Grid-Integration of Robotic Telescopes Hot-wiring the Transient Universe: A Joint VOEvent & HTN Workshop @ The University of Arizona in Tucson 4-7 June 2007 Frank Breitling fbreitling at aip.de Astrophysikalisches Institut Potsdam University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Overview Introduction Robotic Telescopes of the AIP Grid Architecture User Interfaces Summary University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Introduction: Astrophysical Institute Potsdam (http://www.aip.de/) located in Potsdam, 30 km west of Berlin, Germany, near the beautiful Schloßpark Babelsberg not Max-Planck but long history, founded as the “Berliner Sternwarte” in 1711 e.g. Schwarzschild was once the director edits the worlds oldest astro-nomical journal that is still being published since 1821 (journal for this proceedings) involved in many international projects (e.g. XMM-Newton, LBT, ICE-T, LOFAR, AstroGrid-D) University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Introduction: The AstroGrid-D Project AstroGrid-D is the name of the German Astronomy Community Grid http://www.gac-grid.org/ a collaboration of 14 German institutes (20 people x 3 years) under the leadership of the AIP funded by the German Ministry of Education and Research part of the D-Grid AstroGrid-D pursues the development of a network of robotic telescopes using grid technology. University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Introduction: Why grid technology? A grid provides what is needed for a robotic telescope-network virtual organization (VO) management manage the access of collaborations to telescopes resource management integration and monitoring of the individual telescopes job management scheduling or canceling of observations data management - immediate access to the data metadata management information about what is going on in the network immediate access to compute and storage resources of the grid for subsequent data analysis University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Robotic telescopes: Robotel AIP, Potsdam, Germany (80m asl) 0.8m telescope CCD Camera for imaging and photometry Objectives Education, 50% of observation time is dedicated to schools and universities Testing of new instruments, software and methods for Stella-I & Stella-II developed, owned and operated by the AIP! Robotel in its dome at the AIP University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Robotic telescopes: Stella-I & Stella-II Teide Observatory, Tenerife, Canary Islands, Spain (2480m) Two 1.2m telescopes Instruments Spectrograph (operating since May 2006) Imaging photometer (commissioning in fall 2007) Scientific Objectives Doppler imaging Search for extrasolar planets Spectroscopic surveys Simultaneous observations with larger facilities developed, owned and operated by the AIP! Stella-I and Stella-II at the Teide Observatory in Tenerife. The shelter is opened as for observation. University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Robotic telescopes: Wolfgang(T6)& Amadeus(T7) Fairborn Observatory*, Patagonia, Arizona, USA, (1600m asl) Two 0.75m telescopes Photoelectric photometry Scientific Objectives study variability timescales and life times of starspots, i.e. photometric long-term monitoring of stars over years Support other observations operated by the AIP! Fairborn observatory, building 2 with open roof showing telescopes T5 (background) through T8 (foreground). *The Fairborn Observatory is a non-profit corporation dedicated to advancement of automated astronomy (http://www.fairobs.org/). University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Robotic telescopes: Stella Control System Sequencer Scheduler CCD Spectrograph Adapter Telescope sequence definition object database command templates target commands to physical devices via TCP/IP or RMI description The Stella Control System (SCS) is used for Stella-I & II and Robotel developed at the AIP (T. Granzer) is a Java-RMI based controller software has an interactive and automatic operation mode has simulation mode for testing and development (e.g. of the grid- integration) University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Grid Architecture: Overview Computer Center RDF Metadata RDF Metadata RDF Metadata RDF Metadata Information Server Stellaris SPARQL Data AIP Observer's Office Robotel RTML target RTML target RTML target RTML target RTML target globusrun-ws RTML target RTML target SCS Workstation Globus Toolkit Telescope Server Globus Toolkit University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Grid Architecture: Overview Extension to a Network by - introducing a scheduler - adding more telescopes Computer Center RDF Metadata RDF Metadata RDF Metadata RDF Metadata Information Server Stellaris SPARQL Data AIP Observer's Office Robotel RTML target RTML target RTML target RTML target RTML target globusrun-ws RTML target RTML target SCS Scheduler Server Globus Toolkit Telescope Server Globus Toolkit University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Grid Architecture: Grid Middleware which provides Job management: WS GRAM (Grid Resource and Allocation Manager) with web service interface through endpoint reference (EPR) An elementary set of grid commands for the job management, interactive access to resources and file transfer (globusrun-ws -submit / -status / -cancle, gsissh, gsiftp) Resource monitoring Virtual Organization (VO) management which is adapted by the AIP (VOMRS) University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Grid Architecture: RTML Remote Telescope Markup Language (RTML) XML format defined through RMTL schema: http://monet.uni- sw.gwdg.de/XMLSchema/RTML/schemas/RTML-nightly.xsd provides description of elementary static and dynamic metadata (e.g. telescope hardware, setup and status, source catalogs, observation requests, observation history, schedules, weather information) standard defined by the Heterogeneous Telescope Network (HTN) http://monet.uni-sw.gwdg.de/twiki/bin/view/RTML/WebHome adopted in AstroGrid-D University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Grid Architecture: Information Service Stellaris development of AstroGrid-D by the ZIB (M. Högqvist) available at http://www.gac-grid.org/ (Apache License) is used by AstroGrid-D for grid resource monitoring (e.g. compute resources, telescopes) job monitoring tested and runs stable metadata is exchanged and stored in RDF University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Grid Architecture: RDF RDF (Resource Description Framework) standard for storing information is based on graph theory it presents information in triples as different formats exist RDF/XML (W3C recommendation) Notation 3 (N3) (W3C specification) is a development of the semantic web the SPARQL query language exists for retrieval of RDF information Subject Object Predicate University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Grid Architecture: RDF graph example of a partial RDF graph represents the location information of Stella-I (static metadata) g e n i d : U D X p K E w 3 4 2 8 m t r s 5 7 6 Izana Observatory, Teneriffa, E 1 9 . http://www.rtml.org/#value http://www.rtml.org/#units http://www.rtml.org/#name http://www.rtml.org/#height http://www.rtml.org/#EastLongitude http://www.rtml.org/#Latitude Obtained with W3C RDF Validation Service (http://www.w3.org/RDF/Validator/) University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Grid Architecture: XSLT for Stellaris a conversion from RTML documents into RDF required developed an XSLT (Extensible Stylesheet Language Transformation) at AIP can transform arbitrary XML files into RDF/XML format (e.g. RTML) usage very simple, only two command line programs xsltproc cURL for uploading to Stellaris available at http://www.gac-grid.org/ (Apache License) University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

User Interfaces: SPARQL SPARQL Query Language for RDF (W3C working draft) is the counterpart for re-trieving information from RDF simple syntax for selected and sorted retrieval of information Perl modules exist for the integration into Perl scripts SPARQL web browser interface is implemented into Stellaris for a quick lookup of information The Stellaris SPARQL query interface for a web bowser. The SPARQL query retrieves the geographic location of all available telescopes sorted by their altitude. University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

User Interfaces: Telescope Map Web browser user interface Developed in AstroGrid-D by the ZIB (M. Högqvist) and AIP (F. Breitling) to access and display telescope metadata Based on Google Maps and SPARQL available at http://www.gac- grid.org/ (Apache License) University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

User Interfaces: Job Monitoring Web browser user interface Developed in AstroGrid-D by the ZIB (M. Högqvist) & AIP (F. Breitling) currently used to display job-state metadata Based on „Simile“ Timeline like Google Maps for time- based information a DHTML-based AJAXy widget for visualizing time- based events. http://simile.mit.edu/timeline/ available at http://www.gac-grid.org/ (Apache License) University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Summary: Achievements five robotic telescopes of the AIP are already operating robotically and are ready for network-operation an architecture for the grid integration has been developed an information service is ready metadata of telescopes and observations can be provided user interfaces are available for accessing the metadata the implementation of the Globus job management using WS GRAM is currently under development tests using the original Stella Control System are ongoing University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes

Summary: Next steps providing dynamic metadata e.g. telescope states, weather information, recorded data developing a versatile scheduler which uses static metadata, e.g. capabilities of telescopes, location dynamic metadata, e.g. weather information, target visibilities, observation schedules multiple telescopes testing of a simulated and a real network first network observations show that it works well participate in campaigns with other networks University of Arizona in Tucson, June 4-7 2007 Hot-wiring the Transient Universe Grid-Integration of Robotic Telescopes