Leonard J. Reder

The Keck Interferometer Nuller (KIN): configuration, measurement approach, and first results

The Keck Interferometer Nuller (KIN) will be used to examine nearby stellar systems for the presence of circumstellar exozodiacal emission. A successful pre-ship review was held for the KIN in June 2004, after which the KIN was shipped to the Keck Observatory. The integration of the KINs many sub-systems on the summit of Mauna Kea, and initial on-sky testing of the system, has occupied the better part of the past year. This paper describes the KIN system-level configuration, from both the hardware and control points of view, as well as the current state of integration of the system and the measurement approach to be used. During the most recent on-sky engineering runs in May and July 2005, all of the sub-systems necessary to measure a narrowband null were installed and operational, and the full nulling measurement cycle was carried out on a star for the first time.

Interfacing TuLiP with the JPL statechart autocoder: Initial progress toward synthesis of flight software from formal specifications

This paper describes the implementation of an interface connecting the two tools : the JPL SCA (Statechart Autocoder) and TuLiP (Temporal Logic Planning Toolbox) to enable the automatic synthesis of low level implementation code directly from formal specifications. With system dynamics, bounds on uncertainty and formal specifications as inputs, TuLiP synthesizes Mealy machines that are correct-by-construction. An interface is built that automatically translates these Mealy machines into UML statecharts. The SCA accepts the UML statecharts (as XML files) to synthesize flight-certified2 implementation code. The functionality of the interface is demonstrated through three example systems of varying complexity a) a simple thermostat b) a simple speed controller for an autonomous vehicle and c) a more complex speed controller for an autonomous vehicle with a map-element. In the thermostat controller, there is a specification regarding the desired temperature range that has to be met despite disturbance from the environment. Similarly, in the speed-controllers there are specifications about safe driving speeds depending on sensor health (sensors fail unpredictably) and the map-location. The significance of these demonstrations is the potential circumventing of some of the manual design of statecharts for flight software/controllers. As a result, we expect that less testing and validation will be necessary. In applications where the products of synthesis are used alongside manually designed components, extensive testing or new certificates of correctness of the composition may still be required.

Using scripting languages in optical interferometry

Testbeds and production systems need lightweight, capable, and rapidly developed applications. We have developed several such scripts for testing and operating the Keck Interferometer. Two stand-alone (Tcl/Tk script) applications implemented to support the Keck Interferometer are discussed. The first is a front end to automatic and manual optical alignment embedded software, developed using the Keck Observatory Keyword API extension. The second is a user interface to the Interferometer Sequencer that communicates with it via both Keywords and Common Orbject Request Broker Architecture (CORBA). We discuss client-side CORBA scripts implemented in Tcl, Perl and Python. These are all technologies that are either currently being used on testbeds at JPL or being evaluated for future use. Finally, a Python example demonstrating implementation of a simple CORBA server is presented.

Development of a State Machine Sequencer for the Keck Interferometer: Evolution, Development and Lessons Learned using a CASE Tool Approach

This paper presents a discussion of the evolution of a sequencer from a simple Experimental Physics and Industrial Control System (EPICS) based sequencer into a complex implementation designed utilizing UML (Unified Modeling Language) methodologies and a Computer Aided Software Engineering (CASE) tool approach. The main purpose of the Interferometer Sequencer (called the IF Sequencer) is to provide overall control of the Keck Interferometer to enable science operations to be carried out by a single operator (and/or observer). The interferometer links the two 10m telescopes of the W. M. Keck Observatory at Mauna Kea, Hawaii. The IF Sequencer is a high-level, multi-threaded, Harel finite state machine software program designed to orchestrate several lower-level hardware and software hard real-time subsystems that must perform their work in a specific and sequential order. The sequencing need not be done in hard real-time. Each state machine thread commands either a high-speed real-time multiple mode embedded controller via CORBA, or slower controllers via EPICS Channel Access interfaces. The overall operation of the system is simplified by the automation. The UML is discussed and our use of it to implement the sequencer is presented. The decision to use the Rhapsody product as our CASE tool is explained and reflected upon. Most importantly, a section on lessons learned is presented and the difficulty of integrating CASE tool automatically generated C++ code into a large control system consisting of multiple infrastructures is presented.