David L. Fried: bringing vision to atmospheric optics [Invited].

This paper recognizes the life work of  David L. Fried. The goal is to put the relevance of his contributions to atmospheric optics in context from three perspectives: solutions to real world problems as seen by an experimentalist, insights of his analytical process as perceived by co-workers, and his role as a mentor to bright, young minds passionate about a deeper understanding of the governing physics. During his professional career of sixty years from 1962 to 2022, Fried published 106 refereed papers, cited over 6000 times. This paper reviews the impact of Fried's work, especially addressing his contributions to ameliorating the effects of turbulence on optical system performance and the insight this provides into his analytical approach and interactions with colleagues.

Adaptive distributed Kalman filtering with wind estimation for astronomical adaptive optics.

In the framework of adaptive optics (AO) for astronomy, it is a common assumption to consider the atmospheric turbulent layers as "frozen flows" sliding according to the wind velocity profile. For this reason, having knowledge of such a velocity profile is beneficial in terms of AO control system performance. In this paper we show that it is possible to exploit the phase estimate from a Kalman filter running on an AO system in order to estimate wind velocity. This allows the update of the Kalman filter itself with such knowledge, making it adaptive. We have implemented such an adaptive controller based on the distributed version of the Kalman filter, for a realistic simulation of a multi-conjugate AO system with laser guide stars on a 30 m telescope. Simulation results show that this approach is effective and promising and the additional computational cost with respect to the distributed filter is negligible. Comparisons with a previously published slope detection and ranging wind profiler are made and the impact of turbulence profile quantization is assessed. One of the main findings of the paper is that all flavors of the adaptive distributed Kalman filter are impacted more significantly by turbulence profile quantization than the static minimum mean square estimator which does not incorporate wind profile information.

Distributed Kalman filtering compared to Fourier domain preconditioned conjugate gradient for laser guide star tomography on extremely large telescopes.

This paper discusses the performance and cost of two computationally efficient Fourier-based tomographic wavefront reconstruction algorithms for wide-field laser guide star (LGS) adaptive optics (AO). The first algorithm is the iterative Fourier domain preconditioned conjugate gradient (FDPCG) algorithm developed by Yang et al. [Appl. Opt.45, 5281 (2006)], combined with pseudo-open-loop control (POLC). FDPCG's computational cost is proportional to N log(N), where N denotes the dimensionality of the tomography problem. The second algorithm is the distributed Kalman filter (DKF) developed by Massioni et al. [J. Opt. Soc. Am. A28, 2298 (2011)], which is a noniterative spatially invariant controller. When implemented in the Fourier domain, DKF's cost is also proportional to N log(N). Both algorithms are capable of estimating spatial frequency components of the residual phase beyond the wavefront sensor (WFS) cutoff frequency thanks to regularization, thereby reducing WFS spatial aliasing at the expense of more computations. We present performance and cost analyses for the LGS multiconjugate AO system under design for the Thirty Meter Telescope, as well as DKF's sensitivity to uncertainties in wind profile prior information. We found that, provided the wind profile is known to better than 10% wind speed accuracy and 20 deg wind direction accuracy, DKF, despite its spatial invariance assumptions, delivers a significantly reduced wavefront error compared to the static FDPCG minimum variance estimator combined with POLC. Due to its nonsequential nature and high degree of parallelism, DKF is particularly well suited for real-time implementation on inexpensive off-the-shelf graphics processing units.

Increased sky coverage with optimal correction of tilt and tilt-anisoplanatism modes in laser-guide-star multiconjugate adaptive optics.

Laser-guide-star multiconjugate adaptive optics (MCAO) systems require natural guide stars (NGS) to measure tilt and tilt-anisoplanatism modes. Making optimal use of the limited number of photons coming from such, generally dim, sources is mandatory to obtain reasonable sky coverage, i.e., the probability of finding asterisms amenable to NGS wavefront (WF) sensing for a predefined WF error budget. This paper presents a Strehl-optimal (minimum residual variance) spatiotemporal reconstructor merging principles of modal atmospheric tomography and optimal stochastic control theory. Simulations of NFIRAOS, the first light MCAO system for the thirty-meter telescope, using ~500 typical NGS asterisms, show that the minimum-variance (MV) controller delivers outstanding results, in particular for cases with relatively dim stars (down to magnitude 22 in the H-band), for which low-temporal frame rates (as low as 16 Hz) are required to integrate enough flux. Over all the cases tested ~21 nm rms median improvement in WF error can be achieved with the MV compared to the current baseline, a type-II controller based on a double integrator. This means that for a given level of tolerable residual WF error, the sky coverage is increased by roughly 10%, a quite significant figure. The improvement goes up to more than 20% when compared with a traditional single-integrator controller.

Simulation model based approach for long exposure atmospheric point spread function reconstruction for laser guide star multiconjugate adaptive optics.

This paper discusses an innovative simulation model based approach for long exposure atmospheric point spread function (PSF) reconstruction in the context of laser guide star (LGS) multiconjugate adaptive optics (MCAO). The approach is inspired from the classical scheme developed by Véran et al. [J. Opt. Soc. Am. A14, 3057 (1997)] and Flicker et al. [Astron. Astrophys.400, 1199 (2003)] and reconstructs the long exposure optical transfer function (OTF), i.e., the Fourier transformed PSF, as a product of separate long-exposure tip/tilt removed and tip/tilt OTFs, each estimated by postprocessing system and simulation telemetry data. Sample enclosed energy results assessing reconstruction accuracy are presented for the Thirty Meter Telescope LGS MCAO system currently under design and show that percent level absolute and differential photometry over a 30 arcsec diameter field of view are achievable provided the simulation model faithfully represents the real system.

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.

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.

Impact of sodium laser guide star fratricide on multi-conjugate adaptive optics systems.

Laser beams projected from the ground to form sodium layer laser guide stars (LGSs) for adaptive optics (AO) systems experience scattering and absorption that reduce their intensity as they propagate upward through the atmosphere. Some fraction of the scattered light will be collected by the other wavefront sensors and causes additional background in parts of the pupil. This cross-talk between different LGS wavefront sensors is referred to as the fratricide effect. In this paper we quantify the magnitude of four different sources of scattering/absorption and backscattering, and we evaluate their impact on performance with various zenith angles and turbulence profiles for one particular AO system. The resulting wavefront error for the Thirty Meter Telescope (TMT) multi-conjugate AO (MCAO) system, NFIRAOS, is on the order of 5 to 20 nm RMS, provided that the mean background from the fratricide effect can be calibrated and subtracted with an accuracy of 80%. We also present the impact on system performance of momentary variations in LGS signal levels due to variations in cirrus absorption or laser power, and we show that this affects the performance more than does an equal variation in the level of the fratricide.

Analysis of normalized point source sensitivity as a performance metric for large telescopes.

We investigate a new metric, the normalized point source sensitivity (PSSN), for characterizing the seeing-limited performance of large telescopes. As the PSSN metric is directly related to the photometric error of background limited observations, it represents the efficiency loss in telescope observing time. The PSSN metric properly accounts for the optical consequences of wave front spatial frequency distributions due to different error sources, which differentiates from traditional metrics such as the 80% encircled energy diameter and the central intensity ratio. We analytically show that multiplication of individual PSSN values due to individual errors is a good approximation for the total PSSN when various errors are considered simultaneously. We also numerically confirm this feature for Zernike aberrations as well as for the numerous error sources considered in the error budget of the Thirty Meter Telescope (TMT) using a ray optics simulator. Additionally, we discuss other pertinent features of the PSSN, including its relations to Zernike aberration, RMS wave front error, and central intensity ratio.

High fidelity sky coverage analysis via time domain adaptive optics simulations.

We describe a high fidelity simulation method for estimating the sky coverage of multiconjugate adaptive optics systems; this method is based upon the split tomography control architecture, and employs an AO simulation postprocessing technique to evaluate system performance with hundreds of randomly generated natural guide star (NGS) asterisms. A novel technique to model the impact of quadratic wavefront aberrations upon the NGS point spread functions is described; this is used to model the variations in system performance with different asterisms, and is crucial for obtaining accurate results with the postprocessing technique. Several design and algorithm improvements help to reduce the residual wavefront error in the tip/tilt and plate scale modes that are controlled using the NGS asterism. These improvements include choosing the right wavefront sensor (WFS) pixel size, optimal pixel weights, and type II control of the plate scale modes.

Split atmospheric tomography using laser and natural guide stars.

Laser guide star (LGS) atmospheric tomography is described in the literature as integrated minimum-variance tomographic wavefront reconstruction from a concatenated wavefront-sensor measurement vector consisting of many high-order, tip/tilt (TT)-removed LGS measurements, supplemented by a few low-order natural guide star (NGS) components essential to estimating the TT and tilt anisoplanatism (TA) modes undetectable by the TT-removed LGS wavefront sensors (WFSs). The practical integration of these NGS WFS measurements into the tomography problem is the main subject of this paper. A split control architecture implementing two separate control loops driven independently by closed-loop LGS and NGS measurements is proposed in this context. Its performance is evaluated in extensive wave optics Monte Carlo simulations for the Thirty Meter Telescope (TMT) LGS multiconjugate adaptive optics (MCAO) system, against the delivered performance of the integrated control architecture. Three iterative algorithms are analyzed for atmospheric tomography in both cases: a previously proposed Fourier domain preconditioned conjugate gradient (FDPCG) algorithm, a simple conjugate gradient (CG) algorithm without preconditioning, and a novel layer-oriented block Gauss-Seidel conjugate gradient algorithm (BGS-CG). Provided that enough iterations are performed, all three algorithms yield essentially identical closed-loop residual RMS wavefront errors for both control architectures, with the caveat that a somewhat smaller number of iterations are required by the CG and BGS-CG algorithms for the split approach. These results demonstrate that the split control approach benefits from (i) a simpler formulation of minimum-variance atmospheric tomography allowing for algorithms with reduced computational complexity and cost (processing requirements), (ii) a simpler, more flexible control of the NGS-controlled modes, and (iii) a reduced coupling between the LGS- and NGS-controlled modes. Computation and memory requirements for all three algorithms are also given for the split control approach for the TMT LGS AO system and appear feasible in relation to the performance specifications of current hardware technology.

Adaptive optics sky coverage modeling for extremely large telescopes.

A Monte Carlo sky coverage model for laser guide star adaptive optics systems was proposed by Clare and Ellerbroek [J. Opt. Soc. Am. A 23, 418 (2006)]. We refine the model to include (i) natural guide star (NGS) statistics using published star count models, (ii) noise on the NGS measurements, (iii) the effect of telescope wind shake, (iv) a model for how the Strehl and hence NGS wavefront sensor measurement noise varies across the field, (v) the focus error due to imperfectly tracking the range to the sodium layer, (vi) the mechanical bandwidths of the tip-tilt (TT) stage and deformable mirror actuators, and (vii) temporal filtering of the NGS measurements to balance errors due to noise and servo lag. From this model, we are able to generate a TT error budget for the Thirty Meter Telescope facility narrow-field infrared adaptive optics system (NFIRAOS) and perform several design trade studies. With the current NFIRAOS design, the median TT error at the galactic pole with median seeing is calculated to be 65 nm or 1.8 mas rms.

Shack-Hartmann wavefront sensing with elongated sodium laser beacons: centroiding versus matched filtering.

We describe modeling and simulation results for the Thirty Meter Telescope on the degradation of sodium laser guide star Shack-Hartmann wavefront sensor measurement accuracy that will occur due to the spatial structure and temporal variations of the mesospheric sodium layer. By using a contiguous set of lidar measurements of the sodium profile, the performance of a standard centroid and of a more refined noise-optimal matched filter spot position estimation algorithm is analyzed and compared for a nominal mean signal level equal to 1000 photodetected electrons per subaperture per integration time, as a function of subaperture to laser launch telescope distance and CCD pixel readout noise. Both algorithms are compared in terms of their rms spot position estimation error due to noise, their associated wavefront error when implemented on the Thirty Meter Telescope facility adaptive optics system, their linear dynamic range, and their bias when detuned from the current sodium profile.

Fourier domain preconditioned conjugate gradient algorithm for atmospheric tomography.

By 'atmospheric tomography' we mean the estimation of a layered atmospheric turbulence profile from measurements of the pupil-plane phase (or phase gradients) corresponding to several different guide star directions. We introduce what we believe to be a new Fourier domain preconditioned conjugate gradient (FD-PCG) algorithm for atmospheric tomography, and we compare its performance against an existing multigrid preconditioned conjugate gradient (MG-PCG) approach. Numerical results indicate that on conventional serial computers, FD-PCG is as accurate and robust as MG-PCG, but it is from one to two orders of magnitude faster for atmospheric tomography on 30 m class telescopes. Simulations are carried out for both natural guide stars and for a combination of finite-altitude laser guide stars and natural guide stars to resolve tip-tilt uncertainty.

Sky coverage estimates for adaptive optics systems from computations in Zernike space.

A sky coverage model for laser guide star adaptive optics systems is proposed. The atmosphere is considered to consist of a finite number of phase screens, which are defined by Zernike basis polynomials, located at different altitudes. These phase screens are transformed to the aperture plane, where they are converted to laser and natural guide star wavefront sensing measurements. These transformations incorporate the cone effect due to guide stars at finite heights, anisoplanatism due to guide stars off axis with respect to the science object, and adaptive optics systems with multiple guide stars. The wavefront error is calculated tomographically with minimum variance estimators derived from the transformation matrices and the known statistical properties of the atmosphere. This sky coverage model provides fast Monte Carlo simulations over random natural guide star configurations, irrespective of telescope diameter. The Monte Carlo simulations outlined show that inclusion of a finite outer scale for the atmosphere significantly reduces the median wavefront error, that increasing the number of laser guide stars in the asterism reduces the median wavefront error, and that a larger natural guide star patrol field provides a smaller median wavefront error when there is a low star density in the field.

Introduction.

The OSA 2005 Special Topical Meeting on "Adaptive Optics: Analysis and Methods" was held in Charlotte, North Carolina, on June 8th and 9th of that year. The papers presented during those two days provided an overview of recent progress in the theory and application of adaptive optics (AO) for real-time atmospheric turbulence compensation. This Focus Issue is devoted to a further exploration of seven of these topics, ranging from formal analytical treatments of optimal estimation and control methods for AO, to recent field tests of wave front sensing and reconstruction using multiple laser guide stars.

Linear systems modeling of adaptive optics in the spatial-frequency domain.

Spatial-frequency domain techniques have traditionally been applied to obtain estimates for the independent effects of a variety of individual error sources in adaptive optics (AO). Overall system performance is sometimes estimated by introducing the approximation that these individual error terms are statistically independent, so that their magnitudes may be summed in quadrature. More accurate evaluation methods that account for the correlations between the individual error sources have required Monte Carlo simulations or large matrix calculations that can take much longer to compute, particularly as the order of the AO system increases beyond a few hundred degrees of freedom. We describe an approach to evaluating AO system performance in the spatial-frequency domain that is relatively computationally efficient but still accounts for many of the interactions between the fundamental error sources in AO. We exploit the fact that (in the limits of an infinite aperture and geometrical optics) all the basic wave-front propagation, sensing, and correction processes that describe the behavior of an AO system are spatial-filtering operations in the Fourier domain. Essentially all classical wave-front control algorithms and evaluation formulas are expressed in terms of these filters and may therefore be evaluated one spatial-frequency component at a time. Performance estimates for very-high-order AO systems may be obtained in 1 to 2 orders of magnitude less time than needed when detailed simulations or analytical models in the spatial domain are used, with a relative discrepancy of 5% to 10% for typical sample problems.

Gram-Schmidt orthogonalization of the Zernike polynomials on apertures of arbitrary shape.

An orthonormal hexagonal Zernike basis set is generated from circular Zernike polynomials apodized by a hexagonal mask by use of the Gram-Schmidt orthogonalization technique. Results for the first 15 hexagonal Zernike polynomials are shown. The Gram-Schmidt orthogonalization technique presented can be extended to both apertures of arbitrary shape and other basis functions.