1. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Optimizing interactive performance for long-distance remote observing Robert Kibrick and Steven L. Allen University of California Observatories / Lick Observatory Al Conrad and Gregory D. Wirth W.M. Keck Observatory Advanced Software and Control for Astronomy Orlando, Florida May 26, 2006

2. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Remote observing with the Keck Telescopes – The first 10 years Robert Kibrick and Steven L. Allen University of California Observatories / Lick Observatory Al Conrad and Gregory D. Wirth W.M. Keck Observatory Advanced Software and Control for Astronomy Orlando, Florida May 26, 2006

3. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Overview of Presentation Background – Historical evolution of Keck remote observing – The Keck Remote Observing Model – Remote observing from Waimea and California Redirecting displays – Using X protocol – Using VNC protocol Advantages and disadvantages of using VNC Current usage patterns Scheduling issues Future plans

4. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 The Keck Telescopes

5. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 From 1993 to 1995, all Keck observing was done at the summit Observers at the summit work remotely from control rooms located adjacent to the telescope domes

6. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Conducting observations involves coordinated effort by 3 groups Telescope operator (observing assistant) – Responsible for telescope safety & operation – Keck employee; normally works at summit Instrument scientist (support astronomer) – Expert in operation of specific instruments – Keck employee; works at summit or Waimea Observers – Select objects and conduct observations – Employed by Caltech, UC, NASA, UH, or other

7. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Keck 2 Control Room at the Mauna Kea Summit Telescope operator, instrument scientist, and observers work side by side, each at their own remote X Display

8. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Observing at the Mauna Kea summit is both difficult and risky Oxygen is only 60% of that at sea level Lack of oxygen reduces alertness Observing efficiency significantly impaired Altitude sickness afflicts some observers Some are not even permitted on summit: – Pregnant women – Those with heart or lung problems

9. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Keck 2 Remote Control Room at the Keck Headquarters in Waimea Observer and instrument scientist in Waimea use video conferencing system to interact with telescope operator at the summit

10. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 The initial model for Keck Remote Observing All observing applications run on summit control computers All displays are re- directed to display hosts at each site

11. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Why did Keck initially choose this approach? Operational Simplicity Operational control software runs only at the summit All users run identical software on same computer Simplifies management at each site Allowed us to focus on commonality Different sites / teams developed instrument software Large variety of languages and protocols were used BUT: all instruments used X-based GUIs Legacy GUI applications (e.g., not web-based)

12. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Initiative to support remote observing from Keck Headquarters 1995: Remote control rooms built at Keck HQ 1996: Remote observing with Keck 1 begins 1997: >50% of Keck 1 observing done remotely 1999: remote observing >90% for Keck 1 and 2 2000: remote observing became the default mode

13. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Remote Observing from Waimea is not cost effective for short runs Round trip travel time is 2 days Travel costs > $1,000 U.S. per observer About 50% of runs are for 1 night or less Cost / run is very high for such short runs Such costs limit student participation

14. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Explore the feasibility of remote observing from the mainland Initial experiments 1996-2000 – Caltech experiments with NASA satellite – UCSC experiments with Internet-2 link 2000-2001 ISDN fallback tests at UCSC 2001 ISDN router installed at Keck summit 2001 Prototype facility at UCSC online UCSC facility used as model for other sites

15. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 LocationFirst Use Remote Ops 1, Waimea, HI1996 Remote Ops 2, Waimea, HI1997 UC Santa Cruz, CA2001 UC San Diego, CA2003 Caltech, Pasadena, CA2004 UC Berkeley/LBNL, CA2005 UC Los Angeles, CA2006 Keck Observatory remote observing sites

16. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Global view of multi-site topology Type your question here, and then click Search.

17. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Santa Cruz Remote Observing Facility Remote observer in California uses video conferencing system to interact with colleague in Waimea

18. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 UC Los Angeles (UCLA) remote observing facility The newest Keck remote observing facility in CA

19. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 UC Los Angeles (UCLA) remote observing facility

20. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Initial efforts to extend remote observing model to the mainland Type your question here, and then click Search.

21. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Limitations of using X to redirect displays to the mainland Sluggish performance for some operations – very slow application startup compared to Waimea – slow creation of new windows and pulldown menus – guider display update rate is too low Inability to share “single-user” applications – figdisp realtime image display (LRIS, HIRES, ESI) – various data reduction packages Some applications sensitive to inter-site font variations

22. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Virtual Network Computing (VNC) VNC server provides shareable virtual desktop VNC clients (viewer) offer remote access to that desktop All clients share that desktop (application sharing) All state is retained in the server, none in the clients Clients can connect/disconnect without affecting session VNC protocol works at the framebuffer level VNC available on most OS / windowing systems

23. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Redirecting displays to remote sites using VNC protocol & ssh An ssh port- forwarding tunnel is used to relay VNC protocol packets and authentication across network firewalls to the remote site.

24. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Benefits of using VNC Single-user applications can be shared between sites – Shared desktop promotes training and collaboration – All sites have identical view and see each others actions – Shared desktop persists even if remote VNC client crashes – Optional read-only sharing for “look but don’t touch” X clients connect to a local X server (short RTTs) – X client applications run on control computer at summit – VNC server runs on computer at the summit – X clients see the VNC server as their local X server Speeds up client functions that require multiple X transactions – Application startup and initial painting of displays – Creation of pop-up windows and sub-panels – Instantiation of pull-down menus – Loading of fonts

25. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Disadvantages of using VNC Some operations are slower across a low bandwidth link – iconify / de-iconify operations are very slow (no backing store) – color map scrolling is slower than under a native X connection Ssh has no built-in capability for forwarding VNC packets – must start port-forwarding tunnel (ssh –L) before VNC viewer Shared desktop is sometimes a source of user confusion – Keyboard / mouse input from all connected clients are merged – Users at different sites could type or move mouse at same time – Potential for multiple users to create conflicting inputs – These conflicts can be reduced via use of '-viewonly' mode ADVANTAGES OF VNC OUTWEIGH THE DISADVANTAGES

26. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 X Visuals: – Depth: 8-, 16-, and 24-bit – PseudoColor, StaticColor, and TrueColor – Many X servers support multiple X visuals – VNC server supports only 1 visual at a time – VNC server must satisfy least capable client – Legacy X clients need 8-bit PseudoColor Issues and Interactions between VNC and X

27. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 We run a mix of 8-bit and 24-bit VNC desktops Distinguish by using distinct desktop BG color Use 8-bit VNC desktops wherever possible – More efficient image updates / colormap – Lots of legacy GUIs require 8-bit visuals Use 24-bit VNC desktops when required – Some GUIs require 24-bit visuals – Mix of GUIs exhausts 8-bit color map Working within VNC's constraints: 8- or 24-bit desktops?

28. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Sites typically have a 3-screen and 1-screen W/S – 3-screen W/S typically runs instrument s/w – 1-screen W/S typically runs telescope s/w Run virtual window manager on local desktop – Have >= 4 window panes on each local screen – Run 8-bit VNC viewer in one window pane – Run 24-bit VNC viewer in another pane – Other panes allow access to local desktop Example configurations

29. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Xinerama – Allows multiple screens to be treated as one – Windows can span screens or move between – Does not work well in conjunction with VNC Graphon's GO-Global product (proprietary) – Provides very efficient remote access – All state saved on server side (like VNC) – Does not provide desktop sharing Other options explored

30. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 x11vnc – Allows access to a non-virtual X11 desktop – Remote access w/out running within VNC – Relies on physical polling of frame buffer – Useful for remote troubleshooting – Current version is prototype / pre-release – Not yet sufficiently robust for remote observing Other options explored

31. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Remote eavesdropping: (approximately 90%) – At least one member of observing team in Waimea – Other members of the team work from the mainland – Observers in Waimea have primary responsibility for operations – Observers on the mainland can 'eavesdrop' via VNC – Observers on the mainland can also operate instrument Mainland-only:(approximately 10%) – All members of observing team observe from mainland site(s) – Observers on the mainland have sole responsibility for operations Two Modes of Remote Observing from the Mainland

32. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Overall usage has increased with growing number of sites First three months of 2006: average 8 nights per month May 2006: 12 nights of remote observing from mainland Significant number of nights involve multiple mainland sites: – Multi-site teams – Split nights: (e.g., UCSC first half on night, UCLA second half) – Both telescopes: UCB/LBNL remote observer using LRIS on Keck I Telescope UCLA remote observer using OSIRIS/LGS-AO on Keck 2 Telescope Current Usage Statistics for Keck mainland remote observing

33. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Waimea has two remote ops rooms, one for each telescope Each mainland site has only a single remote ops room Potential conflict if both observing teams from same site: – 20 out of 181 nights (or 11%) in 2006A semester – Of those: 55% Caltech, 30% UCB, 10% UCLA, 5% UCSC – To date, no such conflicts have arisen Only enough ISDN lines at summit to backup one site – Not a problem for split nights – A potential problem for mainland-only from two sites on same night Scheduling Issues and current constraints

34. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Upgrade ISDN capacity at summit to support multiple sites (install more lines & upgrade router, Summer 2006) Installation of dedicated VNC server hosts at Keck summit Continue to optimize VNC configurations and performance Implement RO facilities at other Keck partner institutions Develop scheme for dynamic allocation of VNC server #s Develop improved procedures for coordination between sites Future plans

35. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Mainland remote observing (MRO) is operational – For all Keck optical instruments and most IR insts. – From 5 mainland sites: (UCSC,UCSD, Caltech, UCB/LBNL,UCLA) – Shared VNC desktops used for most remote ops. – Provides competitive performance for most GUIs – Provides acceptable performance for image displays MRO efficiency would be enhanced by: – A distributed image display server / client (VO?) – VNC server w/ simultaneous 8- & 24-bit support Conclusion

36. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 U.S. National Science Foundation University of Hawaii Gemini Telescope Consortium University Corp. for Advanced Internet Development (UCAID) Corporation for Education Network Initiatives in California (CENIC) Acknowledgments

37. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Robert Kibrick, UCO/Lick Observatory University of California, Santa Cruz California 95064, U.S.A. E-mail: kibrick@ucolick.org WWW: http://www.ucolick.org/~kibrick Phone: +1-831-459-2262 FAX: +1-831-459-2298 Author Information

38. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 END OF PRESENTATION !!! SPARE SLIDES FOLLOW

39. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Limitations of Remote Observing from Keck HQ in Waimea Most Keck observers live on the mainland. Mainland observers fly > 3,200 km to get to Waimea Collective direct travel costs exceed $400,000 U.S. / year

40. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Keck Telescopes use Classical Scheduling Kecks not designed for queue scheduling Schedules cover a semester (6 months) Approved proposals get 1 or more runs – Each run is between 0.5 to 5 nights long – Gaps between runs vary from days to months

41. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Factors contributing to sluggish performance at mainland sites Lower inherent bandwidth High round trip time (RTT) between Keck and California – Yields lower effective bandwidth for un-tuned TCP – Slows any functions requiring multiple round trips – High RTT limits benefit of tuning or compression Routing and propagation delays change over time – Keck/California link: hops / RTT 1998: 12 hops / 70 millisecond average RTT 2004: 22 hops / 100 millisecond average RTT 2006: 17 hops / 90 millisecond average RTT

42. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Colormap issues – slower scrolling if pixel retransmit needed – colormap flashing if insufficient colors – private color maps (Not supported in v4) Whitepixel and blackpixel conflicts Fonts are supplied by the X server – Using X model, X server is local to observer – Using VNC model, X server is at summit Issues and Interactions between VNC and X

43. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 An alternative topology for using VNC with ssh and X The VNC server and VNC viewer are both run on the same computer at the summit. The X display generated by the VNC viewer is re- directed to the remote site via a standard ssh tunnel.

44. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Benefits of this topology Retains most benefits of the first VNC topology: – Single-user applications can be shared between sites – Observing X clients connect to a local X server (short RTTs) – Speeds up functions that require multiple X transactions VNC not needed at remote sites; only at the summit Avoids ssh port-forward complexity

45. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Neither protocol is optimal for all applications & sites Some functions work better under X – image display functions (pan, zoom in / out, color map scroll) – iconifying / de-iconifying windows (if backing store enabled) – any functions more sensitive to bandwidth than to RTT Some functions work better under VNC – creation of new windows, pop-ups, and sub-panels – instantiation of pull-down menus – any applications that are RTT sensitive (Keck guider eavesdrop) Most output-only applications work OK using either Using a mix of both protocols

46. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Multiple monitors facilitates a mix of X and VNC protocols For example, one monitor can display a shared VNC desktop while the others carry the redirected X displays of X clients running at the summit.

47. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 ds9 Local ds9 X client and server: 6.6 seconds Summit ds9 display redirected to mainland – direct to mainland X server: 72.0 (76.0*) – via mainland VNC viewer: 11.0 (27.5*) – via VNC viewer at summit: 10.6 (26.2*) – * values in ( ) are without ssh compression In-stream compression helps in all cases Measurements of remote performance: ds9 startup

48. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 ds9 Local ds9 X client and server: 3.0 seconds Summit ds9 display redirected to mainland – direct to mainland X server: 10.3 (11.9*) – via mainland VNC viewer: 3.0 ( 7.7*) – via VNC viewer at summit: 3.0 ( 6.8*) – * values in ( ) are without ssh compression In-stream compression helps in all cases Measurements of remote performance: file chooser popup

49. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 ds9 Local ds9 X client and server: 0.7 seconds Summit ds9 display redirected to mainland – direct to mainland X server: 4.0 (10.2*) – via mainland VNC viewer: 9.0 (17.0*) – via VNC viewer at summit: 6.5 (11.5*) – * values in ( ) are without ssh compression In-stream compression helps in all cases Measurements of remote performance: ds9 zoom in

50. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 ds9 Local ds9 X client and server: 0.0 seconds Summit ds9 display redirected to mainland – direct to mainland X server: 0.1 ( 3.0*) – via mainland VNC viewer: 4.0 (10.0*) – via VNC viewer at summit: 4.5 (13.5*) – * values in ( ) are without ssh compression In-stream compression helps in all cases Measurements of remote performance: ds9 draw cut for plot

51. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Can redirect displays of legacy X clients: – using X protocol – using VNC protocol – using a combination of both protocols Choice depends on functionality of each X client Good remote performance for most X GUI clients Need better remote performance for ds9 Summary

52. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Future directions Explore distributed ds9-like image displays: – “ds9server”: an image / image section server Runs on the instrument control computer on summit Interfaces to multi-HDU FITS images on disk or in shmem Extracts subset of pixels requested by display client(s) Efficiently transmits pixels and WCS-info to display client(s) – “ds9viewer”: an image / image section client Runs at remote site and provides local GUI to observer Convert GUI events into requests to transmit to ds9server Receives pixel / WCS-info stream transmitted by ds9server Displays pixel stream locally as a bitmap image or plot

53. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Future directions Explore distributed ds9-like image displays: – design image server / viewer protocol to: Minimize round trips between client(s) and server Support progressive/lossy transmission of image sections Enable support of a web-based client/viewer Enable support of a X-based client/viewer – challenges: ds9 live plots, magnifier window Test protocol with NIST Network Emulation Tool – Simulates network latency, bandwidth, jitter – http://www.antd.nist.gov/tools/nistnet/index.html

54. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Keck 2 Remote Observing Room as seen from the Keck 2 summit Telescope operators at the summit converse with astronomer at Keck HQ in Waimea via the videoconferencing system.

55. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Videoconferencing has proved vital for remote observing from Waimea Visual cues (body language) important! Improved audio quality extremely valuable A picture is often worth a thousand words Troubleshooting: live oscilloscope images “Cheap” desktop sharing (LCD screens) Chose dedicated versus PC-based units: – Original (1996) system was PictureTel 2000 – Upgrading to Polycom Viewstations

56. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Interaction between video- conferencing and type of monitors Compression techniques motion sensitive “Moving” scene requires more bandwidth CRT monitors cause “flicker” in VC image – Beating of frequencies: camera.vs. CRT – CRT phosphor intensity peaking, persistence CRT monitor “flicker” causes problems: – Wastes bandwidth and degrades resolution – Visually annoying / nausea inducing Use LCD monitors to avoid this problem

57. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 The Keck Headquarters in Waimea Most Keck technical staff live and work in Waimea. Allows direct contact between observers and staff. Visiting Scientist’s Quarters (VSQ) located in same complex.

58. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Motivations for Remote Observing from the U.S. Mainland Travel time and costs greatly reduced Travel restrictions accommodated – Sinus infections and ruptured ear drums – Late stages of pregnancy Increased options for: – Student participation in observing runs – Large observing teams with small budgets Capability for remote engineering support

59. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Santa Cruz Remote Observing Video Conferencing Remote observer’s colleague in Waimea as seen from Santa Cruz remote ops

60. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 The Weather in Waimea Remote observer in California points remotely- controlled camera at the window in Waimea remote ops

61. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 The Remote Observing Facility at Keck Headquarters in Waimea Elevation of Waimea is 800 meters Adequate oxygen for alertness Waimea is 32 km NW of Mauna Kea 45 Mbps fiber optic link connects 2 sites A remote control room for each telescope Videoconferencing for each telescope On-site dormitories for daytime sleeping

62. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Mainland remote observing goals and implementation strategy Goals: – Target mainland facility to short duration runs – Avoid duplicating expensive Waimea resources – Avoid overloading Waimea support staff Strategy: – No mainland dormitories; observers sleep at home – Access existing Waimea support staff remotely – Restrict mainland facility to experienced observers – Restrict to mature, fully-debugged instruments

63. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Mainland remote observing facility is an extension of Keck HQ facility Only modest hardware investment needed: – Workstations for mainland remote observers – Network-based videoconferencing system – Routers and firewalls – Backup power (UPS) – especially in California!!! – Backup network path to Mauna Kea and Waimea Avoids expensive duplication of resources Share existing resources wherever possible – Internet-2 link to the mainland – Keck support staff and operational software

64. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 The initial model for Keck Remote Observing The control computers at the summit: – Each telescope and instrument has its own computer – All operational software runs only on these computers – All observing data written to directly-attached disks – Users access data disks remotely via NFS or ssh/scp The display workstations – Telescopes and instruments controlled via X GUIs – All users access these X GUIs via remote X displays – X Client software runs on summit control computers – Displays to X server on remote display workstation

65. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Operational simplifications Only one copy of operational software to maintain Only “vanilla” hardware / software needed at remote site Simplifies sparing and swapping of equipment Simplifies system maintenance at remote site Simplifies authentication / access control

66. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Focus effort on X standardization and optimization over long links Maintain consistent X environment between sites Optimize X performance between sites Eliminates need to maintain: Diverse instrument software at multiple sites Diverse telescope software at multiple sites Coordinate users accounts at multiple sites Fewer protocols for firewalls to manage

67. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Remote observing differences: Waimea versus the mainland System Management: – Keck summit and HQ share a common domain – Mainland sites are autonomous Remote File Access: – Observers at Keck HQ access summit data via NFS – Observers on mainland access data via ssh/scp Propagation Delays: – Summit to Waimea round trip time is about 1 ms. – Summit to mainland round trip time is about 100 ms.

68. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Shared access and control of instruments Most software for Keck optical instruments provides native multi-user/multi-site control All users have consistent view of status and data Instrument control can be shared between sites Multipoint video conferencing key to coordination Some single-user applications can be shared via X-based application sharing environments: – XMX http://www.cs.brown.edu/software/xmx – VNC http://www.uk.research.att.com/vnc

69. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Increased propagation delay to mainland presents challenges Initial painting of windows is much slower But once created, window updates fast enough All Keck applications display to Waimea OK A few applications display too slowly to mainland System and application tuning very important – TCP window-size parameter (Web100 Initiative) – X server memory and backing store – Minimize operations requiring round trip transactions

70. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Shared access and control of instruments Most software for Keck optical instruments provides native multi-user/multi-site control All users have consistent view of status and data Instrument control can be shared between sites Multipoint video conferencing key to coordination Some single-user applications can be shared via X-based application sharing environments: – XMX http://www.cs.brown.edu/software/xmx – VNC http://www.uk.research.att.com/vnc

71. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Fast and reliable network needed for mainland remote observing 1997: 1.5 Mbps Hawaii -> Oahu -> mainland 1998: 10 Mbps from Oahu to mainland 1999: First phase of Internet-2 upgrades: – 45 Mbps commodity link Oahu -> mainland – 45 Mbps Internet-2 link Oahu -> mainland 2000: Second phase upgrade: – 35 Mbps Internet-2 link from Hawaii -> Oahu – Now 35 Mbps peak from Mauna Kea to mainland 2002: 155 Mbs from Oahu to mainland

72. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 End-to-end reliability is critical to successful remote operation Keck Telescope time is valued at $1 per second Observers won’t use facility if not reliable Each observer gets only a few nights each year What happens if network link to mainland fails? – Path from Mauna Kea to mainland is long & complex – At least 14 hops crossing 6 different network domains – While outages are rare, consequences are severe – Even brief outages cause session collapse & panic – Observing time loss can extend beyond outage

73. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Keck Observatory policy on mainland remote observing If no backup data path is available from mainland site, at least one member of observing team must be in Waimea Backup data path must be proven to work before mainland remote observing is permitted without no team members in Waimea

74. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Mitigation plan: install end-to-end ISDN-based fall-back path Install ISDN lines and routers at: – Each mainland remote observing site – Keck 1 and Keck 2 control rooms Fail-over and fall-back are rapid and automatic Toll charges incurred only during network outage Lower ISDN bandwidth reduces efficiency, but: – Observer retains control of observations – Sessions remain connected and restarts avoided – Prevents observer panic

75. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Summary of ISDN-based fallback path Install 3 ISDN lines (6 B channels) at each site Install Cisco 2600-series routers at each end – Quad BRI interfaces Inverse multiplexing Caller ID (reject connections from unrecognized callers) Multilink PPP with CHAP authentication Dial-on-demand (bandwidth-on-demand) No manual intervention needed at either end Fail-over occurs automatically within 40 seconds Uses GRE tunnels, static routes, OSPF routing

76. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Running OSPF routing over a GRE tunnel On each router, we configure 3 mechanisms: – A GRE tunnel to the other endpoint – A floating static route that routes all traffic to the other endpoint via the ISDN dialer interface – A private OSPF domain that runs over the tunnel OSPF maintains its route through the tunnel only if the tunnel is “up” OSPF dynamic routes take precedence over floating static route

77. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Fail-over to ISDN backup data path If the Internet-2 path is “up”, OSPF “hello” packets flow across the tunnel between routers As long as “hello” packets flow, OSPF maintains the dynamic route, so traffic flows through tunnel If Internet-2 path is “down”, OSPF “hello” packets stop flowing, and OSPF deletes dynamic route With dynamic route gone, floating static route is enabled, so traffic flows through ISDN lines

78. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 The hardest problem was the lodging! LRIS operated from Santa Cruz all 5 nights ISDN backup path activated several times Observing efficiency comparable to Waimea Lodging was the biggest problem Motel check-in/check-out times incompatible Required booking two motels for the same night Motels are not a quiet place for daytime sleep

79. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 OSPF keeps trying to send “hello” packets through the tunnel, even with Internet is down As long as Internet-2 path remains down the “hello” packets can’t get through Once the Internet-2 path is restored, “hello” packets flow between routers OSPF re-instates dynamic route through tunnel All current traffic gets routed through the tunnel All ISDN calls are terminated Fall-back to the normal Internet-2 path

80. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Operational costs of ISDN backup data path Fixed leased cost is $70 per line per month Three lines at each site -> $2,500 per site/year Both sites -> $5,000/year Long distance cost (incurrent only when active) – $0.07 per B-channel per minute – If all 3 lines in use: $0.42 per minute $25.20 per hour

81. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Recent operational experience Remote observing science from Santa Cruz: – Low Resolution Imaging Spectrograph (LRIS) – Echellete Spectrograph and Imager (ESI) Remote engineering and instrument support – ESI – High Resolution Echelle Spectrometer (HIRES) Remote Commissioning Support – ESI – DEIMOS (see SPIE paper 4841-155 & 4841-186)

82. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Unplanned use of the facility during week of Sept. 11, 2001 All U.S. commercial air traffic grounded Caltech astronomers have a 5-day LRIS run on Keck-I Telescope starting September 13 No flights available Caltech team leaves Pasadena morning of 9/13 Drives to Santa Cruz, arriving late afternoon Online with LRIS well before sunset in Hawaii

83. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Extending mainland remote observing to other sites Other sites motivated by Santa Cruz success Caltech remote facility is nearly operational – Equipment acquired – ISDN lines and router installed – Will be operational once routers are configured U.C. San Diego facility being assembled – Equipment specified and orders in progress Other U.C. campuses considering plans

84. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Administrative challenges: scheduling shared facilities Currently only one ISDN router at Mauna Kea Limits mainland operation to one site per night Interim administrative solution Longer term solution may require: – Installation of additional ISDN lines at Mauna Kea – Installation of an additional router at Mauna Kea

85. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Remaining challenges TCP/IP tuning of end-point machines – Needed to achieve optimal performance – Conflicts with using “off-the-shelf” workstations – Conflict between optimal TCP/IP parameters for the normal Internet-2 path.vs. the ISDN fall-back path – Hoping for vendor-supplied auto-tuning – Following research efforts of Web100 Project Administrative challenges – Mainland sites are currently autonomous – Need to develop coordination with Keck

86. Advanced Software and Control for Astronomy Astronomical Telescopes and Instrumentation / SPIE 2006 5/26/2006 1 Internet-2 makes mainland operation feasible Backup data path protects against interruptions Keck HQ is the central hub for remote operation Mainland remote observing model is affordable: – Mainland sites operate as satellites of Keck HQ Leverage investment in existing facilities and staff Leverage investment in existing software – Share existing resources wherever feasible – Avoid expensive and inefficient travel for short runs Model is being extended to multiple sites Summary