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The focus of this work is developing an effective and cost-efficient monitoring system that collects spatially-granular data within a vineyard. Many vineyard managers currently rely on limited data paired with past experiences to make key decisions pertaining to frost prediction, pest and disease prediction, and irrigation optimization. Considering that soil conditions and microclimates vary significantly within a single vineyard, this lack of data prevents them from precisely managing their vines.By engaging stakeholders in iterative prototype development, we identified key design features of a low-cost, high-density sensor network for vineyards. Functionally, an ideal system 1) uses Long Range (LoRa) wireless communication technology; and 2) places temperature, humidity, soil moisture, and light intensity sensors in relevant areas throughout the vineyard. Additionally, by engaging with industry competitors, we learned that the market lacks low-cost, high-density sensor network implementations.Using LoRa allows for a high density of sensors to be placed in every microclimate throughout a vineyard without relying on cellular coverage. The focus on temperature, humidity, soil moisture, and light intensity targets a low cost, minimally-viable set of metrics that can provide the necessary information for key models and decisions.User input and site visits suggested that the system must endure harsh environmental conditions and relay timely, actionable data without disrupting fieldwork. To prevent damage and extend device lifetime, the sensor housing and connections need to be waterproof and durable. Further, vine growing methods are not standardized across the industry, meaning the product needs to be adaptable to different growing styles. Vineyard managers want a system that informs their decisions by providing data and the results of established prediction models. The research presented here shows that a system incorporating these features and minimizing costs will be valuable in vineyards while also being broadly applicable to a variety of other agricultural applications.

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 world is not a neat and well-ordered place. Incomplete and incorrect information is receiving each moment. Incompleteness arises because the world is inaccessible. Incorrectness arises because the world does not match its model. Complete and correct information is crucial in many situations where the success or failure of an operation depends of the quality of information. When the unexpected or unknown occurs, conditional planning, execution monitoring, or situated planning can help system to recover and get back on the right track. This paper shows how incomplete and incorrect information problems can be solved using conditional planning, execution monitoring and situated planning agents - intelligent knowledge-based software agents.

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 Keck Interferometer links the two 10m Keck Telescopes located atop Mauna Kea in Hawaii. It is the first 10m class, fully AO equipped interferometer to enter operation. Further, it is the first large interferometer designed to be handed over from a design and implementation team to a separate operations team, and be used by astronomers who are not interferometer specialists. As such it offers unique challenges in reducing an extremely complex and powerful system to an apparently simple user interface, and providing a well engineered system that can be maintained by people who did not develop it. This paper gives an overview of the control system that has been implemented for the single baseline operation of the instrument, and indicates how this will be extended to allow control of the future modes of the instrument (nulling, differential phase and astrometry). The control system has several parts. One is for control of "slow" sub-systems, which is based in the EPICS architecture, already ubiquitous at the Keck Observatory. Another, used to control hard real time sub-systems, is based on a new infrastructure developed at JPL, programmed in C++, Java, and using CORBA for communication. This infrastructure has been developed specifically with the problems of interferometric control in mind and is used in JPL's flight testbeds as well as the Keck Interferometer. Finally, a user interface and high level control layer is in development using a variety of tools including UML based modeling in the Rhapsody tool (using C++ and CORBA), Java, and Tcl/Tk for prototyping.© (2002) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

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.

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 Telescope Control System is organized as a set of independent hardware subsystems, a pointing subsystem, and a high-level TCS subsystem. The pointing subsystem handles real-time coordination of telescope, mount, enclosure, rotators and guiders. The TCS subsystem knows which low- level subsystems are required for a given instrument, and manages the parallel initialization, shutdown, status monitoring and fault recovery of the overall system. The TCS subsystem also provides a user interface which presents the system as a table, with an Overall row and a row per subsystem; each row has status and error message fields, and a set of standard controls. This user interface serves as the single point of access to the telescope control system for the observing assistant and the engineer: all the other observing and engineering tools can be launched from it. This paper describes the above paradigm, with special attention being given to the user interface. Potential use of the same model for other applications is discussed.© (1998) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

The Keck 1 chopping secondary was built by the Palo Alto Research Laboratories of the Lockheed (now Lockheed Martin) Missiles and Space Company. The only software component of the delivered system is a proprietary error correction algorithm; Keck wrote software to generate acceleration-limited azimuth and elevation demands, to rotate these demands as a function of telescope position, to interact with the error correction system, and to mange hardware start-up and shutdown. The Keck 2 chopping secondary, also built by Lockheed, was originally conceived as an infrared fast steering mechanism (IFSM) and is simpler than the Keck 1 system, with lower power and acceleration limits and, therefore, lower chop amplitude and frequency specifications. As far as possible, it provides the same external interfaces as the Keck 1 system. A new EPICS- based telescope control system has been written for Keck 2 and was retrofitted on Keck 1 in March 1997. The Keck 1 chopper control software has been converted to the EPICS environment and, at the same time, altered so that the same software supports both choppers. This conversion has retained as much as possible of the complex real-time code of the old system while at the same time fully utilizing EPICS facilities. The paper presents more details of both the old and the new systems and illustrates how the new system is simpler than the old as well as being much better integrated into the overall telescope control system. Operational experience is presented.

The servo design and model of the W. M. Keck telescopes autoguider is presented. Telescope servo models often do not include the guider loop and therefore do not take advantage of traditional control analysis and test techniques to improve performance. Guide camera dynamics, computational and transport lags, and compensation networks are discussed. A means of measuring the actual frequency response characteristics of the guide loop is presented and the results are compared to those predicted by the model. Guide performance as a function of integration time is illustrated. An improved compensation network is developed and its performance examined.© (1997) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

The Keck II telescope control system is a completely new design from the Keck I system. The entire software project, design, implementation and commissioning, has taken 16 months from inception in January 1995 to completion of all major subsystems in April 1996. First light took place in January 1996, and scientific quality images were taken in April 1996. Full operations are planned for October 1996. This paper focuses on the management and software engineering practices and the software tools that made it possible to complete a project of this magnitude with the limited time and resources at our disposal. Areas of potential software sharing and collaboration with other observatories are also discussed.

The experimental physics and industrial control system (EPICS) originated in the high energy physics community and has been used for several years to control accelerators. It is now in use or soon to be in use at several observatories around the world. In 1995, it was decided that Keck II telescope would have a new EPICS-based control system rather than use a copy of the Keck I system. This decision was made because it was felt that EPICS provided a superior software infrastructure to that developed for Keck I, and that it would scale well to encompass adaptive optics and eventual use of the two telescopes for interferometry. The new control system was developed throughout 1995 and the early part of 1996, leading to first light in January 1996, making it the first fully EPICS-controlled telescope control system in the world. This paper describes how EPICS has been used to implement the control system, including a detailed discussion of the axes control, pointing and timing system, and of how they interact with each other.© (1997) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

Many diverse software systems are in use on the Keck I telescope. This is mostly because software standards were low-level (e.g., choice of programming language, computer or operating system) and did not specify use of a particular software environment. Selection of directory structures, messaging systems, tasking environments and support packages was largely left up to individual development groups, although there were some successful instances of group collaborations. For the Keck II telescope, a common set of standards and tools has been agreed on, and the provision and maintenance of these tools is regarded as a group effort. These standards and tools are known as the Keck II Software Infrastructure and include EPICS (Experimental Physics and Industrial Control System), the successful Keck I concept of making all system control available via keyword/value pairs, the Tcl command language, standard logging and error reporting, and common programing standards. This paper discusses some of the successes and failures of the Keck I approach and describes how the Keck II system is evolving from the Keck I system. Some examples of the use of EPICS for telescope control are given, and EPICS as a vehicle for future collaboration is considered.© (1995) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

The achieved pointing and tracking performance of the telescope is presented and compared with the Keck goals. The implications of the current performance on observing are discussed, and planned remedies for deficiencies in pointing and tracking are proposed.© (1994) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

The computing environment and major components of the Keck telescope control system are discussed. This is followed by a discussion of calibration procedures and a review of current status and problems.

(1857). III. On spherical geometry. The London, Edinburgh, and Dublin Philosophical Magazine and Journal of Science: Vol. 14, No. 90, pp. 35-39.