Isoplanatism in a multiconjugate adaptive optics system

Turbulence correction in a large field of view by use of an adaptive optics imaging system with several deformable mirrors (DM's) conjugated to various heights is considered. The residual phase variance is computed for an optimized linear algorithm in which a correction of each turbulent layer is achieved by applying a combination of suitably smoothed and scaled input phase screens to all DM's. Finite turbulence outer scale and finite spatial resolution of the DM's are taken into account. A general expression for the isoplanatic angle thetaM of a system with M mirrors is derived in the limiting case of infinitely large apertures and Kolmogorov turbulence. Like Fried's isoplanatic angle theta0,thetaM is a function only of the turbulence vertical profile, is scalable with wavelength, and is independent of the telescope diameter. Use of angle thetaM permits the gain in the field of view due to the increased number of DM's to be quantified and their optimal conjugate heights to be found. Calculations with real turbulence profiles show that with three DM's a gain of 7-10x is possible, giving the typical and best isoplanatic field-of-view radii of 16 and 30 arcseconds, respectively, at lambda = 0.5 microm. It is shown that in the actual systems the isoplanatic field will be somewhat larger than thetaM owing to the combined effects of finite aperture diameter, finite outer scale, and optimized wave-front spatial filtering. However, this additional gain is not dramatic; it is less than 1.5x for large-aperture telescopes.     

Optimal wave-front reconstruction strategies for multiconjugate adaptive optics

We propose an optimal approach for the phase reconstruction in a large field of view (FOV) for multiconjugate adaptive optics. This optimal approach is based on a minimum-mean-square-error estimator that minimizes the mean residual phase variance in the FOV of interest. It accounts for the C2n profile in order to optimally estimate the correction wave front to be applied to each deformable mirror (DM). This optimal approach also accounts for the fact that the number of DMs will always be smaller than the number of turbulent layers, since the C2n profile is a continuous function of the altitude h. Links between this optimal approach and a tomographic reconstruction of the turbulence volume are established. In particular, it is shown that the optimal approach consists of a full tomographic reconstruction of the turbulence volume followed by a projection onto the DMs accounting for the considered FOV of interest. The case where the turbulent layers are assumed to match the mirror positions [model-approximation (MA) approach], which might be a crude approximation, is also considered for comparison. This MA approach will rely on the notion of equivalent turbulent layers. A comparison between the optimal and MA approaches is proposed. It is shown that the optimal approach provides very good performance even with a small number of DMs (typically, one or two). For instance, good Strehl ratios (greater than 20%) are obtained for a 4-m telescope on a 150-arc sec x 150-arc sec FOV by using only three guide stars and two DMs.     

Optimal control law for classical and multiconjugate adaptive optics

Classical adaptive optics (AO) is now a widespread technique for high-resolution imaging with astronomical ground-based telescopes. It generally uses simple and efficient control algorithms. Multiconjugate adaptive optics (MCAO) is a more recent and very promising technique that should extend the corrected field of view. This technique has not yet been experimentally validated, but simulations already show its high potential. The importance for MCAO of an optimal reconstruction using turbulence spatial statistics has already been demonstrated through open-loop simulations. We propose an optimal closed-loop control law that accounts for both spatial and temporal statistics. The prior information on the turbulence, as well as on the wave-front sensing noise, is expressed in a state-space model. The optimal phase estimation is then given by a Kalman filter. The equations describing the system are given and the underlying assumptions explained. The control law is then derived. The gain brought by this approach is demonstrated through MCAO numerical simulations representative of astronomical observation on a 8-m-class telescope in the near infrared. We also discuss the application of this control approach to classical AO. Even in classical AO, the technique could be relevant especially for future extreme AO systems.     

Preconditioned conjugate gradient wave-front reconstructors for multiconjugate adaptive optics

Multiconjugate adaptive optics (MCAO) systems with 10(4)-10(5) degrees of freedom have been proposed for future giant telescopes. Using standard matrix methods to compute, optimize, and implement wavefront control algorithms for these systems is impractical, since the number of calculations required to compute and apply the reconstruction matrix scales respectively with the cube and the square of the number of adaptive optics degrees of freedom. We develop scalable open-loop iterative sparse matrix implementations of minimum variance wave-front reconstruction for telescope diameters up to 32 m with more than 10(4) actuators. The basic approach is the preconditioned conjugate gradient method with an efficient preconditioner, whose block structure is defined by the atmospheric turbulent layers very much like the layer-oriented MCAO algorithms of current interest. Two cost-effective preconditioners are investigated: a multigrid solver and a simpler block symmetric Gauss-Seidel (BSGS) sweep. Both options require off-line sparse Cholesky factorizations of the diagonal blocks of the matrix system. The cost to precompute these factors scales approximately as the three-halves power of the number of estimated phase grid points per atmospheric layer, and their average update rate is typically of the order of 10(-2) Hz, i.e., 4-5 orders of magnitude lower than the typical 10(3) Hz temporal sampling rate. All other computations scale almost linearly with the total number of estimated phase grid points. We present numerical simulation results to illustrate algorithm convergence. Convergence rates of both preconditioners are similar, regardless of measurement noise level, indicating that the layer-oriented BSGS sweep is as effective as the more elaborated multiresolution preconditioner.     

Performance study of Kalman filter controller for multiconjugate adaptive optics

We compare the performance of the Kalman filter (KF)-based and the minimum variance (MV) control algorithms for a zonal adaptive optics with a phase temporal prediction step included for effective compensation of the errors attributable to latencies in the system. The main goal is to evaluate the performance achievable by the computationally more expensive KF approach, which explicitly accounts for the atmospheric turbulence temporal behavior through a first-order autoregressive evolution model, and the simpler MV algorithm, with and without temporal prediction. For a representative example, the Gemini-South 8 m telescope multiconjugate adaptive optics system performance of the KF and the MV controllers has been compared with respect to their turbulence compensation capability. We show that the KF algorithm, as expected, shows superior performance to that of the MV algorithm, especially for extremely low sampling rates and large control latencies. We also show that for moderate control latencies the MV algorithm with a temporal prediction step added to it approaches the performance of the KF technique.     

Fundamental limits on isoplanatic correction with multiconjugate adaptive optics

We investigate the performance of a general multiconjugate adaptive optics (MCAO) system in which signals from multiple reference beacons are used to drive several deformable mirrors in the optical beam train. Taking an analytic approach that yields a detailed view of the effects of low-order aberration modes defined over the metapupil, we show that in the geometrical optics approximation, N deformable mirrors conjugated to different ranges can be driven to correct these modes through order N with unlimited isoplanatic angle, regardless of the distribution of turbulence along the line of sight. We find, however, that the optimal deformable mirror shapes are functions of target range, so the best compensation for starlight is in general not the correction that minimizes the wave-front aberration in a laser guide beacon. This introduces focal anisoplanatism in the wave-front measurements that can be overcome only through the use of beacons at several ranges. We derive expressions for the number of beacons required to sense the aberration to arbitrary order and establish necessary and sufficient conditions on their geometry for both natural and laser guide stars. Finally, we derive an expression for the residual uncompensated error by mode as a function of field angle, target range, and MCAO system geometry.     

Robustness study of the pseudo open-loop controller for multiconjugate adaptive optics

Robustness of the recently proposed "pseudo open-loop control" algorithm against various system errors has been investigated for the representative example of the Gemini-South 8-m telescope multiconjugate adaptive-optics system. The existing model to represent the adaptive-optics system with pseudo open-loop control has been modified to account for misalignments, noise and calibration errors in deformable mirrors, and wave-front sensors. Comparison with the conventional least-squares control model has been done. We show with the aid of both transfer-function pole-placement analysis and Monte Carlo simulations that POLC remains remarkably stable and robust against very large levels of system errors and outperforms in this respect least-squares control. Approximate stability margins as well as performance metrics such as Strehl ratios and rms wave-front residuals averaged over a 1-arc min field of view have been computed for different types and levels of system errors to quantify the expected performance degradation.     

Correctability limitations imposed by plane-wave scintillation in multiconjugate adaptive optics

Plane-wave scintillation is shown to impose multiconjugate adaptive optics (MCAO) correctability limitations that are independent of wavefront sensing and reconstruction. Residual phase and log-amplitude variances induced by scintillation in weak turbulence are derived using linear (diffraction-based) diffractive MCAO spatial filters or (diffraction-ignorant) geometric MCAO proportional gains as open-loop control parameters. In the case of Kolmogorov turbulence, expressions involving the Rytov variance and/or weighted C(2)(n) integrals apply. Differences in performance between diffractive MCAO and geometric MCAO resemble chromatic errors. Optimal corrections based on least squares imply irreducible performance limits that are validated by wave-optic simulations.     

Analysis of modes and behavior of a multiconjugate adaptive optics system

We study the so-called three-dimensional mapping of turbulence, a method solving the cone effect (or focus anisoplanatism) by using multiple laser guide stars (LGSs). This method also permits a widening of the corrected field of view much beyond the isoplanatic field. Multiple deformable mirrors, conjugated to planes at chosen altitudes among the turbulent layers, are used to correct in real time the wave fronts measured from the LGSs. We construct an interaction matrix describing the multiconjugate adaptive optics system and analyze the eigenmodes of the system. We show that the global tilt mode is singular because it cannot be localized in altitude, so that it must be corrected only once at any altitude. Furthermore, when the tilt from the LGS cannot be measured, the singularity of the global tilt yields the delocalization of particular forms of defocus and astigmatism. This imposes the use of a single natural guide star located anywhere in the corrected field to measure these modes. We show as an example that the cone effect can be corrected with a Strehl of 0.8 with four LGSs (tilt ignored) on an 8-m telescope in the visible when a single laser star provides a Strehl of 0.1. The maximum field of view of 100 arc sec in diameter can be reconstructed with an on-axis Strehl ratio of 30%. We also show that the measurement of the height of the layers can be done with current techniques and that additional layers, not accounted for, do not significantly degrade the performance in the configuration that we model.     

Sky coverage modeling for the whole sky for laser guide star multiconjugate adaptive optics

The scientific productivity of laser guide star adaptive optics systems strongly depends on the sky coverage, which describes the probability of finding natural guide stars for the tip/tilt wavefront sensor(s) to achieve a certain performance. Knowledge of the sky coverage is also important for astronomers planning their observations. In this paper, we present an efficient method to compute the sky coverage for the laser guide star multiconjugate adaptive optics system, the Narrow Field Infrared Adaptive Optics System (NFIRAOS), being designed for the Thirty Meter Telescope project. We show that NFIRAOS can achieve more than 70% sky coverage over most of the accessible sky with the requirement of 191 nm total rms wavefront.     

Numerical simulations of multiconjugate adaptive optics wave-front reconstruction on giant telescopes

We present sample Monte Carlo simulation results to illustrate the trends in multiconjugate adaptive optics (MCAO) performance as the telescope aperture diameter increases from 8 to 32 m with all other first-order system parameters held constant. The MCAO system considered includes three deformable mirrors, a 1-arc min square field of view, and five wave-front-sensing references consisting of either natural guide stars or laser guide stars at a range of either 30 or 90 km. The rms residual wave-front error decreases slowly with increasing aperture diameter with natural guide stars, whereas performance degrades significantly with increasing aperture diameter for laser guide stars at 30 km if the number of guide stars is held fixed. Performance with laser guide stars at 90 km is a weak function of telescope aperture diameter in the range from 8 to 32 m, with rms wave-front errors no more than 20% greater than the corresponding natural guide-star case for the same level of wave-front sensor's measurement noise.     

Closed-loop stability and performance analysis of least-squares and minimum-variance control algorithms for multiconjugate adaptive optics

Recent progress has been made to compute efficiently the open-loop minimum-variance reconstructor (MVR) for multiconjugate adaptive optics systems by a combination of sparse matrix and iterative techniques. Using spectral analysis, I show that a closed-loop laser guide star multiconjugate adaptive optics control algorithm consisting of MVR cascaded with an integrator control law is unstable. Tosolve this problem, a computationally efficient pseudo-open-loop control (POLC) method was recently proposed. I give a theoretical proof of the stability of this method and demonstrate its superior performance and robustness against misregistration errors compared with conventional least-squares control. This can be accounted for by the fact that POLC incorporates turbulence statistics through its regularization term that can be interpreted as spatial filtering, yielding increased robustness to misregistration. For the Gemini-South 8-m telescope multiconjugate system and for median Cerro Pachon seeing, the performance of POLC in terms of rms wave-front error averaged over a 1-arc min field of view is approximately three times superior to that of a least-squares reconstructor. Performance degradation due to 30% translational misregistration on all three mirrors is approximately a 30% increased rms wave-front error, whereas a least-squares reconstructor is unstable at such a misregistration level.     

Analysis of the improvement in sky coverage for multiconjugate adaptive optics systems obtained using minimum variance split tomography

The scientific utility of laser-guide-star-based multiconjugate adaptive optics systems depends upon high sky coverage. Previously we reported a high-fidelity sky coverage analysis of an ad hoc split tomography control algorithm and a postprocessing simulation technique. In this paper, we present the performance of a newer minimum variance split tomography algorithm, and we show that it brings a median improvement at zenith of 21 nm rms optical path difference error over the ad hoc split tomography control algorithm for our system, the Narrow Field Infrared Adaptive Optics System for the Thirty Meter Telescope. In order to make the comparison, we also validated our previously developed sky coverage postprocessing software using an integrated simulation of both high- (laser guide star) and low-order (natural guide star) loops. A new term in the noise model is also identified that improves the performance of both algorithms by more properly regularizing the reconstructor.     

Tip-tilt reconstruction with a single dim natural guide star in multiconjugate adaptive optics with laser guide stars

A solution to the problem of detecting the tip-tilt modes in multiconjugate adaptive optics (MCAO) with laser guide stars (LGS) is presented. This solution requires the presence of only a single relatively dim natural guide star (NGS) within the reconstructed field of view (FoV). The dim NGS is used for the reconstruction of the tip-tilt modes on the entire FoV, while the tomographic reconstruction of second-order and higher-order modes is made possible by having an LGS constellation with LGSs at different heights. Due to the relatively low brightness required for the tip-tilt NGS and the large corrected FoV (as compared with the case of conventional adaptive optics) the presented solution provides a means to achieve near-diffraction-limited performance of a 10-m-class telescope in the near infrared over a large portion of the sky. Sky coverage calculations assuming median seeing conditions indicate that this technique could be applied to 75% (95%) of the sky, achieving corrections with an average Strehl ratio approximately 0.42(approximately 0.33) in the 2.2 microm K band across the 1.5' reconstructed FoV.     

Multiconjugate adaptive optics results from the laboratory for adaptive optics MCAO/MOAO testbed

We report on the development of wavefront reconstruction and control algorithms for multiconjugate adaptive optics (MCAO) and the results of testing them in the laboratory under conditions that simulate an 8 meter class telescope. The University of California Observatories (UCO) Lick Observatory Laboratory for Adaptive Optics multiconjugate testbed allows us to test wide-field-of-view adaptive optics systems as they might be instantiated in the near future on giant telescopes. In particular, we have been investigating the performance of MCAO using five laser beacons for wavefront sensing and a minimum-variance algorithm for control of two conjugate deformable mirrors. We have demonstrated improved Strehl ratio and enlarged field-of-view performance when compared to conventional AO techniques. We have demonstrated improved MCAO performance with the implementation of a routine that minimizes the generalized isoplanatism when turbulent layers do not correspond to deformable mirror conjugate altitudes. Finally, we have demonstrated suitability of the system for closed loop operation when configured to feed back conditional mean estimates of wavefront residuals rather than the directly measured residuals. This technique has recently been referred to as the "pseudo-open-loop" control law in the literature.     

Tomography approach for multi-object adaptive optics

Multi-object adaptive optics (MOAO) is a solution developed to perform a correction by adaptive optics (AO) in a science large field of view. As in many wide-field AO schemes, a tomographic reconstruction of the turbulence volume is required in order to compute the MOAO corrections to be applied in the dedicated directions of the observed very faint targets. The specificity of MOAO is the open-loop control of the deformable mirrors by a number of wavefront sensors (WFSs) that are coupled to bright guide stars in different directions. MOAO calls for new procedures both for the cross registration of all the channels and for the computation of the tomographic reconstructor. We propose a new approach, called "Learn and Apply (L&A)", that allows us to retrieve the tomographic reconstructor using the on-sky wavefront measurements from an MOAO instrument. This method is also used to calibrate the registrations between the off-axis wavefront sensors and the deformable mirrors placed in the science optical paths. We propose a procedure linking the WFSs in the different directions and measuring directly on-sky the required covariance matrices needed for the reconstructor. We present the theoretical expressions of the turbulence spatial covariance of wavefront slopes allowing one to derive any turbulent covariance matrix between two wavefront sensors. Finally, we discuss the convergence issue on the measured covariance matrices, we propose the fitting of the data based on the theoretical slope covariance using a reduced number of turbulence parameters, and we present the computation of a fully modeled reconstructor.     

Layer-oriented adaptive optics for solar telescopes

First multiconjugate adaptive-optical (MCAO) systems are currently being installed on solar telescopes. The aim of these systems is to increase the corrected field of view with respect to conventional adaptive optics. However, this first generation is based on a star-oriented approach, and it is then difficult to increase the size of the field of view beyond 60-80?arc sec in diameter. We propose to implement the layer-oriented approach in solar MCAO systems by use of wide-field Shack-Hartmann wavefront sensors conjugated to the strongest turbulent layers. The wavefront distortions are averaged over a wide field: the signal from distant turbulence is attenuated and the tomographic reconstruction is thus done optically. The system consists of independent correction loops, which only need to account for local turbulence: the subapertures can be enlarged and the correction frequency reduced. Most importantly, a star-oriented MCAO system becomes more complex with increasing field size, while the layer-oriented approach benefits from larger fields and will therefore be an attractive solution for the future generation of solar MCAO systems.     

Warm-started wavefront reconstruction for adaptive optics

Future extreme adaptive optics (ExAO) systems have been suggested with up to 10(5) sensors and actuators. We analyze the computational speed of iterative reconstruction algorithms for such large systems. We compare a total of 15 different scalable methods, including multigrid, preconditioned conjugate-gradient, and several new variants of these. Simulations on a 128x128 square sensor/actuator geometry using Taylor frozen-flow dynamics are carried out using both open-loop and closed-loop measurements, and algorithms are compared on a basis of the mean squared error and floating-point multiplications required. We also investigate the use of warm starting, where the most recent estimate is used to initialize the iterative scheme. In open-loop estimation or pseudo-open-loop control, warm starting provides a significant computational speedup; almost every algorithm tested converges in one iteration. In a standard closed-loop implementation, using a single iteration per time step, most algorithms give the minimum error even in cold start, and every algorithm gives the minimum error if warm started. The best algorithm is therefore the one with the smallest computational cost per iteration, not necessarily the one with the best quasi-static performance.     

Minimum-variance control for woofer-tweeter systems in adaptive optics

The woofer-tweeter concept in adaptive optics consists in correcting for the turbulent wavefront disturbance with a combination of two deformable mirrors (DMs). The woofer corrects for temporally slow-evolving, spatially low-frequency, large-amplitude disturbances, whereas the tweeter is generally its complement, i.e., corrects for faster higher-order modes with lower amplitude. A special feature is that in general both are able to engender a common correction space. In this contribution a minimum-variance solution for the double stage woofer-tweeter concept in adaptive optics systems is addressed using a linear-quadratic-Gaussian approach. An analytical model is built upon previous developments on a single DM with temporal dynamics that accommodates a double-stage woofer-tweeter DM. Monte Carlo simulations are run for a system featuring an 8×8 actuator DM (considered infinitely fast), mounted on a steering tip/tilt platform (considered slow). Results show that it is essential to take into account temporal dynamics on the estimation step. Besides, unlike the other control strategies considered, the optimal solution is always stable.     

Real-time modal control implementation for adaptive optics

The electronics, computing hardware, and computing used to provide real-time modal control for a laser guide-star adaptive optics system are presented. This approach offers advantages in the control of unobserved modes, the elimination of unwanted modes (e.g., tip and tilt), and automatic handling of the case of low-resolution lens arrays. In our two-step modal implementation, the input vector of gradients is first decomposed into a Zernike polynomial mode by a least-squares estimate. The number of modes is assumed to be less than or equal to the number of actuators. The mode coefficients are then available for collection and analysis or for the application of modal weights. Thus the modal weights may be changed quickly without recalculating the full matrix. The control-loop integrators are at this point in the algorithm. To calculate the deformable-mirror drive signals, the mode coefficients are converted to the zonal signals by a matrix multiply. When the number of gradients measured is less than the number of actuators, the integration in the control loop will be done on the lower-resolution grid to avoid growth of unobserved modes. These low-resolution data will then be effectively interpolated to yield the deformable-mirror drive signals.