Real-time visualization of the clear-up of a former US naval base

The paper describes the effective real-time visualization of the clear-up operation of a former US nuclear submarine base, located in Holy Loch, Scotland. The Whole Field Modelling System has provided an extremely accurate real-time visualization of a large number of varying parameters such as remotely operated vehicles, cranes, barges, grabs, magnets, and detailed seabed topography. The system has improved the field staffs' spatial and temporal awareness of the underwater environment and facilitated decision-making within the complex offshore working environment.