Starbugs的三月：在UK-Schmidt光学飞机上配置光纤轴承机器人
March of the Starbugs: Configuring Fibre-bearing Robots on the UK-Schmidt Optical Plane
摘要：
TAIPAN仪器目前正在为澳大利亚天文台位于Siding Spring天文台的英国施密特望远镜开发，它利用AAO的Starbug技术将150根科学光纤部署到光学平面上的目标位置。本文介绍了用于控制和部署纤维轴承Starbug机器人的软件系统。TAIPAN软件负责根据每个Starbug的当前位置和目标分布将其分配到下一个目标位置，为每个Starbug找到无碰撞路径，然后同时控制Starbug硬件在闭环中，使用计量相机在重新配置期间确定每个Starbug在现场的位置。该软件是用C++和Java编写的，并采用了DRAMA中间件层（Farrell等人，1995）。
英文摘要：
The TAIPAN instrument, currently being developed for the Australian Astronomical Observatory's UK Schmidt telescope at Siding Spring Observatory, makes use of the AAO's Starbug technology to deploy 150 science fibres to target positions on the optical plane. This paper describes the software system for controlling and deploying the fibre-bearing Starbug robots. The TAIPAN software is responsible for allocating each Starbug to its next target position based on its current position and the distribution of targets, finding a collision-free path for each Starbug, and then simultaneously controlling the Starbug hardware in a closed loop, with a metrology camera used to determine the position of each Starbug in the field during reconfiguration. The software is written in C++ and Java and employs a DRAMA middleware layer (Farrell et al. 1995).
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
