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Since 2015, W. M. Keck Observatory has been considering the possibility of conducting nighttime operations without any staff on the summit of Maunakea. A combination of methods has been used to assess the risk of this change in operations from different perspectives. System experts were surveyed to determine potential gaps in functionality that could create risk when operating or troubleshooting systems remotely. A hazard and risk analysis of use cases that describe nightly operations was conducted to identify risks to people, observatory equipment, and science quality and quantity that arise from the absence of people on the summit during the night. Risks were also identified by mining the night time fault reporting data from 2010-2016 to determine instances where hands on presence has been required on the summit to address issues. In the current state, these known issues would result in lost time and potential risk to equipment. The risk responses developed to address these risks have identified requirements on existing systems and for new capabilities to support unattended nighttime operations at WMKO.

The Maunakea Laser Traffic Control System (LTCS) has been in use since 2002 providing a mechanism to prevent the laser guide star or Rayleigh scatter from a laser propagated from one telescope from interfering with science observations at any of the other telescopes that share the mountain. LTCS has also been adopted at several other astronomical sites around the world to address that same need. In 2014 the stakeholders on Maunakea began the process of improving LTCS capability to support common observing techniques with enhanced First On Target (FoT) equity. The planned improvements include support for non-sidereal observing, laser checkout at zenith, dynamic field of view size, dithering, collision calculations even when a facility is not laser impacted, multiple alert severity levels, and software refactoring. The design of these improvements was completed in early 2015, and implementation is expected to be completed in 2016. This paper describes the Maunakea LTCS collaboration and the design of these planned improvements.

The sky coverage and performance of Laser Guide Star (LGS) adaptive optics (AO) systems is limited by the Natural Guide Star (NGS) used for low order correction (tip-tilt and defocus modes). This limitation can be reduced by measuring image motion of the NGS in the near-infrared where it is partially corrected by the LGS AO system and where stars are generally several magnitudes brighter than at visible wavelengths. We have integrated a Near-InfraRed Tip-Tilt Sensor (NIRTTS) with the Keck I telescopes LGS AO system. The sensor is a H2RG-based near-infrared camera with 0.05 arcsecond pixels. Low noise at high sample rates is achieved by only reading a small region of interest, from 2x2 to 16x16 pixels, centered on an NGS anywhere in an 100 arc second diameter field. The sensor operates at either Ks or H-band using light reflected by a choice of dichroic beam-splitters located in front of the OSIRIS integral field spectrograph. The implementation of the NIRTTS involved modifications to the AO bench, real-time control system, higher-level controls and operations software. NIRTTS is nearly ready for science operation in shared-risk mode. We are also implementing a number of enhancements to the NIRTTS system which involve substantial changes to the operations software. This work presents an update of the work performed since the NIRTTS system was reported in Ref. 1 and Ref. 2.

The Keck Observatory began science observations with a laser guide star adaptive optics system, the first such system on an 8-10 m class telescope, in late 2004. This new capability greatly extends the scientific potential of the Keck II Telescope, allowing near-diffraction-limited observations in the near-infrared using natural guide stars as faint as 19th magnitude. This paper describes the conceptual approach and technical implementation followed for this system, including lessons learned, and provides an overview of the early science capabilities.

The Keck II Telescope is the first 8-10 m class telescope equipped with a laser guide star adaptive optics (LGS AO) system. Under normal seeing conditions, the LGS AO system produces K-band Strehl ratios between 30% and 40% using bright tip-tilt guide stars, and it works well with tip-tilt guide stars as faint as , with partial correction for stars up to a magnitude fainter. This paper presents the algorithms implemented m p 18 R in the LGS AO system, as well as experimental performance results. A detailed error budget shows excellent agreement between the measured and expected image quality for both bright and faint guide stars.

We report on observations obtained with the adaptive optics system at the 10 m Keck II Telescope during engineering validation and early science observing time for the adaptive optics system. We observed Neptune at near-infrared wavelengths. Angular resolution was 005–006, corresponding to a spatial scale of approximately 1000 km at Neptune. We discuss the latitudinal structure of circumferential cloud bands and of compact infrared-bright features seen in the southern hemisphere, as well as their variation with wavelength. We determine the values of I/F (proportional to the ratio of reflected intensity to incident solar flux) in the J and H infrared-wavelength bands, including narrowband filters where there is strong methane absorption. We use the I/F values inside and outside of methane bands to estimate the altitude of clouds responsible for the brightest compact features in the infrared. Our data show that, on two of our four observing dates, the brightest region on Neptune contained highly reflective haze layers located below the tropopause but not deeper than a few bars.

The W. M. Keck Observatory (WMKO) applied for and received a determination of no-objection from the Federal Aviation Administration (FAA) for laser guide star adaptive optics (LGS-AO) operations using an automated aircraft protection system (APS) in late 2013. WMKO’s APS, named AIRSAFE, uses transponder based aircraft detection (TBAD) to replace human aircraft spotters. The FAA required WMKO to self-certify AIRSAFE compliance with SAE Aerospace Standard 6029A: “Performance Criteria for Laser Control Measures Used for Aviation Safety”[1] (AS- 6029A). AS-6029A prescribes performance and administrative criteria for an APS; essentially, requiring AIRSAFE to adequately protect all types of aircraft, traveling at any speed, altitude, distance and direction reasonably expected in the operating environment. A description of the analysis that comprises this compliance evaluation is the main focus of this paper. Also discussed is the AIRSAFE compliance with AS-6029A administrative criteria that includes characterization of site specific air traffic, failure modes, limitations, operating procedures, preventative maintenance procedures, and periodic system test procedures.

The sky coverage and performance of laser guide star (LGS) adaptive optics (AO) systems is limited by the natural guide star (NGS) used for low order correction. This limitation can be dramatically reduced by measuring the tip and tilt of the NGS in the near-infrared where the NGS is partially corrected by the LGS AO system and where stars are generally several magnitudes brighter than at visible wavelengths. We present the design of a near-infrared tip-tilt sensor that has recently been integrated with the Keck I telescope’s LGS AO system along with some initial on-sky results. The implementation involved modifications to the AO bench, real-time control system, and higher level controls and operations software that will also be discussed. The tip-tilt sensor is a H2RG-based near-infrared camera with 0.05 arc second pixels. Low noise at high sample rates is achieved by only reading a small region of interest, from 2×2 to 16×16 pixels, centered on an NGS anywhere in the 100 arc second diameter field. The sensor operates at either Ks or H-band using light reflected by a choice of dichroic beamsplitters located in front of the OSIRIS integral field spectrograph.

Adaptive optics (AO) is a technology that corrects in real time for the blurring effects of atmospheric turbulence, in principle allowing Earth‐bound telescopes to achieve their diffraction limit and to “see” as clearly as if they were in space. The power of AO using natural guide stars has been amply demonstrated in recent years on telescopes up to 3–4 m in diameter. The next breakthrough in astronomical resolution was expected to occur with the implementation of AO on the new generation of large, 8–10 m diameter telescopes. In this paper we report the initial results from the first of these AO systems, now coming on line on the 10 m diameter Keck II Telescope. The results include the highest angular resolution images ever obtained from a single telescope (0 \documentclass{aastex} \usepackage{amsbsy} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{bm} \usepackage{mathrsfs} \usepackage{pifont} \usepackage{stmaryrd} \usepackage{textcomp} \usepackage{portland,xspace} \usepackage{amsmath,amsx...

The Trojan population consists of two swarms of asteroids following the same orbit as Jupiter and located at the L4 and L5 stable Lagrange points of the Jupiter–Sun system (leading and following Jupiter by 60°). The asteroid 617 Patroclus is the only known binary Trojan1. The orbit of this double system was hitherto unknown. Here we report that the components, separated by 680 km, move around the system's centre of mass, describing a roughly circular orbit. Using this orbital information, combined with thermal measurements to estimate the size of the components, we derive a very low density of . The components of 617 Patroclus are therefore very porous or composed mostly of water ice, suggesting that they could have been formed in the outer part of the Solar System2.

The Keck Interferometer (KI) combined the two 10 m W. M. Keck Observatory telescopes on Mauna Kea, Hawaii, as a long-baseline near- and mid-infrared interferometer. Funded by NASA, it operated from 2001 until 2012. KI used adaptive optics on the two Keck telescopes to correct the individual wavefronts, as well as active fringe tracking in all modes for path-length control, including the implementation of cophasing to provide long coherent integration times. KI implemented high sensitivity fringe-visibility measurements at H (1.6 μm), K (2.2 μm), and L (3.8 μm) bands, and nulling measurements at N band (10 μm), which were used to address a broad range of science topics. Supporting these capabilities was an extensive interferometer infrastructure and unique instrumentation, including some additional functionality added as part of the NSF-funded ASTRA program. This paper provides an overview of the instrument architecture and some of the key design and implementation decisions, as well as a description of all of the key elements and their configuration at the end of the project. The objective is to provide a view of KI as an integrated system, and to provide adequate technical detail to assess the implementation. Included is a discussion of the operational aspects of the system, as well as of the achieved system performance. Finally, details on V^2 calibration in the presence of detector nonlinearities as applied in the data pipeline are provided.

The astronomical community's use of high power laser guide star adaptive optics (LGS-AO) systems presents a potential hazard to aviation. Historically, the most common and trusted means of protecting aircraft and their occupants has been the use of safety observers (aka spotters) armed with shut-off switches. These safety observers watch for aircraft at risk and terminate laser propagation before the aircraft can be adversely affected by the laser. Efforts to develop safer and more cost-effective automated aircraft protection systems for use by the astronomical community have been inhibited by both technological and regulatory challenges. This paper discusses recent developments in these two areas. Specifically, with regard to regulation and guidance we discuss the 2011 release of AS-6029 by the SAE as well as the potential impact of RTCA DO-278A. With regard to the recent developments in the technology used to protect aircraft from laser illumination, we discuss the novel Transponder Based Aircraft Detection (TBAD) system being installed at W. M. Keck Observatory (WMKO). Finally, we discuss our strategy for evaluating TBAD compliance with the regulations and for seeking appropriate approvals for LGS operations at WMKO using a fully automated, flexibly configured, multi-tier aircraft protection system incorporating this new technology.

With the much anticipated delivery of the Lockheed Martin Coherent Technology Quasi-CW laser, the W. M. Keck Observatory was able to complete the installation and integration of the Laser Guide Star Adaptive Optics System on the Keck I telescope. The Keck I LGSAO system was developed to provide redundancy for the Keck II system as well as balancing the instrumentation load between the two telescopes and interferometers. With the improved sodium coupling efficiency of the laser and a center launching system, the Keck I laser performance is expected to exceed those on the Keck II system. We present the challenges of integrating the Keck I Laser Guide Star Adaptive Optics System on an operational telescope. We will present issues and performance data related to the primary subsystem components such as the laser itself, the Selex Galileo Avionica launch telescope, the Mitsubishi fiber transport, and the Adaptive Optics System. The paper will also focus on the integration and testing performed at the W. M. Keck headquarters as well as the summit of Mauna Kea. We will present initial first light performance of the Keck I LGSAO System and compare those to the existing Keck II LGSAO System.

W. M. Keck Observatory (WMKO) routinely operates laser guide star (LGS) Adaptive Optics (AO) systems at the telescope facility on the Big Island of Hawaii. One of the operational requirements for the LGS system is that a safety system to prevent nearby aircraft from being adversely affected by the laser must be provided. We will support operations in the near term with human aircraft spotters until we can successfully develop and get the appropriate approvals needed for an Automated, Integrated and Reliable System for an Aircraft Friendly Environment (AIRSAFE). This report describes some of the preliminary requirements development work at WMKO in support of the future development of AIRSAFE. We discuss the results of recent work to characterize site specific considerations that impact requirements development. The site specific considerations include the proximity of WMKO laser operations to nearby commercial airports, the implications of military operations in the area and the character of the air traffic volume and flight patterns over the telescope facility. Finally, we discuss how the design and implementation of AIRSAFE will be impacted by these site specific considerations.

Observatories using laser guide star (LGS) adaptive optics (AO) systems need to implement safety systems to protect aircraft from being illuminated by the lasers. These systems are made up of a combination of control measures and procedures. In the USA the Federal Aviation Administration (FAA) is responsible for protecting aircraft and issues a determination of no-objection to the use of lasers in the navigable airspace before operations can begin. To date, the FAA has required all observatories with LGS systems to use human aircraft spotters as part of the aircraft safety system. This paper discusses how we might go about developing an automated alternative that is more reliable and less expensive than using spotters and is also acceptable to the FAA. Specific challenges are identified and discussed. These challenges include understanding the FAA perspective on issues related to aircraft safety and lasers, understanding the FAA evaluation and approval process for specific control measures, safety systems and operational procedures, working with appropriate standards committees to develop requirements and performance validation plans which lead to quantifiable confidence. We would also like to solicit collaboration from within the Mauna Kea astronomy community and also the broader astronomical community.

This paper describes the recent upgrade performed on the W. M. Keck Observatory Adaptive Optics (AO) systems, in which the wavefront sensors and wavefront controllers were replaced with components based on new technology. The performance of the upgraded system has yielded an increase in limiting guide star magnitude, an increased Strehl ratio for both Laser Guide Star (LGS) and Natural Guide Star (NGS) modes, and has significantly improved reliability and maintainability compared to the original system. Moreover, the controller is scalable, allowing for future upgrades and improvements as needed. We present an overview of the project; describe the basic architecture of the new wavefront sensor and controller; discuss some of the unique features of the system, including the closed loop mirror positioning system, custom wavefront sensor optics, and full-frame-rate telemetry server; and conclude with results from engineering and science tests of the new controller on the Keck II AO system.

The Laser Guide Star Adaptive Optics (LGS AO) at the W.M. Keck Observatory is the first system of its kind being used to conduct routine science on a ten-meter telescope. In 2005, more than fifty nights of LGSAO science and engineering were carried out using the NIRC2 and OSIRIS science instruments. In this paper, we report on the typical performance and operations of its LGS AO-specific sub-systems (laser, tip-tilt sensor, low-bandwidth wavefront sensor) as well as the overall scientific performance and observing efficiency. We conclude the paper by describing our main performance limitations and present possible developments to overcome them.

The image quality obtained using laser guide star adaptive optics (LGS AO) is degraded by the fact that the wavefront aberrations experienced by light from the LGS and from the science object differ. In this paper we derive an analytic expression for the variance of the difference between the two wavefronts as a function of angular distance between the LGS and the science object. This error is a combination of focal anisoplanatism and angular anisoplanatism. We show that the wavefront error introduced by observing a science object displaced from the guide star is smaller for LGS AO systems than for natural guide star AO systems.

The newly commissioned laser guide star adaptive optics system at Keck Observatory has been used to discover and characterize the orbit of a satellite to the bright Kuiper Belt object 2003 EL_(61). Observations over a 6 month period show that the satellite has a semimajor axis of 49,500 ± 400 km, an orbital period of 49.12 ± 0.03 days, and an eccentricity of 0.050 ± 0.003. The inferred mass of the system is (4.2 ± 0.1) × 10^(21) kg, or ~32% of the mass of Pluto and 28.6% ± 0.7% of the mass of the Pluto-Charon system. Mutual occultations occurred in 1999 and will not occur again until 2138. The orbit is fully consistent neither with one tidally evolved from an earlier closer configuration nor with one evolved inward by dynamical friction from an earlier more distant configuration.

(Abridged) We present the first Laser Guide Star Adaptive Optics (LGS-AO) observations of the Galactic center. LGS-AO has dramatically improved the quality, robustness, and versatility with which high angular resolution infrared images of the Galactic center can be obtained with the W. M. Keck II 10-meter telescope. Specifically, Strehl ratios of 0.7 and 0.3 at L'[3.8 micron] and K'[2.1 micron], respectively, are achieved in these LGS-AO images. During our observations, the infrared counterpart to the central supermassive black hole, Sgr A*-IR, showed significant infrared intensity variations, with observed L' magnitudes ranging from 12.6 to 14.5 mag. The faintest end of our L' detections, 1.3 mJy (dereddened), is the lowest level of emission yet observed for this source by a factor of 3. No significant variation in the location of SgrA*-IR is detected as a function of either wavelength or intensity. Near a peak in its intensity, we obtained the first measurement of SgrA*-IR's K'-L' color (3.0 +- 0.2 mag, observed), which corresponds to an intrinsic spectral index of -0.5 +- 0.3. This is significantly bluer than other recent infrared measurements. Because our measurement was taken at a time when Sgr A* was ~6 times brighter in the infrared than the other measurements, we posit that the spectral index of the emission arising from the vicinity of our Galaxy's central black hole may depend on the strength of the flare, with stronger flares giving rise to a higher fraction of high energy electrons in the emitting region., Accepted for publication in ApJ (to appear in 20 Dec 2005, vol. 635 issue), 9 pages and 5 figures

The Center for Adaptive Optics Treasury Survey (CATS) aims to combine deep HST images in the optical with deep Keck adaptive optics (AO) data in the near-infrared (NIR) to study distant galaxies, AGN, and supernovae. We recently achieved an important new milestone by securing the first Keck laser guide star AO image of faint galaxies. Six galaxies with redshifts ranging from 0.3-1.0 were targeted in one pointing in the GOODS-S field. Two are Chandra Deep Field South sources, XID-56 and XID-536, with complex morphologies suggestive of recent merger activity. Substructures seen in the NIR AO image (FWHM ~ 0.1"), including multiple tight knots in XID-56 and a double nucleus in XID-536, are confirmed in the optical HST images. These structures are unresolved in the best seeing-limited (FWHM ~ 0.5") NIR images. Stellar population synthesis models of the substructures indicate that XID-56 is a gas rich merger with a recent burst of star formation and significant amounts of dust. XID-536 appears to be a merger of two evolved stellar populations., 6 pages, 4 figures, 1 table, accepted ApJL 2005

We have searched the four brightest objects in the Kuiper Belt for the presence of satellites using the newly commissioned Keck Observatory Laser Guide Star Adaptive Optics system. Satellites are seen around three of the four objects: Pluto (whose satellite Charon is well-known and whose recently discovered smaller satellites are too faint to be detected), 2003 EL61 (where a second satellite is seen in addition to the previously known satellite), and 2003 UB313 (where a satellite is seen for the first time). The object 2005 FY9, the brightest Kuiper Belt object (KBO) after Pluto, does not have a satellite detectable within 0".4 with a brightness of more than 1% of the primary. The presence of satellites around three of the four brightest KBOs is inconsistent with the fraction of satellites in the Kuiper Belt at large at the 99.2% confidence level, suggesting a different formation mechanism for these largest KBO satellites. The two satellites of 2003 EL61, and the one satellite of 2003 UB313, with fractional brightnesses of 5% and 1.5%, and 2%, of their primaries, respectively, are significantly fainter relative to their primaries than other known KBO satellites, again pointing to possible differences in their origin.

The W. M. Keck Observatory Adaptive Optics (AO) team recently celebrated a milestone first AO-corrected image with the new Laser Guide Star (LGS) system. This paper details focus and pointing changes implemented for the LGS AO system. The combination of variable sodium altitude, elevation-dependent distance to the LGS, off-axis projection, and equipment flexure require both focus and pointing adjustments to keep the laser spot located and its size minimized on the wavefront sensor. We will describe the current approach to LGS focus and pointing-compensation adjustments, and provide some insight into issues seen thus far during engineering activities at the W. M. Keck Observatory.

In this paper we describe the operational strategy and performance of the Keck Observatory laser guidestar adaptive optics system, and showcase some early science verification images and results. Being the first laser guidestar system on an 8-10 m class telescope, the Keck laser guidestar adaptive optics system serves as a testbed for observing techniques and control algorithms. We highlight the techniques used for controlling the telescope focus and wavefront sensor reference centroids, and a wavefront reconstructor optimized for use with an elongated guidestar. We also present the current error budget and performance of the system on tip-tilt stars to magnitude R=17. The capability of the system to perform astronomical observations is finally demonstrated through multi-wavelength imaging of the Egg proto-planetary nebula (CRL 2688).

The Keck II Adaptive Optics system and the NIRC2 camera provide a unique facility for high angular resolution imaging and spectroscopy in the near infrared. In this paper, we present the result of a unique project to map the entire surface of Io in the thermal infrared (Lp band centered at 3.8 μm). This project was undertaken by a team from the W. M. Keck Observatory and UC Berkeley to illustrate the power of this instrumentation. The 75-milliarcsec-resolution images, corresponding to ~200 km of linear spatial resolution on Io, have been combined to build a thermal infrared map of the entire satellite. We have identified 26 hot spots including one that was undetected by the Galileo mission. A movie and a Java applet featuring a volcanically active rotating satellite were created.

The purpose of this paper is to report on new adaptive optics (AO) developments at the W. M. Keck Observatory since the 2002 SPIE meeting. 1 These developments include continued improvements to the natural guide star (NGS) facilities, first light for our laser guide star (LGS) system and the commencement of several new Keck AO initiatives.

Differential Atmospheric Refraction (DAR) reduces image quality on ground-based 10-m telescopes equipped with Adaptive Optics (AO). Particularly affected are the long exposure data taken in narrow-band imaging or spectroscopic mode. The magnitude of the DAR is a function of the effective wavelength of the wavefront sensor detector, meteorological variables, the observing wavelength and the elevation of the observation. In this paper, we present the approach taken by the Keck Adaptive Optics team to compensate for DAR during AO observing. This paper will present a description and illustration of the problem and our solution to it, including some implementation details. This paper also presents some tips on observing techniques, along with some details on current performance, a description of the issues limiting the performance, and our plans for the future.

This paper describes the upgrades to the Keck II Adaptive Optics (K2 AO) system needed for laser guide star observing. The upgrade, including integration with the laser, is scheduled for completion in the winter of 2003. This upgrade includes the addition of a Low Bandwidth Wavefront Sensor (LBWFS) measuring focus and higher order terms, and a Lawrence Livermore National Lab quad-lens avalanche photodiode detector which monitors tip/tilt. Both observe a dim natural guide star. LBWFS corrections are applied as corrections to the high bandwidth wavefront sensor, which is observing the laser beacon. These subsystems drive focus stages, a deformable mirror, a tip/tilt mirror for the incoming starlight, and a tip/tilt mirror for pointing the propagating laser beam. Taken together, and in concert with the rest of the components of the K2 AO system, they provide the tools and the means to observe the universe as never before.

The idea of achieving Adaptive Optics over the majority of the sky using sodium laser guide stars is reaching maturity on Mauna Kea. However, Mauna Kea is a shared astronomical site with 13 institutions and 11 telescopes. Coordination between observatories with laser guide stars and facilities without laser guide stars must be accomplished to prevent sodium light (Rayleigh scatter and the laser guide star itself) from interfering with science observations at the non-laser facilities. To achieve this goal, a technical working group was organized with participation from several Mauna Kea observatories to discuss and agree upon an automated system for avoiding laser “beam” collisions with other telescopes. This paper discussed the implementation of a Laser Traffic Control System (LTCS) for Mauna Kea including a brief history of the coordination effort, technical requirements and details surrounding implementation of laser beam avoidance software, critical configuration parameters, algorithmic approaches, test strategies used during deployment, and recommendations based upon experiences to date for others intending to implement similar systems.

This paper presents diffraction-limited 1-18 micron images of the young quadruple star system HD 98800 obtained with the W. M. Keck 10-m telescopes using speckle and adaptive optics imaging at near-IR wavelengths and direct imaging at mid-IR wavelengths. The two components of the visual binary, A and B, both themselves spectroscopic binaries, were separable at all wavelengths, allowing us to determine their stellar and circumstellar properties. Combining these observations with spectroscopic data from the literature, we derive an age of 10 Myr, masses of 0.93 and 0.64 M_sun and an inclination angle of 58 deg for the spectroscopic components of HD 98800 B, and an age of 10 Myr and a mass of 1.1 M_sun for HD 98800 Aa. Our data confirm that the large mid-IR excess is entirely associated with HD 98800 B. This excess exhibits a black body temperature of 150 K and a strong 10 micron silicate emission feature. The theoretical equilibrium radius of large, perfectly absorbing, 150 K grains around HD 98800 B is 2.4 AU, suggesting a circum-spectroscopic binary distribution. Our observations set important upper limits on the size of the inner dust radius of ~2 AU (mid-IR data) and on the quantity of scattered light of 2 microns. The total mass of the dust, located in a circumbinary disk around the HD 98800 B, is >0.002 M_earth. The orbital dynamics of the A-B pair are likely responsible for the disk geometry., 27 pages, 4 tables, 9 figures; small revisions to section 3.2.4

First light for the Keck II Natural Guide Star (NGS) Adaptive Optics (AO) facility was on the night of February 4, 1999. On the firs attempt at closing the AO loops the image full-width- at-half-maximum (FWHM) went from 0.6 to 0.04 arcsec at H-band (1.65 micrometer wavelength), with a Strehl ratio of 25%. The AO system became an officially scheduled Keck science facility in August 1999; 30 science nights are scheduled in the first half of 2000. The primary purpose of this paper is to present results from this first year at the telescope.

In the photon starved regime (which is usually the case in the real world), adaptive optics can benefit from advanced or innovative schemes such as modal control. The concept is quite natural, as one looks for the natural modes (eigen-modes, Karhunen-Loeve) that occur in the atmosphere and that the deformable mirror can produce; once these modes are identified, the loop gain that minimizes the residual phase variance is determined. Because the modes form an orthogonal and independent basis, optimizing each mode individually ensures that the global minimum is found, producing the highest Strehl ratio possible. In the case of Keck Adaptive Optics System, there were two fundamental difficulties that made the modal control scheme difficult. The first one is that the pupil is not circular but hexagonal. The second one is that being a the Nasmyth focus, the (non-circular) pupil rotates on the wavefront sensor. Some sub-apertures are gradually illuminated as others get extinguished, and the natural modes of the system evolve as a function of pupil rotation. In this poster, we describe the first step of building a modal control, which is to determine what the appropriate modes are, and whether they need to be computed in real time, to compensate for pupil rotation. We also show two methods that were tried to optimize the loop gain (random walk and modified Newton-Raphson). These methods were used in zonal control, as a proof of concept. On-sky trials with a modal scheme showed us that the real time mode determination was not practical or necessary, and a set of mode that worked well under any geometry was found: the covariance matrices of these modes had a diagonal that was factors of ten higher than non- diagonal elements indicating that the modes that we computed were in fact independent in the atmosphere. However, the optimizing schemes required too many samples to produce adequate statistics to find the minimum residual phase variance. Changes to the real time code to provide statistics in real time will help to produce a reliable and automatic modal control.

The non-circular shape of the Keck telescopes primary mirror, combined with the fact that the telescope is on an alt/az mount with the adaptive optics system on the left Nasmyth platform, means that as the telescope tracks a star field the hexagonal pupil image rotates on the wavefront sensor camera and on the deformable mirror. This creates a need for a dynamic control strategy. The control matrix, the list of which subapertures are sufficiently illuminated and the list of which actuators are active and which are slaved, all must change on the fly, with the loops closed and without perturbing a science observation in progress. This control strategy must also be robust in the presence of modest pupil translation. These needs are met in the Keck AO system by the Pupil Rotation Compensation (PRC) software tool. The PRC software is responsible for maintaining system parameters that are functions of the pupil position and orientation. This paper will present the details of the PRC software design including algorithms used for selecting active subapertures, dealing with variable subaperture illumination, calculating control matrices, and slaving actuators outside the pupil illuminated area on the deformable mirror.

The wavefront controller for the Keck Observatory AO system consists of two separate real-time control loops: a tip-tilt control loop to remove tilt from the incoming wavefront, and a deformable mirror control loop to remove higher-order aberrations. In this paper, we describe these control loops and analyze their performance using diagnostic data acquired during the integration and testing of the AO system on the telescope. Disturbance rejection curves for the controllers are calculated from the experimental data and compared to theory. The residual wavefront errors due to control loop bandwidth are also calculated from the data, and possible improvements to the controller performance are discussed.

The Keck AO system is nearing completion and is nearly ready for system integration in the optics laboratory at Keck Headquarters. because of the ambitious scientific objectives of this project, the AO system is quite complex in design. The optics bench alone has 33 motion control axes, and potentially 6 image planes. Calibration will play a major role in making the AO system function as planned. We have identified approximately 35 separate calibration procedures that will be needed to be performed during the integration phase in the laboratory. Many of these procedures are quite straightforward. Other calibrations are quite involved and are mini 'research projects' in themselves. It is this last category that will be discussed in this paper.

We will review the status of the natural/laser guide star adaptive optics facility that is being constructed for the Keck II telescope.

The adaptive optics system design for the W. M. Keck Telescope incorporates over twenty tracking and movable stages on the optical bench. This paper presents a commercial solution for controlling and positioning these stages. It describes the hardware system and the EPICS software interface used to communicate with the off the shelf hardware controllers. It touches on the positional accuracy and repeatability requirements and the selection of hardware to meet those requirements. It examines the cost and packaging issues and tradeoffs between developing custom hardware and software versus commercially available equipment. A method of synchronizing the stages to absolute time for telescope tracking is also presented.