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Since 2005 ESO has been working with its community and industry to develop an extremely large optical/infrared telescope. ESO's Extremely Large Telescope, or ELT for short, is a revolutionary ground-based telescope that will have a 39-metre main mirror and will be the largest visible and infrared light telescope in the world. To address specific topics that are needed for the science operations and calibrations of the telescope, thirteen specific working groups were created to coordinate the effort between ESO, the instrument consortia, and the wider community. We describe here the goals of these working groups as well as their achievements so far., Comment: 8 pages, 4 figures

A robust grip is key to successful manipulation and joining of work pieces involved in any industrial assembly process. Stability of a grip depends on geometric and physical properties of the object as well as the gripper itself. Current state-of-the-art algorithms can usually predict if a grip would fail. However, they are not able to predict the force at which the gripped object starts to slip, which is critical as the object might be subjected to external forces, e.g. when joining it with another object. This research project aims to develop a AI-based approach for a grip metric based on tactile sensor data capturing the physical interactions between gripper and object. Thus, the maximum force that can be applied to the object before it begins to slip should be predicted before manipulating the object. The RGB image of the contact surface between the object and gripper jaws obtained from GelSight tactile sensors during the initial phase of the grip should serve as a training input for the grip metric. To generate such a data set, a pull experiment is designed using a UR 5 robot. Performing these experiments in real life to populate the data set is time consuming since different object classes, geometries, material properties and surface textures need to be considered to enhance the robustness of the prediction algorithm. Hence, a simulation model of the experimental setup has been developed to both speed up and automate the data generation process. In this paper, the design of this digital twin and the accuracy of the synthetic data are presented. State-of-the-art image comparison algorithms show that the simulated RGB images of the contact surface match the experimental data. In addition, the maximum pull forces can be reproduced for different object classes and grip scenarios. As a result, the synthetically generated data can be further used to train the neural grip metric network., Comment: 7 pages, 7 figures

Design and construction of the instruments for ESO's Extremely Large Telescope (ELT) began in 2015. We present here a brief overview of the status of the ELT Instrumentation Plan. Dedicated articles on each instrument are presented elsewhere this volume., Comment: 4 pages, 3 figures

Optical turbulence affects significantly the quality of ground-based astronomical observations. An accurate and reliable forecast of optical turbulence can help to optimise the scheduling of the science observations and to improve both the quality of the data and the scientific productivity of the observatory. However, forecasts of the turbulence to a level of accuracy that is useful in the operations of large observatories are notoriously difficult to obtain. Several routes have been investigated, from detailed physical modelling of the atmosphere to empirical data-driven approaches. Here, we present an empirical approach exploiting spatial diversity and based on simultaneous measurements between two nearby sites, Cerro Paranal, host of the Very Large Telescope (VLT), and Cerro Armazones, future host of the Extremely Large Telescope (ELT) in Chile. We study the correlation between the high-altitude turbulence as measured between those two sites. This is part of the on-going efforts initiated by the European Southern Observatory (ESO), to obtain short-term forecasts of the turbulence to facilitate the operations of the VLT and prepare the ELT mode of operations., Comment: 13 pages, 9 figures, Proc. of SPIE Paper No. 11448-59

Observations of metal absorption systems in the spectra of distant quasars allow to constrain a possible variation of the fine-structure constant throughout the history of the Universe. Such a test poses utmost demands on the wavelength accuracy and previous studies were limited by systematics in the spectrograph wavelength calibration. A substantial advance in the field is therefore expected from the new ultra-stable high-resolution spectrograph Espresso, recently installed at the VLT. In preparation of the fundamental physics related part of the Espresso GTO program, we present a thorough assessment of the Espresso wavelength accuracy and identify possible systematics at each of the different steps involved in the wavelength calibration process. Most importantly, we compare the default wavelength solution, based on the combination of Thorium-Argon arc lamp spectra and a Fabry-P\'erot interferometer, to the fully independent calibration obtained from a laser frequency comb. We find wavelength-dependent discrepancies of up to 24m/s. This substantially exceeds the photon noise and highlights the presence of different sources of systematics, which we characterize in detail as part of this study. Nevertheless, our study demonstrates the outstanding accuracy of Espresso with respect to previously used spectrographs and we show that constraints of a relative change of the fine-structure constant at the $10^{-6}$ level can be obtained with Espresso without being limited by wavelength calibration systematics., Comment: 27 pages, accepted for publication in A&A

Ultra-hot giant exoplanets receive thousands of times Earth's insolation. Their high-temperature atmospheres (>2,000 K) are ideal laboratories for studying extreme planetary climates and chemistry. Daysides are predicted to be cloud-free, dominated by atomic species and substantially hotter than nightsides. Atoms are expected to recombine into molecules over the nightside, resulting in different day-night chemistry. While metallic elements and a large temperature contrast have been observed, no chemical gradient has been measured across the surface of such an exoplanet. Different atmospheric chemistry between the day-to-night ("evening") and night-to-day ("morning") terminators could, however, be revealed as an asymmetric absorption signature during transit. Here, we report the detection of an asymmetric atmospheric signature in the ultra-hot exoplanet WASP-76b. We spectrally and temporally resolve this signature thanks to the combination of high-dispersion spectroscopy with a large photon-collecting area. The absorption signal, attributed to neutral iron, is blueshifted by -11+/-0.7 km s-1 on the trailing limb, which can be explained by a combination of planetary rotation and wind blowing from the hot dayside. In contrast, no signal arises from the nightside close to the morning terminator, showing that atomic iron is not absorbing starlight there. Iron must thus condense during its journey across the nightside., Comment: Published in Nature (Accepted on 24 January 2020.) 33 pages, 11 figures, 3 tables

Laser frequency combs (LFCs) are well on their way to becoming the next-generation calibration sources for precision astronomical spectroscopy. This development is considered key in the hunt for low-mass rocky exoplanets around solar-type stars whose discovery with the radial-velocity method requires cm/s Doppler precision. In order to prove such precise calibration with an LFC, it must be compared to another calibrator of at least the same precision. Being the best available spectrograph calibrator, this means comparing it to a second - fully independent - LFC. This test had long been pending, but our installation of two LFCs at the ultra-stable spectrograph HARPS presented the so far unique opportunity for simultaneous calibrations with two separate LFCs. Although limited in time, the test results confirm the 1 cm/s stability that has long been anticipated by the astronomical community., Comment: 22 pages, 14 figures. View the Nature Astronomy publication under https://rdcu.be/b1tMB . Nature Astronomy article available under https://www.nature.com/articles/s41550-020-1010-x

Atmospheric water vapor is the main limiting factor of atmospheric transparency in the mm and submm wavelength spectral windows. Thus, dry sites are needed for the installation and successful operation of radio astronomy observatories exploiting those spectral windows. Temperature and wind are variables of special consideration when planning the installation and operation of large-aperture radio telescopes, as these parameters affect the mechanical response of radio telescopes exposed to the environmental conditions. Temperature, and in particular temperature gradients, induce thermal deformation of mechanical structures, while high wind speeds and gusts induce pointing jitter affecting the tracking accuracy of astronomical sources during the observations. This work summarizes the statistics of precipitable water vapor (PWV), temperature, and wind monitored at sites by the coastal mountain range, as well as on the west slope of the Andes mountain range in the region of Antofagasta, Chile. This information could prove useful for the planning of extended baselines for the Atacama Large Millimeter and Submillimeter Array (ALMA), and/or new radio telescope projects, such as the Atacama Large Aperture Submm/ mm Telescope (AtLAST) initiative., Comment: 28 pages, 13 Figures. Manuscript accepted under Open Access terms to the Publications of the Astronomical Society of the Pacific (PASP) Journal

Water vapour in the atmosphere is the main source of the atmospheric opacity in the infrared and sub-millimetric regimes and its value plays a critical role in observations done with instruments working at these wavelengths on ground-based telescopes. The scheduling of scientific observational programs with instruments such as the VLT Imager and Spectrometer for mid Infrared (VISIR) at Cerro Paranal and the Large Binocular Telescope Interferometer (LBTI) at Mount Graham would definitely benefit from the ability to forecast the atmospheric water vapour content. In this contribution we present a study aiming at validating the performance of the non-hydrostatic mesoscale Meso-NH model in reliably predicting precipitable water vapour (PWV) above the two sites. For the VLT case we use, as a reference, measurements done with a Low Humidity and Temperature PROfiling radiometer (LHATPRO) that, since a few years, is operating routinely at the VLT. LHATPRO has been extensively validated on previous studies. We obtain excellent performances on forecasts performed with this model, including for the extremely low values of the PWV (<= 1 mm). For the LBTI case we compare one solar year predictions obtained with the Meso-NH model with satellite estimates again obtaining an excellent agreement. This study represents a further step in validating outputs of atmospheric parameters forecasts from the ALTA Center, an operational and automatic forecast system conceived to support observations at LBT and LBTI., Comment: 15 pages, 8 figures, 11 tables, MNRAS accepted on 28 November 2018

MICADO will enable the ELT to perform diffraction limited near-infrared observations at first light. The instrument's capabilities focus on imaging (including astrometric and high contrast) as well as single object spectroscopy. This contribution looks at how requirements from the observing modes have driven the instrument design and functionality. Using examples from specific science cases, and making use of the data simulation tool, an outline is presented of what we can expect the instrument to achieve., Comment: Proc SPIE 10702. SPIE's copyright notice: "Copyright 2018 Society of PhotoOptical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited."

Aims: We studied the precipitable water vapour (PWV) content near Cerro Armazones and discuss the potential use of our technique of modelling the telluric absorbtion lines for the investigation of other molecular layers. The site is designated for the European Extremely Large Telescope (E-ELT) and the nearby planned site for the Cherenkov Telescope Array (CTA). Methods: Spectroscopic data from the Bochum Echelle Spectroscopic Observer (BESO) instrument were investigated by using line-by-line radiative transfer model (LBLRTM) radiative transfer models for the Earths atmosphere with the telluric absorption correction tool molecfit. All observations from the archive in the period from December 2008 to the end of 2014 were investigated. The dataset completely covers the El Nino event registered in the period 2009-2010. Models of the 3D Global Data Assimilation System (GDAS) were used for further comparison. Moreover, for those days with coincidence of data from a similar study with VLT/X-shooter and microwave radiometer LHATPRO data at Cerro Paranal, a direct comparison is presented. Results: This analysis shows that the site has systematically lower PWV values, even after accounting for the decrease in PWV expected from the higher altitude of the site with respect to Cerro Paranal, using the average atmosphere found with radiosondes. We found that GDAS data are not a suitable method for predicting of local atmospheric conditions - they usually systematically overestimate the PWV values. Due to the large sample, we were furthermore able to characterize the site with respect to symmetry across the sky and variation with the years and within the seasons. This kind of technique of studying the atmospheric conditions is shown to be a promising step into a possible monitoring equipment for CTA., Comment: Accepted for publication in Astronomy and Astrophysics, 7 pages, 9 figures

A Low Humidity and Temperature Profiling (LHATPRO) microwave radiometer, manufactured by Radiometer Physics GmbH (RPG), is used to monitor sky conditions over ESO's Paranal observatory in support of VLT science operations. In addition to measuring precipitable water vapour (PWV) the instrument also contains an IR camera measuring sky brightness temperature at 10.5 {\mu}m. Due to its extended operating range down to -100 {\deg}C it is capable of detecting very cold and very thin, even sub-visual, cirrus clouds. We present a set of instrument flux calibration values as compared with a detrended fluctuation analysis (DFA) of the IR camera zenith-looking sky brightness data measured above Paranal taken over the past two years. We show that it is possible to quantify photometric observing conditions and that the method is highly sensitive to the presence of even very thin clouds but robust against variations of sky brightness caused by effects other than clouds such as variations of precipitable water vapour. Hence it can be used to determine photometric conditions for science operations. About 60 % of nights are free of clouds on Paranal. More work will be required to classify the clouds using this technique. For the future this approach might become part of VLT science operations for evaluating nightly sky conditions., Comment: 12 pages, 10 figures, 1 table. Presented at SPIE Astronomical Telescopes + Instrumentation 2014 (Observatory Operations: Strategies, Processes, and Systems V, 9149-22). To be published in Proceedings of SPIE Vol. 9149

A Low Humidity and Temperature Profiling (LHATPRO) microwave radiometer, manufactured by Radiometer Physics GmbH (RPG), is used to monitor sky conditions over ESO's Paranal observatory in support of VLT science operations. The unit measures several channels across the strong water vapour emission line at 183 GHz, necessary for resolving the low levels of precipitable water vapour (PWV) that are prevalent on Paranal (median ~2.4 mm). The instrument consists of a humidity profiler (183-191 GHz), a temperature profiler (51-58 GHz), and an infrared camera (~10 {\mu}m) for cloud detection. We present, for the first time, a statistical analysis of the homogeneity of all-sky PWV using 21 months of periodic (every 6 hours) all-sky scans from the radiometer. These data provide unique insight into the spatial and temporal variation of atmospheric conditions relevant for astronomical observations, particularly in the infrared. We find the PWV over Paranal to be remarkably homogeneous across the sky down to 27.5{\deg} elevation with a median variation of 0.32 mm (peak to valley) or 0.07 mm (rms). The homogeneity is a function of the absolute PWV but the relative variation is fairly constant at 10-15% (peak to valley) and 3% (rms). Such variations will not be a significant issue for analysis of astronomical data. Users at ESO can specify PWV - measured at zenith - as an ambient constraint in service mode to enable, for instance, very demanding observations in the infrared that can only be conducted during periods of very good atmospheric transmission and hence low PWV. We conclude that in general it will not be necessary to add another observing constraint for PWV homogeneity to ensure integrity of observations., Comment: 11 pages, 8 figures, 5 tables. Presented at SPIE Astronomical Telescopes + Instrumentation 2014 (Ground-based and Airborne Instrumentation for Astronomy V, 9147-339). To be published in Proceedings of SPIE Vol. 9147

The Thirty Meter Telescope (TMT) and the European Extremely Large Telescope (E-ELT) site testing teams have recently finalized their site testing studies. Since atmospheric water vapor is the dominant source of absorption and increased thermal background in the infrared, both projects included precipitable water vapor (PWV) measurements in their corresponding site testing campaigns. TMT planned to monitor PWV at the sites of interest by means of using infrared radiometers. Technical failures and calibration issues prevented them from having a sufficiently long PWV time-series to characterize the sites using this method. Therefore, for the sites in Chile TMT used surface water vapor density measurements, which taken together with an assumed water vapor scale height, allowed for the estimation of PWV. On the other hand, the E-ELT team conducted dedicated PWV measurement campaigns at two of their observatory sites using radiosonde soundings to validate historical time-series of PWV reconstructed by way of a spectroscopic analysis of astronomical standard sources observed at the La Silla and the Paranal sites. The E-ELT also estimated the median PWV for the Armazones site from extrapolation of their Paranal statistics accounting for the difference in elevation between the two places; and also from archival analysis of radiosonde data available from the city of Antofagasta by integration of the humidity profile starting from 3000 m altitude. In the case of the Armazones site, the published median of PWV by both groups differ by about 1 mm with the E-ELT values being drier than those estimated by the TMT group. This work looks at some of the reasons that could explain this difference, among them the water vapor scale height, the horizontal variability of the water vapor field, and an unaccounted correction due to a dry bias known to affect the radiosondes relative humidity sensors., Comment: Contribution in conference "Comprehensive characterization of astronomical sites", held October 4-10, 2010, in Kislovodsk, Russia

The data reduction pipeline for the VLT 2nd generation instrument X-Shooter uses a physical model to determine the optical distortion and derive the wavelength calibration. The parameters of this model describe the positions, orientations, and other physical properties of the optical components in the spectrograph. They are updated by an optimisation process that ensures the best possible fit to arc lamp line positions. ESO Quality Control monitors these parameters along with all of the usual diagnostics. This enables us to look for correlations between inferred physical changes in the instrument and, for example, instrument temperature sensor readings., Comment: 9 pages, 8 figures, style files included, Proc. of Observatory Operations: Strategies, Processes, and Systems III, eds. D.R. Silva, A.B. Peck, B.T. Soifer, SPIE 7737, 1G

We report near-IR spectroscopic observations of the Eta Carinae massive binary system during 2008-2009 using VLT/CRIRES. We detect a strong, broad absorption wing in He I 10833 extending up to -1900 km/s across the 2009.0 spectroscopic event. Archival HST/STIS ultraviolet and optical data shows a similar high-velocity absorption (up to -2100 km/s) in the UV resonance lines of Si IV 1394, 1403 across the 2003.5 event. UV lines from low-ionization species, such as Si II 1527, 1533 and C II 1334, 1335, show absorption up to -1200 km/s, indicating that the absorption with v from -1200 to -2100 km/s originates in a region markedly faster and more ionized than the nominal wind of the primary star. Observations obtained at the OPD/LNA during the last 4 spectroscopic cycles (1989-2009) also display high-velocity absorption in He I 10833 during periastron. Based on the OPD/LNA dataset, we determine that material with v < -900 km/s is present in the phase range 0.976 < phi < 1.023 of the spectroscopic cycle, but absent in spectra taken at phi < 0.947 and phi > 1.049. Therefore, we constrain the duration of the high-velocity absorption to be 95 to 206 days (or 0.047 to 0.102 in phase). We suggest that the high-velocity absorption originates from shocked gas in the wind-wind collision zone, at distances of 15 to 45 AU in the line-of-sight to the primary star. Using 3-D hydrodynamical simulations of the wind-wind collision zone, we find that the dense high-velocity gas is in the line-of-sight to the primary star only if the binary system is oriented in the sky so that the companion is behind the primary star during periastron, corresponding to a longitude of periastron of omega ~ 240 to 270 degrees. We study a possible tilt of the orbital plane relative to the Homunculus equatorial plane and conclude that our data are broadly consistent with orbital inclinations in the range i=40 to 60 degrees., Comment: 18 pages, 15 figures, accepted for publication in A&A; high-resolution PDF version available also at http://www.mpifr.de/staff/jgroh/etacar.html

The collision of Deep Impact with comet 9P/Tempel 1 generated a bright cloud of dust which dissipated during several days after the impact. The brightness variations of this cloud and the changes of its position and shape are governed by the physical properties of the dust grains. We use a Monte Carlo model to describe the evolution of the post-impact dust plume. The results of our dynamical simulations are compared to the data obtained with FORS2, the FOcal Reducer and low dispersion Spectrograph for the VLT of the European Southern Observatory (ESO), to derive the particle size distribution and the total amount of material contained in the dust ejecta cloud., Comment: 8 pages, 4 JPEG figures, to appear in the proceedings of "Deep Impact as a World Observatory Event - Synergies in Space, Time and Wavelength", ed. Hans Ulrich K{\"a}ufl and Chris Sterken, Springer

Planetary Nebulae (PNe) are the result of heavy mass loss of the asymptotic giant branch (AGB) stars. They are understood in terms of Kwok's (1978) interacting-winds model as the product of the mass-loss history on the AGB and the central star (CS) evolution. Since the CS are close to the end of nuclear burning and at their hottest stage of evolution then, precise modeling of these pre-white dwarfs is a prerequisite in order to calculate reliable ionizing fluxes which are crucial input for the presently available 3D photoionization codes. In the framework of a systematic study of PNe which show evidence for an interaction with the ISM, we present a NLTE analysis of their CS., Comment: 4 pages, 1 figure, proceedings "14th European Workshop on White Dwarfs", Jul 2004, Kiel, Germany

Very recently, the discovery of the largest known planetary nebula on the sky surrounding the DO white dwarf PG1034+001 with an apparent diameter of about 2 degrees, corresponding to a linear diameter of 3.5 - 7.0 pc at the likely distance of 100 - 200 pc, has been reported by Hewett et al. (2003). A careful inspection of available sky survey data has now shown that this planetary nebula, Hewett 1, is surrounded by an elliptical emission shell with an apparent diameter of 6 times 9 degrees (16.2 +6.1/-4.5 times 24.3 +9.1/-6.8 pc at d = 155 +58/-43 pc. A further emission structure, detected northeast of the central star may indicate another shell with a size of 10 times 16 degr. From presently available observational data we do not have indications whether the emission arises from material which was ejected from PG1034+001 or from ionized ambient ISM. Improved proper motion data combined with radial velocity and distance from the literature have enabled us to derive a Galactic orbit for the central star PG1034+001. Its thin disk orbit and the morphology of the first halo suggest that the nebula is in an advanced stage of interaction with the interstellar medium., Comment: 4 pages, 3 figures

The interaction of the ISM with the evolution of PNe is studied for cases where there is a large relative velocity between ISM and central star, for example for high-proper motion PNe. In such cases the ISM wind already interacts strongly with the AGB wind, and extensive PN asymmetries result., Comment: 4 pages, 3 figures; to appear in "Asymmetric Planetary Nebulae III", M. Meixner, J. Kastner, N. Soker, B. Balick (Eds.), ASP Conf. Series

We present results of an ongoing survey of low surface brightness planetary nebulae (PNe). Using both narrow-band imaging and long slit spectroscopy we have studied 15 new examples for interaction with the interstellar medium (ISM) demonstrating that this process is common in evolved PNe. Characteristic properties of the nebulae in terms of morphology and plasma parameters have been established and different degrees of interaction can be identified. Although the study of the objects is at an early stage the observational findings are in agreement with theory. The data indicate that the objects have a very high degree of individuality due to the action of complex physics under varying conditions., Comment: 4 pages, LaTex, To appear in ``Asymmetrical Planetary Nebulae II: from Origins to Microstructures,'' ASP Conference Series, Vol. 199, 2000; J.H. Kastner, N. Soker, & S.A. Rappaport, eds

The Planetary Nebulae (PNe) return nuclear processed stellar material back to the interstellar medium (ISM) and thus have an important influence on the chemical evolution of our Galaxy. We present results of a survey of PNe in decay which have reached a density comparable to the ambient ISM which leads to an interaction with it. This gives us the opportunity to investigate properties of the ISM. We have identified about 20 new examples for this interaction, demonstrating that it is a more common phenomenon than previously expected: Different stages of interaction, ranging from the early (asymmetric brightness distribution) to the very advanced (parabolic or distorted shape and/or an off-center central star) are obvious., Comment: 4 pages, 4 figures, To appear in ``Asymmetrical Planetary Nebulae II: from Origins to Microstructures,'' ASP Conference Series, J.H. Kastner, N. Soker, & S.A. Rappaport, eds