields caused by the error in the radius of curvature (ROC) of the primary mirror (PM) in pupil-offset off-axis three-mirror anastigmatic (TMA) astronomical telescopes. Based on the nodal aberration theory framework, the specific astigmatic and coma aberrations of the off-axis three-mirror system in the presence of the ROC error of the PM are derived. It is demonstrated that some field-dependent aberration components can be induced by ROC error in the off-axis TMA telescopes, apart from the dominating field-constant aberration terms. To reduce the influence of the ROC error on the aberration fields, we propose two aberration compensation strategies: adjusting the position of the PM and introducing axial misalignment of the secondary mirror (SM). Through theoretical analysis and simulations, we conclude that the compensation strategy of changing the axial position of the PM can make the aberration distribution close to the nominal state; the compensation strategy of axially adjusting the SM can make the aberration distribution meet the observation requirements, which is more suitable for space applications. We also discuss compensating the effect of the ROC error using lateral misalignments.

Aberration compensation strategy for the radius of curvature error of the primary mirror in off-axis three-mirror anastigmatic telescopes.

A system, which estimates the global radius of curvature (GroC) and corrects for changes in GroC on a segmented primary mirror has been developed for and verified on McDonald Observatory's Hobby Eberly Telescope (HET). The GroC estimation and control system utilizes HET's primary mirror control (PMC) system and the Segment Alignment Maintenance System (SAMS), an inductive edge sensor system. A special set of boundary conditions is applied to the derivation of the optimal edge match control. The special boundary conditions allow the further derivation of an observer, which enables estimation and control of the Groc mode to within HET's specification. The magnitude of the GroC mode can then be controlled despite the inability of the SAMS edge sensor system, by itself, to observe or control the GroC mode. The observer can be extended to any segmented mirror telescope. It will be shown that the observer improves with accuracy as the number of segments increases. This paper presents the mathematical theory of the observer. Simulation results will demonstrate the inherent accuracy and robustness of the system. Performance verification data from the HET will be presented.

Global Radius of Curvature Estimation and Control for the Hobby-Eberly Telescope

The software development for an upgrade to the Hobby-Eberly Telescope (HET) was done in LABView. In order to improve the performance of the HET at the McDonald Observatory, a closed-loop system had to be implemented to keep the mirror segments aligned during periods of observation. The control system, called the Segment Alignment Maintenance System (SAMs), utilized inductive sensors to measure the relative motions of the mirror segments. Software was developed in LABView to tie the sensors, operator interface, and mirror-control motors together. Developing the software in LABView allowed the system to be flexible, understandable, and able to be modified by the end users. Since LABView is built using block diagrams, the software naturally followed the designed control system's block and flow diagrams, and individual software blocks could be easily verified. LABView's many built-in display routines allowed easy visualization of diagnostic and health-monitoring data during testing. Also, since LABView is a multi-platform software package, different programmers could develop the code remotely on various types of machines. LABView s ease of use facilitated rapid prototyping and field testing. There were some unanticipated difficulties in the software development, but the use of LABView as the software "language" for the development of SAMs contributed to the overall success of the project.

Software development for the Hobby-Eberly Telescope's segment alignment maintenance system using LabVIEW

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Primary mirror figure maintenance of the Hobby-Eberly Telescope using the Segment Alignment Maintenance System

Global Radius of Curvature Estimation and Control for the Hobby-Eberly Telescope

Software development for the Hobby-Eberly Telescope's segment alignment maintenance system using LabVIEW