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We report on extensive testing carried out on the optical fibers for the VIRUS instrument. The primary result of this work explores how 10+ years of simulated wear on a VIRUS fiber bundle affects both transmission and focal ratio degradation (FRD) of the optical fibers. During the accelerated lifetime tests we continuously monitored the fibers for signs of FRD. We find that transient FRD events were common during the portions of the tests when motion was at telescope slew rates, but dropped to negligible levels during rates of motion typical for science observation. Tests of fiber transmission and FRD conducted both before and after the lifetime tests reveal that while transmission values do not change over the 10+ years of simulated wear, a clear increase in FRD is seen in all 18 fibers tested. This increase in FRD is likely due to microfractures that develop over time from repeated flexure of the fiber bundle, and stands in contrast to the transient FRD events that stem from localized stress and subsequent modal diffusion of light within the fibers. There was no measurable wavelength dependence on the increase in FRD over 350 nm to 600 nm. We also report on bend radius tests conducted on individual fibers and find the 266 µm VIRUS fibers to be immune to bending-induced FRD at bend radii of R ≥ 10 cm. Below this bend radius FRD increases slightly with decreasing radius. Lastly, we give details of a degradation seen in the fiber bundle currently deployed on the Mitchell Spectrograph (formally VIRUS-P) at McDonald Observatory. The degradation is shown to be caused by a localized shear in a select number of optical fibers that leads to an explosive form of FRD. In a few fibers, the overall transmission loss through the instrument can exceed 80%. These results are important for the VIRUS instrument, and for both current and proposed instruments that make use of optical fibers, particularly when the fibers are in continual motion during an observation, or experience repeated mechanical stress during their deployment. Subject headings: Optical Fibers, Focal Ratio Degradation, VIRUS, VIRUS-P, Mitchell Spectrograph, HETDEX1. INTRODUCTION First proposed for use in astronomical instrumentation by Angel et al. (1977) optical fibers have revolutionized the field over the past 3 decades. This revolution has come about due to the flexibility optical fibers offer in re-routing the light from thetelescope focal plane to a more convenient location. The gain for this technological advance is clear as issues of instrument weight, size, stability, and temperature control are made largely obsolete. However, this advantage comes at a cost as fibers constitute an added element in the instrument's optical path. Moreover, optical fibers are not entirely stable light guides, and while their characteristics have been studied in a comprehensive and systematic way by several groups (Ramsey 1988;Schmoll et al. 2003;Crause et al. 2008; Poppett & Allington-Smith 2010b), little work has been focused on their behavior during periods of ...

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To enable the Hobby-Eberly Telescope Wide Field Upgrade, the University of Texas Center for Electromechanics and McDonald Observatory are developing a precision tracker system -a 15,000 kg robot to position a 3,100 kg payload within 10 microns of a desired dynamic track. Performance requirements to meet science needs and safety requirements that emerged from detailed Failure Modes and Effects Analysis resulted in a system of 14 precision controlled actuators and 100 additional analog and digital devices (primarily sensors and safety limit switches). This level of system complexity and emphasis on fail-safe operation is typical of large modern telescopes and numerous industrial applications. Due to this complexity, demanding accuracy requirements, and stringent safety requirements, a highly versatile and easily configurable centralized control system that easily links with modeling and simulation tools during the hardware and software design process was deemed essential. The Matlab/Simulink simulation environment, coupled with dSPACE controller hardware, was selected for controls development and realization. The dSPACE real-time operating system collects sensor information; motor commands are transmitted over a PROFIBUS network to servo amplifiers and drive motor status is received over the same network. Custom designed position feedback loops, supplemented by feed forward force commands for enhanced performance, and algorithms to accommodate self-locking gearboxes (for safety), reside in dSPACE. To interface the dSPACE controller directly to absolute Heidenhain sensors with EnDat 2.2 protocol, a custom communication board was developed. This paper covers details of software and hardware, design choices and analysis, and supporting simulations (primarily Simulink).