Astron. Nachr./AN,No.,1–4(2007)/DOI ARTEMiS (Automated Robotic Terrestrial Exoplanet Microlensing Search) – A possible expert-system based cooperative effort to hunt for planets of Earth mass and below M. Dominik1,⋆,⋆⋆ K. Horne1, A. Allan2, N.J. Rattenbury3, Y. Tsapras4, C. Snodgrass5, M.F. Bode4, M.J. Burgdorf4, S.N. Fraser4, E. Kerins3, C.J. Mottram4, I.A. Steele4, R.A. Street6, P.J. Wheatley7, Ł.Wyrzykowski8,9 1 SUPA, University of St Andrews, School of Physics & Astronomy, North Haugh, St Andrews, KY16 9SS, United 8 Kingdom 0 2 SchoolofPhysics,UniversityofExeter,StockerRoad,ExeterEX44QL,UnitedKingdom 0 2 3 JodrellBankObservatory,Macclesfield,Cheshire,SK119DL,UnitedKingdom 4 AstrophysicsResearchInstitute,LiverpoolJohnMooresUniversity,TwelveQuaysHouse,EgertonWharf,Birkenhead, n CH411LD,UnitedKingdom a 5 EuropeanSouthernObservatory(ESO),Casilla19001,SantiagodeChile,Chile J 6 LasCumbresObservatoryGlobalTelescopesNetwork,6740BCortonaDr,Goleta,CA93117,UnitedStatesofAmerica 4 7 DepartmentofPhysics,UniversityofWarwick,Coventry,CV47AL,UnitedKingdom 1 8 InstituteofAstronomy,UniversityofCambridge,MadingleyRoad,CambridgeCB30HA,UnitedKingdom ] 9 WarsawUniversityAstronomicalObservatory,Al.Ujazdowskie4,00-478Warszawa,Poland h p Thedatesofreceiptandacceptanceshouldbeinsertedlater - o r Thetechniqueofgravitationalmicrolensingiscurrentlyuniqueinitsabilitytoprovideasampleofterrestrialexoplan- t s etsaroundbothGalacticdiskandbulgestars,allowingtomeasuretheirabundanceanddeterminetheirdistributionwith a respecttomassandorbitalseparation.Thus,valuableinformationfortestingmodelsofplanetformationandorbitalmi- [ grationisgathered,constitutinganimportantpieceinthepuzzlefortheexistenceoflifeformsthroughouttheUniverse. 1 Inordertoachievethesegoalsinreasonabletime,awell-coordinatedeffortinvolvinganetworkofeither2mor4×1m v telescopesateachsiteisrequired.ItcouldleadtothefirstdetectionofanEarth-massplanetoutsidetheSolarsystem,and 2 evenplanetslessmassivethanEarthcouldbediscovered.FromApril2008,ARTEMiS(AutomatedRoboticTerrestrialEx- 6 oplanetMicrolensingSearch)isplannedtoprovideaplatformforathree-stepstrategyofsurvey,follow-up,andanomaly 1 monitoring.AsanexpertsystemembeddedineSTAR(e-ScienceTelescopesforAstronomicalResearch),ARTEMiSwill 2 giveadviceforfollow-upbasedonapriorityalgorithmthatselectstargetstobeobservedinordertomaximizetheex- . pectednumberofplanetdetections,andwillalsoalertondeviationsfromordinarymicrolensinglightcurvesbymeans 1 oftheSIGNALMENanomalydetector.WhiletheuseoftheVOEvent(VirtualObservatoryEvent)protocolallowsadi- 0 rectinteractionwiththetelescopesthatarepartoftheHTN(HeterogeneousTelescopeNetworks)consortium,additional 8 interfacesprovidemeansofcommunicationwithallexistingmicrolensingcampaignsthatrelyonhumanobservers.The 0 successofdiscoveringaplanetbymicrolensingcriticallydependsontheavailabilityofatelescopeinasuitablelocationat : v therighttime,whichcanmeanwithin10min.Toencouragefollow-upobservations,microlensingcampaignsaretherefore i releasingphotometricdatainrealtime.Onongoingplanetaryanomalies,world-wideeffortsarebeingundertakentomake X surethatsufficientdataareobtained,sincethereisnosecondchance.Real-timemodellingofferstheopportunityoflive r discoveryofextra-solarplanets,therebyproviding“Sciencelivetoyourhome”. a (cid:13)c 2007WILEY-VCHVerlagGmbH&Co.KGaA,Weinheim 1 Detecting planets by microlensing ofitslightbythegravitationalfield oftheforegroundstar, constitutingagravitationalmicrolensingevent. IfanobservedstarintheGalacticbulgeatdistanceDShap- Ifmoreoveraplanetorbitingtheforeground’lens’star pens to be aligned with a foregroundstar with mass M at happens to be separated by an angle δ ∼ θE, it can re- distanceDLwithinanangleθ <∼θE,where vealits existence by meansof a shortdistortionto the ob- servedlightcurve(Mao&Paczyn´ski1991),dependingon θE =r4Gc2M DL−1−DS−1 (1) istisdmesatshsrleaestointhgebrectuwrereenntscelvaeimraslh(Bouornsdanetdasle.v2e0ra0l4d;aUyds.aBlsek-i (cid:0) (cid:1) etal.2005;Gouldetal.2006),microlensingledtothedis- istheangularEinsteinradius,itexhibitsatransientbright- coveryofOGLE-2005-BLG-390Lb,thefirstcoolrocky/icy ening(Einstein1936)overaboutamonthduetothebending exoplaneteverfound(Beaulieuetal.2006;Dominik,Horne &Bode2006). ⋆ RoyalSocietyUniversityResearchFellow ⋆⋆ Correspondingauthor:e-mail:[email protected] Microlensingobservationscanprovidesamplesofplan- ets orbiting stars in two distinct populations, namely the (cid:13)c 2007WILEY-VCHVerlagGmbH&Co.KGaA,Weinheim 2 M.Dominiketal.:ARTEMiS–AnexpertsystemtohuntforplanetsofEarthmassandbelow Galactic disk and the Galactic bulge, rather than facing a event OGLE 2005-BLG-390 over about a day, which was restriction to the Solar neighbourhood.This will allow an showntobeduetoaplanetofabout5Earthmasses,orbiting estimate of the abundance of planets in the Universe and astarwith0.2M at3AUwithaperiodof10years,where ⊙ provideapowerfultestoftheoreticalmodelsofplanetfor- all these values are uncertain to a factor of two (Beaulieu mationandorbitalmigration. et al. 2006).An Earth-massplanetin the same spot would Given the properties of the two stellar populations, a stillhavecausedasignalamplitudeof3%anddurationof typicalmicrolensingeventonanobservedbulgestaratDS ∼ ∼ 12h.Ifoneassumesphotometricuncertaintiesof∼ 1%, 8.5 kpc involves a lens star with M ∼ 0.3 M⊙ at DL ∼ thediscoveryofsuchaplanetwouldonlyhavebeenpossi- 6.5kpc.ThisimpliesthatθE ∼350µas,sothatmicrolens- ble if the standardfollow-upsamplingof 2 h had been re- ing is most sensitive to the detection of planets at a sepa- placed by high-cadence (10–15 min) anomaly monitoring rationof1to10AU.Sincetherespectiveorbitalperiodby triggereduponthe firstsuspicionofa deviation.Real-time far exceeds the duration of the planetary signal, the latter photometryand a promptresponse fromthe telescopes al- reflectsasnapshotoftheplanetatitscurrentposition. lowtheSIGNALMEN anomalydetectortoidentifyongo- ing anomalies by successively requesting further observa- tions until an anomaly can be confirmed or rejected with 2 Microlensing observationcampaigns therequiredsignificance.Bytriggeringonresidualswhose absolute value is among the largest 5% of all data for the Withonlyaboutoneinamillionmonitoredstarsbeingsig- respectivesite(suchtriggerpointsbeingmarkedbyarrows nificantly brightened by the gravitational field of a fore- in Fig. 1), and eliminating the effect of outliers by means groundstar(Kiraga&Paczyn´ski1994),theOGLE(Optical of robust-fitting techniques, SIGNALMEN carefully ad- Gravitational Lensing Experiment) and MOA (Microlens- dresses the fact that reported photometric error bars fre- ingObservationsinAstrophysics)surveysmonitormorethan quentlydonotproperlyrepresentthetrueuncertaintiesand 100millionstarsonadailybasis,whichresultsin700-1000 ingeneraldonotfollowaGaussiandistribution. microlensing events per year being alerted on-line while Thegiantsourcestar(R ∼9.6R )thatwasobserved theyareinprogress(Udalskietal.1992;Murakietal.1999; ⋆ ⊙ inOGLE2005-BLG-390yieldedalargerprobabilitytode- Bondetal.2001;Udalski2003).Theirsamplingishowever tect a planetary signal and increased its duration, but re- insufficient for detecting planets with masses significantly duced its amplitude as compared to a main-sequence star. belowthatofJupiter(Snodgrass,Tsapras,&Horne2004). However,the SIGNALMEN anomalydetectorwouldalso Thefirstmicrolensingfollow-upnetworkcombininghourly allowtorevealanEarth-massplanetfroma5%deviationif sampling with a round-the-clockcoveragewas established theobservedsourceisamain-sequencestar(R ∼1.2R ), ⋆ ⊙ byPLANET(ProbingLensingAnomaliesNetwork)in1995 provided that exposure times are chosen long enough for (Albrow et al. 1998;Dominiket al. 2002).While this net- achievinga photometricaccuracyof1–2%. While the mi- workof1m-classtelescopesreliesonhumanobserversand crolensingsearchesfaceareliablechanceoffirstdetecting dedicatedobservingtime,thedemandofnotonlyanimme- an extra-solar planet of Earth mass, the detection of plan- diateresponse,butalsoaflexibleschedulingmakesrobotic etswithmassesassmallas0.1M ischallengingbothby ⊕ telescopesideallysuitedtocarryoutsuchanobservingpro- meansof the shortsignal durationand the tiny probability gramme.Since 2004– andsince 2005in cooperationwith forsignalsofappropriateamplitudestooccur,butpossible PLANET –, microlensing observations have been carried inprinciple(Dominiketal.2007). outwith the RoboNet-1.0networkof UK-built2mrobotic telescopes(Burgdorfetal.2007),usingapriorityalgorithm that selects those targets for which a detection of a planet 4 The ARTEMiS concept (2008+) is most likely to occur. In contrast to PLANET/RoboNet, the MicroFUN team concentrateon a few quite promising events, with a network only being activated on target-of- The detection of a significant number of terrestrial extra- opportunitybasis. solarplanetsinreasonabletimerequiresawell-coordinated With the deployment of the SIGNALMEN anomaly effort involving a network of either 2m or 4 × 1m tele- detector (Dominik et al. 2007), a combined effort of mi- scopes at its sites and further smaller telescopes, in order crolensing campaigns can realize a three-step strategy of toensurethatsufficientdatacanbeacquiredonanongoing survey,follow-up,andanomalymonitoringthatallowsfora planetary anomaly, which could require that observations substantialdetectionefficiencyevenforEarth-massplanets. are being scheduled at a suitable site within 10 min of an alertbytheSIGNALMENanomalydetector.Comprisedof theLiverpoolTelescope(LT),theFaulkesTelescopeNorth 3 Discovering planets ofEarth massand (FTN), and the Faulkes Telescope South (FTS), RoboNet- below 1.0 constituted the prototype of such a network, with the two Faulkes telescopes now having been acquired by Las On2005August10,PLANET/RoboNet,OGLE,andMOA CumbresObservatory,andfurthersuchinstrumentscanbe observeda15%deviationtothelightcurveofmicrolensing expectedtobedeployedoverthenextthreeyears. (cid:13)c 2007WILEY-VCHVerlagGmbH&Co.KGaA,Weinheim www.an-journal.org Astron.Nachr./AN(2007) 3 Fig.1 ThepossibledetectionofplanetsofEarthmassorbelow(simulations)inthreedifferentconfigurations(whered=δ/θE)with therobotic2m-telescopesthatconstitutetheRoboNet-1.0network,namelytheLiverpoolTelescope(LT),theFaulkesTelescopeNorth (FTN),andtheFaulkesTelescopeSouth(FTS),augmentedbytwosimilarhypothetical telescopeslocatedinChileandSouthAfrica. ArrowsindicatetheepochswheretheSIGNALMENanomalydetectorrequestedfurtherobservations.(top)1-M⊕planetinthesame spotasOGLE-2005-BLG-390Lb,withtheoriginalmodellightcurvefortherespectiveeventalsoplotted;(middle)1-M⊕planetinthe samespot,butwithamain-sequencesourcestar;(bottom)0.1-M⊕planetatacloserdistance(d=1.25insteadofd=1.61)tothelens star,andamain-sequencesourcestar.Forthetwolattercases,theorientationangleofthesourcetrajectorywithregardtotheplanet-star axishasbeenmodifiedfromtheOGLE-2005-BLG-390modelinordertoproduceadeviationofthedesiredamplitude. www.an-journal.org (cid:13)c 2007WILEY-VCHVerlagGmbH&Co.KGaA,Weinheim 4 M.Dominiketal.:ARTEMiS–AnexpertsystemtohuntforplanetsofEarthmassandbelow Fig.2 ARTEMiS(AutomatedRoboticTerrestrialExoplanetMicrolensingSearch)anditsinteractionswiththeoutsideworld. Acting as an expert system, ARTEMiS will determine alizationandinterpretationnotonlyallowsto link upwith the optimal target to be observed by any site at any given professionalandamateurastronomersaroundtheworld,but time bymeansofreal-timemodellingof real-timedatare- evenoffersanopportunitytocommunicateforefrontresearch leasedbythemicrolensingobservingcampaignsandsubse- in progress to the general public as “Science live to your quentassessmentbyapriorityalgorithmandtheSIGNAL- home”. MENanomalydetector(seeFig.2).Withaflexiblestrategy cateringforparametersthatallowobservingsitestodefine References their preferences, tailored target recommendations match- ingspecificstrategicgoalsareprovided. Allan,A.,Naylor,T.,Saunders,E.S.:2006,AN327,767 For scheduling its observations, RoboNet-1.0 already Albrow,M.D.,Beaulieu,J.-P.,Birch,P.,etal.:1998,ApJ509,687 usedthenovelsoftwarearchitecturedevelopedbytheeSTAR Beaulieu,J.-P.,Bennett,D.P.,Fouque´,P.,etal.:2006,Nature439, (e-Science Telescopes for Astronomical Research) project 437 (Steeleetal.2002),whichbuildsavirtualmeta-networkbe- Bond,I.A.,Abe,F.,Dodd,R.J.,etal.:2001,MNRAS327,868 Bond,I.A.,Udalski,A.,Jaroszyn´ski,M.:2004,ApJ606,L155 tween existingproprietaryrobotic-telescopenetworkspro- Burgdorf, M.J., Bramich, D.M., Dominik, M., Bode, M. F., vidingauniforminterfacebuiltuponamulti-agentcontract Horne,K.D.,Steele,I.A.,Rattenbury,N.,Tsapras,Y.:2007, model (Allan, Naylor & Saunders 2006). The embedding P&SS55,582 of ARTEMiS into eSTAR will open a direct way of com- Dominik,M.,Albrow,M.D.,Beaulieu,J.-P.,etal.:2002,P&SS50, municationwith robotictelescopesin the HTN (Heteroge- 299 neous Telescope Networks) consortium. Moreover, using Dominik,M.,Horne,K.,BodeM.F.:2006,A&G47,3.25 thestandardadoptedbytheIVOA(InternationalVirtualOb- Dominik, M., Rattenbury, N.J., Allan, A., et al.: 2007, MN- servatory Alliance) for representing,transmitting,publish- RAS380,792 ing,andarchivingthediscoveryofatransientcelestialevent Einstein,A.:1936,Sci84,506 Gould,A.,Udalski,A.,An,D.:2006,ApJ644,L37 (Whiteetal.2006),differentlevelsofSIGNALMENalerts Kiraga,M.,Paczyn´ski,B.:1994,ApJ430,L110 on potential or actual anomalies, defining the switch-over Mao,S.,Paczyn´ski,B.:1991,ApJ374,L37 from follow-up to anomaly monitoring mode, will be dis- Muraki,Y.,Sumi,T.,Abe,F.,etal.:1999,PThPS133,233 tributedasVirtualObservatoryEvents(VOEvents). Snodgrass,C.,Tsapras,Y.,Horne,K.:2004,MNRAS351,967 Nevertheless,ARTEMiSalso accountsforthefactthat Steele, I.A., Naylor, T., Allan, A., Etherton, J., Mottram, C.J.: many of the current microlensing campaigns still rely on 2002, in: R.I. Kilbrick (ed.), Advanced Global Communica- humanobservers.Forthese,additionalmeansofcommuni- tions Technologies for Astronomy II, Proc. SPIE, Vol. 4845, 13 cationwillbeestablished,suchasinteractivewebpagesand Udalski,A.:2003,AcA53,291 SIGNALMENalertscirculatedase-mailorSMS.Inpartic- Udalski,A.,Jaroszyn´ski,M.,Paczyn´ski,B.,etal.:2005,ApJ628, ular,ARTEMiSwillofferup-to-theminutevisualizationof L109 incomingdataandmodellightcurves,usingthesystemthat Udalski,A.,Szyman´ski,M.,Kałuzny,J.,Kubiak,M.,Mateo,M.: waspreviouslyoperatedforPLANET,andprovidecurrent 1992,AcA42,253 information about ongoing anomalies. The real-time visu- White,R.R.,Allan,A.,Barthelmy,S.,etal.:2006,AN327,775 (cid:13)c 2007WILEY-VCHVerlagGmbH&Co.KGaA,Weinheim www.an-journal.org