Study of Critical Imaging Parameters and Variables for Environmental Monitoring Using an ROV with Experimental Results
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- Institutt for marin teknikk 
In the oil and gas industry there is a high focus on integrating technology in the environmental monitoring happening before, during and after an offshore operation. In order to properly monitor the underwater environment, good images are needed. This can be achieved when proper equipment is used together with an underwater platform. There is a need for a good strategy on how to do underwater imaging in different environments. The strategy is used by the personnel involved in the operation, and to ensure that the right equipment and platform is selected for the job. A strategy on underwater imaging is presented and can be applied to analyse environmental monitoring operations from a top-down approach. The lack of natural light in underwater operations and the effect this has on the visibility is also of great importance. This is presented and investigated through an imaging experiment. Analyses of control methods have been conducted for ROV Minerva. This is a ROV that has been tested and developed through the AUR-Lab at the Department of Marine Technology at NTNU. In unknown areas and with poor visibility, it is important to maintain a good control of the ROV. The focus has been on how a joystick can be used with manual control and in a closed-loop control to make it easy for the pilot to navigate the vehicle. A joystick simulation system was developed for testing the joystick, and full scale experiments were conducted using ROV Minerva. The tests show promising results for using a joystick in closed-loop control. The different methods can become an important tool when navigating mobile platforms during underwater operations in known and unknown areas. The conclusion cannot account for all situations, as it also highly depends on the experience of the pilot. Therefore the joystick control should be tailored for each operation.