**3.2. Scene and model development**

The scene developed in Unity3D is modeled after a subsea production system placed on the seabed 900 m below the surface. It consists of manifolds, pipelines, BOPs (BlowOut Virtual Simulation Platform for Training Semi-Autonomous Robotic Vehicles' Operators http://dx.doi.org/10.5772/intechopen.79600 93


**Figure 2.** Unity3D interface.

**Figure 3.** GameObject with various components.

**Figure 4.** Map of simulated environment.

Preventer) and PLETs (Pipeline End Termination). A map of the simulated environment is shown in **Figure 4**. The scene was developed using models found online and crafted within Unity3D.

The ROV used in the simulation was modeled using an actual ROV used in the industry to fulfill requirement stated by the classification society DNV. It indicates that ROV models available in the simulation should be similar to the ROV in real life. In this proposed simulator, the TRV-M is a light work class ROV manufactured by Submersible Systems. The TRV-M in **Figure 5** can dive up to 1000 m deep that possesses the capacity to carry a payload up to 27 kg in any environments.
