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We report on the design and performance of the Keck Cosmic Web Imager (KCWI), a general purpose optical integral field spectrograph that has been installed at the Nasmyth port of the 10 m Keck II telescope on Mauna Kea, HI. The novel design provides blue-optimized seeing-limited imaging from 350-560 nm with configurable spectral resolution from 1000 - 20000 in a field of view up to 20"x33". Selectable volume phase holographic (VPH) gratings and high performance dielectric, multilayer silver and enhanced aluminum coatings provide end-to-end peak efficiency in excess of 45% while accommodating the future addition of a red channel that will extend wavelength coverage to 1 micron. KCWI takes full advantage of the excellent seeing and dark sky above Mauna Kea with an available nod-and-shuffle observing mode. The instrument is optimized for observations of faint, diffuse objects such as the intergalactic medium or cosmic web. In this paper, a detailed description of the instrument design is provided with measured performance results from the laboratory test program and ten nights of on-sky commissioning during the spring of 2017. The KCWI team is lead by Caltech and JPL (project management, design and implementation) in partnership with the University of California at Santa Cruz (camera optical and mechanical design) and the W. M. Keck Observatory (observatory interfaces)., Comment: 33 pages, 31 figures. Accepted to the Astrophysical Journal

We report on the design and performance of the Keck Cosmic Web Imager (KCWI), a general purpose optical integral field spectrograph that has been installed at the Nasmyth port of the 10 m Keck II telescope on Mauna Kea, HI. The novel design provides blue-optimized seeing-limited imaging from 350-560 nm with configurable spectral resolution from 1000 - 20000 in a field of view up to 20"x33". Selectable volume phase holographic (VPH) gratings and high performance dielectric, multilayer silver and enhanced aluminum coatings provide end-to-end peak efficiency in excess of 45% while accommodating the future addition of a red channel that will extend wavelength coverage to 1 micron. KCWI takes full advantage of the excellent seeing and dark sky above Mauna Kea with an available nod-and-shuffle observing mode. The instrument is optimized for observations of faint, diffuse objects such as the intergalactic medium or cosmic web. In this paper, a detailed description of the instrument design is provided with measured performance results from the laboratory test program and ten nights of on-sky commissioning during the spring of 2017. The KCWI team is lead by Caltech and JPL (project management, design and implementation) in partnership with the University of California at Santa Cruz (camera optical and mechanical design) and the W. M. Keck Observatory (observatory interfaces)., Comment: 33 pages, 31 figures. Accepted to the Astrophysical Journal

Motivated by the ever increasing pursuit of science with the transient sky (dubbed Time Domain Astronomy or TDA), we are fabricating and will commission a new deployable tertiary mirror for the Keck I telescope (K1DM3) at the W.M. Keck Observatory. This paper presents the detailed design of K1DM3 with emphasis on the opto-mechanics. This project has presented several design challenges. Foremost are the competing requirements to avoid vignetting the light path when retracted against a sufficiently rigid system for high-precision and repeatable pointing. The design utilizes an actuated swing arm to retract the mirror or deploy it into a kinematic coupling. The K1DM3 project has also required the design and development of custom connections to provide power, communications, and compressed air to the system. This NSF-MRI funded project is planned to be commissioned in Spring 2017., Comment: 22 pages; many figures; Published in SPIE

The design and performance of astronomical instruments depend critically on the total system throughput as well as the background emission from the sky and instrumental sources. In designing a pupil stop for background- limited imaging, one seeks to balance throughput and background rejection to optimize measurement signal-to-noise ratios. Many sources affect transmission and emission in infrared imaging behind the Keck Observatory’s adaptive optics systems, such as telescope segments, segment gaps, secondary support structure, and AO bench optics. Here we describe an experiment, using the pupil-viewing mode of NIRC2, to image the pupil plane as a function of wavelength. We are developing an empirical model of throughput and background emission as a function of position in the pupil plane. This model will be used in part to inform the optimal design of cold pupils in future instruments, such as the new imaging camera for OSIRIS.

The W. M. Keck Observatory is committed to maintaining the scientific leadership of our observing community by matching our observers' skills and passions in their fields of astronomical science with a continuing dedication by the Observatory and its collaborators to the development of state of the art instrumentation and systems. Our science driven strategic plan guides these developments and informs our plans for the future. In this paper we describe the performance of recently completed new instruments, instrument upgrades, and infrastructure upgrade projects. We also describe the expected performance of projects currently in the development or construction phases. Projects recently completed include a new laser for the Keck II AO system, the upgrade of the spectrograph detector in the OSIRIS instrument, and the upgrade to the telescope control system on the Keck II telescope. Projects in development include an upgrade to the telescope control system on the Keck I telescope, the blue channel of the Keck Cosmic Web Imager, the red channel of the Keck Cosmic Web Imager, the Keck Planet Finder, a deployable tertiary mirror for the Keck I telescope, an upgrade to the imager of OSIRIS, a major upgrade to the NIRSPEC instrument, and a fiber feed from the Keck II AO system to NIRSPEC.

The Multi-Object Spectrograph for Infrared Exploration (MOSFIRE) achieved first light on the W. M. Keck Observatory’s Keck I telescope on 4 April 2012 and quickly became the most popular Keck I instrument. One of the primary reasons for the instrument’s popularity is that it uses a configurable slitmask unit developed by the Centre Suisse d’Electronique et Microtechnique (CSEM SA) to isolate the light from up to 46 objects simultaneously. In collaboration with the instrument development team and CSEM engineers, the Keck observatory staff present how MOSFIRE is successfully used, and we identify what contributed to routine and trouble free nighttime operations.

Motivated by the ever increasing pursuit of science with the transient sky (dubbed Time Domain Astronomy or TDA), we are fabricating and will commission a new deployable tertiary mirror for the Keck I telescope (K1DM3) at the W.M. Keck Observatory. This paper presents the detailed design of K1DM3 with emphasis on the opto-mechanics. This project has presented several design challenges. Foremost are the competing requirements to avoid vignetting the light path when retracted against a sufficiently rigid system for high-precision and repeatable pointing. The design utilizes an actuated swing arm to retract the mirror or deploy it into a kinematic coupling. The K1DM3 project has also required the design and development of custom connections to provide power, communications, and compressed air to the system. This NSF-MRI funded project is planned to be commissioned in Spring 2017., Comment: 22 pages; many figures; Published in SPIE

OSIRIS is a near-infrared integral field spectrograph operating behind the adaptive optics system at W. M. Keck Observatory. While OSIRIS has been a scientifically productive instrument to date, its sensitivity has been limited by a grating efficiency that is less than half of what was expected. The spatially averaged efficiency of the old grating, weighted by error, is measured to be 39.5 +/- 0.8 % at {\lambda} = 1.310 {\mu}m, with large field dependent variation of 11.7 % due to efficiency variation across the grating surface. Working with a new vendor, we developed a more efficient and uniform grating with a weighted average efficiency at {\lambda} = 1.310 {\mu}m of 78.0 +/- 1.6 %, with field variation of only 2.2 %. This is close to double the average efficiency and five times less variation across the field. The new grating was installed in December 2012, and on- sky OSIRIS throughput shows an average factor of 1.83 improvement in sensitivity between 1 and 2.4 microns. We present the development history, testing, and implementation of this new near-infrared grating for OSIRIS and report the comparison with the predecessors. The higher sensitivities are already having a large impact on scientific studies with OSIRIS.

The W. M. Keck Observatory continues to develop new capabilities in support of our science driven strategic plan which emphasizes leadership in key areas of observational astronomy. This leadership is a key component of the scientific productivity of our observing community and depends on our ability to develop new instrumentation, upgrades to existing instrumentation, and upgrades to supporting infrastructure at the observatory. In this paper we describe the as measured performance of projects completed in 2014 and the expected performance of projects currently in the development or construction phases. Projects reaching completion in 2014 include a near-IR tip/tilt sensor for the Keck I adaptive optics system, a new center launch system for the Keck II laser guide star facility, and NIRES, a near-IR Echelle spectrograph for the Keck II telescope. Projects in development include a new seeing limited integral field spectrograph for the visible wavelength range called the Keck Cosmic Web Imager, a deployable tertiary mirror for the Keck I telescope, upgrades to the spectrograph detector and the imager of the OSIRIS instrument, and an upgrade to the telescope control systems on both Keck telescopes.

OSIRIS is a near-infrared integral field spectrograph operating behind the adaptive optics system at W. M. Keck Observatory. While OSIRIS has been a scientifically productive instrument to date, its sensitivity has been limited by a grating efficiency that is less than half of what was expected. The spatially averaged efficiency of the old grating, weighted by error, is measured to be 39.5 +/- 0.8 % at {\lambda} = 1.310 {\mu}m, with large field dependent variation of 11.7 % due to efficiency variation across the grating surface. Working with a new vendor, we developed a more efficient and uniform grating with a weighted average efficiency at {\lambda} = 1.310 {\mu}m of 78.0 +/- 1.6 %, with field variation of only 2.2 %. This is close to double the average efficiency and five times less variation across the field. The new grating was installed in December 2012, and on- sky OSIRIS throughput shows an average factor of 1.83 improvement in sensitivity between 1 and 2.4 microns. We present the development history, testing, and implementation of this new near-infrared grating for OSIRIS and report the comparison with the predecessors. The higher sensitivities are already having a large impact on scientific studies with OSIRIS.

The Keck Cosmic Web Imager (KCWI) is a new facility instrument being developed for the W. M. Keck Observatory and funded for construction by the Telescope System Instrumentation Program (TSIP) of the National Science Foundation (NSF). KCWI is a bench-mounted spectrograph for the Keck II right Nasmyth focal station, providing integral field spectroscopy over a seeing-limited field up to 20"x33" in extent. Selectable Volume Phase Holographic (VPH) gratings provide high efficiency and spectral resolution in the range of 1000 to 20000. The dual-beam design of KCWI passed a Preliminary Design Review in summer 2011. The detailed design of the KCWI blue channel (350 to 700 nm) is now nearly complete, with the red channel (530 to 1050 nm) planned for a phased implementation contingent upon additional funding. KCWI builds on the experience of the Caltech team in implementing the Cosmic Web Imager (CWI), in operation since 2009 at Palomar Observatory. KCWI adds considerable flexibility to the CWI design, and will take full advantage of the excellent seeing and dark sky above Mauna Kea with a selectable nod-and-shuffle observing mode. In this paper, models of the expected KCWI sensitivity and background subtraction capability are presented, along with a detailed description of the instrument design. The KCWI team is lead by Caltech (project management, design and implementation) in partnership with the University of California at Santa Cruz (camera optical and mechanical design) and the W. M. Keck Observatory (program oversight and observatory interfaces).

In this paper we describe both recently completed instrumentation projects and our current development efforts in terms of their role in the strategic plan, the key science areas they address, and their performance as measured or predicted. Projects reaching completion in 2012 include MOSFIRE, a near IR multi-object spectrograph, a laser guide star adaptive optics facility on the Keck I telescope, and an upgrade to the guide camera for the HIRES instrument on Keck I. Projects in development include a new seeing limited integral field spectrograph for the visible wavelength range called the Keck Cosmic Web Imager (KCWI), an upgrade to the telescope control systems on both Keck telescopes, a near-IR tip/tilt sensor for the Keck I adaptive optics system, and a new grating for the OSIRIS integral field spectrograph.

The Keck Cosmic Web Imager (KCWI) is a new facility instrument being developed for the W. M. Keck Observatory and funded for construction by the Telescope System Instrumentation Program (TSIP) of the National Science Foundation (NSF). KCWI is a bench-mounted spectrograph for the Keck II right Nasmyth focal station, providing integral field spectroscopy over a seeing-limited field up to 20"x33" in extent. Selectable Volume Phase Holographic (VPH) gratings provide high efficiency and spectral resolution in the range of 1000 to 20000. The dual-beam design of KCWI passed a Preliminary Design Review in summer 2011. The detailed design of the KCWI blue channel (350 to 700 nm) is now nearly complete, with the red channel (530 to 1050 nm) planned for a phased implementation contingent upon additional funding. KCWI builds on the experience of the Caltech team in implementing the Cosmic Web Imager (CWI), in operation since 2009 at Palomar Observatory. KCWI adds considerable flexibility to the CWI design, and will take full advantage of the excellent seeing and dark sky above Mauna Kea with a selectable nod-and-shuffle observing mode. In this paper, models of the expected KCWI sensitivity and background subtraction capability are presented, along with a detailed description of the instrument design. The KCWI team is lead by Caltech (project management, design and implementation) in partnership with the University of California at Santa Cruz (camera optical and mechanical design) and the W. M. Keck Observatory (program oversight and observatory interfaces).

In this paper we describe both recently completed instrumentation projects and our current development efforts in the context of the Observatory's science driven strategic plan which seeks to address key questions in observational astronomy for extra-galactic, Galactic, and planetary science with both seeing limited capabilities and high angular resolution adaptive optics capabilities. This paper will review recently completed projects as well as new instruments in development including MOSFIRE, a near IR multi-object spectrograph nearing completion, a new seeing limited integral field spectrograph for the visible wavelength range called the Keck Cosmic Web Imager, and the Keck Next Generation Adaptive Optics facility and its first light science instrument DAVINCI.

We report on the successful delivery of a 30 W solid-state sodium Guide Star Laser System (GLS) to the W. M. Keck Observatory in 2009, and the demonstration of a 55 W GLS delivered to the Gemini South Observatory in 2010. This paper describes the GLS performance results of both the Keck I and Gemini South GLSs with an emphasis on the system design and delivered performance. The 589 nm output was generated via Sum Frequency Mixing (SFM) of 1064 nm and 1319 nm Nd:YAG lasers in a LBO (Lithium Triborate) nonlinear crystal. The Keck GLS underwent extensive testing and has demonstrated consistent performance with a CW mode-locked output of > 30 W and measured beam quality of M2 < 1.2 while locked to the sodium D2a transition. The Keck GLS was installed on the telescope in late 2009 and first light on the sky was achieved in early 2010. Factory testing of the Gemini South GLS shows a CW modelocked output of > 55 W and measured M2 ~1.2 while locked to the sodium D2a line center. The Gemini South GLS has produced a maximum power of 76 W at 589 nm with 85 W of 1319 nm and 110 W of 1064 nm as inputs to the SFM, representing a single-pass conversion efficiency of 39%.

The Next Generation Adaptive Optics (NGAO) system will represent a considerable advancement for high resolution astronomical imaging and spectroscopy at the W. M. Keck Observatory. The AO system will incorporate multiple laser guidestar tomography to increase the corrected field of view and remove the cone effect inherent to single laser guide star systems. The improvement will permit higher Strehl correction in the near-infrared and diffraction-limited correction down to R band. A high actuator count micro-electromechanical system (MEMS) deformable mirror will provide the on-axis wavefront correction to a number of instrument stations and additional MEMS devices will feed multiple channels of a deployable integral-field spectrograph. In this paper we present the status of the AO system design and describe its various operating modes.

Atmospheric turbulence compensation via adaptive optics (AO) will be essential for achieving most objectives of the TMT science case. The performance requirements for the initial implementation of the observatory's facility AO system include diffraction-limited performance in the near IR with 50 per cent sky coverage at the galactic pole. This capability will be achieved via an order 60x60 multi-conjugate AO system (NFIRAOS) with two deformable mirrors optically conjugate to ranges of 0 and 12 km, six high-order wavefront sensors observing laser guide stars in the mesospheric sodium layer, and up to three low-order, IR, natural guide star wavefront sensors located within each client instrument. The associated laser guide star facility (LGSF) will consist of 3 50W class, solid state, sum frequency lasers, conventional beam transport optics, and a launch telescope located behind the TMT secondary mirror. In this paper, we report on the progress made in designing, modeling, and validating these systems and their components over the last two years. This includes work on the overall layout and detailed opto-mechanical designs of NFIRAOS and the LGSF; reliable wavefront sensing methods for use with elongated and time-varying sodium laser guide stars; developing and validating a robust tip/tilt control architecture and its components; computationally efficient algorithms for very high order wavefront control; detailed AO system modeling and performance optimization incorporating all of these effects; and a range of supporting lab/field tests and component prototyping activities at TMT partners. Further details may be found in the additional papers on each of the above topics.

The W. M. Keck Observatory has completed the development and initial deployment of MAGIQ, the Multi-function Acquisition, Guiding and Image Quality monitoring system. MAGIQ is an integrated system for acquisition, guiding and image quality measurement for the Keck telescopes. This system replaces the acquisition and guiding hardware and software for existing instruments at the Observatory and is now the standard for visible wavelength band acquisition cameras for future instrumentation. In this paper we report on the final design and implementation of this new system, which includes three major components: a visible wavelength band acquisition camera, image quality measurement capability, and software for acquisition, guiding and image quality monitoring. The overall performance is described, as well as the details of our approach to integrating low order wavefront sensing capability in order to provide closed loop control of telescope focus.

MOSFIRE, the multi-object spectrometer for infra-red exploration, is a near-IR (0.97-2.45 micron) spectrograph and imager for the Cassegrain focus of the Keck I telescope. The optical design provides imaging and multi-object spectroscopy over a field of view (FOV) of 6.14' x 6.14' with a resolving power of R~3,270 for a slit width of 0.7 arc seconds (2.9 pixels along dispersion). The detector is a 2.5 micron cut-off 2K x 2K H2-RG HgCdTe array with a SIDECAR ASIC for detector control. A special feature of MOSFIRE is that its multiplex advantage of up to 46 slits is achieved using a cryogenic Configurable Slit Unit (developed in collaboration with the Swiss Centre for Electronics and Micro Technology) reconfigurable under remote control in <5 minutes without thermal cycling. Slits are formed by moving opposable bars from both sides of the focal plane. An individual slit has a length of ~7.1 arc seconds but bar positions can be aligned to make longer slits. A single diffraction grating in two positions along with order-sorting filters gives essentially full coverage of the K, H, J and Y bands using 3rd, 4th, 5th or 6th order respectively. The grating and a mirror are mounted back-to-back, and when the bars are retracted from the FOV MOSFIRE becomes a wide-field imager. A piezo tip-tilt mirror following the field lens is used to provide flexure compensation at the 0.1 pixel level. Two large CCR heads allow the instrument to reach operating temperature in ~7 days. MOSFIRE is currently in construction.