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We present an overview of the VISIR instrument after its upgrade and return to science operations. VISIR is the midinfrared imager and spectrograph at ESO’s VLT. The project team is comprised of ESO staff and members of the original VISIR consortium: CEA Saclay and ASTRON. The project plan was based on input from the ESO user community with the goal of enhancing the scientific performance and efficiency of VISIR by a combination of measures: installation of improved hardware, optimization of instrument operations and software support. The cornerstone of the upgrade is the 1k by 1k Si:As AQUARIUS detector array manufactured by Raytheon. In addition, a new prism spectroscopic mode covers the whole N-band in a single observation. Finally, new scientific capabilities for high resolution and high-contrast imaging are offered by sub-aperture mask and coronagraphic modes. In order to make optimal use of favourable atmospheric conditions, a water vapour monitor has been deployed on Paranal, allowing for real-time decisions and the introduction of a user-defined constraint on water vapour. During the commissioning in 2012, it was found that the on-sky sensitivity of the AQUARIUS detector was significantly below expectations. Extensive testing of the detector arrays in the laboratory and on-sky enabled us to diagnose the cause for the shortcoming of the detector as excess low frequency noise. It is inherent to the design chosen for this detector and cannot be remedied by changing the detector set-up. Since this is a form of correlated noise, its impact can be limited by modulating the scene recorded by the detector. After careful analysis, we have implemented fast (up to 4 Hz) chopping with field stabilization using the secondary mirror of the VLT. During commissioning, the upgraded VISIR has been confirmed to be more sensitive than the old instrument, and in particular for low-resolution spectroscopy in the N-band, a gain of a factor 6 is realized in observing efficiency. After overcoming several additional technical problems, VISIR is back in Science Operations since April 2015. In addition an upgrade of the IT infrastructure related to VISIR has been conducted in order to support burst-mode operations. Science Verification of the new modes was performed in Feb 2016. The upgraded VISIR is a powerful instrument providing close to background limited performance for diffraction-limited observations at an 8-m telescope. It offers synergies with facilities such as ALMA, JWST, VLTI and SOFIA, while a wealth of targets is available from survey works like WISE. In addition, it will bring confirmation of the technical readiness and scientific value of several aspects for future mid-IR instrumentation at Extremely Large Telescopes. We also present several lessons learned during the project.

We present an overview of the VISIR upgrade project. VISIR is the mid-infrared imager and spectrograph at ESO’s VLT. The project team is comprised of ESO staff and members of the original VISIR consortium: CEA Saclay and ASTRON. The project plan is based on input from the ESO user community with the goal of enhancing the scientific performance and efficiency of VISIR by a combination of measures: installation of improved hardware, optimization of instrument operations and software support. The cornerstone of the upgrade is the 1k by 1k Si:As AQUARIUS detector array (Raytheon) which has been carefully characterized in ESO’s IR detector test facility (modified TIMMI 2 instrument). A prism spectroscopic mode will cover the N-band in a single observation. New scientific capabilities for high resolution and high-contrast imaging will be offered by sub-aperture mask (SAM) and phase-mask coronagraphic (4QPM/AGPM) modes. In order to make optimal use of favourable atmospheric conditions a water vapour monitor has been deployed on Paranal, allowing for real-time decisions and the introduction of a user-defined constraint on water vapour. During the commissioning in 2012 it was found that the on-sky sensitivity of the AQUARIUS detector was significantly below expectations and that VISIR was not ready to go back to science operations. Extensive testing of the detector arrays in the laboratory and on-sky enabled us to diagnose the cause for the shortcoming of the detector as excess low frequency noise (ELFN). It is inherent to the design chosen for this detector and can’t be remedied by changing the detector set-up. Since this is a form of correlated noise its impact can be limited by modulating the scene recorded by the detector. We have studied several mitigation options and found that faster chopping using the secondary mirror (M2) of the VLT offers the most promising way forward. Faster M2 chopping has been tested and is scheduled for implementation before the end of 2014 after which we plan to re-commission VISIR. In addition an upgrade of the IT infrastructure related to VISIR is planned in order to support burst-mode operations. The upgraded VISIR will be a powerful instrument providing close to background limited performance for diffraction-limited observations at an 8-m telescope. It will offer synergy with facilities such as ALMA, JWST, VLTI and SOFIA, while a wealth of targets is available from survey work (e.g. VISTA, WISE). In addition it will bring confirmation of the technical readiness and scientific value of several aspects of potential mid-IR instrumentation at Extremely Large Telescopes.

ESO is currently in the final phase of the standardization process for PC-based Programmable Logical Controllers (PLCs) as the new platform for the development of control systems for future VLT/VLTI instruments. The standard solution used until now consists of a Local Control Unit (LCU), a VME-based system having a CPU and commercial and proprietary boards. This system includes several layers of software and many thousands of lines of code developed and maintained in house. LCUs have been used for several years as the interface to control instrument functions but now are being replaced by commercial off-the-shelf (COTS) systems based on BECKHOFF Embedded PCs and the EtherCAT fieldbus. ESO is working on the completion of the software framework that enables a seamless integration into the VLT control system in order to be ready to support upcoming instruments like ESPRESSO and ERIS, that will be the first fully VLT compliant instruments using the new standard. The technology evaluation and standardization process has been a long and combined effort of various engineering disciplines like electronics, control and software, working together to define a solution that meets the requirements and minimizes the impact on the observatory operations and maintenance. This paper presents the challenges of the standardization process and the steps involved in such a change. It provides a technical overview of how industrial standards like EtherCAT, OPC-UA, PLCOpen MC and TwinCAT can be used to replace LCU features in various areas like software engineering and programming languages, motion control, time synchronization and astronomical tracking.

ESO is in the process of implementing a new development platform, based on PLCs, for upcoming VLT control systems (new instruments and refurbishing of existing systems to manage obsolescence issues). In this context, we have evaluated the integration and reuse of existing C++ libraries and Simulink models into the real-time environment of BECKHOFF Embedded PCs using the capabilities of the latest version of TwinCAT software and MathWorks Embedded Coder. While doing so the aim was to minimize the impact of the new platform by adopting fully tested solutions implemented in C++. This allows us to reuse the in house expertise, as well as extending the normal capabilities of the traditional PLC programming environments. We present the progress of this work and its application in two concrete cases: 1) field rotation compensation for instrument tracking devices like derotators, 2) the ESO standard axis controller (ESTAC), a generic model-based controller implemented in Simulink and used for the control of telescope main axes.

Most of the real-time control systems at the existing ESO telescopes were developed with "traditional" methods, using general purpose VMEbus electronics, and running applications that were coded by hand, mostly using the C programming language under VxWorks. As we are moving towards more modern design methods, we have explored a model-based design approach for real-time applications in the telescope area, and used the control algorithm of a standard telescope main axis as a first example. We wanted to have a clear work-flow that follows the "correct-by-construction" paradigm, where the implementation is testable in simulation on the development host, and where the testing time spent by debugging on target is minimized. It should respect the domains of control, electronics, and software engineers in the choice of tools. It should be a targetindependent approach so that the result could be deployed on various platforms. We have selected the Mathworks tools Simulink, Stateflow, and Embedded Coder for design and implementation, and LabVIEW with NI hardware for hardware-in-the-loop testing, all of which are widely used in industry. We describe how these tools have been used in order to model, simulate, and test the application. We also evaluate the benefits of this approach compared to the traditional method with respect to testing effort and maintainability. For a specific axis controller application we have successfully integrated the result into the legacy platform of the existing VLT software, as well as demonstrated how to use the same design for a new development with a completely different environment.

Attorney fees in Germany are generally regulated on the basis of a client–attorney contract, which is normally a contract for services (Dienstvertrag in the form of a Geschaftsbesorgungsvertrag), as defined by Section 675 of the German Civil Code [Burgerliches Gesetzbuch (BGB)]. Client obligation to provide remuneration is thus generally derived from Section 611 BGB. That provision, however, does not regulate the amount of the remuneration to be made in any particular case – the amount itself is determined by Section 612, sentence 2 BGB in conjunction with the Attorney Remuneration Ordinance [Rechtsanwaltsvergutungsgesetz (RVG)]. The amount of the remuneration (fees and expenses) is thus determined either on the basis of a client–attorney agreement or in accordance with Section 2, sentence 2 RVG and its attached list of itemized fees (supplement 1 to Section 2, sentence 2 RVG).

The ESO Very Large Telescope Interferometer (VLTI) offers access to the four 8 m Unit Telescopes (UT) and the four 1.8 m Auxiliary Telescopes (AT) of the Paranal Observatory located in the Atacama Desert in northern Chile. The fourth AT has been delivered to operation in December 2006, increasing the flexibility and simultaneous baselines access of the VLTI. Regular science operations are now carried on with the two VLTI instruments, AMBER and MIDI. The FINITO fringe tracker is now used for both visitor and service observations with ATs and will be offered on UTs in October 2008, bringing thus the fringe tracking facility to VLTI instruments. In parallel to science observations, technical periods are also dedicated to the characterization of the VLTI environment, upgrades of the existing systems, and development of new facilities. We will describe the current status of the VLTI and prospects on future evolution.

The 2.6m VST telescope is in installation phase in the ESO observatory of Cerro Paranal. After preliminary tests in Europe performed jointly by INAF and ESO the tracking system was considered at the readiness level to be shipped to Chile. The motion control system has already been reintegrated in Chile and is operational again. The final tuning is going to be performed after the integration of all the telescope subsystems, still in progress. Therefore here the focus is especially on tests performed in Italy. This paper describes the solutions adopted for the telescope main axes control as well as the preliminary tracking results. Available test data are related to encoder feedback. Tests have been performed tracking coordinates of virtual objects. A comprehensive test case to evaluate the performance of different controllers was needed to proceed in a systematic way. A tracking map derived from the VLT commissioning experience has been used, spanning all the different conditions for axes positions and speeds, including meridian crossing and tracking near the blind spot.

The ESO Very Large Telescope Interferometer (VLTI) is the first general-user interferometer that offers near- and mid-infrared long-baseline interferometric observations in service and visitor mode to the whole astronomical community. Over the last two years, the VLTI has moved into its regular science operation mode with the two science instruments, MIDI and AMBER, both on all four 8m Unit Telescopes and the first three 1.8m Auxiliary Telescopes. We are currently devoting up to half of the available time for science, the rest is used for characterization and improvement of the existing system, plus additional installations. Since the first fringes with the VLTI on a star were obtained on March 17, 2001, there have been five years of scientific observations, with the different instruments, different telescopes and baselines. These observations have led so far to more than 40 refereed publications. We describe the current status of the VLTI and give an outlook for its near future.

One of the most serious problems caused by eutrophication of shallow lakes is the disappearance of submerged macrophytes and the switch to a turbid, phytoplankton-dominated state. The reduction of external nutrient loads often does not result in a change back to the macrophyte-dominated state because stabilising mechanisms that cause resilience may delay a response. Additional internal lake restoration measures may therefore be needed to decrease the concentration of total phosphorus and increase water clarity. The re-establishment of submerged macrophytes required for a long-term stability of clear water conditions, however, may still fail, or mass developments of tall-growing species may cause nuisance for recreational use. Both cases are often not taken into account when restoration measures are planned in Germany, and existing schemes to reduce eutrophication consider the topic inadequately. Here we develop a step-by-step guideline to assess the chances of submerged macrophyte re-establishment in shallow lakes. We reviewed and rated the existing literature and case studies with special regard on (1) the impact of different internal lake restoration methods on the development of submerged macrophytes, (2) methods for the assessment of natural re-establishment, (3) requirements and methods for artificial support of submerged macrophyte development and (4) management options of macrophyte species diversity and abundance in Germany. This guideline is intended to help lake managers aiming to restore shallow lakes in Germany to critically asses and predict the potential development of submerged vegetation, taking into account the complex factors and interrelations that determine their occurrence, abundance and diversity.

As a further step to improve the excellent tracking performance of the VLT telescopes, the intrinsic errors in the telescope drive systems are analysed. These errors fall into two categories, torque disturbances and sensor errors and they have different impact on the performance. Models for the errors are developed and algorithms for on line adaptive parameter identification are presented. The models can be used to significantly reduce the influence of the errors and also to monitor parameters like friction and unbalance. The VLT servo model is used to test and verify the models and algorithms. It follows a description of the real-time software aspects of the algorithms, which have been implemented for VxWorks-based systems. The software design allows various options for the adaptation of the process coefficients, either running permanently in background, only on demand through maintenance procedures, or fixed off-line modeling based on recorded process data. Finally, real test data are presented.

On March 17, 2001, the VLT interferometer saw for the first time interferometric fringes on sky with its two test siderostats on a 16m baseline. Seven months later, on October 29, 2001, fringes were found with two of the four 8.2m Unit Telescopes (UTs), named Antu and Melipal, spanning a baseline of 102m. First shared risk science operations with VLTI will start in October 2002. The time between these milestones is used for further integration as well as for commissioning of the interferometer with the goal to understand all its characteristics and to optimize performance and observing procedures. In this article we will describe the various commissioning tasks carried out and present some results of our work.

As major observatories are planning automatic and optimized scheduling of large astronomical facilities, reliable and accurate monitoring of observing conditions is a pre- requisite. For this purpose, the concept of Astronomical Site Monitor has been developed for the VLT as an integrated sub-system of the observatory.© (2000) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.