The MINiature Exoplanet Radial Velocity Array (MINERVA) is a dedicated observatory of four 0.7 m robotic telescopes fiber-fed to a KiwiSpec spectrograph. The MINERVA mission is to discover super-Earths in the habitable zones of nearby stars. This can be accomplished with MINERVA's unique combination of high precision and high cadence over long time periods. In this work, we detail changes to the MINERVA facility that have occurred since our previous paper. We then describe MINERVA's robotic control software, the process by which we perform 1D spectral extraction, and our forward modeling Doppler pipeline. In the process of improving our forward modeling procedure, we found that our spectrograph's intrinsic instrumental profile is stable for at least nine months. Because of that, we characterized our instrumental profile with a time-independent, cubic spline function based on the profile in the cross dispersion direction, with which we achieved a radial velocity precision similar to using a conventional "sum-of-Gaussians" instrumental profile: 1.8 m s −1 over 1.5 months on the RV standard star HD 122064. Therefore, we conclude that the instrumental profile need not be perfectly accurate as long as it is stable. In addition, we observed 51 Peg and our results are consistent with the literature, confirming our spectrograph and Doppler pipeline are producing accurate and precise radial velocities.

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A new prime focus corrector for the WEAVE project for the William Herschel Telescope is being produced. The corrector consists of six lens elements, the largest being 1.1 m in diameter. It also incorporates an Atmospheric Dispersion Corrector. Testing procedures for the WEAVE prime focus corrector lens elements are described here. Critical issues encountered in practice, including the influence of the lens size, wedge and weight on the testing procedure are discussed. Due to large lens dimensions, a dedicated test tower and lens support system has been developed to measure the optical surface form errors of the concave surfaces and the transmitted wavefront of each lens. For some of the lens elements, sub-aperture measurements have been performed using an off-axis Hindle sphere and the resultant OPD maps have been stitched together. The challenge of testing a wedged lens with a combination of a long radius convex surface and a short radius concave surface has been resolved by using another lens from the system as an auxiliary lens. The practice of testing convex surfaces via internal reflection/transmission through the lens element has been avoided entirely in this case and some discussion justifying the choices of metrology approach taken is given. The fabrication and acceptance testing of the lens elements has been completed within the expected time and budget, and all elements have been shown to meet requirements.

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