The design of this ROV is not one of my own, it is from the book "Build Your Own Underwater Robot and Other Wet Projects" by Harry Bohm and Vickie Jensen. The book is gear more toward kids but the Seafox Rov in it would be a good place to start out if your just getting into these things. It's basically made from common PVC pipe and fittings and powered by 6 Bilge Pumps. I dabbled in the idea of using bilge pumps for thrusters when designing my first Rov but decided it would be to expensive at the time, but now it seams like the easiest way to go for a shallow water Rov. It was pretty easy to built and it preformed flawless in the few test dives I have done so far.