The goal of this project is to make a Remote Operated underwater Vehicle (commonly referred to as an ROV). This ROV will have live cameras, full maneuverability, and full control from an electronic control device on the surface. The applications are very diverse, from an educational venture to an underwater camera rig for film (both entertainment and research filming), to a rig capable of operating tools underwater too long for technical scuba diving. The unit, measuring at 45x20x22 inches, is large enough to support cameras and other items, yet small enough to fit in the back of a large SUV. The ROV has a few main components: the Control Interface, the ROV Main Body, the ROV-to-Surface Tether, and the ROV Electronics. All descriptions before the full work documentation are of the current system, for older design refer to the work log itself farther down the page.
http://jhartnett.gawsolutions.us/diy-projects/rov/58-rov-gen-1-article.html
https://sites.google.com/a/hawks2010.info/dajjhman/homemade-rov
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