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Introduction to REMOTES: Reliable Modular Telescope Solution Michal Jakubec et al. AI AS Czech Republic CTU FEE Prague 1 Agenda • • • • • Motivation & Objectives Module Architecture Software Support D50 Control Solution Future Evolution 2 Motivation of D50 Rework (AS-IS) • Slow telescope drives ( 0.8 deg/s) • No automatic failover processes • Operation completely based on PC control • No direct telescope position feedback 3 Objectives of D50 Rework (TO-BE) • More powerful servo units ( 20 deg/s) • Absolute position sensors on both axes ( 2.3 arcmin) • Incremental sensors with interpolation ( 1 arcsec) • Automatic failover mechanisms (telescope parking, closing of roof) 4 Module as a Heart of Solution • Robust metal housing for better durability and EMC • Peripheral board (optional) • Main board (mandatory) • Sockets, connectors and cabling 5 Main Board of the Module • Based on ATxmeta256A3 microcontroller (256 KB Flash, 16KB RAM) • Two 10 Mb/s Ethernet ports with PoE • Two RS-232/422 serial ports • 24 inputs/output for general use (GPIO) • JTAG for debugging GPIO GPIO 6 Designed for Reliability • Redundant Ethernet ports • Redundant power inlets (PoE) • Microcontroller battery backup • Continuous voltage monitoring • Power outage detection 7 Ready for Maintenance • Small command set valid for all modules • Discoverable register set unique for each module • Complex commands as user-defined macros :> MOVE 12450 • Commands independent on the type of comm. line • Universal management and diagnostic application Register Name Value CurrentPosition 12340 TargetPosition MOVE @0: Command SET TargetPosition = @0 SET Command = Slew State WAITFOR State = Idle ASSERT CurrentPosition = Target Position END 12340 Empty Idle 8 Universal Management Application 9 D50 Telescope Control Solution • Communication over redundant network • Directed by RTS2 control system over serial line • Mounting drives control (hour angle, declination) • Site peripherals control (e.g. roof open/close, weather detection) 10 Members of the Project Namee Role Main interest Jan Štrobl Observation Supervisor Specification of key requirements Michal Jakubec Solution Architect Overall design strategy of the project Petr Skala Solution Developer Design of position control module Rendering of 3-D visualisation Milan Sedláček Solution Developer Design of site control module Martin Nekola Solution Developer Development of firmware routines Martin Blažek Main Observer Validation of key requirements René Hudec Project Stakeholder Operational and financial supervision 11 Future Evolution • Direct integration with imaging equipment (control of cameras, focusers, filter wheels) • Fowerful graphical software suite for complete observation control and monitoring • Support of TCP/IP protocol family • Physical network based on Fast Ethernet (100 Mb/s) • Choice of more powerful MCU platforms (ATxmegaA1, ARM, etc.) 12 Conclusion • • • • • Motivation & Objectives Module Architecture Software Support D50 Control Solution Future Evolution Questions? 13