All chapters include an outline, learning outcomes, and summary. Each chapter is introduced by a real-life scenario (called Stories From Real Life) that relates the basic theoretical information of that chapter to an actual subsea event.

There are over 500 photographs and illustrations throughout this book. The wealth of color photographs helps readers connect with actual examples of subsea robotics. The straight-forward illustrations are designed to expand and explain textual concepts.

Measurements are given in metric units, generally with imperial equivalents.

The emboldened terms in the text are defined in the glossary.

An index helps locate terms.

The appendices provide helpful tables of information, useful facts, equations, and suggestions for finding materials and resources.