Design of a portable observatory control system
Authors:   , Suc Vincent 
Published: September 2023

In this thesis, we synthesize the development of a new concept of operation of small robotic telescopes operated over the Internet. Our design includes a set of improvements in control algorithmic and hardware of several critical points of the list of subsystems necessary to obtain suitable data from a telescope.
We can synthesize the principal contributions of this thesis into five independent innovations:
-	An advanced drive closed-loop control: We designed an innovative hardware and software solution for controlling a telescope position at high precision and high robustness.
-	A complete Telescope Control System (TCS): We implemented a light and portable software using advanced astronomical algorithms libraries for optimally compute in real-time the telescope positioning. This software also provides a new multiple simultaneous pointing models system using state machines which allows reaching higher pointing precision and longer exposure times with external guiding telescopes.
-	A distributed software architecture (CoolObs): CoolObs is the implementation of a ZeroC-ICE framework allowing the control, interaction, and communication of all the peripherals present in an astronomical observatory.
-	A patented system for dynamic collimation of optics: SAPACAN is a mechanical parallel arrangement and its associated software used for active compensation of low-frequency aberration variations in small telescopes.
-	Collimation estimation algorithms: A sensor-less AO algorithm have been applied by the analysis of images obtained with the field camera. This algorithm can detect effects of lousy collimation. The measured misalignments can later feed corrections to a device like SAPACAN.

Due to the constant presence of new technologies in the field of astronomy, it had been one of the first fields to introduce material which was not democratized at this time such as Coupled Charged Devices, internet, adaptive optics, remote and robotic control of devices. However, every time one of these new technologies was included in the field it was necessary to design software protocol according to the epoch’s state of the art software. Then with the democratization of the same devices, years after the definition of their protocols, the same communication rules tend to be used to keep backward compatibility with old - and progressively unused- devices. When using lots of cumulated software knowledge such as with robotic observing, we can dig in several nonsenses in the commonly used architectures due to the previously explained reasons.
The described situation is the reason why we will propose as follows a new concept of considering an observatory as an entity and not a separated list of independent peripherals. We will describe the application of this concept in the field or robotic telescopes and implement it in various completely different examples to show its versatility and robustness.

First of all, we will give a short introduction of the astronomical concepts which will be used all along the document, in a second part, we will expose a state of the art of the current solutions used in the different subsystems of an observing facility and explain why they fail in being used in small telescopes. The principal section will be dedicated to detail and explain each of the five
innovations enumerated previously, and finally, we will present the fabrication and integration of these solutions. We will show here how the joint use of all of them allowed obtaining satisfactory outstanding results in the robotic use of a new prototype and on the adaptation on several existing refurbished telescopes. Finally, we dedicate the last chapter of this thesis to resuming the conclusions of our work.
En esta tesis, presentamos el desarrollo de un nuevo concepto de operación de telescopio robótica operados a través de Internet. Nuestro diseño incluye un conjunto de mejoras de los algoritmos de control y hardware de varios puntos críticos de la lista de subsistemas necesarios para obtener datos de calidad científica con un telescopio. Podemos sintetizar las principales contribuciones de esta tesis en cinco innovaciones independientes: - Un control de motor avanzado en bucle cerrado: Diseñamos un hardware y software innovadores para controlar la posición y movimiento fino de un telescopio con alta precisión y alta robustez. - Un software de control de telescopio (TCS) integrado: Implementamos un software ligero y portátil que ocupa bibliotecas de algoritmos astronómicos avanzados para calcular de manera óptima y en tiempo real la posición teórica del telescopio. Este software también proporciona un software innovador de modelo de pointing múltiples simultáneos. Esto permite alcanzar una mayor precisión de seguimiento y así ocupar tiempos de integración más importante ocupando un telescopio de guía mecánicamente apartado al telescopio principal. - Una arquitectura de software distribuido (CoolObs): CoolObs es una implementación de software ocupando la plataforma de desarrollo ZeroC-ICE la cual permite el control, la interacción y la comunicación de todos los periféricos presentes en un observatorio astronómico. - Un sistema patentado para la colimación dinámica de la óptica: SAPACAN es un sistema mecánico de movimiento paralelo y su software asociado. Se puede ocupar para compensar activamente las aberraciones ópticas de bajo orden en pequeños telescopios. - Algoritmos de estimación de colimación: Se desarrolló un algoritmo de óptica adaptiva sin sensor en base al análisis de imágenes obtenidas con una cámara cerca del plano focal del telescopio. Este algoritmo puede detectar efectos de mala colimación de las ópticas. Los desajustes, una vez medidos, pueden posteriormente ser aplicados como correcciones a un dispositivo como SAPACAN. Astronomía es un terreno propicio al desarrollo de nuevas tecnologías y, debido a esto, los protocolos de comunicación entre periféricos pueden ser obsoletos porque se han escritos en etapas tempranas de existencia de estas nuevas tecnologías. Las mejoras se han hecho de a poco para mantener la compatibilidad de los sistemas ya existentes, ocupando un planteamiento general de la problemática de control de telescopios robóticos, proponemos un nuevo concepto de observatorio robótico visto como una entidad y no una lista de periféricos independientes. A lo largo de esta tesis, describiremos la aplicación de este concepto en el campo de telescopios robóticos e implementarlo en varios sistemas independientes y variados para mostrar la versatilidad y robustez de la propuesta.