Development of a Rotator Segment to Revolve the Sensor Head of the AUV SeaCat

Abstract

The thesis deals with the development of a rotator segment as payload for the autonomous underwater vehicle SeaCat by Atlas Elektronik. The rotator segment allows to observe structures in the water next to or above the SeaCat by rotating the sensor head. This is important for security monitoring of critical maritime infrastructures. The construction leads cables in loops through the rotator segment to allow the rotational movement and prevent tangling. The materials used are chosen to withstand maritime conditions. An imitation of constructive features of the SeaCat allows a simple integration of the rotator segment into the vehicle. The rotational movement is implemented by a stepper motor which is operated by pre-programmable controllers. The design of the software considers the requirement for wireless communication between the topside operator and the rotator segment. For planning rotations for a diving mission, a user interface is implemented. The functionality of the control devices and software is verified in laboratory tests. The design of the mechanical components is ready to manufacture.