Lecture 14 Part 1: AO System Optimization Part 2: How to be a savvy user and consumer of AO Claire Max Astro 289, UC Santa Cruz Feburary 21, 2013 Page 1 Optimization of AO systems • If you are designing a new AO system: – How many actuators? – What kind of deformable mirror? – What type of wavefront sensor? – How fast a sampling rate and control bandwidth (peak capacity)? • If you are using an existing AO system: – How long should you integrate on the wavefront sensor? How fast should the control loop run? – Is it better to use a bright guide star far away, or a dimmer star close by? – What wavelength should you use to observe? Page 2 Issues for designer of astronomical AO systems • Performance goals: – Sky coverage fraction, observing wavelength, degree of image compensation needed for science program • Parameters of the observatory: – Turbulence characteristics (mean and variability), telescope and instrument optical errors, availability of laser guide stars • AO parameters chosen in the design phase: – Number of actuators, wavefront sensor type and sample rate, servo bandwidth, laser characteristics • AO parameters adjusted by user: integration time on wavefront sensor, wavelength, guide star mag. & offset Page 3 Example: Keck Observatory AO “Blue Book” • Made scientific case for Keck adaptive optics system • Laid out the technical tradeoffs • Presented performance estimates for realistic conditions • First draft of design requirements The basis for obtaining funding commitment from the user community and observatory Page 4 What is in the Keck AO Blue Book? • Chapter titles: 1. Introduction 2. Scientific Rationale and Objectives 3. Characteristics of Sky, Atmosphere, and Telescope 4. Limitations and Expected Performance of Adaptive Optics at Keck 5. Facility Design Requirements • Appendices: Technical details and overall error budget Page 5 Other telescope projects have similar “Books” • Keck Telescope (10 m): – Had a “Blue Book” for the telescope concept itself • Thirty Meter Telescope: – Series of design documents: Detailed Science Case, Science Based Requirements Document, Observatory Requirements Document, Operations Requirements Document, etc. These documents are the kick-off point for work on the “Preliminary Design” Page 6 First, look at individual terms in error budget one by one • Error budget terms – Fitting error – WFS measurement error – Anisoplanatism – Temporal error • Figures of merit – Strehl ratio – FWHM – Encircled energy – Strehl ratio Page 7 Fitting error: dependence of Strehl on and DM degrees of freedom Deformable mirror fitting error only ( S = exp -s f2 ) 5/3 é ædö ù = exp ê -0.28 ç ÷ ú è r0 ø úû êë æ l ö r0 ( l ) = r0 ( l = 0.5 m m ) ç è 0.5 m m ÷ø 6/5 5/3 é ö æ 0.5 m m ö 2 ù æ d S = exp ê -0.28 ç ÷ø ú çè ÷ l è r0 ( l = 0.5 m m ) ø úû êë • Assume very bright natural guide star • No meas’t error or anisoplanatism or bandwidth error Strehl increases for smaller subapertures and shorter observing wavelengths Page 8 Strehl increases for smaller subapertures and longer observing wavelengths • Assume very bright natural guide star Decreasing fitting error • No meas’t error or anisoplanatism or bandwidth error Deformable mirror fitting error only Page 9 Strehl increases for longer and better seeing (larger r0) • Assume very bright natural guide star Decreasing fitting error • No meas’t error or anisoplanatism or bandwidth error Deformable mirror fitting error only Page 10 Wavefront sensor measurement error: Strehl vs and guide star magnitude Assumes no DM fitting error or other error terms s S2- H æ 6.3 ö »ç è SNR ÷ø ( S = exp -s S2- H 2 ) é æ 6.3 ö 2 ù = exp ê - ç ÷ø ú è SNR êë úû SNR increases as flux from guide star increases Strehl increases for brighter guide stars But: SNR will decrease as you use more and more subapertures, because each one will gather less light Page 11 Strehl increases for brighter guide stars Assumes no DM fitting error or other error terms bright star Decreasing measurement error dim star Page 12 Strehl vs and guide star angular separation (anisoplanatism) é æ q ö 5/3 ù 2 ùû = exp ê - ç ÷ ú , S = exp éë -s iso êë è q 0 ø úû r0 q0 = µ l 6 /5 h 5/3 2ù é æ ö æ 0.5 mm ö q S = exp ê - ç çè ÷ø ú ÷ l êë è q 0 (0.5 mm ) ø úû Strehl increases for smaller angular offsets and longer observing wavelengths Page 13 Strehl increases for smaller angular offsets and longer observing wavelengths 0 arcsec 4 arcsec 10 arcsec 20 arcsec Page 14 PSF with bright guide star: more degrees of freedom ⇒ more energy in core Peak intensity relative to diffraction limit Point Spread Function very bright star, λ = 2.2 m, D / r0 = 8.5 1 218 DOF 50 DOF 0.1 24 DOF 12 DOF 2 DOF (TIP-TILT) uncorrected 0.01 Seeing limited 0.001 0.0001 0 0.1 0.2 0.3 Radius (arcsec) 0.4 0.5 Page 15 What matters for spectroscopy is “Encircled Energy” Fraction of light encircled within diameter of xx arc sec 2.2 Encircled Energy Fraction Diffraction limited 1.65 1.25 μ 0.88 uncorrected 0.7 Page 16 Overall system optimization • Concept of error budget – Independent contributions to wavefront error from many sources • Minimize overall error with respect to a parameter such as integration time or subaperture size Page 17 Error model: mean square wavefront error is sum of squares of component errors • Mean square error in wavefront phase s =s 2 p 2 Meas Meas’t +s 2 BW +s s =s +s +s Fitting Timelag 2 Meast 2 DM 2 S-H 2 iso Isoplan. é 3.5qb d ù »ê ë SNR l úû 2 T -T + ..... Tip-tilt 2 Page 18 Signal to Noise Ratio for a fast CCD detector Flux ´ Tint Flux ´ Tint SNR = = 1/2 2 2 2 2 Noise éës PhotonNoise + s SkyBkgnd + s DarkCurrent + s ReadNoise ùû • Flux is the average photon flux (detected photons/sec) • Tint is the integration time of the measurement, • Sky background is due to OH lines and thermal emission • Dark current is detector noise per sec even in absence of light (usually due to thermal effects) • Read noise is due to the on-chip amplifier that reads out the charge after each exposure Page 19 Short readout times needed for wavefront sensor ⇒ read noise is usually dominant • Read-noise dominated: read noise >> all other noise sources • In this case SNR is SNRRN = Flux ´ Tint 1/2 éë R n pix ùû 2 Flux ´ Tint = R n pix where Tint is the integration time, npix is the number of pixels in a subaperture, R is the read noise/px/frame Page 20 Now, back to calculating measurement error for Shack-Hartmann sensor 1 2p d ù é p 2 @ ê Jb rad l úû ë 4 2 SNR 2 s 2 S-H • Assume the WFS is read-noise limited. Then SNRS-H Flux ´ Tint = and R n pix dù é 3.5q b d ù é =ê = ê 3.5q b ú 2 ú l û ( Flux ´ Tint ) ë SNR l û ë 2 s 2 S-H 2 R 2 n pix Page 21 Error model: mean square wavefront error is sum of squares of component errors s =s 2 p 2 Meast +s 2 BW +s 2 DM R n pix æ Tcontrol ö dù é s = ê 3.5qb ú 2 +ç l û ( Flux ´ Tint ) è t 0 ÷ø ë 2 2 p 2 5/3 + s + ..... 2 iso æ dö + mç ÷ è r0 ø 5/3 æqö +ç ÷ è q0 ø 5/3 + .... Flux in a subaperture will increase with subap. area d2 Tcontrol is the closed-loop control timescale, typically ~ 10 times the integration time Tint (control loop gain isn’t unity, so must sample many times in order to converge) Page 22 Integration time trades temporal error against measurement error æ 10Tint ö dù é s » ê 3.5q b ú 2 +ç l û ( Flux ´ Tint ) è t 0 ÷ø ë 2 2 p R 2 n pix 5/3 From Hardy, Fig. 9.23 Measurement error r0= 0.1 m Temporal error 1 / t0 = 39 Hz Optimum integration time Page 23 First exercise in optimization: Choose optimum integration time • Minimize the sum of read-noise and temporal errors by finding optimal integration time é dù 2 R 2 n pix s 2p = ê 3.5q b ú l û ( Flux ´ Tint )2 ë æ 10Tint ö +ç è t 0 ÷ø 5/3 2 ds 2p R 2 n pix dù 5 æ 10 ö é = 0 = -2 ê 3.5q b ú + ç ÷ 2 3 dTint l û ( Flux T int ) 3 è t 0 ø ë Tintopt 2 2 é R n pix ù q d æ ö 5/3 b = ê 0.32t 0 ç ú ÷ø 2 è l ( Flux ) úû êë 5/3 Tint2/3 3/11 • Sanity check: optimum Tint larger for long τ0, larger read noise R, and lower photon Flux Page 24 Similarly, subaperture size d trades fitting error against measurement error é dù 2 R 2 n pix s f2 = ê 3.5q b ú l û ( Flux ´ Tint )2 ë æ dö + mç ÷ è r0 ø 5/3 Flux = I ´ area = I ´ d 2 where intensity I = photons/(sec cm 2 ) 2 R 2 n pix æ dö dù é 2 s f = ê 3.5q b ú + m çè r ÷ø l û ( I ´ d 2 ´ Tint )2 ë 0 2 R 2 n pix æ dö 1 é ù 2 s f = ê 3.5q b ú + m çè r ÷ø l û ( I ´ Tint )2 d 2 ë 0 Hardy, Figure 9.25 5/3 5/3 • Smaller d: better fitting error, worse measurement error Page 25 Solve for optimum subaperture size d é dù 2 R 2 n pix s f2 = ê 3.5q b ú l û ( Flux ´ Tint )2 ë æ dö + mç ÷ èr ø 5/3 0 Flux = I ´ area = I ´ d 2 where intensity I = detected photons/(sec cm 2 ) é dù 2 R 2 n pix s f2 = ê 3.5q b ú l û ( I ´ d 2 ´ Tint )2 ë æ dö + mç ÷ èr ø 0 5/3 2 R 2 n pix 1ù é = ê 3.5q b ú l û ( I ´ Tint )2 d 2 ë æ dö + mç ÷ èr ø 5/3 0 Set derivative of s f2 with respect to subaperture size d equal to zero: dopt ìï 6 r05/3 é 3.5q b ù 2 R 2 n pix üï =í êë l úû (I ´ T )2 ý 5 m ïî ïþ int 3/11 dopt is larger if r0, read noise, and npix are larger, and if Tint and I are smaller Page 26 LGS (10th mag TT star) Case Wavefront Error (nm) Atmospheric Fitting Error 110 Bandwidth Error 146 High-order Measurement Error 150 LGS Focal Anisoplanatism Error 208 Uncorrectable Static Telescope Abs 66 Dyn WFS Zero-point Calib Error 80 Residual Na Layer Focus Change 36 High-Order Aliasing Error 37 Uncorrectable AO System Aberrations 30 Uncorrectable Instrum Aberrations 110 Angular Anisoplanatism Error 24 Tilt Measurement Error (one-axis) 11 Tilt Bandwidth Error (one-axis) 18 Residual Tel Pointing Jitter (1-axis) 96 Total Wavefront Error (nm) = Strehl at K-band = Assumptions Zenith angle (deg) Guide star magnitude HO WFS Rate (Hz) TT Rate (Hz) Laser power (W) WFS camera Subaperture diameter (m) Science Instrument Amplitude of vibrations (arcsec) d0 (m) TT sensor 370 0.3 Keck 2 AO error budget example (bright TT star) 10 10 500 1000 16 CCD39 0.5625 NIRC2 0.2 2.41 STRAP APDs Page 27 Summary: What can you optimize when? • Once telescope is built on a particular site, you don’t have control over 0, θ0 , r0 • But when you build your AO system, you CAN optimize choice of subaperture size d , maximum AO system speed, range of observing wavelengths, sky coverage, etc. • Even when you are observing with an existing AO system, you can optimize: – wavelength of observations (changes fitting error) – integration time of wavefront sensor Tint – tip-tilt bandwidth – brightness and angular offset of guide star Page 28 How to be a savvy user and consumer of AO systems? Topics • What kinds of astronomy are helped by AO? • For users of astronomical AO: – How to plan your observations – What questions to ask when you get to the telescope – Observing procedures • For critical readers of AO papers in journals: – How to assess the reality of AO results reported in the literature – Which data should you take seriously? – What are “danger signs” that should make you doubtful? Page 29 What kinds of observations will be helped by AO? (1) • See details that were not previously present – Qualitative: can make new morphological statements – Quantitative: need to know Point Spread Function; need to understand PSF error bars • Detect fainter objects/features – Works for point sources – But: IR AO systems inject more thermal background, because of many mirror surfaces. Also throughput to detector goes down. – In astronomy, faint extended objects can actually be harder to see with AO. Limiting factor is sky background, and AO doesn’t improve this for extended objects. Page 30 What kinds of observations will be helped by AO? (2) • AO increases image contrast: – Increased Strehl ratio ⇒ sharper edges, brighter features (if they are close to diffraction limit) – Detecting faint things close to bright things: » companions to bright stars » host galaxies of quasars » stellar and protoplanetary disks – Caution: Contrast improvement may not be helped by AO for extended features, unless they have structure at λ / D • AO permits more precise astrometry – Can measure position of a point source more accurately if a) it is smaller, and b) it is brighter – But need other stars in the field to create a reference frame Page 31 See new details and structure Neptune, Keck, no AO Neptune, Keck, AO • Structure is dramatically clearer • But can be hard to measure quantitative brightness of features – AO PSF “spills” light from bright features into fainter areas Page 32 Spilling of light, Neptune bright clouds • Light from bright compact cloud region “spills” over limb, and into nearby dark areas • How do you tell what the “real” intensity is, in a dark region? Page 33 Will I detect fainter objects with AO? (1) • Assume a point source under skybackground-limited conditions. Total flux from object is Fobj (ergs/cm2 or watts/m2). • Generally choose size of pixel such that two pixels sample a typical point-source diameter. So within the area of the PSF, npix ~4 • The area of the PSF on the sky is ~ (2λ/D)2 for AO, but is ~ (2λ/r0)2 without AO • So if all else is the same, the sky background Bsky within the PSF of a point source is (D/r0)2 larger for the no-AO case SNRAO = Strehl ´ FobjTAO ¢ t int sky n pix BAO TAO ¢ t (TAO ¢ = trans. (tel. + AO + instr.) SNRsee = FobjTNoAO ¢ tint sky n pix BNoAO TNoAO ¢ t (TNoAO ¢ = trans. (tel. + instr.) 2 æ Dö sky sky BNoAO » ç ÷ ´ BAO èr ø 0 Page 34 Will I detect fainter objects with AO? (2) • Lick AO ( = 1.65 microns ): S = 0.4 D=3m r0 = 0.6 m T’ao / T’noao = 0.5 • At 1.65 microns, the sky background per arc sec is the same with and without AO, so sky AO BAO TAO ¢ n nopix æ D ö TAO SNRAO ¢ = Strehl ´ @ Strehl @ 3.5 ´ Strehl sky AO ç ÷ SNRseeing Bno- AOTnoAO ¢ n pix ¢ è ro ø TnoAO • If Strehl is < 0.3, AO doesn’t give sensitivity advantage even for point sources Page 35 Galactic Center: NGS to LGS AO Credit: Andrea Ghez’s group at UCLA Best NGS Page 36 Galactic Center: NGS to LGS AO LGS Page 37 Structure in extended objects • If goal is to see diffraction-limited structure, we need to achieve good signal to noise in each pixel SNRAO = • Overall transmission T’AO ∝ D2 • AO pixels are usually diffractionlimited, so npix=aobj/apix= aobj/ ( /D)2 SNRAO µ • Can increase SNR by binning pixels – If object is diffuse (aobj >> /D) don’t need diffraction limited pixel sampling anyway n pix BtotalTAO ¢ t int Strehl ´ Fobj D t int aobj ( l / D )2 • SNR with AO indep. of telescope diameter! • The larger the object (aobj) the lower the SNR per pixel Strehl ´ FobjTAO ¢ t int SNRAO æ Strehl ´ D 0 t ö int µç ÷ aobj è ø Page 38 AO yields higher contrast, for small features • T. Rimmele • AO for imaging surface of Sun AO off AO off • Higher contrast on bright granules, dark regions in between where B field is emerging from sub-surface Page 39 Example of higher contrast: vision science images of human retina • Austin Roorda and David Williams Without AO With AO: resolve individual cones Page 40 AO yields better contrast for faint objects next to bright objects Page 41 AO can permit more accurate astrometry (precise position measurement) • For a point source, accuracy of centroid measurement increases with intensity, decreases with image size • AO helps both of these: AO • But: need stars with known positions in field of view. AO field of view tends to be small No AO Binary stars are perfect for relative astrometry Page 42 Questions? Discussion? Page 43 How to plan observations ahead of time • First requirement: understand what Strehl ratio you will need for your science project to succeed • Estimate exposure time needed to achieve good SNR – Some AO systems have exposure time calculators – Or check with folks who have observed in the past • Refer to web pages to see what brightness guide star, at what distance, at what zenith angle, you will need • Check AO system web page for maximum offset between science target and guide star • Search star catalogues to find guide stars Page 44 Star catalogs for guide star search (After B. MacIntosh) Catalog Mag Limit Spectral info? Notes SAO/PPM 9 * Types Old catalogue, bright stars Good for quick PSFs Hipparcos 9 Colors Very accurate, catalogue available as IDL file 1112 Colors Very accurate HST Guide Star 15 None Unreliable (but good near bright stars), locally searchable in IRAF USNO B1.0 20 Colors Incomplete near bright stars, funky close to big galaxies Tycho 2 Page 45 Finding a guide star: Tools • VizieR http://vizier.u-strasbg.fr/viz-bin/VizieR – Has the ability to do constrained searches – limited in position, magnitude, etc. – from a list of input targets – Results can be read into IDL or spreadsheet for sorting and processing • Aladin (one of Vizier’s capabilities) – http://aladin.u-strasbg.fr/java/nph-aladin.pl – Can overplot a Digital Sky Survey image of your target with all the stars it can find from the USNO B1 catalogue. Very useful for finding guide stars. – Gives B and R magnitudes of all USNO stars. Page 46 • Aladin and USNO B1 catalog: virtues and pitfalls • Great user interface, many surveys • But gets confused near galaxies, nebulosity • Check out potential guide stars by eye! Page 47 Some observatories have their own online guide star tools Page 48 Other questions to address prior to observing with AO system • PSF calibrations – What is my PSF star calibration strategy? – What is the impact of anisoplanatism? • Observing time – Calculate exposure times needed for good SNR – Have I accurately estimated AO’s overhead (wasted time)? • Calibration and flat-fielding issues – How will I calibrate the sky fluxes (offset skies, dithering, other?) – How will I calibrate detector response variations? – How will I calibrate photometry (brightness measurement)? » Usually observe photometric standard stars » How often? In what sequence? Page 49 “PSF stars” • Before, after, and sometimes intermingled with observing science target, observe “PSF star” • Constraints: – If science target is offset in angle from guide star, can find PSF star pair with similar relative offset – Should be at ~ same zenith angle as science target (but typically an hour or two earlier or later) – PSF star should produce same number of wavefront sensor counts as guide star for your science target. • In practice it’s hard to meet all these conditions • With LGS, I typically end up using the tip-tilt star as PSF Page 50 Page 51 Sometimes you find creative endeavors on the web (!) Page 52 Laser guide star observing requires more preparation • US observatories have to submit target list to US Space Command (satellite avoidance) in advance – Not good form to destroy the detector on a billion dollar satellite • Specific formats required • Check web pages for instructions Page 53 Page 54 Questions to ask when you get to the telescope • If possible, come a day early and watch the previous night’s observers use the AO system • Ask for a “lesson” in how to control the AO system from the instrument interface • Typically the AO system is calibrated each afternoon – Observatory staff will use an internal light source to measure non-common-path errors every day (before observing) – Instructive to watch this process if you’ve never seen it before Page 55 Why we must calibrate for non-commonpath errors To near-IR camera Schematic of Lick AO system (one generation ago) Page 56 Overview of the calibration process (usually done by observatory staff) • Close dome, lights out, flatten the deformable mirror • Turn on internal light source (e.g. optical fiber with diode or laser light) – Record centroid positions on wavefront sensor – Record image of internal reference on camera • Adjust deformable mirror shape until image of internal reference has highest Strehl ratio • Record new positions of centroids on wavefront sensor. These will be the “reference centroids” to which AO loop will control. Page 57 AO tuning for your guide star • Wavefront sensor camera frame-rate and AO control loop gain optimized for your guide star – For fainter guide stars, want slower frame rate – Typically need 100-200 counts per subaperture per wavefront sensor frame, for good AO performance – For fainter stars, use lower control loop gain (lower bandwidth) • AO operator will take a sky background measurement for the wavefront sensor – Subtracted from each wavefront sensor frame • Based on number of wavefront sensor counts, AO operator will run a program to optimize the AO system performance (trade frame rate against counts on wavefront sensor) • Then offset from PSF star’s guide star to the PSF star itself, turn on AO system, take images or spectra Page 58 Re-tuning the AO system during the night • When does operator re-tune AO system? – – – – At each new telescope pointing When background changes (clouds, moon) When flexure changes (after slew, long integrations) Whenever observer requests an updated tune-up • I usually keep an eye on the number of wavefront sensor counts per subaperture – When it drops considerably below its original value, ask for a re-tuning Page 59 Other observing procedures are same as for any infra-red observations • Take sky backgrounds – Necessary in IR: science target can be dimmer than the sky background! – Can nod to sky so that your science target is entirely off the detector, or – If your science target is small enough, can get sky bkgnd just from dithering target on detector • Observe photometric standard stars several times during the night (if needed) Page 60 Other observing procedures are same as for any infra-red observations • Dithering and nodding: 1 2 • IR array non-uniformity requires sky measurement and subtraction • To obtain a sky subtraction, usually need a multiposition dither (1-2-3-4 etc.) – If your science target is big, good to get a separate sky too 3 4 5 (sky) Page 61 Questions? Discussion? Page 62 How to assess the reality of AO results reported in the literature • Which data should you take seriously? • What are “danger signs” that should make you doubtful? Page 63 Taking data seriously: Three big issues 1. Strehl ratio and variability 2. Effect of using a non-point-source as a guide star or tip-tilt star 3. Signal to noise ratio Page 64 Taking data seriously: Three big issues 1) Strehl: – Don’t trust lowStrehl results Higher Strehl ratios are more stable – How low is low? My rule of thumb: “low” is S < 10% – Problems: unstable photometry, variable PSFs Credit: J. Christou et al. Page 65 Big issues, continued 2) Finite-size object used as “guide star” – Frequently produces artifacts on point spread function – Sometimes “double-star” PSF – Look for independent measurement of PSF if possible – Also there can be issues with using finite-sized object as tip-tilt star » Most important example: using bright nucleus of a galaxy as the tip-tilt reference » The more point-like it is, the better » No firm rules here about what to do – try it! Page 66 Big issues, continued 3) Signal to noise ratio of AO image or spectrum – Rules of thumb (Hardy): » SNR needed to recognize an object in a noisy background: SNR > 5 » SNR needed for spectroscopy is much larger: people use numbers like 20, 50, 100 per resolution element (depends on the application) Be sure to look carefully at section of published paper where SNR is discussed. – If it isn’t discussed, try to estimate it yourself. Page 67 “Journal of Irreproducible Results” • Danger signs: • Low Strehl ratios (e.g. 5% - 15%) • Use of an extended source as a “natural guide star” – Can give PSFs that are double, or that have several lumps • Use of a “guide star” that IS a point source, but that is embedded in a fuzzy region – Also can give odd PSFs • Look for repeatable independent measurements of PSF Page 68 Radio galaxy 3C294 seen with UH AO system Diffraction spike from guide star (a double star?) Stockton et al. UH AO System CFHT Telescope Page 69 3C294 images from Hubble, Keck AO Hubble (0.7 micron) Keck AO (1.6 microns): Bright point-like core, plus fuzz on right From Wim de Vries. LLNL Page 70 Example of dangers from extended guide star: Frosty Leo nebula • UH AO system • Closed AO loop on one of the big blue blobs • Concluded central star is double • Not confirmed by subsequent observations Page 71 ESO’s VLT MACAO Observations of Frosty Leo • Is it a binary star? Page 72 Conclusions • AO systems can yield flakey results if: – Guide star is extended, or too faint – Strehl is too low or too variable • Need good signal to noise (but that is no different from “regular” observations) • Need thoughtful preparation before an observing run • But…. RESULT CAN BE WORTH THE TROUBLE! Page 73