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arxiv: 2606.20194 · v3 · pith:IA7OJAFMnew · submitted 2026-06-18 · 🌌 astro-ph.IM

MOSAIC at ELT: Design and First Prototyping of Novel Robotic Optical-Relay Positioners

Maxime Rombach , Markus Thurneysen , Lucas Ortolani , Jurgen Schmoll , Diane Chapuis , Malak Galal , Sebastien Pernecker , Cassio Berni
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Ojonugwa Adukwu Fabio Fialho Michaela Hirschmann Jean-Paul Kneib
This is my paper

Pith reviewed 2026-07-02 21:51 UTC · model grok-4.3

classification 🌌 astro-ph.IM
keywords MOSAICELTrobotic positionersoptical relayatmospheric dispersion correctormulti-object spectrographprototypingfocal plane pick-off
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The pith

Robotic positioners integrate relay mirrors, pupil-pointing, and per-unit ADCs to feed fixed fibers 600 mm behind the ELT focal plane.

A machine-rendered reading of the paper's core claim, the machinery that carries it, and where it could break.

The paper presents the initial design and prototypes for roughly 300 robotic positioners that will serve as the core of the MOSAIC multi-object spectrograph on the Extremely Large Telescope. Each positioner must solve three scale-driven problems that rule out conventional approaches: reimaging sub-fields onto fixed fiber bundles via patrol mirrors, aligning to the local telecentricity by pointing at a pupil 37.868 m away, and carrying its own atmospheric dispersion corrector because a single global ADC cannot be built at this size. The work shows how these functions can be combined in one compact robotic unit suitable for mass production.

Core claim

The authors describe a positioner architecture in which a relay-mirror assembly patrols the focal surface, reimages the selected sub-field onto one of two fixed fiber bundles located 600 mm behind the focal plane, continuously adjusts its orientation to the distant ELT pupil, and incorporates an individual ADC; first prototypes of this integrated unit have been built to verify basic functionality ahead of manufacturing 300 copies.

What carries the argument

The integrated robotic optical-relay positioner that combines patrol mirrors, pupil-pointing mechanism, and per-positioner ADC into a single unit.

If this is right

  • Light from any point on the ELT focal surface can be directed to the NIR or VIS spectrographs via the fixed fiber bundles.
  • The design removes the need for a single global ADC that would be impossible to construct at ELT scale.
  • The same positioner units can be replicated to the required quantity of approximately 300 without redesigning the core optical layout.
  • Each positioner can operate independently, allowing simultaneous observation of multiple targets across the full field.

Where Pith is reading between the lines

These are editorial extensions of the paper, not claims the author makes directly.

  • Future extremely large telescopes may adopt similar per-positioner relay and correction modules rather than attempting monolithic correctors.
  • Reliability data from the 300-unit production run could inform whether robotic pick-off systems become standard for next-generation multi-object instruments.
  • The 600 mm fiber-bundle offset and 37.868 m pupil distance set concrete geometric constraints that any competing MOS design on the ELT would also have to meet.

Load-bearing premise

The three optical subsystems can be packaged together in one robotic unit while preserving the required image quality and long-term reliability when 300 copies are manufactured.

What would settle it

A completed prototype that fails to deliver the required throughput or pointing stability when its relay mirrors are driven across the patrol field while the ADC is adjusted and the unit is oriented toward the simulated 37.868 m pupil.

Figures

Figures reproduced from arXiv: 2606.20194 by Cassio Berni, Diane Chapuis, Fabio Fialho, Jean-Paul Kneib, Jurgen Schmoll, Lucas Ortolani, Malak Galal, Markus Thurneysen, Maxime Rombach, Michaela Hirschmann, Ojonugwa Adukwu, Sebastien Pernecker.

Figure 1
Figure 1. Figure 1: Artist’s impression of the ELT instruments (2021); Instruments [PITH_FULL_IMAGE:figures/full_fig_p002_1.png] view at source ↗
Figure 2
Figure 2. Figure 2: Preliminary CAD views of the overall location of the positioners [PITH_FULL_IMAGE:figures/full_fig_p002_2.png] view at source ↗
Figure 3
Figure 3. Figure 3: MOSAIC Front-End Optical Model schemtics. Credit: Diane Chapuis - EPFL The presented work will focus on the mechanical implementation of the MOSAIC positioner. Its optical design is detailed in Schmoll, et al.(2026).6 2. POS DESIGN 2.1 POS overview The MOSAIC positioner is decoupled into two sub-assemblies namely: POS SCARA and POS ADC. They are bolted together on the positioner’s hexagonal base, in light … view at source ↗
Figure 4
Figure 4. Figure 4: 3D model of the preliminary design of the MOSAIC positioner: POS SCARA and POS ADC [PITH_FULL_IMAGE:figures/full_fig_p003_4.png] view at source ↗
Figure 5
Figure 5. Figure 5: Cut view of the positioner highlighting the optical elements [PITH_FULL_IMAGE:figures/full_fig_p004_5.png] view at source ↗
Figure 6
Figure 6. Figure 6: Schematics of the MOSAIC positioner patrol area [PITH_FULL_IMAGE:figures/full_fig_p005_6.png] view at source ↗
Figure 7
Figure 7. Figure 7: (Top left) Ideal case of a telecentric telescope where aligning apertures with the curved focal surface [PITH_FULL_IMAGE:figures/full_fig_p005_7.png] view at source ↗
Figure 8
Figure 8. Figure 8: Schematics of the POS internal axes required angles to always point at the pupil center regardless of [PITH_FULL_IMAGE:figures/full_fig_p006_8.png] view at source ↗
Figure 9
Figure 9. Figure 9: POS SCARA mechanics overview [PITH_FULL_IMAGE:figures/full_fig_p007_9.png] view at source ↗
Figure 10
Figure 10. Figure 10: Cut view of the ADC insides; highlighting the two counter-rotating prisms [PITH_FULL_IMAGE:figures/full_fig_p008_10.png] view at source ↗
Figure 11
Figure 11. Figure 11: POS inserted into FIT overview 7 [PITH_FULL_IMAGE:figures/full_fig_p008_11.png] view at source ↗
Figure 12
Figure 12. Figure 12: Cut view from the back of the POS/FIT assembly [PITH_FULL_IMAGE:figures/full_fig_p009_12.png] view at source ↗
Figure 13
Figure 13. Figure 13: POS Control Board V1: 3D model 3. POS FIRST PROTOTYPING The first stage of prototyping of the MOSAIC positioner aims to fabricate a SCARA V1 and an ADC V1 to validate mechanical manufacturability and assembly [PITH_FULL_IMAGE:figures/full_fig_p010_13.png] view at source ↗
Figure 14
Figure 14. Figure 14: MOSAIC POS V1 prototype ACKNOWLEDGMENTS The authors acknowledges the mechanical workshop of the EPFL Insitute of Physics for their manufacturing of the ADC V1 and the workshop of HEPIA for the realization of the SCARA V1. REFERENCES [1] Schallig, E., “MOSAIC at the ELT: focal plane architecture and initial design | SPIE Astronomical Tele￾scopes + Instrumentation,” (2026). 9 [PITH_FULL_IMAGE:figures/full_… view at source ↗
read the original abstract

The Extremely Large Telescope (ELT) is, to date, the most ambitious ground-based telescope under construction. MOSAIC is a multi-objects spectrograph (MOS) that aims to make full use of the largest telescope in the world. At its heart, about 300 robotic positioners will pick-off skylight from the focal surface of the ELT to feed it to its Near Infrared (NIR) and visible (VIS) spectrographs. The gigantic scale of the ELT presents three main challenges for MOSAIC positioners: (1) the light beams on the focal surface cannot be focused in a single fiber, similarly to other MOS instruments, involving a design with relay mirrors patrolling the field of view, and reimaging the sub-field on 2 fixed fiber bundles located 600 mm behind the ELT focal plane (2) The positioner needs to adapt to the local telecentricity, which means it has to point at the ELT pupil center located 37.868 m away from the focal plane (3) The Atmospheric Dispersion Corrector (ADC) needed to cover the whole focal surface of the ELT is impossible to build to this scale; hence each positioner needs its own ADC. EPFL is responsible for designing and supervising the mass manufacturing of the positioners. This paper aims to present its initial design and prototypes.

Editorial analysis

A structured set of objections, weighed in public.

Desk editor's note, referee report, simulated authors' rebuttal, and a circularity audit. Tearing a paper down is the easy half of reading it; the pith above is the substance, this is the friction.

Referee Report

2 major / 2 minor

Summary. The manuscript presents the design and initial prototypes of novel robotic optical-relay positioners for the MOSAIC multi-object spectrograph on the ELT. It identifies three scale-driven challenges: relay mirrors to reimage sub-fields onto fixed fiber bundles 600 mm behind the focal plane, per-positioner adaptation to local telecentricity by pointing at the pupil 37.868 m distant, and individual ADCs per unit because a global ADC is infeasible at ELT scale. EPFL leads design and mass manufacturing of ~300 units; the paper focuses on the conceptual integration of these functions into a single robotic positioner and shows first hardware prototypes.

Significance. If the integrated design meets image-quality and reliability targets at scale, the positioners would be enabling hardware for MOSAIC, allowing efficient exploitation of the ELT's full focal surface for multi-object spectroscopy. The work directly addresses a recognized instrumentation bottleneck for ELT-scale MOS instruments. However, the current manuscript supplies only descriptive design and prototype photographs without quantitative performance metrics, error budgets, or yield estimates, so the significance remains prospective rather than demonstrated.

major comments (2)
  1. [Design and Prototyping sections (overall manuscript)] The central engineering claim—that relay-mirror, pupil-pointing, and per-unit ADC functions can be integrated into one robotic unit while remaining manufacturable at the 300-unit scale—is not supported by any tolerance stack-up, Monte-Carlo yield analysis, or error budget. No section quantifies how mirror positioning repeatability, ADC prism wedge errors, and servo accuracy for the 37.868 m pupil distance combine to affect final image quality or fiber coupling efficiency.
  2. [Prototyping results] The abstract and introduction state that prototypes demonstrate individual functions, yet the text provides no measured performance data (e.g., positioning repeatability, ADC correction range, pupil-pointing accuracy, or throughput) that would allow assessment of whether the three subsystems can operate simultaneously within required tolerances.
minor comments (2)
  1. [N/A] The manuscript would benefit from a dedicated section or table that tabulates the key optical and mechanical requirements (e.g., required pointing accuracy, ADC dispersion correction range, relay magnification) alongside the achieved prototype values.
  2. [Figures] Figure captions and text should explicitly label which prototype hardware corresponds to which subsystem (relay, ADC, or pupil-pointing mechanism) to improve traceability.

Simulated Author's Rebuttal

2 responses · 1 unresolved

We thank the referee for the constructive review. The manuscript describes the initial design and first hardware prototypes of the MOSAIC positioners, emphasizing the conceptual integration of relay optics, pupil pointing, and per-unit ADCs at ELT scale. We respond to the major comments below and note that this is an early-stage design paper rather than a performance validation study.

read point-by-point responses

  1. Referee: [Design and Prototyping sections (overall manuscript)] The central engineering claim—that relay-mirror, pupil-pointing, and per-unit ADC functions can be integrated into one robotic unit while remaining manufacturable at the 300-unit scale—is not supported by any tolerance stack-up, Monte-Carlo yield analysis, or error budget. No section quantifies how mirror positioning repeatability, ADC prism wedge errors, and servo accuracy for the 37.868 m pupil distance combine to affect final image quality or fiber coupling efficiency.

    Authors: The manuscript's central claim is limited to demonstrating that the three functions can be integrated into a single robotic unit at the conceptual and initial-prototype level; it does not assert that the integrated design already meets final image-quality or yield targets. No tolerance stack-up or Monte-Carlo analysis is presented because the work is at the first-prototyping stage. We will add a new subsection in the revised manuscript that outlines the principal tolerance drivers (mirror repeatability, ADC wedge, pupil-pointing servo) and the planned error-budget approach, while clearly stating that full quantitative analysis awaits more mature prototypes. revision: partial

  2. Referee: [Prototyping results] The abstract and introduction state that prototypes demonstrate individual functions, yet the text provides no measured performance data (e.g., positioning repeatability, ADC correction range, pupil-pointing accuracy, or throughput) that would allow assessment of whether the three subsystems can operate simultaneously within required tolerances.

    Authors: The prototypes are first hardware units built to verify mechanical integration and basic operability of the combined subsystems; they were not yet subjected to the metrology campaign needed to extract the cited performance numbers. We will revise the abstract and introduction to remove any implication that quantitative demonstration has occurred and will add a short paragraph describing the ongoing test program. Measured data will be reported in subsequent publications once testing is complete. revision: yes

standing simulated objections not resolved
  • Quantitative performance metrics (repeatability, accuracy, throughput) from the current prototypes are not available because systematic testing has not been completed.

Circularity Check

0 steps flagged

No circularity: purely descriptive engineering design paper with no derivations or predictions

full rationale

The manuscript is an engineering design summary of robotic positioners for MOSAIC. It states three challenges (relay mirrors, local telecentricity pointing, per-positioner ADCs) and describes prototypes, but contains no equations, fitted parameters, predictions, or load-bearing derivations. No self-citations are invoked to justify uniqueness or ansatzes. The central claim of integration feasibility for 300 units is presented as an engineering goal without quantitative tolerance analysis or yield modeling, but this absence does not create circularity—it simply leaves the integration claim unquantified. The document is self-contained as a descriptive report.

Axiom & Free-Parameter Ledger

0 free parameters · 0 axioms · 0 invented entities

Abstract-only review yields no explicit free parameters, axioms, or invented entities; the design implicitly assumes standard optical and robotic engineering practices without listing them.

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